摘要
为了改善动力定位系统在复杂海况,模型不精确或其他有约束情况下滤波的精度,提出了一种滚动时域滤波方法.在建立船舶运动模型的基础上,结合Kalman滤波和滚动时域优化的思想,以某平台供应船为仿真对象,设计了显式处理约束的滚动时域滤波器,仿真实验表明滚动时域滤波器在有约束情况下比Kalman滤波具有更强的鲁棒性能.
A moving horizon estimation method is proposed for dynamic positioning system to improve the filter accuracy in heavy sea,uncertain model or other constrained conditions,and a moving horizon filter is designed based on ship motion model,Kalman filter and concept of moving horizon,it takes an oil supply vessel as simulation prototype and deals with constrained conditions explicitly.The simulation experiments show that the moving horizon filter has some advantages on robustness than Kalman filter in constrained conditions.
出处
《武汉理工大学学报（交通科学与工程版）》
2014年第5期1070-1073,共4页
Journal of Wuhan University of Technology（Transportation Science & Engineering）
基金
教育部博士点基金项目资助(批准号:20100143110004)
