船体運動モデル適応型の自動操舵装置について-I

抄録

In this study, a new autopilot system based on the adaptive maneuvering mathematical model is proposed. As to the mathematical model, it is focused on the simple linear maneuvering model that is called the TK model, because the model can be transformed into the auto regressive exogenous model. In order to solve the problem concerning the change of parameters in the model in the actual operation of ships, the successive data assimilation, which is the new methodology in the statistical science, is applied as the parameter estimation method. By using the estimated parameters, the autopilot system can remain the adaptability concerning the mathematical model. Simple numerical experiments are carried out to verify the efficiency of the proposed autopilot system. Obtained findings are reported in detail.