| 摘要 |
PURPOSE:To filter out only the high-frequency component which is induced by waves and improve the course stability by detecting and operating the turning- around motion of a hull, and obtaining the parameter of marine-weather condition to estimate noise. CONSTITUTION:Angular velocity of turning detected by an angular velocity meter 5 which detects the turning-around motion of a hull, is sent to a parameter operating section 15, the result of which is further sent to an R operating section 10 as a marine weather parameter. The R operating section 10 carries out the estimation of the covariance R of the observed noise in accordance with a defined formula. A Karman filter section 9 is arranged so as to be initialized when the observed noise R is estimated. And, the optimum estimated value filtered by the Karman filter section 9 is sent out to a PD adjusting part 16 in an adjusting section 3, operated in accordance with a defined formula, added by means of an adder 18, and outputted to a steering unit 2 as a command steering angle. Thus, by estimating the noise factor, only the high-frequency induced by waves can be effectively filtered out.
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