The applied research of hydrofoil catamaran attitude estimation based on the fusion filtering

This paper presents an analysis method of the estimation of longitudinal of hydrofoil catamaran attitude to solve the problem of hydrofoil catamaran´s attitudes analysis and the longitudinal movement control in waves. A virtual control is applied to maintain the stability of the open loop system. Then a nonlinear discrete state-space model on longitudinal motion according to this open-loop stability system is established. In order to improve the accuracy of estimation, the paper presents a fusion filter model. The square of the model estimation error current time as the evaluation function, through an evaluation function criterion, switching the two models´ estimation, thus achieving the fusion of the advantages of filter model. Two independent parallel computing models, in favor of hardware implementation, does not increase the amount of computation and computing time; Based on wave colored noise without state dimension, reducing the filter estimation computation and complexity, improving the speed of operation. The simulation results show that using this method to estimate the longitudinal motion of hydrofoil catamaran is reasonable and feasible and meet the requirement of precision.