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System identification for unmanned marine vehicles using interval analysis

The aim in the present paper remains to describe a system identification method for unmanned marine vehicles using interval analysis in order to come up with estimation of parameter intervals instead of real values, such that the actual dynamics of the system shall remain confined within guaranteed bounds. The bounds are propagated through the system equations using such interval based parameters. The proposed method exploits guaranteed error bounds for the state variables as observed by different sensors. Unlike conventional Kalman estimators the adopted method rules out the requirement for determining co-variance matrices and approximated Jacobians. Interval based variables are used in constructing interval matrices. Principle of Least Squares is used in solving the system equation involving such non-punctual (interval) matrices. In this context a sophisticated interval matrix inversion technique is employed within the least squares framework in finally determining the parameter intervals.