Extended and unscented Kalman filters for parameter estimation of a hydrodynamic model of vessel
Ye Yuan, Guiyuan Fu, Weidong Zhang · 2016
Due to the complexity of hydrodynamic forces during maneuvering, the parameter estimation of the hydrodynamic model of vessel is challenging. This paper proposed a simplified three-degree-of-freedom (3DOF) hydrodynamic model of a two-thruster vessel. Based on experiment data, a comparative study on Extended Kalman filter (EKF) and Unscented Kalman filter (UKF) performance in non-linear parameter estimation is conducted. Via the comparison of model accuracy, the feasibility and possible profits of UKF are demonstrated.