Design of Simulink-based adaptive state estimator in dynamic positioning system of marine vessel

Abstract

Dynamic positioning (DP) systems such as marine position control systems have to maintain the position of the ship in a constantly changing environment. Using information from various sensors, the DP system estimates the position, attitude, and velocity of the ship as well as the disturbances caused by external forces such as waves, wind, and currents. The presented simulation model allows tuning and comparison between different wave filtering algorithms such as nonlinear passive observer (NPO), adaptive Kalman filter (AKF), adaptive extended Kalman filter (AEKF), and adaptive Unscented Kalman filter (AUKF) included in the feedback of the control system.