Robust Parameter Estimation of an Empirical Manoeuvring Model Using Free-Running Model Tests

Abstract

The work presents the identification and validation of the hydrodynamic coefficients for the surge, sway, and yaw motion. This is performed in two ways: using simulated data and free-running test data. The identification and validation with the simulation data are carried out using a 25° turning test and a 20°−20° zigzag manoeuvring test. For the free-running test data, two zigzag manoeuvres are used: 30°−30° zigzag for identification and 20°−20° zigzag for validation. A nonlinear manoeuvring model is proposed based on the standard Euler equations, and the hydrodynamic coefficients are computed using empirical equations. To obtain robust results, the truncated singular value decomposition is employed to diminish the multicollinearity and the parameter uncertainties due to noise. The validation is carried out by comparing the result of the measured values with the predictions obtained using the manoeuvring models. Finally, a sensitivity analysis for the simulation data is performed to understand the influence of the parameters in the manoeuvres.

Effect of Sampling Rate in Sea Trial Tests on the Estimation of Hydrodynamic Parameters for a Nonlinear Ship Manoeuvring Model

“…Park et al [16] examined the uncertainties associated with outdoor free-running model tests, aiming to evaluate the manoeuvrability of a damaged surface combatant. Costa et al [17] introduced the identification and validation of hydrodynamic coefficients related to surge, sway, and yaw motions. This was achieved through zigzag and turning tests conducted on a free-running ship model.…”

Maritime Autonomous Vessels

“…The main goal of this book is to address key challenges, thereby promoting research on marine autonomous ships. There are many topics on autonomous vessels involved in this book, for instance, automatic control [1][2][3][4], manoeuvrability [5][6][7][8], collision avoidance [9][10][11], ship target identification [12][13][14][15], motion planning [16], and buckling analysis [17].…”

“…The prediction of ship dynamics at sea is complicated, considering the various environmental factors. Costa et al [5] proposed a robust parameter estimation method for nonlinear manoeuvring modelling based on free-running ship model tests. The parameter uncertainties due to noise were reduced by diminishing the multicollinearity using truncated singular value decomposition technology.…”