The vertical motion state estimation of hydrofoil catamaran based on improved UKF

It was the basis of attitude control that an accurate estimate of hydrofoil catamaran athletic stance. It was a problem that a little measurement noise could affect results of ship control system. Improved unscented Kalman filter was been used to estimate the vertical motion state of hydrofoil catamaran. Analysed characteristic of hydrofoil catamaran vertical motion,then set up the vertical motion state equation and measure equation of hydrofoil catamaran. Random measurement noise of sensors had been built. An improved unscented transformation was been used to reduce sigma points. The unscented kalman filter was applied to estimate the vertical motion of the ship. Simulation results showed that improved unscented kalman filter could estimate the vertical motion state of hydrofoil catamaran. The estimated attitude provided was accurate and efficient.