Study on Integrated Support System for Harbor Maneuvering

本研究探讨的是船舶作业系统的总体功能结构，即人、船、作业保障系统和陆上作业保障中心相结合。特别是在港口，人类操作员的功能是如此复杂，需要高度的经验。为了实现一人在桥上操作或无人在船上操作，既需要陆上遥控驾驶员的支持，又需要操作辅助系统代替人的功能，本文探讨了遥控操作的概念方法。此外，为开发舰载综合支撑系统，研究了港口机动运动的数学模型和数学模型的辨识方法。最后推荐了自由运行模型试验来识别数学模型。如果配备了高精度的全球定位系统，即运动学GPS，则可以从实际船舶操作记录中识别出数学模型。

In the present research, discussed is the total functional structure of ship operation system, which is the combination of human, ship with operation support system and operation support center on land. Especially in a port, the human operator's function is so sophisticated and needs to be highly experienced. To realize one man operation in a bridge or no-pilot operation on board, both of remote-pilot support from land and/or replacement of human's function by a operation supporting system are required and the conceptual ways of remote-piloting are investigated in the present study.Besides, to develop the integrated support system on board investigated were the mathematical model of maneuvering motion in port and the method to identify the mathematical model. The free-running model test is finally recommended for identifying the mathematical model. If the high-accuracy global positioning system so-called Kinematics GPS is equipped, the mathematical model can be identified from the records of actual ship operation.