to find the state space representation of an underwater AUV

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BISWAJIT NAIK 2022-4-5

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评论： BISWAJIT NAIK 2022-4-22

采纳的回答： Sam Chak

I want to know the method to create the state space representation of an underwater AUV dynamics for my SLAM project.

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Sam Chak 2022-4-5

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Hi @BISWAJIT NAIK

You can try learning how to use the System Identification Toolbox to create the dynamical system model from measured input-output data of an autonomous underwater vehicle (AUV).

https://www.mathworks.com/products/sysid.html

If this is not what you are seeking for, please consult an Engineer or a Professor in Dynamical System on how to derive the state-space model from one of the following approaches:

Newton's 2nd Law,
Lagrangian mechanics,
Hamiltonian mechanics,
Kane's method,
Udwadia–Kalaba formulation.

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Sam Chak 2022-4-20

Hi @BISWAJIT NAIK

Perhaps you can use the Principle of Triangulation to determine the vehicle pose.

https://en.wikipedia.org/wiki/Triangulation_(surveying)

I think the covariance matrix can be computed using the cov() function:

https://www.mathworks.com/help/matlab/ref/cov.html

BISWAJIT NAIK 2022-4-22

Sir, did you know How to properly define Extended kalman filter in matlab ? I am unable to define it . Majority times I am facing problem in defining the state transition function and Measurement function as the format it required to mentioned.

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