基于改进集员滤波的港口自动跨运车状态估计方法  

State estimation of automated straddle carrierss via improved setmembership filtering approach

作　　者：林爽 张依恋 丁宗贺 牛王强[1] LIN Shuang;ZHANG Yi-liant;DING Zong-he;NIU Wang-qiang(Key Laboratory of Marine Technology and Control Engineering Ministry of Communications,Shanghai Maritime University,Shanghai 201306,China)

机构地区：[1]上海海事大学航运技术与控制工程交通行业重点实验室,上海201306

出　　处：《控制与决策》2024年第1期129-136,共8页Control and Decision

基　　金：国家自然科学基金面上项目(62176150);上海市地方院校能力建设项目(20040501400)。

摘　　要：针对自动跨运车状态估计问题,设计改进的集员滤波算法,在未知有界噪声环境下,获取自动跨运车实时运动状态的估计信息.首先,将自动跨运车运动学模型进行线性化处理,同时考虑其转向因素和侧倾因素,得到车辆的动力学线性模型;其次,将可能存在的内外部扰动建模为未知有界噪声,进而设计改进的集员滤波器,通过获取状态椭球域实现对自动跨运车运动参数的状态估计,同时给出改进的集员滤波算法;最后,通过仿真实验验证所提出算法的可行性和有效性.实验结果表明,所提出的改进集员滤波算法具有良好的状态估计性能.This paper is concerned with the state estimation problem for an automated straddle carrier.An improved set-membership filtering scheme is proposed to solve the state estimation problem of the automated straddle carrier under unknown-but-bounded(UBB)process and measurement noises.First,the kinematic model of the automated straddle carrier is linearized to obtain the vehicle linear dynamic model.Then,an improved filtering method is designed to realize the state estimation of vehicle motion parameters by obtaining the state estimation ellipsoids.Finally,the simulations verify the feasibility and effectiveness of the proposed method.The experimental results show that the proposed algorithm has good state estimation performance.

关 键 词：集员滤波器 未知有界噪声 自动跨运车 状态估计 线性离散时变系统 车辆动力学 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]