Publications

Alves Francisco, R. and Guedes Soares, C. (2000), “Identification and Simulation of the Ship Manoeuvring Characteristics” (In Portuguese), The Sea and the Challenges of the Future, Guedes Soares, C. and Beirão Reis, J. (Eds.), Edições Salamandra, Lda, Lisbon, pp. 185-209

This article summarises the studies carried out previous to the sea trials which were aimed at identifying the manoeuvring equations of some ships of the Portuguese Navy. The non-linear mathematical model of the ship's dynamics is presented on an horizontal plan, its linearisation and space state representation. The Kalman Filter and the generalised Kalman Filter are developed and adapted to the process of identification of the horizontal ship movement. The configuration of the equipment to be used in the measurement of the onboard state variables is presented, on which the choice of the manoeuvres in the sea tests are based. The programmes that implement the Kalman Filter and the generalised Kalman Filter adapted to the process are developed. With the intention to explore and improve the performance of the developed identification filters, especially of its ability and convergence speed, several trials were carried out, by simulating the dynamics of several known ships. The results obtained are encouraging and allow having confidence in the success of the identification of Navy ships from data to be measured on board.

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