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Abstract
The article presents a comparative analysis of two variants of the Particle Kalman Filter designed by using two different ship motion models. The first filter bases only on the kinematic model of the ship and can be used in many types of vehicles, regardless of the vehicle dynamics model. The input value to the filter is the noisy position of the ship. The second filter makes use of the kinematic and dynamic models of the moving ship. The input values to the filter are the noisy ship position and the forces generated by ship propellers during manoeuvres. These filters are used as state observers. The output values from the filters are position and velocity vectors in three degrees of freedom in the global coordinate system. The simulation test results show that both filters reveal similar accuracy in state observer.
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- Category:
- Conference activity
- Type:
- materiały konferencyjne indeksowane w Web of Science
- Title of issue:
- Advanced Solutions in Diagnostics and Fault Tolerant Control strony 157 - 168
- ISSN:
- 2194-5365
- Language:
- English
- Publication year:
- 2018
- Bibliographic description:
- JAROŚ K., Witkowska A., Śmierzchalski R..: Designing Particle Kalman Filter for Dynamic Positioning, W: Advanced Solutions in Diagnostics and Fault Tolerant Control, 2018, ,.
- DOI:
- Digital Object Identifier (open in new tab) 10.1007/978-3-319-64474-5
- Verified by:
- Gdańsk University of Technology
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