期刊
2019 INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA)
卷 -, 期 -, 页码 6644-6650出版社
IEEE
DOI: 10.1109/icra.2019.8794069
关键词
-
资金
- project SFI MOVE and Digital Twins for Vessel Life Cycle Service [237929, 280703]
- National Natural Science Foundation of China [U1509207]
- Chinese Scholarship Council
Developing a reliable model to identify the sea state is significant for the autonomous ship. This paper introduces a novel deep neural network model (SeaStateNet) to estimate the sea state based on the ship motion data from dynamically positioned vessels. The SeaStateNet mainly consists of three components: an Long-Short-Term Memory (LSTM) recurrent neural network to capture the long dependency in the ship motion data; a convolutional neural network (CNN) to extract time-invariant features; and a Fast Fourier Transform (FFT) block to extract frequency features. A feature fusion layer is designed to learn the degree affected by each component. The proposed model is applied directly to the raw time series data, without needing of any hand-engineered features. A sensitivity analysis (SA) method is applied to assess the influence of data preprocessing. Through benchmark test and experiment on ship motion dataset, SeaStateNet is verified effective for sea state estimation. The investigation on real-time test further shows the practicality of the proposed model.
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