Statistical modeling of Kalman filtering estimation for ship lateral motion based on perturbation of hydrodynamic parameter

The statistical capability of Kalman estimation method for latitudinal movement of ship is studied,when its hydrodynamic parameters fluctuate around criterion value at random after the proportional distributing.The probability modeling and application of the Kalman estimation for ship are given when a given ship navigates at the speed of 18 kns/h and the course of 0,45,90,135,180 degrees under rank 5 state of sea,and the hydrodynamic parameters of the ship fluctuate at random on the proportional distributing with a range of ±10%.The result of emulating shows that when the hydrodynamic parameters of ship fluctuates,the precision of estimation submits to logarithmic normal distribution and the average of precision has no remarkable changes comparing to that without perturbation of hydrodynamic parameter.