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estimation of the Vessel state space, 4- Method used : Sensor fusion to…

- - - - good placement of sensors
        
        IMU
        
        should be aligned with the ship’s coordinates
        
        mounted on vibration isolation platforms to reduce the effects of ships
        
        placing multiple sensors in different location
        
        protecting the sensor from harsh environmental conditions
        
        Radar and lidar
        
        should be strategically placed for 360-degree
        
        methods
      - Good calibration
      - Redundancy
    - - wave environment Estimate
      - adding wind and current to the model
  - - - exp added mass
    - - Viscous friction coef: It is influenced by the ship's hull design, surface roughness, and flow conditions
      - Skin friction coef : It depends on the ship's speed, surface roughness, and the boundary layer flow
- - - - Assumptions
        
        choose of geometric space
        
        suppose that the ship is symmetric
        
        working on 6DOF
        
        Homogeneous mass distribution --> Ixz=Iyz = 0
      - Validate the model
- - - - optimize these vallues to improve the quality of response estimates
- - - - propose a new method