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Tesi etd-07042015-152913


Tipo di tesi
Tesi di laurea magistrale
Autore
BORZONE, TOMMASO
URN
etd-07042015-152913
Titolo
Optimization-Based Calibration of Reference Systems Arms and on-line Kalman filtering methods in DP Applications
Dipartimento
INGEGNERIA DELL'INFORMAZIONE
Corso di studi
INGEGNERIA ROBOTICA E DELL'AUTOMAZIONE
Relatori
relatore Prof. Caiti, Andrea
relatore Dott. Calabrò, Vincenzo
Parole chiave
  • Dynamic Positioning
  • Follow Target
  • Kalman Filter
  • Lever arms
  • Optimization
  • Sequential Filtering
Data inizio appello
23/07/2015
Consultabilità
Non consultabile
Data di rilascio
23/07/2085
Riassunto
The work has been divided in two main sections. In the first one it has been described the implementation of some on-line Kalman filter methods, used in Dynamic Positioning software application. In the second one a new approach to the reference systems lever arms estimation has been shown, using an optimization algorithm inspired by the Lyapunov theory. In the last section has been described several example of usage of the methodologies introduced above, also using real data set from see trial experiments.
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