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Adaptive Track Predictor for Ships

机译：船舶自适应航迹预测器

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In the thesis the design of a track predictor for ships is reported. The principle purpose of the track predictor is to assist the navigator in his anticipating capabilities during maneuvering, thus achieving safer navigation. The design of the actual track predictor is based on a relatively simple mathematical model, which is adapted to the changing conditions, instead of using a more complex non-linear model, which is difficult to adapt. A suitable method for on-line identification and adaptation of the prediction-model parameters and disturbances has been determined by a structural comparison of different, well-known, identification schemes. This has resulted in the application of Extended-Kalman filtering to the identification and adaptation problem. The same concept is shown also to be applicable to the course-changing controller, comparable to the analogy between Model-reference adaptive identification and control.

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