Guidance

Guidance and reference modeles for maneuvering and DP Stationkeeping operations.

Reference Filters

Reference models based on filtering techniques are found in the MCSimPython.guidance.filter module.

class MCSimPython.guidance.filter.ThrdOrderRefFilter(dt, omega=[0.3, 0.3, 0.3])

Third-order reference filter for guidance.

eta_d

3D-array of desired vessel pose in NED-frame

Type:

array_like

eta_d_dot

3D-array of desired vessel velocity in NED-frame

Type:

array_like

eta_d_ddot

3D-array of desired vessel acceleration in NED-frame

Type:

array_like

get_eta_d()

Get desired pose in NED-frame.

get_eta_d_ddot()

Get desired acceleration in NED-frame.

get_eta_d_dot()

Get desired velocity in NED-frame.

get_nu_d()

Get desired velocity in body-frame.

set_eta_r(eta_r)

Set the reference pose.

Parameters:

eta_r (array_like) – Reference vessel pose in surge, sway and yaw.

update()

Update the desired position.

Path Parameterization

Reference models based on path parameterization can be found in the MCSimPython.guidance.path_param module.

class MCSimPython.guidance.path_param.WayPointsRefModel(way_points, slope, ds)

Way-point path parametrization model.

pd

Array of desired vessel positions (2D).

Type:

array_like

pd_s

Array of the parital derivative of pd w.r.t path parameter s.

Type:

array_like

pd_s2

Array of the two times partial derivative of pd w.r.t s

Type:

array_like

pd_s3

The three time partial derivative of pd w.r.t s.

Type:

array_like