FIELD: physics; control.
SUBSTANCE: invention relates to ship navigation - automatic ship control. A system for determining hydrodynamic coefficients of a mathematical model of a ship movement comprises a device for setting identification manoeuvres of controlling the ship movement, a control object, as well as a unit for generating gain coefficients during identification of hydrodynamic coefficients of the ship. A measurement unit includes sensors for: lateral acceleration, lateral velocity of the ship, longitudinal velocity, angular velocity, rudder angle, angular acceleration. A memory unit comprises current estimates of the hydrodynamic coefficients of the ship and covariance matrix elements.
EFFECT: accuracy of hydrodynamic coefficients of a mathematical model of the ship movement, high quality of automated control of movement, safer ship navigation in narrow waters, reduced load on steering gear in a rough sea.
3 dwg
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