Real Time Estimation of Ship Motions Using Kalman Filtering Techniques
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Triantafyllou_1983_Real.pdf
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Checksum (MD5)
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Author(s)
Triantafyllou, Michael S.
Bodson, Marc
Athans, Michael
Date Issued
1983
Publisher
Institute of Electrical and Electronic Engineers
Citation
IEEE Journal of Oceanic Engineering, OE-8 (1), p.9-20 (1983)
Abstract
The estimation of the heave, pitch, roll, sway, and yaw motions of a DD-963 destroyer is studied, using Kalman filtering
techniques, for application in VTOL aircraft landing.
The governing equations are obtained from hydrodynamic considerations in the form of Linear differential equations with frequency
dependent coefficients. In addition, nonminimum phase characteristics
are obtained due to the spatial integration of the water wave forces.
The resulting transfer matrix function is irrational and nonminimum phase. The conditions for a finite-dimensional approximation are considered and the impact of the various parameters is assessed.
A detailed numerical application for a DD-963 destroyer is presented and simulations of the estimations obtained from Kalman filters are discussed.
Subjects
Kalman filtering
Ship motion
MIT Department
Massachusetts Institute of Technology. Department of Mechanical Engineering
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This material is presented to ensure timely dissemination of scholarly and technical work. Copyright and all rights therein are retained by authors or by other copyright holders. All persons copying this information are expected to adhere to the terms and constraints invoked by each author's copyright. In most cases, these works may not be reposted without the explicit permission of the copyright holder.
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