Ship dynamic positioning Kalman filtering method

Abstract

The invention relates to the field of dynamic positioning control, and specifically relates to a filtering method in a ship dynamic positioning system. The filtering method comprises the following steps of: (1) measuring the position and the acceleration of a ship, and transferring data into a unified coordinate system; (2) establishing a ship model containing the high-frequency acceleration; (3) establishing a Kalman filter capable of estimating the position, the speed and the acceleration; and (4) based on the measured position and acceleration, filtering the high-frequency interference by using the Kalman filter to obtain low-frequency ship position speed and acceleration speed required by the ship dynamic positioning system, and sending data to the dynamic positioning system. The method can be used for estimating the ship low-frequency position speed and acceleration required by the ship, and precise ship position, speed and acceleration information can be obtained by performing comprehensive filtering and estimating on the position and the acceleration.

Description

technical field [0001] The invention relates to the field of dynamic positioning control, in particular to a filtering method in a ship dynamic positioning system. Background technique [0002] Filtering is an important issue to be considered in ship dynamic positioning system. The dynamic positioning system of a ship uses a state observer or filter to reconstruct the low-frequency motion part from the position and heading measurements containing noise. The resulting high-frequency oscillatory motion is excluded from the feedback control loop, thereby reducing wear on the mechanical structure. At present, the filtering methods of ship dynamic positioning system all think that ship speed and acceleration are unmeasurable, such as ship nonlinear passive observer and backstep observer. The above filtering method can filter the measured ship position data and can separate the low-frequency position required by the ship. In the estimation of the ship speed, they obtain the unme...

AI Technical Summary

Problems solved by technology

Since these filtering methods only rely on a single position data for estimation, the performance of the filter is limited to a certain extent. It can be seen that if the ship's position and other measurement data can be used to estimate the ship's speed, the filtering will be improved to a certain extent. device performance

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