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research-article

Ship-to-Ship State Observer using Sensor Fusion and the Extended Kalman Filter

[+] Author and Article Information
Sondre Sanden T⊘rdal

University of Agder, Faculty of Engineering and Science, Jon Lilletunsvei 9, 4879 Grimstad, Norway
sondre.tordal@uia.no

Geir Hovland

University of Agder, Faculty of Engineering and Science, Jon Lilletunsvei 9, 4879 Grimstad, Norway
geir.hovland@uia.no

1Corresponding author.

ASME doi:10.1115/1.4041643 History: Received May 21, 2018; Revised September 27, 2018

Abstract

In this paper a solution for estimating the relative position and orientation between two ships in 6 degrees of freedom using sensor fusion and an Extended Kalman filter 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 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.

Copyright (c) 2018 by ASME
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