The invention belongs to the technical field of dynamic positioning ship state estimation of a nonlinear system, and particularly relates to a dynamic positioning ship nonlinear state estimation method under model parameter uncertainty. According to the method, a three-degree-of-freedom discrete time state space model of a dynamic positioning ship is converted into a nonlinear system model with uncertain model parameters according to the north position, the east position and the heading angle of the dynamic positioning ship under the initial condition, and then a state vector estimated value of the dynamic positioning ship is calculated. According to the method, the condition that a nonlinear system must be continuous and differentiable is overcome, a Jacobi matrix of the system does not need to be calculated, robustness is kept, and due to introduction of a volume rule, the precision of state prediction and covariance prediction is further improved.
本发明属于非线性系统的动力定位船状态估计技术领域,具体涉及一种模型参数不确定下动力定位船非线性状态估计方法。本发明根据初始条件下动力定位船的北向位置、东向位置和艏向角,将动力定位船的三自由度离散时间状态空间模型转化为模型参数不确定的非线性系统模型,进而计算动力定位船的状态矢量估计值。本发明克服了非线性系统必须连续可微的条件,且不需要计算系统的Jacobi矩阵,既保持了鲁棒性,又由于容积规则的引入使得状态预测和协方差预测的精度得到了进一步提高。
Dynamic positioning ship nonlinear state estimation method under model parameter uncertainty
一种模型参数不确定下动力定位船非线性状态估计方法
2021-04-02
Patent
Electronic Resource
Chinese
IPC: | B63B Schiffe oder sonstige Wasserfahrzeuge , SHIPS OR OTHER WATERBORNE VESSELS |
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