Multi-model self-adaptive fusion filtering method of ship dynamic positioning system

A dynamic positioning system and system model technology, applied in special data processing applications, instruments, electrical digital data processing, etc., can solve the problems of reduced accuracy of filter state estimation and large amount of calculation

Inactive Publication Date: 2014-02-26
CCCC TIANJIN DREDGING +3
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

However, the addition and solution of the fading factor makes the amount of calculation too large, resulting in technical problems such as the reduction of the accuracy of the state estimation of the filter.

Method used

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  • Multi-model self-adaptive fusion filtering method of ship dynamic positioning system
  • Multi-model self-adaptive fusion filtering method of ship dynamic positioning system
  • Multi-model self-adaptive fusion filtering method of ship dynamic positioning system

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Experimental program
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Effect test

Embodiment 1

[0050] A multi-model adaptive fusion filtering method for a ship dynamic positioning system, comprising the following steps:

[0051] Step 1. According to Newton's second law, establish the low-frequency and high-frequency motion models on the ship's three degrees of freedom (surge, sway, and yaw), and obtain the state equation and measurement equation required by the filter.

[0052] Based on the ship's low-frequency and high-frequency motion models, establish the ship dynamic positioning system equation m in the direction of three degrees of freedom 1 as follows:

[0053] X . = A ( t ) · X + B ( t ) · ...

Embodiment 2

[0086] A multi-model self-adaptive fusion filtering method for a ship dynamic positioning system, taking a large ocean engineering ship with a displacement of 21,890 tons as an example, the process includes the following steps:

[0087] Step 1: Selection of system objects and establishment of system equations.

[0088] Taking a large offshore engineering ship as the research object, the average sea surface wind speed is about 11m / s, and the ship is sailing at a low speed on the water. Multi-mode adaptive fusion filtering is performed on the surge, sway and heading respectively.

[0089] Based on the low-frequency and high-frequency motion models of the ship, a ship dynamic positioning system in three degrees of freedom is established

[0090] Equation m 1 as follows:

[0091] X . = A ( t ) ...

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Abstract

The invention relates to a multi-model self-adaptive fusion filtering method of a ship dynamic positioning system and belongs to the technical field of ship dynamic positioning. The method includes the steps: (1), building a ship three-degree-of-freedom low-frequency and high-frequency motion model, and acquiring a filter state formula and a measuring formula; (2), utilizing a differential global positioning system and a platform compass to measure position information and a heading angle, and collecting information in real time; (3), utilizing prior information and posterior information to initialize input of a model-based filter; (4), on the basis of a system model, utilizing a strong tracking filter and a Sage-Husa filter for parallel filtering; (5), subjecting the model to probability updating, and utilizing residual covariance output by the filters to calculate model probability matched with the model; (6), according to the model probability, acquiring fusion output of multi-model state estimation, namely ship position and heading information. The multi-model self-adaptive fusion filtering method has the advantages of strong robustness, high accuracy in Sage-Husa filter state estimation, stable system, high positioning accuracy and the like.

Description

technical field [0001] The invention belongs to the technical field of ship dynamic positioning, in particular to a multi-model adaptive fusion filtering method of a ship dynamic positioning system. Background technique [0002] At present, traditional mooring systems cannot economically implement barges in deep water areas, and dynamic positioning systems (DP) are applied to offshore drilling platforms. To prevent excessive control activity in response to wave-frequency components and reduce mechanical wear on powertrain components, filtering techniques should be used before the estimated values ​​enter the DP feedback control loop. In practice, the measurement of the ship's position and heading is not only related to the noise of the sensor, but also related to the colored noise caused by wind, waves, and currents; noise and high frequency signals. [0003] The model-based extended Kalman filter is widely used in the dynamic positioning system of modern industrial ships....

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G06F19/00
Inventor 俞孟蕻丁树友顾明田俊峰袁伟李军戴群王健刘长云杨立楠
Owner CCCC TIANJIN DREDGING
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