Ship-to-Ship State Observer Using Sensor Fusion and the Extended Kalman Filter

T⊘rdal, Sondre Sanden; Hovland, Geir

doi:10.1115/1.4041643

Cited by 10 publications

(3 citation statements)

References 11 publications

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“…The attitude estimator was based on the combination of the complementary filter on SO(3) Mahony et al (2008), and a low pass filter on the lidar measurements. The main difference from Tørdal and Hovland (2019) is that we use inexpensive sensors like cameras, lidar and gyroscopes, which makes it necessary to develop the required vision algorithms. The paper does not address the control of the crane payload, only the sensor system.…”

Section: Introductionmentioning

confidence: 99%

Estimation of Ship-Deck Motion using LIDAR,Gyroscopes and Cameras

Holen¹,

Sjöberg²,

Egeland³

2021

MIC

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This paper presents a system for the estimation of ship deck motion using camera, lidar and gyroscopes. A camera is used in a vision system that is based on the detection of lines as input to a vanishing point detector. This is done under a Manhattan assumption for man-made structures where the majority of lines are along 3 orthogonal axes. Two sets of parallel orthogonal lines are detected for the ship deck, and this is used to estimate the attitude using a complementary filter with input from lidar and gyroscopes. Since the vision algorithm depends on lines rather than points, the system is more resistant to occlusions like vision algorithms based on point tracking. In addition, a lidar is used to measure the distance between the sensor frame and the plane, and gyroscopes are used to improved the accuracy of the estimates. The system is validated in real time in lab experiments on a model of a ship.

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Section: Introductionmentioning

confidence: 99%

Estimation of Ship-Deck Motion using LIDAR,Gyroscopes and Cameras

Holen¹,

Sjöberg²,

Egeland³

2021

MIC

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“…Residual strains and deformation of laminates were then measured. In Tordal et al [12], this instrument was used to obtain the relative motion (position and orientation), using an extended Kalman filter, between two ships. They were also used in medical applications such as the alignment telescope of a heavy ion medical machine, combined with a laser tracker by means of network [13].…”

Section: Introductionmentioning

confidence: 99%

Study on LT Accuracy Improvement by Calibration Based on Network Measurements

Velázquez

Conte

Majarena

et al. 2021

Sensors

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Laser trackers (LT) are widely used to calibrate other machines. Nevertheless, very little is known about calibrating an LT. There are some standards that allow us to evaluate the LT performance. However, they require specialized equipment. A calibration procedure to improve the LT accuracy in an easy and fast way is presented in this paper. This method is based on network measurements where a set of reflectors were measured from different LT positions in a working environment. The methodology proposed deal with the lack of nominal data of the reflector mesh. A measurement scenario was defined, based on error parameter dependence on distances and angles, thus, obtaining those positions more sensitive to errors. The influence of the incidence angle of the laser beam on the reflector was characterized, revealing that its contribution to the LT measurement error can be up to 13 µm. Error kinematic parameters were identified to provide the optimum value of an objective function, where the reflector mesh nominal data were unknown. The calibration procedure was validated with nominal data, by measuring a set of reflectors located on a coordinate measuring machine. The findings of this study suggested that the LT accuracy can be improved up to 25%. Moreover, the method can be carried out by the LT user without requiring specialized equipment.

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“…For lifting operations involving other vessels, the vessels will be in different swing phases. Tordal et al has proposed a method for vessel to vessel operations, where a motion reference unit is placed in each vessel allowing for an accurate and reliable relative motion estimate. Critical loading conditions causing severe instability and rolling in the vessel should be detected and handled by the control system.…”

Section: Introductionmentioning

confidence: 99%

Trade study to select best alternative for cable and pulley simulation for cranes on offshore vessels

Fotland

Haskins

Rølvåg

2019

Systems Engineering

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Cranes on offshore vessels are subjected to crane dynamics, structural couplings to the vessel, and environmental influence by waves and currents. The recent trend has been to use larger cranes on smaller vessels, which makes the lifting operation more complex and potentially dangerous. The use of digital twins (DTs) is emerging as one way to enable safer operations, real‐time simulation, and maintenance prediction. On offshore vessels, a DT can monitor the lifting operation to create a safer work environment. The SPADE (stakeholders, problem formulation, alternatives, decision making, and evaluation) model has been used as a framework toward the creation of a DT of cranes on offshore vessels. Several cases involving simulation of cranes revealed the lack of an adequate simulation of cable and pulleys suitable for use in a DT. The simulation is important for accurate results and for implementation in control systems. A trade study was performed to determine a numerical method adequate for cable and pulley simulation. The trade study identified the absolute nodal coordinate formulation in the framework of arbitrary Lagrangian–Eulerian as a promising numerical formulation.

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Ship-to-Ship State Observer Using Sensor Fusion and the Extended Kalman Filter

Cited by 10 publications

References 11 publications

Estimation of Ship-Deck Motion using LIDAR,Gyroscopes and Cameras

Estimation of Ship-Deck Motion using LIDAR,Gyroscopes and Cameras

Study on LT Accuracy Improvement by Calibration Based on Network Measurements

Trade study to select best alternative for cable and pulley simulation for cranes on offshore vessels

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