| 摘要 |
PURPOSE: To realize accurate positioning of its own vessel by estimating a highest likelihood state value of a vessel at an optimal estimation filter section and eliminating the jump of GPS signal at a vessel position jump processing section thereby eliminating the GPS error. CONSTITUTION: An optimal estimation filter section 10 comprises a sampling time control section 11, a state estimating section 12, a gain calculating section 13, a deviation calculating section 14 and an estimation correcting section 15 and estimates an optimal state value of a vessel based on the Kalman filter theory. The filter section 10 also receives an observed value from a detection system including the GPS and outputs a highest likelihood vessel position and a highest likelihood current drift speed. In the GPS system, the data jumps at the time of switching the satellite. Jumping of GPS data is detected at a vessel position jump processing section 20 and eliminated. This constitution provides highest likelihood vessel position and current drift speed regardless of jumping phenomenon of GPS data. |
