Estimation of low-frequency motion for ship Dynamic Positioning

To avoid the excessive activity (wear and tear) of the propulsion system in Dynamic Positioning, the Kalman filter is proposed to remove the disturbance caused by noise and the high-frequency motion of ship and estimate the low-frequency motion of ship including position and heading information for a specific ship model in this paper. Simulation results indicate that the estimation of the low-frequency motion for ship Dynamic Positioning by the Kalman filter is valid.