Conventional ship and underwater vehicle control systems are implemented with a model‐based state estimator for processing of the sensor and navigation data. The quality of the raw measurements are usually monitored and handled by a signal processing unit or a program for quality check and wild‐point removal. The primary measurement systems for model‐based navigation filters when used onboard a surface craft are global satellite navigation systems and heading angle sensors. Wave filtering is one of the most important issues to take into account when designing ship control systems. Environmental forces due to waves, wind and ocean currents are considered disturbances to the motion control system. The Kalman filter is an efficient recursive filter that estimates the state of a linear or nonlinear dynamic system from a series of noisy measurements. A combination of computer simulations and full‐scale experiments have been used to evaluate the performance and robustness of the nonlinear passive observer.


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    Titel :

    Model‐based Navigation Systems


    Beteiligte:
    Fossen, Thor I (Autor:in)


    Erscheinungsdatum :

    2021-06-01


    Format / Umfang :

    55 pages




    Medientyp :

    Aufsatz/Kapitel (Buch)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch




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