融合EKF的无人船航向自抗扰控制方法研究

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DOI：10.16652/j.issn.1004-373x.2025.17.020引用格式：，，，等.融合EKF的无人船航向自抗扰控制方法研究[J].现代电子技术，2025，48（17）：131-136.

关键词：无人船；航向控制；线性自抗扰控制；扩展卡尔曼滤波器；级联扩张状态观测器；观测器精度；抗扰性能中图分类号：TN911.4-34；TP273+.2 文献标识码：A 文章编号：1004-373X（2025）17-0131-06

USV course active disturbance rejection control method fused with EKF

ZONGLu1，LI Ligang¹，HE Zehao²，HAN Zhiqiang'，DAI Yongshou1 （1.ography Informatics， ），，; 2. ， ），，）

Abstract：Since thecoursecontrolaccuracy anunmannedsurface vessel（USV）isdecreasedunder the wind，wave currentdisturbances，aUSVcourseactivedisturbancerejectioncontrolmethodbasedonextendedKalman filter（EKF）is proposed.Firstly，amathematicalmodeltheUSVwind，wave，currntdisturbancesisestablishedThen，alinear extendedstateobserverwithhierarchical structureisdesignedtoreducetheestimationerortheobserverinthetraditional linearactivedisturbancerejectioncontrol （LADRC）forwind，wave，curentdisturbances，therebyimprovingthetiation accuracythedisturbance.Furthermore，onthebasisthemathematical model theUSVmotion，anEKFisdesignedto filterouttheenvironmentalnoisetheUSVduringsurfacenavigationeliminateunstablecoursecontroleroutputscaused bywind，wave，currentdisturbances.Finally，threediferentcontrolmethodsarecomparedsimulated toverifythe performacetheproposedmethod.Theexperimentalresultsshowthattheproposedmethodcantrackthetargetcoursemore quicklyaccurately.Inadition，theproposedmethodisprovedtohaveacertainengineeringpracticalvaluebyrealship experiments.

Keywords：USV;course control; LADRC;EKF;cascaded extended state observer;observer precision;disturbance rejection performance

0 引言

随着人工智能技术快速发展，无人系统应用范围逐步扩大，无人船（UnmannedSurfaceVessel，USV）作为无人系统的重要组成部分之一，在科研、民用和军事等多个领域有着广泛的应用。（剩余7557字）