JP-2026075568-A - Parameter estimation system for ship motion models, method for estimating parameters of motion models, and program

JP2026075568AJP 2026075568 AJP2026075568 AJP 2026075568AJP-2026075568-A

Abstract

[Problem] To easily estimate the parameters of a ship-specific motion model. [Solution] A parameter estimation system for estimating the parameters of a ship's motion model, comprising an estimation unit that uses a navigation log when the ship sails in a predetermined motion pattern and estimates the parameters of a motion model specific to the ship that correspond to the predetermined motion pattern shown in the navigation log. [Selection Diagram] Figure 3

Inventors

横山智彰
ヨハンセンエミール
野村弘行

Assignees

株式会社エイトノット

Dates

Publication Date: 20260508
Application Date: 20250131

Claims (14)

A parameter estimation system for estimating the parameters of a ship motion model, An estimation unit that uses a navigation log of the aforementioned vessel when it navigates in a predetermined motion pattern to estimate the parameters of a motion model specific to the vessel that corresponds to the predetermined motion pattern shown in the navigation log. A parameter estimation system having the following characteristics.
The parameter estimation system according to claim 1, wherein the estimation unit determines the predetermined motion pattern indicated by the navigation log and sets a gain for the parameters included in the motion model in accordance with the determined predetermined motion pattern.
The parameter estimation system according to claim 1, wherein the predetermined motion pattern includes a pattern of repeatedly accelerating and decelerating in a stepwise manner while moving in a straight line, steady-state turning, figure-eight motion, and meandering pattern.
The estimation unit, (1) A pattern of repeatedly accelerating and decelerating in stages while moving in a straight line. (2) A pattern of steady-state turning, figure-eight motion, and meandering at a first speed faster than a predetermined speed. (3) A pattern of steady circular turns, figure-eight motion, and meandering at a second speed slower than the predetermined speed. The parameter estimation system according to claim 3, which estimates the parameters of a motion model in the following order.
The parameter estimation system according to claim 2, wherein the estimation unit estimates the parameters of a motion model by repeating the process while changing the gain in the same motion pattern.
The parameter estimation system according to claim 2, wherein the estimation unit estimates the parameters of a motion model using a navigation log moving in a predetermined direction and a navigation log moving in the opposite direction to the predetermined direction in a straight-line motion pattern.
The parameter estimation system according to claim 1, wherein the estimation unit estimates a predetermined parameter among a plurality of parameters included in the motion model of the vessel using a navigation log corresponding to a predetermined motion pattern.
The aforementioned navigation log includes self-position information and driving information. The self-position information includes at least one of the current position, azimuth angle, and speed of the vessel. The parameter estimation system according to claim 1, wherein the drive information includes at least one of the propeller rotation speed and the rudder angle.
The parameter estimation system according to claim 1, which estimates the parameters of a nonlinear motion model using MHE (Moving Horizon Estimation).
A recording unit for recording the navigation log of the aforementioned vessel, An instruction unit that instructs the manual operation of the vessel based on the predetermined motion pattern, A determination unit determines whether the navigation log of the manually operated vessel recorded in the recording unit, which is performed in response to the instructions from the instruction unit, matches the predetermined motion pattern. It has, The parameter estimation system according to claim 1, wherein if the determination unit determines that there is no match, the instruction unit again instructs the manual operation of the vessel based on the predetermined motion pattern.
The parameter estimation system according to claim 1, wherein the navigation log of the vessel is either a navigation log recorded during manual operation based on the predetermined motion pattern, or a navigation log recorded during automatic operation based on the predetermined motion pattern.
The parameter estimation system described in claim 1 is installed on the ship.
A parameter estimation method for estimating the parameters of a ship motion model, An estimation step of using a navigation log of the aforementioned vessel when it navigates in a predetermined motion pattern, and estimating the parameters of a motion model specific to the vessel that corresponds to the predetermined motion pattern shown in the navigation log, A parameter estimation method having the following characteristics.
Computers, An estimation unit that uses a navigation log of a vessel navigating in a predetermined motion pattern to estimate the parameters of a motion model specific to the vessel that corresponds to the predetermined motion pattern shown in the navigation log. A program designed to function as such.

