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Mathematical Problems in Engineering
Volume 2013, Article ID 173603, 7 pages
Research Article

Estimation of Observer Parameters for Dynamic Positioning Ships

Automation College, Harbin Engineering University, Harbin 150001, China

Received 6 November 2012; Revised 17 January 2013; Accepted 18 January 2013

Academic Editor: Valentina E. Balas

Copyright © 2013 Xiaogong Lin et al. This is an open access article distributed under the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.


Considering the problem of dynamic positioning systems for the slowly varying disturbances, a parametrically adaptive observer is presented. The peak frequency of observer is adjusted on-line by autoregressive (AR) spectral estimation; other parameters of observer are optimized using particle swarm optimization (PSO). The peak frequency can be calculated by spectral analysis of the pitch, roll, and heave measurements. In the spectral estimation, Levinson-Durbin algorithm is used to solve the Yule-Walker equations. Finally, the computer simulation is given to demonstrate the effectiveness of the proposed method.