Online Estimation of Ship's Mass and Center of Mass Using Inertial Measurements

Linder, Jonas; Enqvist, Martin; Fossen, Thor I.; Johansen, Tor Arne; Gustafsson, Fredrik

doi:10.1016/j.ifacol.2015.10.270

Cited by 7 publications

(6 citation statements)

References 11 publications

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“…It was shown that the estimator is surprisingly robust in the desired parameters corresponding to mass and center of mass but that the other parameters had large variations. Although it has not been discussed in this paper, the proposed method has also been validated on data from scale model with good results, see Linder (2014) or Linder et al (2015).…”

Section: Sensitivity To Initial Conditionsmentioning

confidence: 96%

“…To simplify the analysis, all disturbances were set equal to zero. For a discussion on the estimator's disturbance rejection, see Linder et al (2014b), Linder et al (2014a) and Linder et al (2015). The system was assumed to be given by (11) and the parameters, given in Table2, were chosen to resemble the parameters of the scale model in Linder et al (2015).…”

Section: Sensitivity To Initial Conditionsmentioning

confidence: 99%

“…In addition to the formulation of the approach, a Monte Carlo simulation is performed to investigate the estimator's sensitivity to initial conditions. This paper presents theoretical aspects, the proposed method has also been validated 1 on data from scale model, see Linder et al (2015).…”

Section: Introductionmentioning

confidence: 99%

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Modeling for IMU-based Online Estimation of a Ship's Mass and Center of Mass

et al. 2015

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A ship's roll dynamics is very sensitive to changes in the loading conditions and a worst-case scenario is the loss of stability. This paper proposes an approach for online estimation of a ship's mass and center of mass. Instead of focusing on a sensor-rich environment where all possible signals on a ship can be measured and a complete model of the ship can be estimated, a minimal approach is adopted. A model of the roll dynamics is derived from a well-established model in literature and it is assumed that only motion measurements from an inertial measurement unit together with measurements of the rudder angle are available. Furthermore, identifiability properties and disturbance characteristics of the model are presented. Due to the properties of the model, the parameters are estimated with an iterative instrumental variable approach to mitigate the influence of the disturbances and it uses multiple datasets simultaneously to overcome identifiability issues. Finally, a simulation study is presented to investigate the sensitivity to the initial conditions and it is shown that there is a low sensitivity for the desired parameters.

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Section: Sensitivity To Initial Conditionsmentioning

confidence: 96%

Section: Sensitivity To Initial Conditionsmentioning

confidence: 99%

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Modeling for IMU-based Online Estimation of a Ship's Mass and Center of Mass

et al. 2015

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“…The pendulum example has simple and intuitive dynamics that is a good approximation of the roll dynamics of many vehicles, such as cars, trucks or ships. In addition to the pendulum setup, the framework has been successfully applied to estimate a scale-model ship's dynamics which is considerably more complex, see Gustafsson (2015a) and(2015b).…”

Section: Experimental Verificationmentioning

confidence: 99%

Identification of systems with unknown inputs using indirect input measurements

Linder

Enqvist

2016

International Journal of Control

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A common issue with many system identification problems is that the true input to the system is unknown. This paper extends a previously presented indirect modeling framework that deals with identification of systems where the input is partially or fully unknown. In this framework, unknown inputs are eliminated by using additional measurements that directly or indirectly contain information about the unknown inputs. The resulting indirect predictor model is only dependent on known and measured signals and can be used to estimate the desired dynamics or properties. Since the input of the indirect model contains both known inputs and measurements that could all be correlated with the same disturbances as the output, estimation of the indirect model has similar challenges as a closed-loop estimation problem. In fact, due to the generality of the indirect modeling framework it unifies a number of already existing system identification problems that are contained as special cases. For completeness, the paper is concluded with one method that can be used to estimate the indirect model as well as an experimental verification to show the applicability of the framework.

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“…The parameters of the mass and centroid can be measured by inertial measurement, multi-point weighing, a compound pendulum or a three-wire pendulum, and other experimental testing methods. Linder investigated a model of a ship’s roll dynamics along with measurements from an inertial measurement unit [ 8 ]. Bacaro developed a device for measuring the CG location of satellites by finite element modeling and analysis (FEA) and multi-body modeling and simulation (MBS) [ 9 ].…”

Section: Introductionmentioning

confidence: 99%

General Mass Property Measurement Equipment for Large-Sized Aircraft

Zhang

Tang

et al. 2022

Sensors

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The accurate measurement of aircraft mass properties, such as the mass, centroid, and moment of inertia (MOI), plays a key role in the precise control of aircraft. In order to obtain high-precision information on the parameters of the mass, centroid, and MOI of an aircraft using a single instrument, an integrated mass property measurement system was developed in this study by analyzing and comparing the latest technologies, especially the function-switching device, which switches the measurement states between the center of mass and the MOI. The purpose of mass property measurement was achieved through single clamping. In addition, the system has strong versatility and expansion and can be used with different tooling or adapter rings to measure the mass properties of aircraft with different shapes. In this paper, the main mechanical structure of the measurement system, the measurement method of relevant mass parameters, and the solution method of the transformation matrix are introduced, and the standard parts and the aircraft were verified experimentally. The test results showed that the mass measurement accuracy was 0.03%, the centroid measurement error was within ±0.2 mm, and the measurement accuracy of the MOI was within 0.2%, all of which meet the high-precision measurement requirements for the mass properties.

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Online Estimation of Ship's Mass and Center of Mass Using Inertial Measurements

Cited by 7 publications

References 11 publications

Modeling for IMU-based Online Estimation of a Ship's Mass and Center of Mass

Modeling for IMU-based Online Estimation of a Ship's Mass and Center of Mass

Identification of systems with unknown inputs using indirect input measurements

General Mass Property Measurement Equipment for Large-Sized Aircraft

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