船舶动力定位系统非线性Kalman滤波器的设计

针对船舶动力定位系统的非线性数学模型,设计了一个非线性Kalman滤波器,实现在线对非线性系统的状态量进行最优估计。为保证滤波器的稳定性和精确性,讨论了测量粗差在非线性滤波器中如何校正。然后,对所设计的非线性滤波器进行仿真分析,仿真结果表明该非线性Kalman滤波器具有良好的状态估计和滤波性能,且船舶运动状态估计值收敛于实际值,验证了所设计滤波器应用在船舶动力定位系统的有效性。

For the non-linear mathematical model of Ship Dynamic Positioning System （SDPS）,this paper designs a non-linear Kalman filter for meeting the amount of the optimal estimation of states in the non-linear systems online.To ensure the stability and accuracy of the filter,this paper discusses how to correct the gross errors in measuring the nonlinear filter.Finally, the non-linear filter designed for simulation analysis,simulation results show that the non-linear Kalman filter has a good state estimation and filtering performance,and ship motion state estimates oenverge to the actual values.