摘要
讨论了 Kalman 滤波用于舰船横摇运动姿态估计的应用方法与应用效果针对海浪干扰及测量噪声均为有色噪声的情况下,提出了如何使用 Kalman 次优滤波器和最优滤波器进行舰船横摇运动姿态的估计和预报的理论基础与方法.在IBM 计算机上进行了数字仿真,并给出了仿真的统计结果与仿真曲线.结果表明,采用本文研究的方法进行舰船横摇运动姿态的估计,可获得令人满意的结果。
The practical applying method and results of the estimation for posture of ship with Kalman filtering are studied.Under the condition of seaway disturbance and measurement noise being colored noise,the use of quasioptimal and optimal Kalman filter to estimate the posture of ship is proposed.Digital simulation is carried out in an IBM computer and its results are given.The results show that if the posture of ship is estimated with the method studied,satisfactory results can be obtained.
关键词
动力姿态
数字仿真
卡尔曼滤波
Kalman filtering
posture estimation
digital simulation
