A linear signal filtering smoothing algorithm for ship dynamic positioning

The algorithm based on extended Kalman filter and in combination with linear smoothing was proposed in this paper, as there are some deviations larger abnormal values in measurement of the ship position system. And this method was used to process nonlinear continuous system. It was applied to ship dynamic positioning. First, we deep analyze nonlinear model of ship dynamic positioning, then turn it into a linear model. Second, discrete linear model of ship dynamic positioning, finally, filter using the extended Kalman filter algorithm and smooth filtered signal using smoothing linear algorithm. The experimental results show that the method was simple, reasonable, effective and easy for real-time applications.