简介：Inthenormaloperationcondition,aconventionalsquare-rootcubatureKalmanfilter(SRCKF)givessufficientlygoodestimationresults.However,ifthemeasurementsarenotreliable,theSRCKFmaygiveinaccurateresultsanddivergesbytime.ThisstudyintroducesanadaptiveSRCKFalgorithmwiththefiltergaincorrectionforthecaseofmeasurementmalfunctions.Byproposingaswitchingcriterion,anoptimalfilterisselectedfromtheadaptiveandconventionalSRCKFaccordingtothemeasurementquality.Asubsystemsoftfaultdetectionalgorithmisbuiltwiththefilterresidual.Utilizingaclearsubsystemfaultcoefficient,thefaultysubsystemisisolatedasaresultofthesystemreconstruction.Inordertoimprovetheperformanceofthemulti-sensorsystem,ahybridfusionalgorithmispresentedbasedontheadaptiveSRCKF.Thestateanderrorcovariancematrixarealsopredictedbythepriorifusionestimates,andareupdatedbythepredictedandestimatedinformationofsubsystems.Theproposedalgorithmswereappliedtothevesseldynamicpositioningsystemsimulation.TheywerecomparedwithnormalSRCKFandlocalestimationweightedfusionalgorithm.ThesimulationresultsshowthatthepresentedadaptiveSRCKFimprovestherobustnessofsubsystemfiltering,andthehybridfusionalgorithmhasthebetterperformance.Thesimulationverifiestheeffectivenessoftheproposedalgorithms.

简介：6月25日上午，浙江海事局与舟山市人民政府在舟山举行了《共同推进舟山海洋经济发展、加快浙江舟山群岛新区建设战略合作协议》签约仪式。根据协议，双方将共同努力，落实一系列务实措施，有效维护舟山海域交通安全，保障“三位一体”港航物流服务体系建设，促进舟山海洋经济健康发展，加快推进浙江舟山群岛新区建设。

简介：3月27日，中远海运集团董事长、党组书记许立荣，董事、总经理、党组副书记万敏，与南通市委书记、市人大常委会主任陆志鹏，市委副书记张兆江举行会谈，就中远海运集团与南通市的合作进行深入交流。会谈后，双方举行了中远海运港口与南通市关于南通市通海港区集装箱码头项目意向性合作协议及备忘录的签字仪式。