基于非线性滤波器的船舶动力定位系统

摘要

为使船舶动力定位系统在环境扰动下能够精准有效地进行各项海洋作业,需要对所测得的船舶位置和艏向信息进行滤波估计.文中设计一种非线性滤波器,实现从测量值中分离出高频信号和低频信号,以及去除来自系统噪声和测量噪声的扰动影响,同时对环境扰动风和流分别进行状态滤波,以实现速度和方向的估计跟踪,最后通过仿真试验验证了这种非线性滤波器的状态估计性能,分析结果表明:该滤波器对船舶位姿和环境扰动都具有很好的估计效果.%For the purpose of assuring ship dynamic positioning system to complete various offshore operations with ocean environmental disturbances,it is necessary to estimate vessel positions,heading,and corresponding velocities using measured information.Here a nonlinear filter was designed,which can depart the high frequency and low frequency signals from the measurement values,and remove the influence of system noise and measured noise.Meanwhile the filter can also estimate the environmental states about wind and current separately,so as to estimate and track speed and direction.According to the simulation results,the performance of the nonlinear filter was verified,which shows an excellent effect on the estimations of positions and the tracking of environment disturbances.