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Diagnosis and Fault-Tolerant Control of Critical Infrastructures Read chapter Read first chapter

2018 | OriginalPaper | Chapter

Designing Particle Kalman Filter for Dynamic Positioning

Authors : Krzysztof Jaroś, Anna Witkowska, Roman Śmierzchalski

Published in: Advanced Solutions in Diagnostics and Fault Tolerant Control

Publisher: Springer International Publishing

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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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Metadata
Title
Designing Particle Kalman Filter for Dynamic Positioning
Authors
Krzysztof Jaroś
Anna Witkowska
Roman Śmierzchalski
Copyright Year
2018
Book
Advanced Solutions in Diagnostics and Fault Tolerant Control

Print ISBN: 978-3-319-64473-8

Electronic ISBN: 978-3-319-64474-5

Copyright Year: 2018

DOI
https://doi.org/10.1007/978-3-319-64474-5_13

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