Kalman filtering for positioning and heading control of ships and offshore rigs

Fossen, Thor & Perez, Tristan (2009) Kalman filtering for positioning and heading control of ships and offshore rigs. IEEE Control Systems Magazine, 29(6), pp. 32-46.

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In this article, we have described the main components of a ship motion-control system and two particular motion-control problems that require wave filtering, namely, dynamic positioning and heading autopilot. Then, we discussed the models commonly used for vessel response and showed how these models are used for Kalman filter design. We also briefly discussed parameter and noise covariance estimation, which are used for filter tuning. To illustrate the performance, a case study based on numerical simulations for a ship autopilot was considered. The material discussed in this article conforms to modern commercially available ship motion-control systems. Most of the vessels operating in the offshore industry worldwide use Kalman filters for velocity estimation and wave filtering. Thus, the article provides an up-to-date tutorial and overview of Kalman-filter-based wave filtering.

Impact and interest:

84 citations in Scopus
65 citations in Web of Science®
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ID Code: 70684
Item Type: Journal Article
Refereed: Yes
Additional URLs:
Keywords: Kalman filters, Kalman filter design, Control system synthesis, Covariance analysis, Motion control, Vehicle dynamics, Ships, Motion control systems, Wave filtering, Velocity measurements
DOI: 10.1109/MCS.2009.934408
ISSN: 1066-033X
Divisions: Current > Schools > School of Electrical Engineering & Computer Science
Current > QUT Faculties and Divisions > Science & Engineering Faculty
Copyright Owner: Copyright 2009 IEEE
Deposited On: 30 Apr 2014 02:19
Last Modified: 09 Apr 2015 23:31

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