Identification of T.V. Kings Pointer Hydrodynamic Model Using Sea Trials Inertial Data

Abstract

The T.V. Kings Pointer, a research and training vessel operated by the Maritime Administration, conducted maneuvering trials in August of 1987. In a 5 day period, Kings Pointer executed 150 Individual maneuvers, of which 89 were performed for the purpose of collection of data for hydrodynamic system identification. Data were collected by a portable package called the Marine Coefficient Identification System (MARCIS), and included outputs of navigation quality inertial sensors as well of vessel heading, wind velocity, LORAN-C position, Doppler sonar velocity, rudder angle and propeller rate. The coefficients for the nonlinear hydrodynamic model used in the Computer Aided Operations Research Facility (CAORF) maneuvering simulation were estimated from the data using system identification methods.