非线性估计滤波器在船舶动力定位系统的应用

Application of nonlinear estimation filter in ship dynamic positioning system

随着人类对海洋资源开发规模的不断提高,远洋航运和远洋资源开发成为国民经济中的重要组成部分,由于传统的船舶抛锚系泊方式具有海上定位精度差、成本高、稳定性差等缺点,难以满足远洋舰船的海上定位需求。动力定位技术是利用舰船四周的推进器和船舶动力控制器等装置,产生具有一定方向和大小的推进作用力,抵消海风、海浪等干扰作用力和力矩,使船舶的定位精度和稳定性显著改善。本文的研究对象是船舶动力定位系统,详细介绍了一种非线性估计滤波器的工作原理,并研究了该滤波器在舰船动力定位系统的应用。

with the increasing scale of the development of marine resources, ocean shipping and ocean resource development have become an important part of the national economy. Because the traditional mode of ship anchoring and mooring has the disadvantages of poor positioning accuracy, high cost and poor stability, it is difficult to meet the requirements of ocean positioning of ocean ships. The dynamic positioning technology uses the propeller around the ship and the ship power controller to produce a certain direction and size of the propulsion force, which counteracts the interference force and moment of sea wind and sea waves, so that the positioning accuracy and stability of the ship are greatly improved. The research object of this paper is the ship dynamic positioning system. The principle of a nonlinear estimation filter is introduced in detail, and the application of the filter in the ship dynamic positioning system is well studied.