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dc.contributor.author | Revestido Herrero, Elías | es_ES |
dc.contributor.author | Velasco, Francisco J. | es_ES |
dc.contributor.author | Vega, Luis M. | es_ES |
dc.contributor.author | Lastra, Francisco J. | es_ES |
dc.date.accessioned | 2020-05-14T10:41:18Z | |
dc.date.available | 2020-05-14T10:41:18Z | |
dc.date.issued | 2017-12-05 | |
dc.identifier.issn | 1697-7912 | |
dc.identifier.uri | http://hdl.handle.net/10251/143183 | |
dc.description.abstract | [ES] En este trabajo, se propone una metodología para la mejora de la eficiencia en la estimación de parámetros de un modelo de maniobra no lineal de un vehículo subacuático no tripulado con forma de torpedo. Para este cometido, se dispone de datos de diferentes ensayos, llevados a cabo con el citado vehículo en las instalaciones del Canal de Experiencias Hidrodinámicas del Pardo, Madrid. En la metodología propuesta, se tiene en cuenta los siguientes aspectos para mejorar la eficiencia en la estimación de los parámetros: selección del periodo de muestreo, suavizado de los datos adquiridos en los ensayos considerando un compromiso entre varianza y sesgo del filtro suavizador a aplicar, análisis del modelo de regresión lineal clásico planteado en cada ensayo, desde el punto de vista estadístico para la estimación de los parámetros. Las mejora de la eficiencia se verifica mediante métodos gráficos y estadísticos. Además, se propone una modificación del método line-of-sight (LOS) convencional que proporciona resultados satisfactorios en presencia de corrientes oceánicas mediante la realización de un procedimiento sencillo. | es_ES |
dc.description.abstract | [EN] In this work, a methodology is proposed for the improvement of the parameter estimation effciency of a non-linear manoeuvring model of a torpedo shaped unmanned underwater vehicle. For this purpose, data from different tests, were carried out with the aforementioned vehicle at the facilities of the Canal de Experiencias Hidrodinámicas del Pardo, Madrid. In the proposed methodology, the following aspects are taken into account in order to improve the parameter estimation effciency: selection of the sampling period, smoothing of the data acquired in the tests considering a compromise between variance and bias of the smoothing filter to be applied, analysis of the classical linear regression model proposed in each trial, from the statistical point of view for the estimation of the parameters. Improvements in effciency are verified by graphical and statistical methods. In addition, a modification of the conventional LOS method is proposed which provides satisfactory results in the presence of ocean currents by performing a simple procedure. | es_ES |
dc.description.sponsorship | Este proyecto ha sido parcialmente financiado por el Ministerio de Defensa espanol (programa-1003211003100 COIN- ˜ CIDENTE) y por el MINECO: DPI 2.011-27.990 con fondos FEDER. | es_ES |
dc.language | Español | es_ES |
dc.publisher | Universitat Politècnica de València | es_ES |
dc.relation.ispartof | Revista Iberoamericana de Automática e Informática industrial | es_ES |
dc.rights | Reconocimiento - No comercial - Sin obra derivada (by-nc-nd) | es_ES |
dc.subject | Parameter estimation | es_ES |
dc.subject | Ordinary least squares | es_ES |
dc.subject | General least squares | es_ES |
dc.subject | Non linear manoeuvring model | es_ES |
dc.subject | LOS | es_ES |
dc.subject | Estimación de parámetros | es_ES |
dc.subject | Mínimos cuadrados ordinarios | es_ES |
dc.subject | Mínimos cuadrados generales | es_ES |
dc.subject | Modelo de maniobra no lineal | es_ES |
dc.title | Estimación Eficiente de Parámetros y Control en Base a un Sistema de Guía LOS Modificado de un Vehículo Subacuático | es_ES |
dc.title.alternative | Ecient Parameter Estimation and Control Based on a Modified LOS Guidance System of an Underwater Vehicle | es_ES |
dc.type | Artículo | es_ES |
dc.identifier.doi | 10.4995/riai.2017.8826 | |
dc.relation.projectID | info:eu-repo/grantAgreement/MDE//1003211003100/ES/COINCIDENTE/ | es_ES |
dc.relation.projectID | info:eu-repo/grantAgreement/MICINN//DPI2011-27990/ES/NAVEGACION DE VEHICULOS SUBACUATICOS NO TRIPULADOS PARA INSPECCION Y ASISTENCIA EN OPERACIONES Y MANTENIMIENTO DE ESTRUCTURAS SUMERGIDAS Y TENDIDOS DE CABLES MARINOS/ | es_ES |
dc.rights.accessRights | Abierto | es_ES |
dc.description.bibliographicCitation | Revestido Herrero, E.; Velasco, FJ.; Vega, LM.; Lastra, FJ. (2017). Estimación Eficiente de Parámetros y Control en Base a un Sistema de Guía LOS Modificado de un Vehículo Subacuático. Revista Iberoamericana de Automática e Informática industrial. 15(1):58-69. https://doi.org/10.4995/riai.2017.8826 | es_ES |
dc.description.accrualMethod | OJS | es_ES |
dc.relation.publisherversion | https://doi.org/10.4995/riai.2017.8826 | es_ES |
dc.description.upvformatpinicio | 58 | es_ES |
dc.description.upvformatpfin | 69 | es_ES |
dc.type.version | info:eu-repo/semantics/publishedVersion | es_ES |
dc.description.volume | 15 | es_ES |
dc.description.issue | 1 | es_ES |
dc.identifier.eissn | 1697-7920 | |
dc.relation.pasarela | OJS\8826 | es_ES |
dc.contributor.funder | Ministerio de Defensa | es_ES |
dc.contributor.funder | Ministerio de Ciencia e Innovación | es_ES |
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