Identification of Dynamic Ship Motion on the Basis of Accuracy Position Measurements

Ralf Fiedler, Michael Gluch, Jens Kirchner, and Jurgen Majohr

Abstract:	By using relatively exact DGPS and INS navigation sensors, precise position data in submeter range can be reached even in real time. It turned out that even systems like SYLEDIS are not qualified for identification tasks due to their adverse way of filtration. In addition to DGPS/INS several GLONASS-receivers were tested. As a position reference post processing carrier phase measurements were chosen. Besides the position measuring values, a number of further values of sufficient precision are to be recorded. By using an integrated navigation system (SeaNav), up to 250 measuring values and parameters can be recorded. So, apart from different position measuring values, accelerations, velocities and values, identifying the ship’s motion, will be recorded. In addition to the variables of state, system input data like rudder angle, engine revolutions, wind direction and wind force will be simultaneously recorded. On the basis of recorded measuring data, the parameter identification will be demonstrated with an estimate procedure by using selected mathematic models of controlled ship’s motion. The generated dynamic model of the ship can be used, besides specifying the ship’s motions, for designing an improved track regulator.
Published in:	Proceedings of the 7th International Technical Meeting of the Satellite Division of The Institute of Navigation (ION GPS 1994) September 20 - 23, 1994 Salt Palace Convention Center Salt Lake City, UT
Pages:	1471 - 1477
Cite this article:	Fiedler, Ralf, Gluch, Michael, Kirchner, Jens, Majohr, Jurgen, "Identification of Dynamic Ship Motion on the Basis of Accuracy Position Measurements," Proceedings of the 7th International Technical Meeting of the Satellite Division of The Institute of Navigation (ION GPS 1994), Salt Lake City, UT, September 1994, pp. 1471-1477.
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