Identification of hydrodynamic coefficients in ship maneuvering equations of motion by Estimation-Before-Modeling technique

摘要

Estimation-Before-Modeling (EBM) technique (or the two-step method) is a system identification method that estimates parameters in a dynamic model. Given sea trial data, the extended Kalman filter and modified Bryson-Frazier smoother can be used to estimate motion variables, hydrodynamic force, and the speed and the direction of current. And using these estimated data, we can use the ridge regression method to estimate the hydro-dynamic coefficients in a model. An identifiable state space model is constructed in case that current effect is included and the maneuvering characteristics of a ship are analyxed by correlation analysis. To better identify hydrodynamic coefficients, we suggest the sub-optimal input scenario that considers the D-optimal criterion. Finally, the algorithm is confirmed against real sea trial data of 113K tanker.