基于水动力系数摄动的船舶横向运动姿态与受扰Kalman滤波的统计建模  

Statistical modeling of Kalman filtering estimation for ship lateral motion based on perturbation of hydrodynamic parameter

作　　者：赵希人[1] 彭秀艳[1] 尹中凤[1] 

机构地区：[1]哈尔滨工程大学自动化学院,哈尔滨150001

出　　处：《船舶力学》2007年第5期702-707,共6页Journal of Ship Mechanics

基　　金："十五"国防预研项目资助(413140210201)

摘　　要：该文考察船舶水动力参数在标称值附近按均匀分布发生随机变化时,船舶横向运动姿态及受扰Kalman估计的统计性能。针对某船,在5级海情,18kns航速及0°、45°、90°、135°、180°航向工况下,当船舶水动力系数按均匀分布发生±10%随机变化时,给出船舶姿态及受扰Kalman估计性能的概率建模方法及其应用。仿真结果表明,当水动力系数出现摄动时,估计精度服从对数正态分布,平均估计精度与未出现摄动时相比无显著变化。The statistical capability of Kalman estimation method for latitudinal movement of ship is studied,when its hydrodynamic parameters fluctuate around criterion value at random after the proportional distributing.The probability modeling and application of the Kalman estimation for ship are given when a given ship navigates at the speed of 18 kns/h and the course of 0,45,90,135,180 degrees under rank 5 state of sea,and the hydrodynamic parameters of the ship fluctuate at random on the proportional distributing with a range of ±10%.The result of emulating shows that when the hydrodynamic parameters of ship fluctuates, the precision of estimation submits to logarithmic normal distribution and the average of precision has no remarkable changes comparing to that without perturbation of hydrodynamic parameter.

关 键 词：水动力参数 摄动 卡尔曼滤波 统计 建模 

分 类 号：U661.3[交通运输工程—船舶及航道工程]