SLAM - Based Approach to Dynamic Ship Positioning

• Main Author: Krzysztof Wrobel
• Format: Article
• Language: English
• Published: Gdynia Maritime University 2014-03-01
• Series: TransNav: International Journal on Marine Navigation and Safety of Sea Transportation
• Subjects: Dynamic Ship Positioning; Simultaneous Localization and Mapping (SLAM); Dynamic Positioning (DP); Reference System; SLAM Method; SLAM Post-Processing; Doppler Velocity Log (DVL); Hydroacoustics
• Online Access: http://www.transnav.eu/files/SLAM - Based Approach to Dynamic Ship Positioning,482.pdf

Dynamically positioned vessels, used by offshore industry, use not only satellite navigation but also different positioning systems, often referred to as reference' systems. Most of them use multiple technical devices located outside the vessel which creates some problems with their accessibility and performance. In this paper, a basic concept of reference system independent from any external device is presented, basing on hydroacoustics and Simultaneous Localization and Mapping (SLAM) method. Theoretical analysis of its operability is also performed.