Current presumption manner and the device and control manner and device null current speed of the mine neutralization vehicle which

摘要

PROBLEM TO BE SOLVED: To provide a tidal current estimation method and a device capable of estimating the state quantity on a tidal current or the like extremely simply and accurately by using ship position information, and a control method and a device capable of controlling accurately movement of a sailing body under influence of the tidal current.;SOLUTION: In this tidal current estimation method for estimating the state quantity including a tidal current velocity, a tidal current azimuth, and a tidal current force working on the sailing body, position information on the position of the sailing body is received, and the state quantity is estimated from a kinetic model including a sailing body kinetic model for expressing the movement of the sailing body by a mathematical model based on the received position information, a tidal current model for expressing the movement of fluid by a mathematical model, and a fluid force model for expressing a fluid force working on the sailing body by a mathematical model.;COPYRIGHT: (C)2005,JPO&NCIPI