Motion state estimation based on federated filter combining with UKF for dynamic positioning ship

For the dynamic positioning ship, based on the Unscented Kalman Filter (UKF), a federated filter is designed to estimate the ship motion states by using the measurements from different position reference systems (PRS) on the ship. From the point of measurement principle, the nonlinear measurement equations are used to describe the characteristic of different kinds of PRS. With the combination of UKF filter method and federated filter structure, this method can effectively achieve a good data fusion effect for the redundancy PRS to accomplish the goal of estimating the ship motion states with good accuracy. The simulation results show that the UKF based federated filter can meet the need for the state estimation for the dynamic positioning ship.