A Scheme on Indoor Tracking of Ship Dynamic Positioning Based on Distributed Multi-Sensor Data Fusion

Investigating the model ship dynamic positioning system by simulating the actual sea conditions in the laboratory can not only avoid the risks caused by the directly experiments on a true ship, but also reduce the costs. With the purpose of realizing the high accuracy control of the dynamic positioning, besides a high accuracy mathematical model of the ship, an important condition is that the position information provided by the position detection system must be accurate, reliable, and continuous. The global positioning system (GPS) signal is restricted when the model ship dynamic positioning system is set indoors. This paper describes a novel scheme for ship target tracking based on the multi-sensor data fusion techniques. To improve the accuracy of indoor positioning and ship target tracking, the characteristics of many sensors are systematically analyzed, such as radar, difference GPS, and ultrasonic sensors. Other important factors, including the indoor temperature, position, and environment, are also taken into account to further optimize the performance. Combining the Kalman filter method, the time alignment method, the coordinate transformation method, and the optimal fusion criterion method, the core algorithm of our framework employs the track correlation as the performance index of the optimal fusion. The experimental results indicate that our method outperforms the methods based on a single ultrasonic sensor. The maximum error between the estimated location and the real location is only 1.32 cm, which meets the standard for engineering applications.