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2023 Journal Impact Factor - 0.7
2023 CiteScore - 1.4
ISSN 2083-6473
ISSN 2083-6481 (electronic version)
Editor-in-Chief
Associate Editor
Prof. Tomasz Neumann
Published by
TransNav, Faculty of Navigation
Gdynia Maritime University
3, John Paul II Avenue
81-345 Gdynia, POLAND
e-mail transnav@umg.edu.pl
SLAM - Based Approach to Dynamic Ship Positioning
1 Gdynia Maritime University, Gdynia, Poland
ABSTRACT: Dynamically positioned vessels, used by offshore industry, use not only satellite navigation but also different positioning systems, often referred to as ?reference? systems. Most of them use multiple technical devices located outside the vessel which creates some problems with their accessibility and performance. In this paper, a basic concept of reference system independent from any external device is presented, basing on hydroacoustics and Simultaneous Localization and Mapping (SLAM) method. Theoretical analysis of its operability is also performed.
KEYWORDS: Reference System, Dynamic Ship Positioning (DSP), Hydroacoustics, Dynamic Positioning (DP), Simultaneous Localization and Mapping (SLAM), SLAM Method, SLAM Post-Processing, Doppler Velocity Log (DVL)
REFERENCES
Det Norske Veritas. 2013. Rules for Classification of Ships - Part 6 Chapter 7: Dynamic Positioning Systems.
Durrant-Whyte, H. & Bailey, T. 2006. Simultaneous Localisation and Mapping (SLAM): Part I The Essential Algorithms. Robotics & Automation Magazine, IEEE 13(2). 99-110.
Grelowska, G. & Kozaczka, S. & Szymczak, W. 2009. Some methods of the sea bottom recognition. Hydroacoustics 12. Gdańsk: Polish Acoustical Society. 69-76.
International Hydrographic Organization. 2008. IHO Standards for Hydrographic Surveys – Special Publication no. 44 – 5th Edition. Monaco: International Hydrographic Bureau.
International Maritime Organization. Maritime Safety Committee. 1994. Guidelines for Vessels with Dynamic Positioning Systems. MSC/Circ.645.
Marine Electronics Ltd. http://www.marine-electronics.co.uk/ retrieved 28-01-2014.
Rowiński, L. 2008. Pojazdy głębinowe – budowa i wyposażenie. Gdańsk: Wydawnictwo WiB.
Rutkowski, G. 2013. Eksploatacja statków dynamicznie pozycjonowanych. Gdynia: Trademar.
Citation note:
Wróbel K.: SLAM - Based Approach to Dynamic Ship Positioning. TransNav, the International Journal on Marine Navigation and Safety of Sea Transportation, Vol. 8, No. 1, doi:10.12716/1001.08.01.02, pp. 21-25, 2014
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