Description

The present invention relates to a parameter estimation system for a ship motion model, a method for estimating the parameters of a motion model, and a program. Traditionally, technologies for controlling ship navigation have been developed based on ship motion models. For example, Patent Document 1 discloses a configuration for controlling automatic steering in which control parameters are set by converting dimensionless motion parameters into dimensioned parameters when the ship speed changes. Also, Patent Document 2 describes a configuration for a ship's autopilot in which engine control parameters are corrected based on measured values from sensors, etc. Japanese Patent Publication No. 2023-139851Patent No. 6430985 Block diagram showing an example configuration of a parameter estimation system for a motion model according to the first embodiment of the present invention.Block diagram showing an example of the configuration of a vessel according to the first embodiment of the present invention.Sequence diagram showing the processing flow according to the first embodiment of the present invention.A schematic diagram showing an example of a ship motion pattern according to the first embodiment of the present invention.Schematic diagram showing input and output related to parameter estimation in the first embodiment of the present invention.Flowchart of the process according to the first embodiment of the present inventionSequence diagram showing the processing flow according to a modified example of the first embodiment of the present invention.Flowchart of a process according to a modified example of the first embodiment of the present invention Hereinafter, embodiments for carrying out the present invention will be described with reference to the drawings. The embodiments described below are merely one example for illustrating the present invention and are not intended to be interpreted as limiting the present invention. Furthermore, not all configurations described in each embodiment are necessarily essential for solving the problems of the present invention. Also, in each drawing, The same components are assigned the same reference number to indicate their correspondence. Furthermore, to avoid unnecessary redundancy and to facilitate understanding by those skilled in the art, some parts of the explanation may be omitted or simplified. For example, detailed explanations of already well-known matters or redundant explanations of substantially identical components may be omitted. <First Embodiment> [System Configuration] Figure 1 is a schematic diagram showing an example configuration of a motion model parameter estimation system (hereinafter simply referred to as the "parameter estimation system") according to the first embodiment of the present invention. The motion model parameter estimation system is a system for estimating the parameters of a motion model related to the automatic navigation of a ship and constructing a control model corresponding to the ship. The motion model parameter estimation system may be used in a form mounted on a ship, or it may be configured as a separate device and configured to provide the ship with a control model based on the motion model for which the parameters have been estimated. The parameter estimation system 100 may, for example, be a PC (Personal Computer). It may be composed of an information processing device such as an computer, or an ECU installed on a ship. It may be configured with a control device such as an Electronic Control Unit. The parameter estimation system 100 comprises a control unit 101, a storage unit 102, an input unit 103, an output unit 104, and a communication unit 105. Each component is configured to communicate with one another via an internal bus or the like. The control unit 101 is responsible for controlling the operation of the parameter estimation system 100. For example, CPU (Central Processing Unit) and GPU (Graphics) It consists of a Phys Processing Unit (PMS) and other components, and provides various functions by reading and executing various programs and data stored in the memory unit 102. The memory unit 102 is a storage device for storing programs, data, etc., for executing various control processes and functions by the control unit 101. The memory unit 102 is a RAM (Random Access Memory). Access Memory), ROM (Read Only Memory), HD It consists of a hard disk drive (D) and volatile/non-volatile storage devices such as flash memory. The input unit 103 consists of a mouse, keyboard, microphone, etc., and accepts input from the user. The output unit 104 consists of a display, speaker, etc., and outputs various types of data. The output from the output unit 104 may be visual, auditory, or tactile, such as images, sounds, or vibrations. Alternatively, the input unit 103 and the output unit 104 may be integrated using a touch panel display or the like. The communication unit 106 is a communication interface for communicating with ext