基于非线性无源滤波器的船舶动力定位仿真

Simulation of Ship Dynamic Positioning Based on Nonlinear Passive Filter

采用非线性无源滤波器对船舶的测量位置信息进行处理,滤除船舶高频运动信息,估算出船舶低频运动的位置和艏摇角信息,利用控制器对低频运动进行补偿。计算机仿真实验表明,非线性无源滤波器能较好地分离出船舶高、低频运动,验证了非线性无源滤波器对船舶低频运动估计的有效性。

Nonlinear passive filter can be used to estimate the low-frequency position and movement velocity from measurement signal added with noise, and to filter out the high-frequency motion caused by the first-order wave force. By analysing the ship high-frequency and low-frequency motion, a nonlinear passive filter is designed for the dynamic positio- ning system（DPS）. The simulation results show that this filter can be applied to estimate the low-frequency motion accurately and filter out the high-frequency motion.