Study On The Prediction And Estimation Of Ship Roll Motion Based On Kalman Filter

The disturbing forces coming along with waves, sea wind and ocean current will result in ship rocking in various directions such as yaw, heave, pitch, roll, sway and surge, which will badly affect the sailing. Especially when ships are in combat, the stabilization requirements of artillery systems, radar tracking systems and precision equipment on board will vary accordingly. Stable platform is widely used in the ship to meet the requirements of the stability of different equipments. If the ship hold short-term forecast movement, it can be a real-time control of the stable platform , or the real-time control of equipment on board. Therefore, it is of great importance to forecast the ship's movement in short-time.Predictive control of Shipboard stable platform is the research background. Based on the Kalman filter theory, this paper focuses on the approach to forecasting ship movement. According to specific parameters of a certain type of ship, the author makes a forecasting simulation of ship rolling. First, according to the overall plan of ship rolling prediction, random wave simulation is studied, and diagrams of curves describing angle waves are obtained. A certain type of ship rolling motion model is established, and in accordance with the angle waves wave obtained ship rolling angle simulation curve. Secondly, measurement system of ship rolling angular velocity is designed based on micro-electromechanical system gyroscopes. Finally, the measurement noise and the wave interference are approximately substituted by White Noise, and the ship posture prediction algorithm is studied. The rolling motion of ship is studied by the way of the semi-physical simulation for the situation that ship sails in the four sea conditions. The state of ship is forecasted using Kalman filtering theory, and the prediction error is analyzed.By analyzing the prediction error, we can see ship rolling posture forecast can be satisfied with the accuracy of prediction for the use of Kalman filtering algorithm. In this paper, the ship rolling posture prediction method is universal, and this method can be used as the ship posture estimates and other sports prediction reference.