Adaptive prediction for ship motion in rotorcraft maritime operations
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ORIGINAL PAPER
Adaptive prediction for ship motion in rotorcraft maritime operations Antoine Monneau1 · Nacer K. M’Sirdi1 · Sébastien Mavromatis1 · Guillaume Varra2 · Marc Salesse2 · Jean Sequeira1 Received: 21 December 2019 / Revised: 3 July 2020 / Accepted: 29 August 2020 © Deutsches Zentrum für Luft- und Raumfahrt e.V. 2020
Abstract This paper focuses on motion prediction for a ship navigating through sea swell. Ship motion prediction may be useful for helicopter maritime operations, notably for search and rescue missions. An efficient prediction method based on adaptive notch filters is proposed for non stationary perturbations. Classic methods of prediction are reviewed for comparison. An application using real ship motion data is considered in a performance evaluation. Finally, a comparative analysis based on prediction performance and real-time implementation constraints is presented. Keywords Robust and adaptive filtering · Parameter estimation · Aircraft trajectory planning · Rotorcraft
1 Introduction 1.1 Context Search and rescue (SAR) missions are among the most difficult technological and human challenges. This is especially true when aimed at rescuing people on board a sinking boat. Hoisting from a helicopter remains the only solution to quickly intervene and evacuate people in distress. This operation is often challenging for the pilot because it forces him to stabilize the helicopter above a moving boat and to precisely position the rescuer on the deck. Weather conditions are often unfavorable, resulting in substantial movement of the boat and its mast, if it has one. In this situation, the pilot’s workload is very high, and the risk of collision between the rescuer and the boat is not negligible. Knowing the boat’s movement over a time horizon of a few seconds can be very useful to make the pilot’s task easier and to reduce the risk of collision. In addition, sending this prediction information to the helicopter autopilot can help to stabilize the machine in a safe area and accurately bring the rescuer to the estimated landing point. Prediction of boat movements is, therefore, essential to increase the safety * Antoine Monneau antoine.monneau@lis‑lab.fr Nacer K. M’Sirdi nacer.msirdi@lis‑lab.fr 1
LIS, Aix-Marseille University, Marseille, France
Airbus Helicopters, Marignane, France
2
of SAR missions. Another example of the potential utility of ship motion prediction is for missions of maritime pilot hoisting on tanker ships. During night operations, the long decks of tankers can be mistaken with the horizon. Large and slow movements of the ship can disorient the helicopter pilot and lead to dangerous control of the machine. Knowing the ship attitude a few seconds in advance can significantly help the autopilot to follow the ship, which will allow the pilot to focus his attention on the safety aspects of the hoisting operation.
1.2 Objective and contribution The context of our work is the navigation and control of helicopters with avoidance of environmental perturbation effects. In
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