The application of an extended Kalman filter in the dynamic positioning system

摘要

This paper shows the application of an extended Kalman filter in the dynamic positioning (DP) system. Considering the nonlinearity of the vessel mathematical model, and integrating its kinetic equations with the dynamic expressions, an extended Kalman estimator for the dynamic positioning technology has been presented. The purpose of this method is to estimate positions, velocities and attitudes, which represent the states of the vessel. In addition, the filter is also used to remove the noises from the position and heading sensors. From the simulation results, it is indicated that the designed filter gives some satisfied performances. Finally, there is a discussion about the parameter tuning properties of the filter when the environmental forces have a mutation.