Airship aerodynamic model estimation using unscented Kalman filter

• 来源期刊: 系统工程与电子技术（英文版）
• 年，卷（期）: 2020,（6）
• 所属期刊栏目: CONTROL THEORY AND APPLICATION
• 页码范围: 1318-1329
• 页数: 12页
• 语种: 英文
• DOI: 10.23919/JSEE.2020.000102

摘要

An airship model is made-up of aerostatic,aerody-namic,dynamic,and propulsive forces and torques.Besides others,the computation of aerodynamic forces and torques is difficult.Usually,wind tunnel experimentation and potential flow theory are used for their calculations.However,the limitations of these methods pose difficulties in their accurate calculation.In this work,an online estimation scheme based on unscented Kal-man filter (UKF) is proposed for their calculation.The proposed method introduces six auxiliary states for the complete aerody-namic model.UKF uses an extended model and provides an es-timate of a complete state vector along with auxiliary states.The proposed method uses the minimum auxiliary state variables for the approximation of the complete aerodynamic model that makes it computationally less intensive.UKF estimation perform-ance is evaluated by developing a nonlinear simulation environ-ment for University of Engineering and Technology,Taxila (UETT)airship.Estimator performance is vali dated by performing the er-ror analysis based on estimation error and 2-σ uncertainty bound.For the same problem,the extended Kalman filter (EKF)is also implemented and its results are compared with UKF.The simulation results show that UKF successfully estimates the forces and torques due to the aerodynamic model with small es-timation error and the comparative analysis with EKF shows that UKF improves the estimation re suits and also it is more suitable for the under-consideration problem.