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An adaptive filter for dynamic positioning. (English) Zbl 0595.93060

Summary: An adaptive filter is developed to estimate the low frequency (LF) drift and high frequency (HF) wave-induced oscillations of a floating vessel. The parameters of the HF model depend on the weather and must be updated. By applying a singular perturbation approximation, we decompose the filtering problem into two separate LF and HF designs. This results in an LF Kalman filter and an HF parameter estimator. The parameter estimator is implemented as an extended Kalman-filter-type robust algorithm. To some extent, our approach provides a bridge between existing dynamic positioning filter synthesis techniques. Simulation results are included.

MSC:

93E11 Filtering in stochastic control theory
76B20 Ship waves
93E25 Computational methods in stochastic control (MSC2010)
34E15 Singular perturbations for ordinary differential equations
62M20 Inference from stochastic processes and prediction
93C40 Adaptive control/observation systems
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References:

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