Ship power locating system nonlinear state estimation method
A technology of dynamic positioning system and nonlinear state, which is applied in the direction of ship design, calculation, ship construction, etc. It can solve the problems of filter divergence, filter accuracy influence, motion model wave frequency, noise and other uncertain parameters, so as to avoid time-consuming Problems, Effects on Addressing Estimation Bias
Inactive Publication Date: 2018-02-27
JIANGSU UNIV OF SCI & TECH +1
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Problems solved by technology
[0004] Due to the variability and uncertainty of the working environment of dynamic positioning ships, parameters such as wave frequency and noise in the motion model are uncertain
The uncertainty of the parameters will have a great impact on the filtering accuracy, and even cause the divergence of the filtering
Method used
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[0045] The non-linear state estimation method of the ship dynamic positioning system in this embodiment, the specific steps are as follows:
[0046] Step 1. Use the measurement system including position reference system and sensor system to obtain ship position information, heading information and wind speed. The measurement system includes satellite navigation system, hydroacoustic positioning system, tension cable, gyro compass and wind speed and direction instrument.
[0047] Step 2. Establishing a mathematical model of the horizontal motion of the ship in the ocean environment;
[0048]
[0049] the y k =Hx k +v k
[0050] In the formula, x=[ξ h T , η T ,υ T ,b T ] T , H=[C h , I 3×3 ,0 3×3 ,0 3×3 ].
[0051] in,
[0052]
[0053] ξ h =[∫x h dt,∫y h dt,∫ψ h dt,x h ,y h ,ψ h ] T , C h =[0 3*3 I 3*3 ], A 22 =-diag{2ξ 1 ω o1 ,2ξ 2 ω o2 ,2ξ 3 ω o3}, ω 0i (i=1,2,3) is the peak frequency in the wave PM spectrum; is the relative ...
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The invention relates to a ship power locating system nonlinear state estimation method. The estimation method comprises the following step of 1, utilizing measurement systems, including a position reference system and a sensor system, to obtain ship position information, heading information and the air speed; 2, building a ship horizontal plane motion mathematic model under a marine environment;3, using a self-adaptive unscented Kalman filter to filter out noise information and separate out high frequency motion information and low frequency motion information; 4, inputting the obtained lowfrequency motion information, including the position, heading and the speed, into a controller to calculate thrust and moment of thrust which are needed for a ship to maintain an expected motion stateand distributing the thrust and the moment of thrust to all propellers. The ship power locating system nonlinear state estimation method has the advantages that noise parameters in the model are calculated in real time, and the estimation deviation brought by an inaccurate model is avoided; an error caused by wave frequency parameter fluctuation in a linear high frequency motion model is attributed to a noise item, and the time consuming problem caused by secondary calculation is solved.
Description
technical field [0001] The invention relates to ship dynamic positioning technology, in particular to a nonlinear state estimation method of a ship dynamic positioning system. Background technique [0002] The ship on the water is in a complex motion environment and is affected by low-frequency and high-frequency forces at the same time. In order to reduce the loss of the propeller, the energy required by the controller and the manufacturing cost of the equipment, when designing the dynamic positioning system, It is required that the propulsion command given by the controller only offset the slowly changing low-frequency force as much as possible, and try not to respond to the high-frequency force caused by the first-order wave force. The main function of the state estimation filter in the dynamic positioning system is to filter out the high and low frequency noise contained in the measurement system, separate the high frequency and low frequency in the measurement value, an...
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Login to View More IPC IPC(8): G06F17/50B63B9/00
CPCB63B71/00G06F30/15G06F30/20Y02T90/00
Inventor 李文娟杨奕飞姚震球袁伟苏贞
Owner JIANGSU UNIV OF SCI & TECH