This thesis explores the application of the extended Kalman filtering technique in an attempt to idetify unknown ocean vehicle motion parameters, hydrodynamic coefficients, and possible currents, all of which are necessary for the development and use of simulation models for the proper study of ship manoeuvring. The studies lead through the development of the mathematical model for ocean vehicles, and formulate the identification procedure from the reduced three degrees of freedom mathematical model. Two subsequent extensions expand the model to account for ocean current effects, and expand the procedure to identify an unknown ocean current parameter. Three versions of computer programs are available for the intitial formulation and the two expansions. Each version is studied using simulated trial data for a super tanker ship form, under different conditions of operation. Results obtained from all versions are compared. Results are found to be satisfactory and the comparisons are consistent. The identification procedure, in three versions, are valid. Comprehensive documentations are given for the three computer programs, program description, listing and sample input output.

  • Corporate Authors:

    Massachusetts Institute of Technology

    Department of Ocean Engineering, 77 Massachusetts Avenue
    Cambridge, MA  United States  02139
  • Authors:
    • Szeto, F F
  • Publication Date: 1977-5

Subject/Index Terms

Filing Info

  • Accession Number: 00165285
  • Record Type: Publication
  • Source Agency: Massachusetts Institute of Technology
  • Report/Paper Numbers: MS Thesis
  • Files: TRIS
  • Created Date: Nov 23 1977 12:00AM