Research on Adaptive Hybrid Energy Consumption Model Based on Data Driven under Variable Working Conditions

As to the nonlinear and time-varying problems of the energy consumption model, this paper proposes an adaptive hybrid modeling method. Firstly, the recursive least squares algorithm with adaptive forgetting factor based on fuzzy algorithm and recursive least squares algorithm is used to identify the simplified mechanism energy consumption model, which solves the data saturation phenomenon and the weights of the “old and new” data during the online identification process and guarantees the adaptability of the mechanism model. Secondly, because there is a deviation between the identified model and the simplified mechanism energy consumption model, the deviation compensation model of mechanism model is established through kernel partial least squares algorithm and the model updating strategy with sliding window, which is used to update the deviation compensation model, and then the adaptive hybrid model is established by combining with the mechanism model identified online and updated deviation compensation model. Finally, the effectiveness, generalization and adaptability of the model are verified by the actual operating data of a single working condition and variable working conditions. And comparing with the mechanism model and the data model, The comparison results show that the adaptive hybrid model has higher calculation accuracy with adaptation.

BOTNet: Deep Learning-Based Bearings-Only Tracking Using Multiple Passive Sensors

Bearings-only target tracking is commonly used in many fields, like air or sea traffic monitoring, tracking a member in a formation, and military applications. When tracking with synchronous passive multisensor systems, each sensor provides a line-of-sight measurement. They are plugged into an iterative least squares algorithm to estimate the unknown target position vector. Instead of using iterative least squares, this paper presents a deep-learning based framework for the bearing-only target tracking process, applicable for any bearings-only target tracking task. As a data-driven method, the proposed deep-learning framework offers several advantages over the traditional iterative least squares. To demonstrate the proposed approach, a scenario of tracking an autonomous underwater vehicle approaching an underwater docking station is considered. There, several passive sensors are mounted near a docking station to enable accurate localization of an approaching autonomous underwater vehicle. Simulation results show the proposed framework obtains better accuracy compared to the iterative least squares algorithm.