Abstract
The paper describes an adaptive autopilot. The autopilot is based on a mathematical model which uses a priori information to find initial parameter estimates. The autopilot also includes a model of wave induced law-motion. The estimates of the oscillating yaw components are used to minimize their influence on the rudder motions.It is shown in the paper that a Kalman filter gain for a vessel of unit length can be computed once and for all. Based upon this unit vessel Kalman filter gain, formulas for computing the gain for a general vessel are given.A vector of variable forgetting factors are introduced. This completely eliminates the blow up problem. The autopilot is tested on board the coastal steamer M/s MIDNATSOL and results from these tests are given.
Sign-in/Register to access full text options 
Free) 
Talk to us
Join us for a 30 min session where you can share your feedback and ask us any queries you have
Schedule a call
