摘要：The efficient and accurate approximate nonlinear filters have been widely used in the estimation of states and parameters of dynamical systems. In this paper, an adaptive divided difference filter is designed for precise estimation of states and parameters of micromechanical gyro navigation system. Based on the investigation of nonlinear divided difference filter the adaptive divided difference filter(ADDF) was designed, which takes account of the incorrect time-varying noise statistics of dynamical systems and compensation of the nonlinearity effects neglected by linearization. And its performance is superior to that of DDF and extended Kalman filter(EKF). Simulation results indicate that the advantages of the proposed nonlinear filters make them attractive alternatives to the extended Kalman filter.

摘要：船舶推进系统稳定性受到施加在螺旋桨上的负载及其本身的惯性效应的综合影响.论文聚焦非对称动力输入下的双缸推进系统,旨在通过理论建模、数值仿真和实验验证探究推进系统的动力学行为及其影响因素.首先,考虑传动系统的啮合刚度、齿面摩擦、齿侧间隙、非对称激励等时变、非线性因素,建立推进系统非线性动力学模型.其次,采用数值方法研究桨端负载及其惯性效应对于推进系统稳定性和振动响应的影响,揭示多参数影响下的系统复杂的动力学行为.最后,基于理论模型,构建并联推进系统综合实验平台,进一步研究了负载和惯性效应对于推进系统声振特性的影响.研究结果对于从动力学角度进行系统动力参数的设计和螺旋桨的结构优化具有积极意义.