Kalman滤波器在船舶动力定位系统中的应用

Application of Kalman filter in dynamic positioning system

近年来,世界各国对海洋资源的探索不断深入,为了开发海洋丰富的化石燃料等自然资源,世界上的发达国家建设了大量的海洋工程,同时,对海上作业平台和舰船的定位精度和稳定性的要求越来越高。动力定位系统随时受到海上环境的干扰作用力,是一个非线性运动系统,借助自身推进力抵消环境中的干扰作用力,干扰作用力可以分为低频和高频干扰,因此,干扰作用力的滤波在船舶动力定位系统具有重要意义。本文重点介绍一种Kalman滤波算法,基于船舶动力系统的运动模型,研究了动力定位系统的干扰作用力滤波流程。

In recent years,the exploration of marine resources has been deepening all over the world.In order to exploit the abundant marine fossil fuels and other natural resources,developed countries in the world have built a large number of marine projects.At the same time,the positioning accuracy and stability of offshore platforms and ships are increasingly demanded.Dynamic positioning system(DPS)is a non-linear motion system,which is subject to the disturbance of marine environment at any time.The disturbance force can be divided into low-frequency and high-frequency disturbances by using its own propulsion force to counteract the disturbance force in the environment.Therefore,the filtering of the disturbance force is of great significance in the ship dynamic positioning system.In this paper,a Kalman filtering algorithm is introduced.Based on the motion model of ship power system,the interference force filtering process of dynamic positioning system is studied.