Estimation of Hydrodynamic Coefficients using Unscented Kalman Filter and Recursive Least Square

Abstract

Ship maneuvering is the ability of ships to turn and spin while operating on seas. The ship's hydrodynamic coefficients are a set of parameters that influence the mathematical model of ship motion. In other words, if the hydrodynamic coefficients are more accurate, the ship motion produced by the model is closer to the actual motion. This study uses unscented Kalman filter and recursive least square to estimate the hydrodynamic coefficients in the 4-DOF ship motion models based on the data from free running model test.