Accuracy and Application for Measurement of Ship Motion by Kinematic GPS

To estimate the maneuvering hydrodynamic coefficients or construct the ship position control system, not only ship position but also motion must be measured with high accuracy. Kinematic GPS (KGPS) has an enough accuracy for such purpose. By using of more than three GPS antennas, six Degree Of Freedom motion at any points can be calculated from position data of these antennas. We carried out the experiment of KGPS using "KOJIMA" that is training ship. It is shown that the ship motion can be measured, and velocity, angular velocity, force and moment at the center of gravity are obtained. Then we derived the relationship between KGPS error and motion measurement error, and showed the notes for arrangement of antennas.