Method for predicting ship trajectory

Abstract

The invention provides a method for predicting a ship trajectory. The method at least comprises the steps that current related information of a target ship is obtained from ship actual measurement data,wherein the related information at least comprises ship information,a course angle and an instant navigational speed; a ship position state is predicted through a distributed extend Kalman filter algorithm according to current information of the ship,wherein the prediction processes comprise that a discrete nonlinear system is established to be used for describing a target ship state and sensormeasurement,a variance constraint method is used for determine a Kalman gain matrix of each time node,state estimation and upper-bound matrix of the ship at a current moment are calculated to predictstate estimation and upper-bound matrix of the ship at the next moment,the state estimation and upper bound estimation of the ship are updated according to the state estimation and upper-bound matrixof the ship at the next moment,nonlinear consistency Kalman filtering is carried out by adopting a preset ship dynamic model to obtain ship position information at the next moment after filtering.

Description

technical field [0001] The invention relates to the technical field of ship track prediction, in particular to a ship track prediction method. Background technique [0002] With the rapid development of computer control technology, in the field of ship navigation prediction and control, people have successively developed various intelligent prediction algorithms to ensure the safety of ship navigation. In the multi-agent field system, the linearization error of EKF has not been solved. In the distributed extended Kalman filter, the variance constraint method is used to determine the Kalman gain matrix to deal with the linearization error. The nonlinear consensus protocol can be High speed convergence. Now this kind of distributed filter has been involved in numerical examples of indoor positioning of mobile robots and communication based on network data packet loss and event triggering. [0003] In order to solve the problem of ship track tracking linearization error, the ...

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Problems solved by technology

[0004] In view of the above-mentioned shortcomings of the prior art, the purpose of the present invention is to provide a ship track prediction method, which is used to solve the problem of low track prediction accuracy in the prior art, improve the estimation accuracy, and reduce the error range

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