To provide a method and a device for timely and accurately estimating a disturbance working on a vessel for navigating to a destination faster and maintaining a vessel at a fixed position.SOLUTION: A disturbance estimation device includes a navigation information reception unit, a propulsion information reception unit, a position estimation unit, and a disturbance calculation unit. The navigation information reception unit acquires navigation information including an actual position of a vessel on a water surface and a time. The propulsion information reception unit receives propulsion information indicating size and a direction of propulsion force of the vessel. The position estimation unit estimates a predicted position of the vessel with no disturbance state at a prescribed time in the future by using a state estimation model based on the navigation information and the propulsion information. The disturbance calculation unit acquires disturbance information including a drifting direction of the vessel drifting by external force based on a difference between the predicted position and the actual position of the vessel at the prescribed time.SELECTED DRAWING: Figure 1
【課題】より早く目的地まで航行したり、船を定位置に保持したりするために、船舶に作用する外乱を適時かつ正確に推定する方法や装置を提供する。【解決手段】外乱推定装置は、航行情報受信部、推力情報受信部、位置推定部、外乱算出部を含む。航行情報受信部は、水面における実際の船の位置と時刻を含む航行情報を取得する。推力情報受信部は、船の推力の大きさと方向を示す推力情報を受信する。位置推定部は、航行情報と推力情報に基づく状態推定モデルを使用して、将来の所定の時刻における外乱状態がない場合の船の予測位置を推定する。外乱算出部は、予測位置と所定の時刻における実際の船の位置との差に基づいて、外力により漂流した船の漂流方向を含む外乱情報を求める。【選択図】図1
DISTURBANCE ESTIMATION DEVICE, DISTURBANCE ESTIMATION METHOD, AND DISTURBANCE ESTIMATION PROGRAM
外乱推定装置、外乱推定方法および外乱推定プログラム
2023-12-27
Patent
Electronic Resource
Japanese
IPC: | B63B Schiffe oder sonstige Wasserfahrzeuge , SHIPS OR OTHER WATERBORNE VESSELS |
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