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dc.contributor.authorWang, Yufei
dc.contributor.authorPerera, Lokukaluge Prasad Channa
dc.contributor.authorBatalden, Bjørn-Morten
dc.date.accessioned2023-08-22T13:30:13Z
dc.date.available2023-08-22T13:30:13Z
dc.date.issued2023-08-14
dc.description.abstractAdvanced ship predictors can generally be considered as a vital part of the decision-making process of autonomous ships in the future, where the information on vessel maneuvering behavior can be used as the source of information to estimate current vessel motions and predict future behavior precisely. As a result, the navigation safety of autonomous vessels can be improved. In this paper, vessel maneuvering behavior consists of continuous-time system states of two kinematic motion models—the Curvilinear Motion Model (CMM) and Constant Turn Rate & Acceleration (CTRA) Model. Two state estimation algorithms—the Extended Kalman Filter (EKF) and Unscented Kalman Filter (UKF) are implemented on these two models with certain modifications so that they can be compatible with discrete-time measurements. Four scenarios, created by combining different models and algorithms, are implemented using simulated ship maneuvering data from a bridge simulator. These scenarios are then verified through the proposed stability and consistency tests. The simulation results show that the EKF tends to be unstable combined with the CMM. The estimates from the other three scenarios can generally be considered more stable and consistent, unless sudden actions or variations in vessel heading occurred during the simulation. The CTRA is also proven to be more robust compared to the CMM. As a result, a suitable combination of mathematical models and estimation filters can be considered to support advanced ship predictors in future ship navigation.en_US
dc.identifier.citationWang, Perera, Batalden. Kinematic motion models based vessel state estimation to support advanced ship predictors. Ocean Engineering. 2023en_US
dc.identifier.cristinIDFRIDAID 2167725
dc.identifier.doi10.1016/j.oceaneng.2023.115503
dc.identifier.issn0029-8018
dc.identifier.issn1873-5258
dc.identifier.urihttps://hdl.handle.net/10037/30189
dc.language.isoengen_US
dc.publisherElsevieren_US
dc.relation.journalOcean Engineering
dc.rights.accessRightsopenAccessen_US
dc.rights.holderCopyright 2023 The Author(s)en_US
dc.rights.urihttps://creativecommons.org/licenses/by/4.0en_US
dc.rightsAttribution 4.0 International (CC BY 4.0)en_US
dc.titleKinematic motion models based vessel state estimation to support advanced ship predictorsen_US
dc.type.versionpublishedVersionen_US
dc.typeJournal articleen_US
dc.typeTidsskriftartikkelen_US
dc.typePeer revieweden_US


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Attribution 4.0 International (CC BY 4.0)
Except where otherwise noted, this item's license is described as Attribution 4.0 International (CC BY 4.0)