船舶运动与受扰Kalman估计精度的统计分析  

Statistical Analysis of Kalman Filtering Estimation Precision for Ship Longitudinal Motion and Disturbing

作　　者：赵希人[1] 孙宏放[1] 屈阳[1] 

机构地区：[1]哈尔滨工程大学自动化学院,哈尔滨150001

出　　处：《系统仿真学报》2008年第18期4795-4797,共3页Journal of System Simulation

基　　金：国防预研项目(413140210201)

摘　　要：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,船舶纵向运动姿态及受扰Kalman估计的统计性能。针对某船,在5级海情,18节航速及45度航向常规工况下,当船舶水动力系数按均匀分布发生±10%、±20%随机变化时,给出船舶姿态及受扰Kalman估计精度的概率建模方法及应用。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 performance of Kalman estimation for the longitudinal motion and disturbing of ship is discussed, when its hydrodynamic parameters fluctuate around criterion value on the proportional distributing. In the normal condition that a given ship navigated at the speed of 18 kn/h and in the course of 45 degree under Rank 5 state of sea, and the hydrodynamic parameters of the ship fluctuated at random on the proportional distributing with a range of±10%, ±20%, the probability modeling method and application of the Kalman estimation precision for ship longitudinal motion and disturbing were given. The simulation results show that when the hydrodynamic parameters of the ship fluctuate at random, the estimation precision submit 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：TP391.9[自动化与计算机技术—计算机应用技术]