Ship dynamic positioning Kalman filtering method

The invention relates to the field of dynamic positioning control, and specifically relates to a filtering method in a ship dynamic positioning system. The filtering method comprises the following steps of: (1) measuring the position and the acceleration of a ship, and transferring data into a unified coordinate system; (2) establishing a ship model containing the high-frequency acceleration; (3) establishing a Kalman filter capable of estimating the position, the speed and the acceleration; and (4) based on the measured position and acceleration, filtering the high-frequency interference by using the Kalman filter to obtain low-frequency ship position speed and acceleration speed required by the ship dynamic positioning system, and sending data to the dynamic positioning system. The method can be used for estimating the ship low-frequency position speed and acceleration required by the ship, and precise ship position, speed and acceleration information can be obtained by performing comprehensive filtering an