Real Time Estimation of Ship Motions Using Kalman Filtering Techniques

Author(s)
Triantafyllou, Michael S.; Bodson, Marc; Athans, Michael
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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.
Date issued
1983
URI
http://hdl.handle.net/1721.1/18537
Publisher
Institute of Electrical and Electronic Engineers
Citation
IEEE Journal of Oceanic Engineering, OE-8 (1), p.9-20 (1983)
Keywords
Kalman filtering, Ship motion
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