Kalman Filter for Dynamic Positioning Ships Using Position and Acceleration Feedback

Considering the problem of dynamic positioning Systems for the slowly-varying disturbances, a new kalman filter using position and acceleration feedback is presented. The kalman filiter separates the WF motions from the measured position and linear acceleration, and estimates the LF position, velocity and acceleration. The stability of this filiter is proven by applying input-to-state (ISS) stability theory. Finally, the computer simulation is given to demonstrate the effectiveness of the proposed method.