DESIGN OF LEVELING LOOP FOR MARINE NAVIGATION SYSTEM

The problem of designing a leveling loop for a marine navigation syste m (MNS) is considered. The suggested leveling loop is based on H(infin ity)-optimal state-estimator which ensures, via an appropriate frequen cy-dependent weight on the estimation error, a prescribed bandwidth of the loop, to track ship maneuvers. The H(infinity)-optimal estimation -based loop is compared with a corresponding loop which is designed by applying the Kalman filter. The tradeoff between the requirement of m inimum leveling-error variance and the goal of achieving the desired l oop bandwidth is discussed.