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基于扩张状态卡尔曼原理的海浪滤波算法
Study on wave filtering algorithm based on extended state Kalman Theory
- DOI:
- 作者:
- 周佳宇1, 韩俊庆2, 李伟2, 孟凡彬2
ZHOU Jia-yu1, HAN Jun-qing2, LI Wei2, MENG Fan-bin2
- 作者单位:
- 1. 海军驻九江地区军事代表室, 江西 九江 332007;
2. 天津航海仪器研究所九江分部, 天津 300131
1. Navy Military Representative Office in Jiujiang Area, Jiujiang 332007, China;
2. Jiujiang Division, Tianjin Navigation Instruments Research Institute, Tianjin 300131, China
- 关键词:
- Nomoto模型;海浪滤波;卡尔曼滤波;无效舵
nomoto model; wave filter; Kalman filter; invalid rudder
- 摘要:
- 针对海浪干扰下船舶控制系统存在的无效舵问题以及风、流干扰下观测器存在的静差问题，提出一种基于扩张状态卡尔曼原理的海浪滤波算法。该方法首先对船舶一阶Nomoto模型进行离散化，基于带遗忘因子的最小二乘法对模型中的参数进行辨识；以海浪二阶传递函数与一阶Nomoto模型建立用于海浪滤波的四阶状态方程，并以Nomoto模型中环境干扰与未建模动态组成的综合干扰项为扩张状态建立五阶状态方程，基于卡尔曼滤波算法设计海浪滤波器，在实现海浪滤波的同时消除干扰环境下状态观测静差问题。仿真结果表明，本文提出的海浪滤波算法能够有效的滤除船舶航向的高频信号并正确的估计出船舶的运动状态，显著减少了船舶航行时的无效舵问题。
To solve the problem of invalid rudder in ship control system under wave disturbance and static error of observer under wind and stream disturbance, a wave filtering algorithm based on extended state Kalman theory was proposed. Firstly, the 1-order Nomoto model of the ship was discretized, and the 4-order state equation for wave filtering was established. Then, the 5-order state equation was established based on the comprehensive disturbance term composed of environmental disturbance and unmodeled dynamic disturbance in Nomoto model, and the wave filter was designed based on kalman filter algorithm, to solve the wave filtering and observer's error. The simulation results showed that the wave filtering algorithm proposed in this paper can effectively filter the high frequency signal of the ship heading and correctly estimate th ship's motion state, and reduce the problem of invalid rudder significantly when the ship is sailing.
2023,45(7): 62-65 收稿日期：2022-07-04
DOI：10.3404/j.issn.1672-7649.2023.07.013
分类号：U664.82
作者简介：周佳宇(1979-),男,硕士,高级工程师,研究方向为舰船装备监管
