Kalman Filter-based multi-sensor fusion for dynamic positioning of ships
The paper examines the problem of Kalman Filter-based multi-sensor fusion for dynamic positioning control of ships.
Year of Publication2010
The paper examines the problem of Kalman Filter-based multi-sensor fusion for dynamic positioning control of ships. The proposed approach enables to estimate accurately the ship’s state vector by fusing vessel’s position and heading measurements coming from on-board sensors together with distance measurements coming from a sensor located at the coast (e.g. radar). The estimated state vector is used in turn in a control loop, to regulate the horizontal position and heading of the vessel. The performance of dynamic positioning of the ship based on Kalman Filtering is evaluated through simulation experiment.
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