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PHD project, SSE using SAWB, Hull Structure Monitoring Using Inertial…

- - - - Fossen's equations
    - - Accelerometer : measure the acceleration
      - GPS: position
      - Magnetometer: orientation
- - - - Solution: First-order Gauss-Markov model
- - - - Solution: sensor fusion
- - - - Note: work with hindcast data since it is easy to obtain
    - - Solution: work in time domain rather than frequency domain
  - - - hypothesis
        
        combine data from IMUs and GPS to improve the accuracy of ship motion
        
        Combine the estimated motion with radar measurements for a better accuracy
- - - - Twist flexure differences between IMU and OC
        
        The difference of z direction were larger and more unstable/.
        
        X and Y directions were okay
      - Big error on Z due to gravity force
- - - - Improve the accuracy of ship motion
      - minimize random noises
    - - Preprocessing