Abstract :
This paper describes the problem of accurate estimation of heave motion based on accelerometer measurements and the development of an adaptive heave filter algorithm. This algorithm characterizes the mean wave height, dominating wave frequency, sensor noise, bias, and misalignment of the accelerometers to determine the sea state or sea conditions. By classifying the internal and external variables, the algorithm changes the filter settings accordingly. This novel technique has been implemented in the Seatex Motion Reference Unit (MRU), and is a step towards making the MRU less dependent on the application and easier to use
Keywords :
adaptive control; adaptive filters; force sensors; geophysics computing; marine systems; motion compensation; motion control; ocean waves; oceanographic equipment; oceanographic techniques; MRU; Seatex Motion Reference Unit; accelerometer measurements; accurate estimation; adaptive control; adaptive tuning; algorithm; bias; dominating wave frequency; equipment; heave filter; heave motion; instrumentation; marine system control; mean wave height; measurement technique; misalignment; motion sensor; ocean; ocean wave; sensor noise; Accelerometers; Adaptive filters; Cutoff frequency; Frequency estimation; Marine vehicles; Motion estimation; Motion measurement; Nonlinear filters; Sea measurements; Sensor phenomena and characterization;
