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.
2021,43(1): 89-94 收稿日期：2019-12-10
DOI：10.3404/j.issn.1672-7649.2021.01.016
分类号：U661.3
作者简介：秦操(1994-),男,硕士研究生,主要从事船舶自主避碰的研究
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