Ship’s Horizontal Plane Determination by Means of Three Laser Range Sensors in Pilot Navigation and Docking System / WYZNACZENIE PO?O?ENIA UMOWNEJ WODNICY STATKU ZA POMOC? TRZECH DALMIERZY LASEROWYCH W PILOTOWYM SYSTEMIE NAWIGACYJNO-DOKUJ?CYM

摘要

Modern shipa€?s navigation support systems relay mainly on GNSS technology, as prime source of position. The advantages of such solution are obvious and undeniable. On the other hand in critical situations the dependency of the one system presents a great deal of risk. Taking above into consideration the idea of building GNSS independent Pilot Navigation and Docking System (PNDS) was put into practice. PNDS utilizes the range measurements between laser head and shipa€?s side to determine the shipa€?s horizontal plane presented on the screen. The study comprises the case in which three networked rangefinders were deployed on the berth side in a line. Such location of sensors causes uncertainty in determining of shipa€?s outline contour and speed in relation to assigned coordinate reference system. The final algorithm presented in the article, taking into account all underdetermined conditions, has been tested in PNDS system constructed in Maritime University in Szczecin.