Implementation of a Ship Manoeuvring Model in an Integrated Navigation System

摘要

The knowledge of the ship dynamics is the basis of an integrated navigationsystem. In Ch. 2 a ship dynamic model will be derived. It will be shown that it is possible to fit the model to a specific ship by just five maneuvering trials. The influence of the disturbances acting on the ship are included in the model. Ch. 3 gives an overview of a series of possible sensors on board of the ship. The dynamics of most of the sensors are given in the literature, the dynamics of the other sensors are derived on the basis of the construction of the sensors. The behavior of the measurement noise of the sensors is estimated. The design of the integrated navigation system is shown in Ch. 4. The implementation of the non-linear ship dynamic model in the KF and the choice of the state vector will be discussed. Finally the integrated navigation system is given.