doi: 10.52899/24141437_2025_04_479
UDK: 629.5.01

Estimation of Basic Wave Frequency for Unmanned High-Speed Boat

Кузнецов Д. И., Коренев А. С., Морозов Д. Р.
Article language:
Citation Link: Korenev AS, Kuznetsov DI, Morozov DR. Estimation of Basic Wave Frequency for Unmanned High-Speed Boat. Transactions of the Saint Petersburg State Marine Technical University. 2025;4(4):479–484. DOI: 10.52899/24141437_2025_04_479 EDN: MNNLDM

Annotation

BACKGROUND. The active development of autonomous small craft navigation poses a new navigation problem. High maneuverability of the boats determines their wide bandwidth exceeding the upper wave spectrum limit. Therefore, it is quite difficult to separate the useful control signal and the disturbance signal using conventional frequency filtering methods. This leads to two key negative effects, including a lower movement accuracy of the boat along a given trajectory and a reduced service life of the actuators of the propulsion and steering system due to constant compensation for wave disturbances. Thus, an algorithm is required that can estimate the real-time basic apparent wave frequency, which is necessary for effective separation of the control signal and wave interference. AIM: To develop a method allowing to assess the basic apparent frequency of waves acting on an unmanned high-speed boat. METHODS: Nonlinear identification by extended Kalman filter. RESULTS: The authors propose a mathematical model to synthesize an extended Kalman filter allowing to estimate the peak wave frequency based on the measured yaw rate of an unmanned high-speed boat. CONCLUSION: The synthesized extended Kalman filter effectively tracks the peak apparent frequency of the waves acting on the boat hull. Keywords: basic wave frequency; Kalman filter; extended Kalman filter; Nomoto model.

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