Autopilot with adaptive vessel modelling

• Autorzy: Narkiewicz J. , Świętoń G. , Andrzejczak M.
• Języki publikacji: EN

Abstrakty

EN

A feasibility study of an application of adaptive model in a ship autopilot is presented. The system for predicting a ship motion, developed in the previous studies, was enriched by a control algorithm of the ship motion and the adaptive model of the ship. The signals from the navigation sensors (DGPS, log, and gyrocompass) are filtered by dedicated Kalman filters, and then processed by an integration algorithm to obtain the best estimation of the actual ship position, heading, velocity and rate. These data form the state vector of the ship dynamic model. The model of the ship dynamics has parameters which are identified on-line using particle filter method. The efficiency of applied control methods and collaboration with on-line adaptive dynamics modeling was verified by simulations.

Słowa kluczowe

EN

autopilot; vessel modelling

PL

autopilot; modelowanie statku

• Wydawca: Polskie Forum Nawigacyjne
• Czasopismo: Annual of Navigation
• Rocznik: 2009
• Tom: No. 15
• Strony: 93--100
• Opis fizyczny: Bibliogr. 3 poz., rys., tab.

Twórcy

autor

Narkiewicz J.

autor

Świętoń G.

autor

Andrzejczak M.

• Warsaw University of Technology, Industrial Research Institute for Automation and Measurements

Bibliografia

• [1] Narkiewicz J., Andrzejczak M., “An adaptive system for on-line identification of ship motion using unscented filter”, In XIV-th International Scientific and Technical Conference “The Part of Navigation in Support of Human Activity on the Sea”, Gdynia 2004
• [2] Narkiewicz J., Andrzejczak M., “Evaluation of the Prediction System Based on Four Degrees of Freedom Ship Model”, Zeszyty Naukowe / Akademia Morska w Szczecinie, No 6 (78), pp. 313 – 324, Szczecin 2005
• [3] Narkiewicz J., Świętoń G., “Methods and algorithms for integrated navigation and control systems”, Chapter 3 Model of sea vessel, Report form grant from Polish Ministry of Science and Higher Education “Methods and algorithms in the integrated navigation and control systems”, Warsaw 2007