To avoid the phenomenon of parameter drift caused by dynamic cancellation in identification modeling stage of un-manned surface vessel (USV),two measures of parallel pro-cessing and estimation of too large and too small initial values were combined to form a comprehensive application method,and on this basis,a nonlinear innovation identification algo-rithm was proposed. Experimental results show that the pro-posed algorithm avoids the drift phenomenon of hydrodynamic coefficients and improves the ability to reprocess historical da-ta. The algorithms have the characteristics of strong solving a-bility,high identification efficiency,and low computational burden,laying the foundation for stable navigation of USV in interference environments.
维普
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