Due to reasons of safety and economy the requirements on ship steering are increasing. Especially in confined waters, where a great deal of manoeuvring of the ship is needed, it is important to be able to predict the path of the ship precisely, particularly when it is affected by large disturbances from e.g. wind and current. The paper presents results from simulations with a fully nonlinear model of a ship. Based on this model, estimates of states and external forces are obtained and used for prediction of the path of the ship. The estimation and prediction are done by means of a linear Kalman algorithm. In particular, the effects of the linearizations on the quality and properties of the state estimates and path predictions are examined.
Path prediction for ships subject to external disturbances
Vorhaltewinkel fuer Schiffe bei aeusseren Stoerungen
Control and Computers ; 14 , 2 ; 63-70
1986
8 Seiten, 10 Quellen
Article (Journal)
English
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