Sveuilite u Rijeci

Pomorski fakultet u Rijeci

Zavod za elektrotehniku, automatiku i informatiku
U Rijeci, 20. studenoga 2013.

AUTOMATSKO UPRAVLJANJE PLOVNIM OBJEKTIMA

Reference:
Fossen, T. I.
Lecture Notes: TTK4190 Guidance and Control of Vehicles (Ch. 2)
Norwegian University of Science and Technology (NTNU), Trondheim, Norway
http://www.itk.ntnu.no/fag/gnc/Wiley/slides.html

Fossen, T. I. (2011). Handbook of Marine Craft Hydrodynamics and Motion Control. John Wiley & Sons
Ltd., April 2011, Ch. 2, pp.15-39
http://www.wiley.com//legacy/wileychi/fossen/

Marko Vali, Automatsko upravljanje plovnim objektima, Autorizirana predavanja,

Pomorski fakultet u Rijeci, Rijeka, 2013.
KINEMATICS

The study of dynamics can be divided into two parts: kinematics, which treats only
geometrical aspects of motion, and kinetics, which is the analysis of the forces causing the
motion

Represent the 6-DOF dynamics in a compact matrix-vector form

according to:
Reference Frames

ECI {i}: Earth centered inertial frame; non-accelerating frame (fixed in space) in which Newtons laws of motion apply.
ECEF {e}: Earth-Centered Earth-Fixed frame; origin is fixed in the center of the Earth but the axes rotate relative to the
inertial frame ECI.
NED {n}: North-East-Down frame; defined relative to the Earths reference ellipsoid (WGS 84).
BODY {b}: Body frame; moving coordinate frame fixed to the vessel.
xb- longitudinal axis (directed from aft to fore)
yb- transversal axis (directed to starboard)
zb-normal axis (directed from top to bottom)
Reference Frames Body-Fixed Reference Points
CG - Center of gravity
CB - Center of buoyancy
CF - Center of flotation CF is located a distance LCF from CO in the x-direction The center of flotation is
the centroid of the water plane area Awp in calm water. The vessel will roll and pitch about this point.
Reference frames and 6-DOF motions
Reference Frames Notation

Generalized position, velocity and force

Transformations between BODY and NED
Euler Angle Transformation
LINEAR VELOCITY TRANSFORMATION (zyx - CONVENTION):

where
NED positions (continuous time and discrete time):

Component form:
ANGULAR VELOCITY TRANSFORMATION (zyx - CONVENTION):

where

Notice that:
6-DOF KINEMATIC EQUATIONS (SUMMARY)

Component form:
Vessel-Parallel Coordinates

Assumption: Small Roll and Pitch Angles

- for vessels where the pitch and roll motions are limited (highly metacentric stable craft)

A vessel parallel coordinate system is obtained by rotating the body axes an angle about the
z-axis at each time step.
This implies that:

where
Vessel-Parallel Coordinate System

Definition: The vessel parallel coordinate system is defined as

where p is the NED position/attitude expressed in BODY coordinates and P is given by

Notice that:
Transformation between ECEF and NED
A point on or above the Earths surface is uniquely determined by:

Longitude: l (deg)

Latitude: (deg)

Ellipsoidal height: h (m)

NED axes definitions:

N - North axis is pointing North
E - East axis is pointing East
D - Down axis is pointing down in the normal direction to the Earths surface
Longitude and Latitude transformations
The transformation between the ECEF and NED velocity vectors is:

Rotation matrix:
Longitude/Latitude from ECEF Coordinates

Satellite navigation system measurements are given in the ECEF frame, i.e. terrestrial position
data:

Not to useful for the operator!!!

Presentation of terrestrial position data is therefore made in terms of the ellipsoidal

parameters longitude l, latitude and height h.

Transformation:
Longitude/Latitude from ECEF Coordinates
Longitude/Latitude from ECEF Coordinates
ECEF Coordinates from Longitude/Latitude

The transformation from

for given heights h to

is given by