Ship state estimation device, ship state estimation system, ship state estimation method, and ship state estimation program

Abstract

A ship state including a rudder angle is estimated with high accuracy. A ship state estimator device is equipped with processing circuitry. The processing circuitry acquires an direction signal indicating an direction of a ship. The processing circuitry inputs the direction signal into a ship state estimator that outputs a ship state including a rudder angle, and estimates the ship state including the rudder angle.

What is claimed is: 
     
         1 . A ship state estimation device, comprising:
 processing circuitry configured to:
 receive a direction signal indicating a direction of a ship; 
 input the direction signal into a ship state estimator configured to output a ship state including a rudder angle of the ship when the direction signal is input; and 
 estimate the ship state including the rudder angle of the ship. 
   
     
     
         2 . The ship state estimation device of  claim 1 , wherein the processing circuitry is further configured to:
 input a turning signal for the ship into the ship state estimator; and   estimate the ship state based on the direction signal and the turning signal.   
     
     
         3 . The ship state estimation device of  claim 1 , wherein the processing circuitry is further configured to:
 estimate the ship state including the rudder angle based on the ship state estimator including an equation of state that estimates a current ship state based on the ship state estimated previously.   
     
     
         4 . The ship state estimation device of  claim 3 , wherein the processing circuitry is further configured to:
 estimate the ship state including the rudder angle based on the ship state estimator including the equation of state and an observation equation which uses the direction signal.   
     
     
         5 . The ship state estimation device of  claim 1 , wherein the processing circuitry is further configured to:
 estimate a heading as the ship state.   
     
     
         6 . The ship state estimation device of  claim 1 , wherein the processing circuitry is further configured to:
 estimate a turnrate as the ship state.   
     
     
         7 . The ship state estimation device of  claim 1 , wherein an initial estimation value of the ship state is based on a value when the ship is stopped or going straight. 
     
     
         8 . The ship state estimation device of  claim 1 , wherein the processing circuitry is further configured to:
 estimate the ship state based on a stochastic system as the ship state estimator.   
     
     
         9 . The ship state estimation device of  claim 1 , wherein the processing circuitry is further configured to:
 acquire a command rudder angle relative to the ship; and   generate a turning signal based on the command rudder angle and the rudder angle estimated by the ship state estimator.   
     
     
         10 . The ship state estimation device of  claim 1 , wherein the processing circuitry is further configured to:
 acquire a parameter value relating to a characteristic of the ship; and   set an estimation model corresponding to a cruising state of the ship to the ship state estimator based on the parameter value.   
     
     
         11 . A ship state estimation system of  claim 1 , further comprising:
 a sensor configured to detect the direction of the ship and generate the direction signal.   
     
     
         12 . The ship state estimation device of  claim 2 , wherein the processing circuitry is further configured to:
 estimate the ship state including the rudder angle based on the ship state estimator including an equation of state that estimates a current ship state based on the ship state estimated previously.   
     
     
         13 . The ship state estimation device of  claim 12 , wherein the processing circuitry is further configured to:
 estimate the ship state including the rudder angle based on the ship state estimator including the equation of state and an observation equation which uses the direction signal.   
     
     
         14 . The ship state estimation device of  claim 13 , wherein the processing circuitry is further configured to:
 estimate a heading as the ship state.   
     
     
         15 . The ship state estimation device of  claim 14 , wherein the processing circuitry is further configured to:
 estimate a turnrate as the ship state.   
     
     
         16 . The ship state estimation device of  claim 15 , wherein the processing circuitry is further configured to:
 estimate the ship state based on a stochastic system as the ship state estimator.   
     
     
         17 . The ship state estimation device of  claim 16 , wherein the processing circuitry is further configured to:
 acquire a command rudder angle relative to the ship; and   generate a turning signal based on the command rudder angle and the rudder angle estimated by the ship state estimator.   
     
     
         18 . The ship state estimation device of  claim 17 , wherein the processing circuitry is further configured to:
 acquire a parameter value relating to a characteristic of the ship; and   set an estimation model corresponding to a cruising state of the ship to the ship state estimator based on the parameter value.   
     
     
         19 . A ship state estimation method, comprising:
 receiving a direction signal indicating a direction of a ship;   inputting the direction signal into a ship state estimator configured to output a ship state including a rudder angle of the ship when the direction signal is input; and   estimating the ship state including the rudder angle of the ship.   
     
     
         20 . A non-transitory computer-readable storage medium storing processor-executable instructions that, when executed, cause one or more processors to perform the method of  claim 19 .