This chapter presents mathematical models of marine craft for course and heading control. The presented models are state‐of‐the art models used to design autopilot systems for surface craft, USVs, AUVs and ROVs. Modern automatic pilots can execute complex maneuvers such as 3D attitude and path‐following control and they are used for aircraft, marine craft, and automotive systems. Surface craft are usually equipped with a global navigation satellite system receiver, which measures: course over ground, and speed over ground. Ships are usually equipped with a gyrocompass, which is a non‐magnetic compass based on a fast‐spinning disc. The nonlinear maneuvering characteristics can be generated from full‐scale maneuvering tests. For stable ships both the Bech and Dieudonne spiral tests can be applied, while the Bech spiral is the only one avoiding the hysteresis effect for course‐unstable ships.
Autopilot Models for Course and Heading Control
2021-06-01
12 pages
Aufsatz/Kapitel (Buch)
Elektronische Ressource
Englisch
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