Discrete-time Kalman filter for heave motion estimation

被引:9
作者
Reis, Joel [1 ]
Batista, Pedro [2 ]
Oliveira, Paulo [2 ,3 ]
Silvestre, Carlos [1 ,2 ]
机构
[1] Univ Macau, Fac Sci & Technol, Macau, Peoples R China
[2] Univ Lisbon, Inst Syst & Robot, Inst Super Tecn, P-1049001 Lisbon, Portugal
[3] Univ Lisbon, Inst Mech Engn, Associated Lab Energy Transports & Aeronaut, Inst Super Tecnico, P-1049001 Lisbon, Portugal
关键词
Heave motion estimation; Kalman filter; Observability; Sea waves spectrum; CRANE CONTROL; COMPENSATION;
D O I
10.1016/j.oceaneng.2023.114240
中图分类号
U6 [水路运输]; P75 [海洋工程];
学科分类号
0814 ; 081505 ; 0824 ; 082401 ;
摘要
This paper addresses the problem of estimating the heave motion of a platform using biased measurements of an accelerometer. We develop a general framework wherein convenient and well-known properties of trigonomet-ric functions are exploited to devise a linear system whose state encompasses implicit representations of wave amplitudes and phase shifts, as well as a constant sensor bias. The observability of the system is analyzed, followed naturally by the implementation of a discrete-time linear time-varying Kalman filter with global asymptotic stability guarantees. Our proposed methodology is validated with realistic numerical examples, including an accurate representation of a continuous wave spectrum within an ocean context.
引用
收藏
页数:8
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