Ship Course-Keeping Algorithm Based On Knowledge Base

Fusion of data from AIS and tracking radar for the needs of ECDIS

“…U ar = P a + P r -P ar -P ar -1 (5) where P ar is the cross-covariance matrix, calculated recursively with the use of Kalman Filter's matrixes of elementary filters. Such a solution is useless if only estimate and its covariance is known and no more details about elementary filters.…”

“…The most important platform for fusion is ECDIS, which is sometimes introduced into INS (Integrated Navigational System). Radar-AIS fusion is also a basis for navigational decision support systems like in [3], [4], [5].…”

Ship course stabilization by feedback linearization with adaptive object model

“…Our considerations will be limited to the class of non-linear single input and affinity systems, due to the form of control signal: = f(x) + g(x)u (2) where: f(x), g(x) -smooth vector fields in R n (infinitely differentiable functions, with a domain and range R n ) and f(0) = 0, u -control signal (scalar).…”

“…The above equation can be written as the system: (8) that after the introduction of a Lie derivative [7] takes this form: (9) and accounting for relation (2) and the fact that components: T 2 , ..., T n must be independent of u, contrary to the control v, it will be written as: (10) At this point one can see that the feedback linearization problem actually requires looking for the component T 1 , as later the remaining components T 2 , ..., T n can be determined inductively from the system (10), then the control input (because L g(x) T n (x) ≠ 0): (11) that for: (12) takes the form (3).…”

“…Instead of a ship (real object), a de Witt-Oppe model [3] was used, accounting for the dynamics of the steering gear: The ship's model coefficients were those of m/s Compass Island [3]. To incorporate disturbances, the simulations included a signal with characteristics of sea waves generated by wind [2]. The coefficients of linear control in the external loop (40) were determined by means of LQR controller synthesis.…”