Mathematical model of ship motion on a performance detection platform of autopilot

Autopilot is a very important part of the control system, which is used to control the rudder and keep the ship running in a correct direction. The performance detection platform of autopilot is built to test the performance of autopilot in the land-based condition, and we need to simulate the ship motion. According to the Maneuvering Modeling Group (MMG), we establish a mathematical model of ship motion with five degree of freedom.