Guidance and Control of Ship using a Maritime and GPS Satellite

利用JSAT公司的JSAT 1B卫星作为海事卫星系统，在三艘船舶与我校之间建立了Ku波段的海上高速大容量通信卫星网络系统，我们称之为海上宽带网络系统。这是日本第一个完整的海上宽带通信系统。根据我们在船上的实验，该网络系统能够实现船海岸之间超过2 Mbps的通信能力，利用已经完成的海上宽带系统，我们成功实现了以下实验：（1）从海岸侧引导和控制船舶，将其与全球定位系统（GPS）结合，（2）利用线性和非线性卡尔曼滤波理论对船舶的位置和航迹进行估计和预报。(3)为了检验一种全新的制导控制理论--线性变增益控制和最短时间操纵，利用非线性规划技术，在此基础上，利用双向网络的图像和音频通道，将海上宽带通信系统应用于以下更大的船舶作业领域：（1）利用可从海岸侧控制的机载摄像机和可穿戴摄像机实现导航仪的瞭望功能和对船舶船体、船用发动机的故障监测。(2)利用统计建模技术实现船舶的短期和长期监控（3）实现高速、大容量的互联网，包括电子邮件、图像和音频通信，以造福社会。另一方面，我们开发了一种全新的基于Luneburg透镜天线的船舶卫星天线系统，并证实了所开发的系统可以实现清除给定的限制横摇，俯仰和偏航误差（即0.2度），以便从卫星接收电波并将其发送到卫星。

Using the JSAT1B satellite as a maritime satellite system which is operated by JSAT Co. we constructed a maritime high speed and large capacity communication satellite network system in Ku band between three ships and our university, and we called it Maritime Broad Band network system. This was the first full-dress broad band communication system for maritime use in Japan. According to our experiments on board, this network system was able to accomplish communication capacity with over 2Mbps between on ship and shore.Using the accomplished Maritime Broad Band system, we succeeded to realize the following experiments ;(1) To guide and control a ship from shore side, combining it with a Global Positioning System (GPS),(2) To estimate and predict a ship's position and trajectory using a linear and non-linear Kalman Filtering theory.(3) To test an entirely new guidance and control theory called linear variable gain control and minimum time maneuvering using a non linear programming technique.Basing on image and audio channels of the network in dual directions besides of these results, we applied the maritime broad band communication system to the following more large ship operation fields ;(1)Look-out function of navigater and fault monitoring of ship's hull, marine engine using the onboard camera controllable from shore side and wearable camera.(2) Short and long term ship's monitoring using a statistical modeling technique(3) Realization of high speed and high capacity Internet involving e-mail, image and audio communication for welfare.As another result, we developed an entirely new ship's satellite antenna system based on Luneburg lens antenna.And we confirmed that the developed system was realized to clear a given limiting roll, pitch and yaw errors (i.e.0.2 degree) in order to receive an electric wave from a satellite and send it to a satellite.