摘要船舶动力定位系统是指不借助锚泊系统，而利用自身推进装置有效地产生反作用力和力矩去抵抗风浪流和其它外力对船舶的作用，使船舶保持在设定位置和艏向，与传统的锚泊系统相比，有不受水深限制、机动性能好、定位精确等特点。为了剔除船舶运动中的高频噪声信号和低频运动状态预测估计，减少推进系统的磨损和损耗，本文针对起重船动力定位系统，对动力定位系统滤波与状态估计方法进行了研究。59215

首先，在建船体坐标系和大地坐标系的基础上，建船舶低频运动模型、高频运动模型、环境力模型、测量模型和总体模型，为滤波器设计提供了模型。然后，针对动力定位系统常用滤波技术，介绍了低通滤波技术、卡尔曼滤波器和扩展卡尔曼滤波器，为起重船动力定理系统滤波的设计和仿真提供了基础。其次，分别采用上述三种滤波器，针对起重船动力定位系统进行了仿真研究，分析了低通滤波器在动力定位系统中的时滞特性；针对动力定位系统线性模型，设计了纵向、横向和艏摇三个方向设计了卡尔曼滤波器，通过仿真分析得到在模型误差较小时滤波效果较好；最后针对动力定位系统非线性模型，设计了动力定位系统扩展卡尔曼滤波器，通过仿真对比，该方法能有效克服卡尔曼滤波器的缺陷，得到期望的效果，对实际工程应用有一定的参考价值。

毕业论文关键词：起重船动力定位系统；滤波；卡尔曼滤波器；扩展卡尔曼滤波器

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