非线性滤波器在动力定位船位估计中的应用  

Research on the Position Estimation of Dynamic Positioned Ship Using Nonlinear Filter

作　　者：丁福光[1] 谭劲锋[1] 王元慧[1] 

机构地区：[1]哈尔滨工程大学自动化学院,哈尔滨150001

出　　处：《中国造船》2011年第3期67-73,共7页Shipbuilding of China

基　　金：中央高校基本科研业务费专项资金(HEUCF100420);哈尔滨工程大学基础基金(HEUFT08022)

摘　　要：针对动力定位船舶在作业过程中因丢失GPS位置测量信号,从而导致动力定位系统不能正常工作,而使船舶偏离作业点的问题,设计了一种非线性滤波器,它可以利用以前保存的历史数据进行船舶位置的实时估计,从而使船舶在一定的时间内可以维持在作业点附近,当重新获得GPS信号后,又可以快速地进入正常工作状态。为了使历史数据能够更准确地反映船舶的实时位置,利用历史数据相对于作业点的平均偏差对历史数据进行了补偿。最后给出了此非线性滤波器在船舶仿真系统中的仿真曲线,分析表明在有滤波器的情况下,船舶真实位置估计的准确度比没有滤波器的情况下有明显的改善。A nonlinear filter is designed to solve the problem that a ship will deviate from point of operation when dynamic positioning system is unable to work normally if the measurement signal of GPS＇s position is lost. The historical data saved before can be used by non-linear filter to estimate the real time position of the ship. And then ships can not only be kept in a position which is close to the point of operation at a period of time, but also enter into normal operation condition quickly when GPS signal is obtained again. The average deviation between historical data and the point of operation is used to make a compensation for historical data, in order to reflect current position of the ship accurately with historical data. Finally, the simulating curve of this non-linear filter is got from ship simulation system. The analysis indicates that the accuracy of ship＇s real position estimated in situation when the ship has the filter is obviously better than that without the filter.

关 键 词：船舶 舰船工程 动力定位 非线性滤波器 船位估计 GPS 

分 类 号：U665[交通运输工程—船舶及航道工程]