\select@language {croatian}
\contentsline {chapter}{\numberline {1}Uvod}{1}
\contentsline {chapter}{\numberline {2}Opis modela broda}{2}
\contentsline {section}{\numberline {2.1}Trup broda}{3}
\contentsline {section}{\numberline {2.2}Aktuatori}{4}
\contentsline {section}{\numberline {2.3}Elektronika}{6}
\contentsline {section}{\numberline {2.4}Komunikacija}{15}
\contentsline {section}{\numberline {2.5}Upravlja\IeC {\v c}ki program}{18}
\contentsline {chapter}{\numberline {3}Matemati\IeC {\v c}ki model broda}{20}
\contentsline {section}{\numberline {3.1}Modeliranje aktuatora}{20}
\contentsline {subsection}{\numberline {3.1.1}Modeli propulzora}{20}
\contentsline {subsection}{\numberline {3.1.2}Model kormila}{22}
\contentsline {section}{\numberline {3.2}Alokacija aktuatora}{23}
\contentsline {section}{\numberline {3.3}Kinemati\IeC {\v c}ki model broda}{25}
\contentsline {section}{\numberline {3.4}Dinami\IeC {\v c}ki model broda}{28}
\contentsline {chapter}{\numberline {4}Identifikacija matemati\IeC {\v c}kog modela}{31}
\contentsline {section}{\numberline {4.1}Mapiranje potisnika}{31}
\contentsline {section}{\numberline {4.2}Metoda vlastitih oscilacija}{34}
\contentsline {subsection}{\numberline {4.2.1}IS-O - zao\IeC {\v s}ijanje}{35}
\contentsline {subsection}{\numberline {4.2.2}IS-O - napredovanje i zano\IeC {\v s}enje}{37}
\contentsline {chapter}{\numberline {5}Estimator stanja broda}{39}
\contentsline {section}{\numberline {5.1}Pro\IeC {\v s}ireni Kalmanov filter (EKF)}{41}
\contentsline {section}{\numberline {5.2}Rezultati kori\IeC {\v s}tenja Kalmanovog filtra}{46}
\contentsline {chapter}{\numberline {6}Metode vo\IeC {\dj }enja i upravljanja}{51}
\contentsline {section}{\numberline {6.1}Ru\IeC {\v c}no upravljanje}{51}
\contentsline {section}{\numberline {6.2}Autopilot}{52}
\contentsline {section}{\numberline {6.3}Dinami\IeC {\v c}ko pozicioniranje}{53}
\contentsline {section}{\numberline {6.4}Slije\IeC {\dj }enje putanje}{58}
\contentsline {subsection}{\numberline {6.4.1}Algoritam virtualne mete}{58}
\contentsline {subsection}{\numberline {6.4.2}Algoritam navo\IeC {\dj }enog upravljanja}{62}
\contentsline {subsection}{\numberline {6.4.3}Slije\IeC {\dj }enje linije}{63}
\contentsline {subsection}{\numberline {6.4.4}Slije\IeC {\dj }enje kru\IeC {\v z}nice}{69}
\contentsline {subsection}{\numberline {6.4.5}Slije\IeC {\dj }enje spline krivulje}{74}
\contentsline {section}{\numberline {6.5}Pra\IeC {\'c}enje trajektorije}{79}
\contentsline {section}{\numberline {6.6}Primjene metoda vo\IeC {\dj }enja i upravljanja}{87}
\contentsline {subsection}{\numberline {6.6.1}Pristajanje broda dinami\IeC {\v c}kim pozicioniranjem}{87}
\contentsline {subsection}{\numberline {6.6.2}Pristajanje broda slije\IeC {\dj }enjem putanje}{89}
\contentsline {chapter}{\numberline {7}Zaklju\IeC {\v c}ak}{91}
\contentsline {chapter}{Literatura}{92}
\contentsline {chapter}{Popis slika}{93}
\contentsline {chapter}{Popis tablica}{96}
