基于无迹卡尔曼滤波的船舶运动数学模型辨识  

Parameter identification for ship mathematical model based on unscented kalman filter

作　　者：秦操 QIN Cao(Collaborative Innovation Center for Advanced Ship and Deep-Sea Exploration,Shanghai Jiaotong University,Shanghai 200240,China)

机构地区：[1]上海交通大学高新船舶与深海开发装备协同创新中心,上海200240

出　　处：《舰船科学技术》2021年第1期89-94,共6页Ship Science and Technology

摘　　要：针对一艘目标三体船,构建MMG运动数学模型结构,利用无迹卡尔曼滤波器结合自航试验数据对模型中的参数进行辨识。为减轻动力相消带来的影响,结合三体船特点对模型结构进行化简,并设计不同的控制方式进行分步辨识。通过模型预报数据与自航试验观测值的对比,以及部分参数的试验测量值与辨识值的比较,验证了本文辨识方法的有效性和优越性。Established mathematical model structure for a trimaran.Use Unscented Kalman filter and self-propulsion test to identify parameters in the model.To reduce cancellation effect,simplify the model structure according to the trimaran′s characteristic and design different control methods to identify parameters step by step.By comparing the model prediction results with observed data and comparing test measurement with identified value on part parameters,verified the effectiveness and advantage of the identification method.

关 键 词：系统辨识 无迹卡尔曼滤波器 船舶运动数学模型 

分 类 号：U661.3[交通运输工程—船舶及航道工程]