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

The ongoing development of deep-sea resources has contributed toward the widespread use of dynamic positioning (DP) systems that can operate in arbitrary sea areas without the limitation of operating water depth compared to mooring systems. The second-order slowly varying forces can be compensated by DP feedback control. Wave filtering techniques are crucial for designing the DP controller, which can improve the positioning performance and service of multiple actuators. The objective of wave filtering is to separate the motion induced by the first-order high-frequency oscillatory waves from the motion caused by the second-order low-frequency (LF) slowly varying disturbances. This paper proposes a novel real-time wave filtering approach for DP systems on the basis of the discrete wavelet transform without relying on the previous knowledge of dynamics of the vessel. Meanwhile, to suppress the end effects of wavelet filtering and achieve real-time application, symmetric boundary extension and the sliding window method are investigated in order to capture the slow time-varying LF motion of DP vessels. The proposed real-time wavelet filtering approach can significantly improve the quality of the separated components by selecting the optimal decomposition level, wavelet function parameters, and threshold denoising method. The real-time and filtering performance of the proposed approach is verified using a scaled model of an offshore supply vessel as well as full-scale experiments on the EXPLOERE I scientific investigation vessel under the action of winds, currents, and waves. The experimental results confirm that the proposed wave filtering algorithm is efficient and that the LF component waveform can be effectively recovered after wavelet filtering.