The vertical motion state estimation of hydrofoil catamaran based on CDKF

The hydrofoil catamaran had a strong non-linear characteristic at high speed sailing. It is proposed a new method use Central Different Kalman Filter to estimate the motion state of hydrofoil catamaran. This paper established the non-linear model of the hydrofoil catamaran vertical attitude motion. It was considered that the model had second-order non-linear characteristic, so second-order Central Different Kalman Filter was took ues to filter this modle. Central Different Kalman Filter, Unscented Kalman Filter and Particle Filter were used to estimation the vertical motion of Hydrofoil Catamaran, then compared and analysed the effect of estimation. Simulation results showed that CDKF could accuracy and efficient estimate the vertical motion of Hydrofoil Catamaran. It had high precision and few adjustment parameters. This method was better than UKF and PF.