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.
Ship-to-Ship State Observer Using Sensor Fusion and the Extended Kalman Filter
Contributed by the Ocean, Offshore, and Arctic Engineering Division of ASME for publication in the JOURNAL OF OFFSHORE MECHANICS AND ARCTIC ENGINEERING. Manuscript received May 21, 2018; final manuscript received September 27, 2018; published online January 17, 2019. Assoc. Editor: Nianzhong Chen.
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Tørdal, S. S., and Hovland, G. (January 17, 2019). "Ship-to-Ship State Observer Using Sensor Fusion and the Extended Kalman Filter." ASME. J. Offshore Mech. Arct. Eng. August 2019; 141(4): 041603. https://doi.org/10.1115/1.4041643
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