Sensor data based system identification and modular autopilot control instrumentation of marine craft

This research explores the transformation of non-autonomous leisure marine crafts using a novel modular autopilot control instrumentation. It focuses on leveraging sensor data-based models for understanding the motion dynamics of marine crafts and the strategic integration of PID controllers for heading angle control. The paper addresses the inherent challenges in the marine environment, presenting a comprehensive approach that includes the design, implementation, and validation in a real-world sea trial with the Beneteau Antares 780 Motorboat. The study demonstrates the system's practical viability through testing on a Vehicle In the Loop setup, showcasing its efficiency and potential for enhancing recreational marine navigation.