A new input estimation technique for target tracking problem is proposed. Conventional input estimation techniques assume that the target maneuver level is constant within the detection window, which has been the major drawback of the techniques. The proposed technique is developed to overcome this drawback by modeling the target maneuver as a linear combination of some basic time functions. The resulting algorithm has a generalized formulation including earlier works on input estimation. A detection performance of the proposed algorithm is analyzed by investigating the detection sensitivity according to the selection of maneuver models and other design parameters such as the detection window size, measurement noise level, and sampling step size. A computer simulation study shows that the estimation performance of the proposed algorithm is comparable to Bogler's input estimation method while the computation time is greatly reduced.

Generalized input-estimation technique for tracking maneuvering targets

Ship-motion prediction is very useful for several naval operations such as aircraft landing, cargo transfer, off-loading of small boats, and ship "mating" between a big transport ship and some small ships. The prediction information is extremely useful in sea states above 3. Five to ten seconds of ship motion prediction can give the operator ample time to avoid serious collisions. The paper summarizes the development of a high performance ship-motion prediction algorithm using minor component analysis (MCA). Simulation results show that this method can predict ship motion a long time ahead with consistent accuracy. That is, the prediction error is almost the same for the 5 second and 20 second predictions. Other conventional algorithms, such as neural networks (NN), autoregressive methods (AR), and Wiener prediction, were also studied for comparative purposes.

Ship-motion prediction: algorithms and simulation results

Disturbance rejection control solution for ship steering system with uncertain time delay

http://www.umb.no/statisk/roboticsandcontrol/publications/2011CEP.pdf

Motion Planning and Control of Robotic Manipulators on Seaborne Platforms

Identification of Finite-Degree-of-Freedom Models for Ship Motions

In order to predict the motion of a ship effectively, a new algorithm is developed in which the wave-excitation input information is extracted from the estimated ship-motion data, and a prediction is made by extrapolating the governing equation of the ship motion. Simulations performed with the algorithm and the conventional ship-motion prediction algorithm based on the standard Kalman filter are compared. >

Z. Bien

Papers

A note on ship-motion prediction based on wave-excitation input estimation