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.
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:
Citation counts are sourced monthly from and citation databases.
These databases contain citations from different subsets of available publications and different time periods and thus the citation count from each is usually different. Some works are not in either database and no count is displayed. Scopus includes citations from articles published in 1996 onwards, and Web of Science® generally from 1980 onwards.
Citations counts from theindexing service can be viewed at the linked Google Scholar™ search.
|Item Type:||Journal Article|
|Keywords:||Kalman filters, Kalman filter design, Control system synthesis, Covariance analysis, Motion control, Vehicle dynamics, Ships, Motion control systems, Wave filtering, Velocity measurements|
|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|
Repository Staff Only: item control page