A Simulation Platform for Dynamic Positioning Ship with Guidance, Navigation and Control Function

Abstract

In order to study the whole system performance of dynamic positioning ship, a simulation platform which contains environment and ship model, as well as basic guidance, navigation and control functions is established. Besides the ordinary ship and environment modeling, a guidance method for waypoint following is designed by using path interpolation and circle of acceptance. A sensor-fusion based federated filter is proposed to deal with the problem of state estimation and wave filtering. To make the whole system becomes a closed loop feedback system, a PID method are applied to deal with the control problem. By using this simulation platform, this paper simulates and studies the basic functions of a typical dynamic positioning ship. Finally, the simulation proves the validity and excellent performance of this dynamic position ship simulation platform.