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An Integrated Model of Motion, Steering, Positioning and Stabilization of an Unmanned Autonomous Maritime Vehicle

Gerigk M. K., Wójtowicz S.

TransNav : International Journal on Marine Navigation and Safety of Sea Transportation

2015

Vol. 9, no. 4

591--596

In the paper the aim of an interdisciplinary research is presented. The research method is introduced. An object the unmanned autonomous maritime vehicle is briefly described. The key research problem concerns a combined model of the vehicle motion including the loads of lift and hydrodynamic nature. The model takes into account the gravity and displacement forces, resistance and thrust forces, lift and other hydrodynamic forces. One of the major research tasks is to precisely predict the position of the vehicle. To do that an integrated model of acquiring, analyzing and processing the signals is necessary. The processed signals may then be used for the precise steering of the vehicle. The vehicle should be equipped with a stabilization system. Some information on an integrated steering, positioning and stabilization system of the vehicle is briefly presented in the paper. Such the system enables to obtain a fully autonomous vehicle. Some information on the propulsion and underwater energy supply systems are presented in the paper, too.

Analytical model of position uncertainty of ship’s plan geometry in integrated navigation system

Tomczak A.

TransNav : International Journal on Marine Navigation and Safety of Sea Transportation

2007

Vol. 1, no. 2

187--191

For safety reason it would be essential to apply uncertainty of ship’s contour position in safety evaluation of maneuvers carried out on basis of INS (Integrated Navigation Systems) indications, instead of real dimensions of the ship’s contour. The paper presents analytical method of ship’s plan geometry (contour) uncertainty area determination. The model was used to determine uncertainty area of ship maneuvering in Świnoujście harbor for typical configuration of navigational equipment applied in existing pilot systems. The results of experiment were discussed. The model equations were derived from measurement error propagation theory. Potential application of uncertainty area as safety zone around ship contour was appointed.