Modelling and Simulation of a Surface Vessel by Experimental Approach with Low-Cost Sensors

摘要

This study aims to propose a methodology to develop the mathematical models of a model scaled surface ship, the Nedlloyd Hoorn, with low-cost sensors through free running tests. The computing platform, namely myRIO, and corresponding software LabVIEW were used to control the model scaled vessel and collect data from low-cost sensors, including an accelerometer, gyroscope, digital compass, and GPS, during the free running tests. The logged data was processed by the smoothing spline method and employed to estimate the unknown hydrodynamic coefficients by the Least Square Method. Modelling was conducted by using the proposed 1st and 2nd order Nomoto's manoeuvring models in MATLAB. The simulation data and the experimental data were compared to validate the rationality of the mathematical models. It was found that the 1st and 2nd order Nomoto's manoeuvring models were capable of predicting the manoeuvring features of the model scaled vessel and the 2nd order model yielded more accurate prediction than the 1st order model.