Force Balances for Monitoring Autonomous Rigid-Wing Sailboats
Real-time monitoring and evaluation of practical trials with autonomous sailboats is often challenging: varying winds and waves influence a visual evaluation directly connected to a subjective verification of expected mechanical behavior while the inherent nature of sailing with different sensors operating in different coordinate frames complicates an objective data-based evaluation. In this paper, we illustrate the use of force balances as a tool for monitoring performance, for estimating and evaluating measurements and detecting unreliable sensors.
KeywordsAutonomous sailboat Wingsail Model-based data evaluation Fault detection Force balance
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