摘要船舶動力定位系統是指不借助錨泊系統，而利用自身推進裝置有效地產生反作用力和力矩去抵抗風浪流和其它外力對船舶的作用，使船舶保持在設定位置和艏向，與傳統的錨泊系統相比，有不受水深限制、機動性能好、定位精確等特點。為了剔除船舶運動中的高頻噪聲信號和低頻運動狀態預測估計，減少推進系統的磨損和損耗，本文針對起重船動力定位系統，對動力定位系統濾波與狀態估計方法進行了研究。59215

首先，在建船體坐標系和大地坐標系的基礎上，建船舶低頻運動模型、高頻運動模型、環境力模型、測量模型和總體模型，為濾波器設計提供了模型。然后，針對動力定位系統常用濾波技術，介紹了低通濾波技術、卡爾曼濾波器和擴展卡爾曼濾波器，為起重船動力定理系統濾波的設計和仿真提供了基礎。其次，分別采用上述三種濾波器，針對起重船動力定位系統進行了仿真研究，分析了低通濾波器在動力定位系統中的時滯特性；針對動力定位系統線性模型，設計了縱向、橫向和艏搖三個方向設計了卡爾曼濾波器，通過仿真分析得到在模型誤差較小時濾波效果較好；最后針對動力定位系統非線性模型，設計了動力定位系統擴展卡爾曼濾波器，通過仿真對比，該方法能有效克服卡爾曼濾波器的缺陷，得到期望的效果，對實際工程應用有一定的參考價值。

畢業論文關鍵詞：起重船動力定位系統；濾波；卡爾曼濾波器；擴展卡爾曼濾波器

Abstract Ship dynamic positioning system is that without the aid of mooring system, and use its own propulsion device effectively produce reaction force and torque to resist effect of wind, wave and current and other external forces on the ship, the ship is maintained in the set position and heading, compared with the traditional mooring system, is not subject to the limitation of water depth, good maneuvering performance and accurate positioningOn the basis of building the ship coordinate system and geodetic coordinate system, the low frequency motion model, high frequency motion model, environmental force model, measurement model and general model are built, which provides a model for the design of the filter.In order to eliminate the ship motion in the high-frequency noise and low-frequency motion state estimate reduce the wear loss and propulsion system, this paper for the crane ship dynamic positioning system, dynamic positioning system filtering and state estimation method is studied

Firstly, based on the ship coordinate system and geodetic coordinate system, the low frequency motion model, the high frequency motion model, the environmental force model, the measurement model and the overall model are built to provide a model for the design of the filter.Then according to the commonly used filtering technology of dynamic positioning system, introduces the low-pass filtering, Kalman filter and extended Kalman filter, provide the basis for the design and Simulation of ship power system theorems filter.Then use the three filter, for the weight of the ship dynamic positioning system is studied by simulation, analysis of the low pass filter in dynamic positioning system time delay characteristics; for the dynamic positioning system linear model design longitudinal, lateral and fore shake three direction of the design of the Kalman filter. The simulation analysis in model error is small, the filtering effect is better.Finally for the dynamic positioning system nonlinear model, design the dynamic positioning system extended Kalman filter (EKF). By comparing the simulation results, this method can effectively overcome the shortcomings of Kalman filter, get the desired effect. For actual engineering application has some reference value.

Keywords：Crane ship dynamic positioning system；wave filtering；Kalman filter；Extended Calman filter matlab起重船動力定位系統濾波方法研究+源程序:http://www.lwfree.com/zidonghua/lunwen_64409.html

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