A data fusion method for the attitude of the floating production storage and offloading(FPSO) single-point mooring system based on the monitoring data

Aiming at the sensor measurement data error of the single point mooring attitude sensors in FPSO (floating production storage and offloading) during monitoring, this paper proposes a method of information fusion based on multi-sensor redundant monitoring. The method creates the multi-body dynamic motion equation of the FPSO single-point mooring system and builds containment relationships among the redundancy data which is based on monitoring data of multi-sensors installed on FPSO hull and mooring system. This method using nonlinear least square method can effectively correct the monitoring data error and improve the accuracy of the data constraints.