contributor author | Tørdal, Sondre Sanden | |
contributor author | Hovland, Geir | |
date accessioned | 2019-03-17T11:22:58Z | |
date available | 2019-03-17T11:22:58Z | |
date copyright | 1/17/2019 12:00:00 AM | |
date issued | 2019 | |
identifier issn | 0892-7219 | |
identifier other | omae_141_04_041603.pdf | |
identifier uri | http://yetl.yabesh.ir/yetl1/handle/yetl/4256941 | |
description abstract | In this paper, a solution for estimating the relative position and orientation between two ships in six degrees-of-freedom (6DOF) using sensor fusion and an extended Kalman filter (EKF) approach is presented. Two different sensor types, based on time-of-flight and inertial measurement principles, were combined to create a reliable and redundant estimate of the relative motion between the ships. An accurate and reliable relative motion estimate is expected to be a key enabler for future ship-to-ship operations, such as autonomous load transfer and handling. The proposed sensor fusion algorithm was tested with real sensors (two motion reference units (MRS) and a laser tracker) and an experimental setup consisting of two Stewart platforms in the Norwegian Motion Laboratory, which represents an approximate scale of 1:10 when compared to real-life ship-to-ship operations. | |
publisher | The American Society of Mechanical Engineers (ASME) | |
title | Ship-to-Ship State Observer Using Sensor Fusion and the Extended Kalman Filter | |
type | Journal Paper | |
journal volume | 141 | |
journal issue | 4 | |
journal title | Journal of Offshore Mechanics and Arctic Engineering | |
identifier doi | 10.1115/1.4041643 | |
journal fristpage | 41603 | |
journal lastpage | 041603-9 | |
tree | Journal of Offshore Mechanics and Arctic Engineering:;2019:;volume( 141 ):;issue: 004 | |
contenttype | Fulltext | |