| CPC B63B 39/14 (2013.01) [B63B 79/10 (2020.01); B63B 79/20 (2020.01); B63B 79/40 (2020.01); G05D 1/0875 (2013.01); G06T 7/215 (2017.01)] | 11 Claims |
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10. A ship assistance method to be executed by a computer, comprising:
calculating a pitching amount of a ship body based on a plurality of time-series images photographed by a single camera mounted on the ship body;
estimating a pitching cycle of the ship body at least based on the calculated pitching amount;
predicting pitching of the ship body based on the estimated pitching cycle;
controlling a throttle of the ship body so as to reduce the predicted pitching of the ship body;
estimating the pitching cycle by minimizing an evaluation function for evaluating an error between the pitching amount and a pitching amount estimation model constructed based on a variable obtained by adding a vibrating reference signal to each of an angular velocity and phase of the pitching; and
defining the pitching amount estimation model by a sine wave, and estimating an amplitude of the sine wave based on the pitching amount and estimating an angular velocity and phase of the sine wave by minimizing the evaluation function.
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