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Modeling for IMU-based Online Estimation of a Ship's Mass and Center of Mass
Linköping University, Department of Electrical Engineering, Automatic Control. Linköping University, The Institute of Technology.ORCID iD: 0000-0003-3498-3204
Linköping University, Department of Electrical Engineering, Automatic Control. Linköping University, The Institute of Technology.
Centre for Autonomous Marine Operations and Systems (AMOS), Department of Engineering Cybernetics, Norwegian University of Science and Technology, Trondheim, Norway.
Centre for Autonomous Marine Operations and Systems (AMOS), Department of Engineering Cybernetics, Norwegian University of Science and Technology, Trondheim, Norway.
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2015 (English)In: Proceedings of the 10th Conference on Manoeuvring and Control of Marine Craft, 2015, , 16 p.Conference paper (Refereed)
Abstract [en]

A ship's roll dynamics is very sensitive to changes in the loading conditions and a worst-case scenario is the loss of stability.  This paper proposes an approach for online estimation of a ship's mass and center of mass. Instead of focusing on a sensor-rich environment where all possible signals on a ship can be measured and a complete model of the ship can be estimated, a minimal approach is adopted. A model of the roll dynamics is derived from a well-established model in literature and it is assumed that only motion measurements from an inertial measurement unit together with measurements of the rudder angle are available. Furthermore, identifiability properties and disturbance characteristics of the model are presented. Due to the properties of the model, the parameters are estimated with an iterative instrumental variable approach to mitigate the influence of the disturbances and it uses multiple datasets simultaneously to overcome identifiability issues. Finally, a simulation study is presented to investigate the sensitivity to the initial conditions and it is shown that the sensitivity is low for the desired parameters.

Place, publisher, year, edition, pages
2015. , 16 p.
Series
, IFAC-PapersOnLine, ISSN 2405-8963 ; 48(16)
Keyword [en]
modelling, identification, operational safety, inertial measurement unit, identifiability, centre of mass, physical models, accelerometers, gyroscopes, marine systems
National Category
Control Engineering
Identifiers
URN: urn:nbn:se:liu:diva-120993DOI: 10.1016/j.ifacol.2015.10.280OAI: oai:DiVA.org:liu-120993DiVA: diva2:850528
Conference
10th Conference on Manoeuvring and Control of Marine Craft
Available from: 2015-09-01 Created: 2015-09-01 Last updated: 2016-06-22

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Linder, JonasEnqvist, MartinGustafsson, Fredrik
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