Discrete Wavelet Transform-based Approach of Real-time Wave Filtering for Dynamic Positioning of Marine Vessels

Table 5

Performance comparison between wavelet filtering and EKF.

	Wave direction	Motions	EWF-wavelet (%)	EWF-EKF (%)	EWF-m (%)
Scaled	180°	x	0.407	1.300	12.269
		y	0.021	0.075	0.176
		Heading	0.089	0.300	3.954
	135°	x	0.111	0.652	4.489
		y	0.004	0.031	0.222
		Heading	0.044	0.271	2.392
Full-scale	—	x	0.318	0.611	4.953
		y	0.447	0.958	5.210
		Heading	0.217	0.314	1.658