Research on Under-Actuated Ship States Estimation Using Algorithm Singular Value Decomposition UKF Based on Acceleration
To estimate the states and uncertainty of the under-actuated ship, the paper proposed a modified UKF algorithm—Singular Value Decomposition UKF based on acceleration, which simplifies the system reference equation, reduces the calculation complexity and increases the accuracy of the algorithm. The accuracy and calculation complexity of the algorithm are analyzed in detail. Numeric simulation demonstrates the effectiveness of the algorithm.
Y. L. Ma et al., "Research on Under-Actuated Ship States Estimation Using Algorithm Singular Value Decomposition UKF Based on Acceleration", Applied Mechanics and Materials, Vols. 66-68, pp. 1374-1379, 2011