US 12,392,613 B2
Disturbance estimating apparatus, method, and computer program
Yuta Miyabe, Nishinomiya (JP); and Tomoyasu Takahashi, Nishinomiya (JP)
Assigned to Furuno Electric Co., Ltd., Nishinomiya (JP)
Filed by Furuno Electric Co., Ltd., Hyogo (JP)
Filed on Jun. 6, 2023, as Appl. No. 18/330,110.
Application 18/330,110 is a continuation in part of application No. 17/841,236, filed on Jun. 15, 2022, granted, now 12,208,869.
Prior Publication US 2023/0408259 A1, Dec. 21, 2023
Int. Cl. G01C 21/06 (2006.01); B63B 49/00 (2006.01); G01C 21/20 (2006.01)
CPC G01C 21/06 (2013.01) [B63B 49/00 (2013.01); G01C 21/203 (2013.01); B63B 2213/02 (2013.01)] 16 Claims
OG exemplary drawing
 
1. A disturbance estimation apparatus, comprising:
a navigation data receiver configured to acquire navigation data including actual position and time of a ship on a water surface;
a thrust data receiver configured to receive thrust data indicating a magnitude and a direction of a thrust force of the ship; and
processing circuitry configured to:
estimate a predicted position of the ship under an absence of a disturbance condition at a predetermined time in the future using a kinetic model of a body of the ship based on the navigation data and the thrust data;
determine disturbance data including a drift direction of the ship drifted by an external force based on a difference between the predicted position estimated by the kinetic model and an actual position of the ship at the predetermined time;
estimate the predicted position of the ship at the predetermined time using the kinetic model of the body of the ship under the disturbance caused by a tidal current based on information from a tidal current meter; and
determine the disturbance data including the drift direction of the ship drifted by wind based on the difference between the predicted position estimated by the kinetic model of the body of the ship and the actual position of the ship at the predetermined time.