Kalman 滤波技术在船舶动力定位技术中的应用

The use of kalman filtering techniques in dynamic ship positioning system

提出了Ｋａｌｍａｎ滤波技术在船舶动力定位中的应用方法，并以３００ｍ救生母船为实例分析了如何根据船舶的运动方程建立船舶运动的数学模型，并设计了Ｋａｌｍａｎ滤波器，通过计算机仿真试验说明该滤波器能够较好地估计出船舶的真实船位和艏向．

his paper presents the method of designing Kalman filter in dynamic ship positioning system. The Kalman filter scheme is tested on Closedloop feedback control scheme of 300 meter mothership on computer, Numerical simulation results show that this design can currently estimate the state of the ship and can be used in engineering design of dynamic system.