基于扩展卡尔曼滤波的船舶纵向运动受扰力与力矩的估计  

Estimation of Longitudinal Interferences to Ship Based on Extended Kalman Filtering

作　　者：赵希人[1] 陈虹丽[1] 叶葵[1] 魏东 

机构地区：[1]哈尔滨工程大学自动化学院,黑龙江哈尔滨150001

出　　处：《中国造船》2004年第3期24-30,共7页Shipbuilding of China

摘　　要：基于递推最小二乘法设计并实现海浪干扰力和干扰力矩的成型波滤器 ,对有色的次优卡尔曼滤波和扩展卡尔曼滤波 ( EKF)的效果进行对比。通过引入成型滤波器 ,采用 EKF,提高了状态估计的精度 ,实现对随机海浪扰动力和力矩的估计。仿真结果表明 。The forming filter of stochastic sea interference is designed and realized based on the method of least squares step by step in this paper. The effect of colored Kalman filtering is compared with extended Kalman filtering (EKF). By using the forming filter and EKF, the precision of states estimation is increased and a effective estimation of stochastic sea interference is performed. Simulation result shows that the estimation of stochastic sea interference obtained by EKF is feasible.

关 键 词：船舶工程 扩展卡尔曼滤波 海浪扰动估计 递推最小二乘法 成型滤波器 纵向运动 

分 类 号：U661.338[交通运输工程—船舶及航道工程]