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Abstract
Depending on standards and class, dynamically positioned ships make use of different numbers of redundant sensors to determine current ship position. The paper presents a multi-sensor data fusion algorithm for the dynamic positioning system which allows it to record the proper signal from a number of sensors (GPS receivers). In the research, the Particle Kalman Filter with data fusion was used to estimate the position of the vessel. The presented algorithms generate a virtual measurement using three measurements from independent sensors. The performance of the Particle Kalman Filter algorithm was evaluated in simulation tests for two specific cases: in regular operation and when the signal of one sensor disappears.
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- Category:
- Conference activity
- Type:
- materiały konferencyjne indeksowane w Web of Science
- Title of issue:
- Methods and Models in Automation and Robotics (MMAR), 2017 22nd International Conference on strony 1 - 4
- Language:
- English
- Publication year:
- 2017
- Bibliographic description:
- Jaroś K., Witkowska A., Śmierzchalski R..: Data fusion of GPS sensors using Particle Kalman Filter for ship dynamic positioning system, W: Methods and Models in Automation and Robotics (MMAR), 2017 22nd International Conference on, 2017, ,.
- DOI:
- Digital Object Identifier (open in new tab) 10.1109/mmar.2017.8046804
- Verified by:
- Gdańsk University of Technology
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