Abstract
This paper is a first attempt to develop real-time methods to accurately and reliably simulate vessel manoeuvring in waves. In this paper, hydrodynamic coefficients for the benchmark KCS hull are estimated using URANS-CFD generated manoeuvres in regular waves. Added resistances are derived from a potential-flow based solver over a range of incidence angles, wavelengths, and Froude numbers. These estimated wave loads, together with rudder and propeller forces are prescribed in a mathematical manoeuvring model. A state-augmented extended Kalman filter is applied to estimate the remaining hull coefficients, with empirically derived coefficients used as initial state estimates. Calm water cases are also investigated for comparison. Estimated coefficients using manoeuvres in waves show reasonable agreement with reference values. The methods discussed in this paper will eventually lead to robust control strategies for remotely-controlled and autonomous navigation under realistic environmental conditions.
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