Dynamic positioning observer design using exogenous Kalman filter

An, Song1; Chen, Dengshuo1; Bai, Yong2

10.1115/OMAE2019-96490

2019

2153-4772

ASME 2019 38th International Conference on Ocean, Offshore and Arctic Engineering, OMAE 2019

7A-2019

Glasgow, United kingdom

THREE PARK AVENUE, NEW YORK, NY 10016-5990 USA

American Society of Mechanical Engineers (ASME)

Observer of a dynamic positioning (DP) system utilizes DP’s measurement data, to predict vessel’s velocities, positions, and unknown environmental forces on the vessel, as well as to handle model uncertainties and errors. Stability and optimality of a DP observer is important for overall DP performance. Nonlinear observer (NLO) designs usually take global asymptotic or exponential stability as the primary goal, and discard the noise. On the other hand, linearized Kalman filter (KF) algorithm, e.g. the extended Kalman filter (EKF), is optimal in minimizing the covariance of observer states by taking both measurement and process noise into account. The applied exogenous Kalman filter (XKF) algorithm in this paper, is a two-stage cascade of NLO and linearized KF, which uses the first-stage NLO estimated states as exogenous inputs for the second-stage linearized KF. XKF approach is proved to have both the stability property inherited from NLO and optimality from linearized KF. Stability and optimality of XKF based observer is studied through DP station-keeping numerical simulations.
Copyright © 2019 ASME.

第一

英语

EI ; CPCI-S

Southern University of Science and Technology[]

Engineering

Engineering, Ocean ; Engineering, Mechanical

WOS:000513307600046

20194907782922

Arctic engineering ; Extended Kalman filters ; Linearization ; Ocean engineering ; Offshore oil well production ; Stability ; Uncertainty analysis

Ocean Engineering:472 ; Oil Field Production Operations:511.1 ; Probability Theory:922.1

EV Compendex

1.Southern University of Science and Technology, Shenzhen, Guangzhou, China
2.Zhejiang University, Hangzhou, Zhejiang, China

An, Song,Chen, Dengshuo,Bai, Yong. Dynamic positioning observer design using exogenous Kalman filter[C]. THREE PARK AVENUE, NEW YORK, NY 10016-5990 USA:American Society of Mechanical Engineers (ASME),2019.