中文摘要：

针对气垫车辆具有附加的垂向力控制自由度的特点，提出了基于g函数和扩展卡尔曼滤波器（EKF）联合算法的土壤参数估值方案．g函数通过解耦土壤参数解决了多解问题，EKF通过减小测量不确定度提高了估值准确性．通过不同噪声水平下算法准确性和大噪声重复实验下算法稳定性的实验表明：g—EKF联合算法在各种噪声水平下具有应用鲁棒性，特别是在大噪声工况下，其估值准确性、精确性和稳定性具有明显优势．

英文摘要：

By taking advantage of the additional degree of control freedom for vertical force, a new estimation algorithm, the hybrid g-EKF algorithm, was proposed for air-cushion vehicles. In g-EKF, the gfunction solves the multi-solution problem, and the extended Kalman filter （EKF） improves estimation accuracy by decreasing measurement uncertainties. Its advantages are demonstrated in two experiments, namely, estimation accuracy for different noise levels and stability in repeated tests.