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dc.contributor.authorBrodtkorb, Astrid H.
dc.contributor.authorTeel, Andrew R.
dc.contributor.authorSørensen, Asgeir Johan
dc.date.accessioned2018-05-07T08:45:28Z
dc.date.available2018-05-07T08:45:28Z
dc.date.created2016-02-05T08:55:28Z
dc.date.issued2015
dc.identifier.isbn978-1-4799-7884-7
dc.identifier.urihttp://hdl.handle.net/11250/2497283
dc.description.abstractObservers are important components of dynamic positioning (DP) systems for marine vessels, estimating unmeasured states, filtering noise, filtering out wave induced motions, and predicting states in the case of signal loss. In this paper, a sensor-based hybrid observer concept is investigated. The concept assumes that noisy position measurements are available only occasionally at a non-constant sampling rate. Predictions of position between the samples are provided by integrating acceleration measurements, which are available at a high rate (approximated to be continuous sampling). Estimates with smaller variance are computed by averaging multiple observer copies of position and velocity. The contributions of this paper include the design, stability analysis and simulation of a sensor-based hybrid observer combining noisy acceleration, velocity and position measurements of a vessel in DP using different sampling rates.nb_NO
dc.language.isoengnb_NO
dc.publisherInstitute of Electrical and Electronics Engineers (IEEE)nb_NO
dc.relation.ispartofCDC 2015 - 54th IEEE Conference on Decision and Control, Proceedings
dc.titleSensor-based Hybrid Observer for Dynamic Positioningnb_NO
dc.typeChapternb_NO
dc.description.versionpublishedVersionnb_NO
dc.source.pagenumber948-953nb_NO
dc.identifier.doi10.1109/CDC.2015.7401995
dc.identifier.cristin1332479
dc.relation.projectNorges forskningsråd: 223254nb_NO
dc.description.localcodeThis article will not be available due to copyright restrictions (c) 2015 by IEEEnb_NO
cristin.unitcode194,64,20,0
cristin.unitnameInstitutt for marin teknikk
cristin.ispublishedtrue
cristin.fulltextoriginal
cristin.qualitycode1


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