摘要
针对船舶动力定位系统高度耦合非线性的特点,设计了一种基于无迹卡尔曼滤波的改进算法。该算法利用统计线性化技术,将非线性映射直接作用于采样点,根据映射后的点集重建统计变量,并且对非线性函数的概率密度分布进行拟合。结合动力定位船舶系统,进行了无迹卡尔曼滤波器和卡尔曼滤波器的对比仿真实验,仿真结果表明论文设计的无迹卡尔曼滤波器有较高的计算精度和较强的适用性。
The dynamic positioning system of ship is a highly complex nonlinear coupling and time-varying system. This study designs an unscented Kalman filter which can use the statistical linearization technique. The algorithm can reconstruct statistical variables mapping after the nonlinear mapping directly on the sampling point and approximate probability density distribution of the nonlinear function. Finally the simulation curve of unscented Kalman filter in dynamic positioning ship show that has high calculation accuracy for nonlinear statistic distribution and the nonlinear system can be applied.
出处
《舰船电子工程》
2018年第1期48-51,64,共5页
Ship Electronic Engineering
基金
海军工程大学自主立项项目(编号:425517k191)资助
