Journal of Dalian Maritime University >
2016 , Vol. 42 >Issue 4: 7 - 12
DOI: https://doi.org/10.16411/j.cnki.issn1006-7736.2016.04.002
Attitude estimation of dynamic positioning system based on adaptive unscented Kalman filter
Received date: 2016-03-07
Revised date: 2016-05-27
Online published: 2016-05-27
To solve the estimate accuracy decreasing problem of the conventional unscented Kalman filter caused by diverges of process noise owing to system uncertainty in complex ocean occasion, an adaptive unscented Kalman filter method was proposed, which can adaptively estimate the process noise of current moment based on deviation values between observed values and posteriori estimates values during a period. Numerical simulation results show that the adaptive unscented Kalman filter can accurately estimate the process noise when the process noise changes, which can increase the state estimate accuracy, and improve the filter result.
DING Hao-han , FENG Hui , XU Hai-xiang . Attitude estimation of dynamic positioning system based on adaptive unscented Kalman filter[J]. Journal of Dalian Maritime University, 2016 , 42(4) : 7 -12 . DOI: 10.16411/j.cnki.issn1006-7736.2016.04.002
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