Kalman Filtering and Optimal Control Strategies for Dynamic-Positioning System

Yarning Feng Jz and Kurt Kubik

Abstract:	In this paper, the concept of dynamic positioning is extended to include position fixing and setting out or trajectory determination and tracking. A linear dynamic system with control inputs is used to describe the dynamic-positing problem. Two optimal control approaches combined with Kalman filters are introduced respectively to dynamic-positioning systems for surveying and navigation : optimal state- feedback control and opt/ma/ output-tracking control. The central results which are given in this paper are the Separation Theorems for individual control strategies, each of which consists of two parts: one being a Kalman filter, and the other being a linear feedback control law. A second-order dynamic system is processed using these methods to illustrate the major features and possible applications for GPS survey and navigation.
Published in:	Proceedings of the 1994 National Technical Meeting of The Institute of Navigation January 24 - 26, 1994 Catamaran Resort Hotel San Diego, CA
Pages:	901 - 907
Cite this article:	Jz, Yarning Feng, Kubik, Kurt, "Kalman Filtering and Optimal Control Strategies for Dynamic-Positioning System," Proceedings of the 1994 National Technical Meeting of The Institute of Navigation, San Diego, CA, January 1994, pp. 901-907.
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