Discrete Wavelet Transform-based Approach of Real-time Wave Filtering for Dynamic Positioning of Marine Vessels

Figure 8

Experimental results of surge motion in the wave direction of 180°. Total motion and estimation of the LF components of motion with the wavelet transform and EKF: (a) surge motion and (b) magnified view of (a). The body-frame xyz is fixed to the model along the path of the model, with the positive x-axis (surge) in the forward direction and the positive y-axis (sway) to the starboard.

(a)

(b)