State Compensation for Maritime Autonomous Surface Ships’ Remote Control
With the development of emerging techniques, maritime autonomous surface ships (MASS) have attracted much attention, and the remote control ships’ future seems promising. However, due to communication issues, ship–shore transmission faces the challenge of time delay. The use of the transmitted infor...
| Main Authors: | , , , , |
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| Format: | Article |
| Language: | English |
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MDPI AG
2023-02-01
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| Series: | Journal of Marine Science and Engineering |
| Subjects: | |
| Online Access: | https://www.mdpi.com/2077-1312/11/2/450 |
| _version_ | 1797620055825973248 |
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| author | Shijun Chen Xin Xiong Yuanqiao Wen Jiaxin Jian Yamin Huang |
| author_facet | Shijun Chen Xin Xiong Yuanqiao Wen Jiaxin Jian Yamin Huang |
| author_sort | Shijun Chen |
| collection | DOAJ |
| description | With the development of emerging techniques, maritime autonomous surface ships (MASS) have attracted much attention, and the remote control ships’ future seems promising. However, due to communication issues, ship–shore transmission faces the challenge of time delay. The use of the transmitted information without compensation could reduce the effectiveness of controlling or could cause the remote control to be unstable. To eliminate the negative effects of uncertain delays during navigation, an Augmented State Cubature Kalman Filter (AS-CKF) is proposed. First, the uncertainty of the transmission delays is modeled using a probability density function (PDF). Second, the ship’s states are updated and estimated using the delayed observed data, and then the real state of the ship is simultaneously corrected in the augmented state vector. In this way, the delay compensation problem becomes a one-step prediction problem. To test the proposed AS-CKF for MASS, we simulate scenarios with the remote control ship under different communication time delays. The results show improvements compared to the traditional CKF, EKF, or AS-EKF, which indicates the potential of the proposed methods in remote control MASS. |
| first_indexed | 2024-03-11T08:35:59Z |
| format | Article |
| id | doaj.art-b12fc009b38c4a6f9cb4fcccd96a5e52 |
| institution | Directory Open Access Journal |
| issn | 2077-1312 |
| language | English |
| last_indexed | 2024-03-11T08:35:59Z |
| publishDate | 2023-02-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Journal of Marine Science and Engineering |
| spelling | doaj.art-b12fc009b38c4a6f9cb4fcccd96a5e522023-11-16T21:29:20ZengMDPI AGJournal of Marine Science and Engineering2077-13122023-02-0111245010.3390/jmse11020450State Compensation for Maritime Autonomous Surface Ships’ Remote ControlShijun Chen0Xin Xiong1Yuanqiao Wen2Jiaxin Jian3Yamin Huang4Zhejiang Scientific Research Institution of Transport, Hangzhou 310023, ChinaSchool of Transportation and Logistics Engineering, Wuhan University of Technology, Wuhan 430063, ChinaIntelligent Transportation Systems Research Center, Wuhan University of Technology, Wuhan 430063, ChinaSchool of Navigation, Wuhan University of Technology, Wuhan 430063, ChinaIntelligent Transportation Systems Research Center, Wuhan University of Technology, Wuhan 430063, ChinaWith the development of emerging techniques, maritime autonomous surface ships (MASS) have attracted much attention, and the remote control ships’ future seems promising. However, due to communication issues, ship–shore transmission faces the challenge of time delay. The use of the transmitted information without compensation could reduce the effectiveness of controlling or could cause the remote control to be unstable. To eliminate the negative effects of uncertain delays during navigation, an Augmented State Cubature Kalman Filter (AS-CKF) is proposed. First, the uncertainty of the transmission delays is modeled using a probability density function (PDF). Second, the ship’s states are updated and estimated using the delayed observed data, and then the real state of the ship is simultaneously corrected in the augmented state vector. In this way, the delay compensation problem becomes a one-step prediction problem. To test the proposed AS-CKF for MASS, we simulate scenarios with the remote control ship under different communication time delays. The results show improvements compared to the traditional CKF, EKF, or AS-EKF, which indicates the potential of the proposed methods in remote control MASS.https://www.mdpi.com/2077-1312/11/2/450remote control shipdelay compensationstate estimationAS-CKF |
| spellingShingle | Shijun Chen Xin Xiong Yuanqiao Wen Jiaxin Jian Yamin Huang State Compensation for Maritime Autonomous Surface Ships’ Remote Control Journal of Marine Science and Engineering remote control ship delay compensation state estimation AS-CKF |
| title | State Compensation for Maritime Autonomous Surface Ships’ Remote Control |
| title_full | State Compensation for Maritime Autonomous Surface Ships’ Remote Control |
| title_fullStr | State Compensation for Maritime Autonomous Surface Ships’ Remote Control |
| title_full_unstemmed | State Compensation for Maritime Autonomous Surface Ships’ Remote Control |
| title_short | State Compensation for Maritime Autonomous Surface Ships’ Remote Control |
| title_sort | state compensation for maritime autonomous surface ships remote control |
| topic | remote control ship delay compensation state estimation AS-CKF |
| url | https://www.mdpi.com/2077-1312/11/2/450 |
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