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Online Estimation of Ship's Mass and Center of Mass Using Inertial Measurements
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 sensitive to the mass and mass distribution. Changes in these physical properties might introduce unpredictable behavior of the ship and a worst-case scenario is that the ship will capsize. In this paper, a recently proposed approach for online estimation of mass and center of mass is validated using experimental data. The experiments were performed using a scale model of a ship in a wave basin. The data were collected in free run experiments where the rudder angle was recorded and the ship's motion was measured using an inertial measurement unit. The motion measurements are used in conjunction with a model of the roll dynamics to estimate the desired properties. The estimator uses the rudder angle measurements together with an instrumental variable method to mitigate the influence of disturbances. The experimental study shows that the properties can be estimated with quite good accuracy but that variance and robustness properties can be improved further.

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-120994DOI: 10.1016/j.ifacol.2015.10.270OAI: oai:DiVA.org:liu-120994DiVA: diva2:850529
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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Automatic ControlThe Institute of Technology
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