Kalman-Bucy Filter Design for Multivariable Ship Motion Control

ABSTRACT: The paper presents a concept of Kalman-Bucy filter which can be used in the multivariable ship motion control system. The navigational system usually measures ship position coordinates and the ship heading, while the velocities are to be estimated using an available mathematical model of the ship. The designed Kalman-Bucy filter has been simulated on a computer model and implemented on the training ship to demonstrate the filtering properties.

KEYWORDS: Automation, Matlab, Kalman Filter, Kalman-Bucy Filter, Ship Motion Control, Multivariable Ship Motion Control, Computer Model, Ship Motion Control System

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Tomera, M. 2010. Discrete Kalman filter design for multivariable ship motion control: experimental results with training ship. Joint Proceedings of Gdynia Maritime Academy & Hochschule Bremerhaven:26 34. Bremerhaven.

Citation note:

Tomera M.: Kalman-Bucy Filter Design for Multivariable Ship Motion Control. TransNav, the International Journal on Marine Navigation and Safety of Sea Transportation, Vol. 5, No. 3, pp. 345-355, 2011

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