The Design of Dynamic Ship Positioning Control Systems Using Extended Kalman Filtering Techniques
- 1 January 1979
- conference paper
- conference paper
- Published by Institute of Electrical and Electronics Engineers (IEEE)
Abstract
Recent dynamic positioning systems have involved the use of a Kalman filter, in a state estimate feedback control scheme, based upon the separation principle of stochastic optimal control theory. Both linear and non-linear filtering schemes have been proposed for this application. A new extended Kalman filtering scheme is introduced which has an improved performance relative to previous designs. This system is compared with one based upon a linear Kalman filter.Keywords
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