| In recent years,with the supply of the land resources increasing limited,the economic development of all countries’focus gradually shift to the sea.Because of, in the vast ocean, extremely rich resources,such as seawater chemistry, seafloor mineral resources, marine power resources and marine biological resources and cable laying, tunneling, underwater robot work projects have been more and more. Development and utilization of marine resources has gradually attracted the attention of all countries, the development scope also pushed from shallow sea area to the deep sea area gradually, at the same time, the technical equipment of resource development and engineering work require higher, dynamic positioning is a new technology which is suitable for deep sea mineral resources and operation. Every country’s research of it is still continuing, which is from the original fishing boat to large dynamic positioning ship today, such as the deepwater pipe-laying crane vessel, semi-submersible offshore drilling platforms, etc.The requirement of DP developes from the original DPI to DP3system. The requirement of safety and reliability of DP3is higher, so at least three sets of position reference system are required to realize redundancy in DP3system.Our study is aiming at the location of the "Dalian Pioneer" drilling ship dynamic positioning reference system, the main task is to use a new data-fusion algorithm based on the distributed filter data fusion algorithm, to fuse the information of three kinds of position reference system in dynamic positioning system, so we can improve the positioning accuracy and fault tolerance and make every effort to give theory support in the ship’s dynamic positioning system designing and put forward constructive opinions in system installation and debugging. The second chapter of the thesis is used to introduce dynamic positioning technology and multi-sensor data fusion technology in brief respectively, and then the third chapter introduces the composition unit of dynamic positioning system-position reference system and sensor system, which is the source of the primitive data necessary for fusion technology, because the position reference system mathematical model is based on the environment in which the ship is in the waves flow, so in the fourth chapter we carry out the kinematics and dynamics model of the ship, and marine environment interference force model is established, finally for the given the realization of the function of ship’s dynamic positioning requires multiple sensor information, and there are many differences in these sensors, such as the working frequency, sampling coordinates, and many other aspects, so in this paper, multi-sensor data fusion technology is introduced in chapter five to filter collected data from the position reference system sensor and eliminate unreasonable data, time and space alignment measurement data, using fusion algorithm based on the distributed filter to fuse the data will eventually composite the data with different nature together to estimate the optimal value so that the ship positioning can be more accurate, the tolerance of system fault will become better.In order to meet the requirements of ship operation, finally the algorithm is carried on the computer simulation, the simulation results demonstrate the algorithm can process data real-timely and fuse out an optimal result, which can be applied in dynamic positioning system with its feasibility and superiority. |
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