The shipyard Meyer Werft at Papenburg (Germany) is building cruise liners for customers from all over the world. However, Papenburg is connected to the North Sea only by the river Ems. Consequently, the navigation of the first 36 km of each large vessel poses a serious problem. The position and orientation of the ship must be computed accurately at all times. At the moment the authors use GPS, mariner compass and a tilt sensor for data collection. Most critical is the rolling of the ship due to wind forces and maneuvers. This could be properly treated using an adaptive Kalman filtering. The unknown parameters are estimated in the framework of Kalman filtering. However, there are disadvantages: 1. The solution becomes more and more underdetermined. More measurements are required. 2. The state equations take a nonlinear form. Linearization of Kalman state equations is possible in the framework of extended Kalman filtering, but introduces additional linearization errors. In the moment, the authors do not have enough data to perform adaptive Kalman filtering. In the future, the authors try to obtain such data and will further investigate the method.
Navigation of large cruise liners built by Meyer Werft, Germany
Navigation von der Meyer Werft in Deutschland gebauter großer Kreuzfahrtschiffe
2008
13 Seiten, 9 Bilder, 1 Tabelle, 5 Quellen
Conference paper
English
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