An adaptive filter for dynamic positioning
V. Gourishankar, Leszek Trybus, Robert Rink · Optimal Control Applications and Methods · 1986
Abstract 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.