Kalman-Bucy Filter Design for Multivariable Ship Motion Control

The paper presents a concept of Kalman-Bucy filter which can be used in the multivariable ship motion control system. The navigational system usually measures ship position coordinates and the ship head-ing, while the velocities are to be estimated using an available mathematical model of the ship. The designed Kalman-Bucy filter has been simulated on a computer model and implemented on the training ship to demon-strate the filtering properties.