Processing circuitry configured to determine information indicative of position of translational movement sensor on vessel

Abstract

The present disclosure relates to a processing circuit configured to determine information indicative of a position of a translational movement sensor (16) on a vessel (10), and to a method for determining the information, the vessel (10) extending along a vessel longitudinal axis (xmv) in a longitudinal direction, preferably corresponding to an expected direction of travel of the vessel (10). The vessel (10) extends in the vertical direction along a vessel vertical axis (zmv) and in the transverse direction along a vessel transverse axis (ymv). The transverse axis is perpendicular to each of the longitudinal axis and the vertical axis.

Description

Technical Field

[0001] The present disclosure generally relates to a computer system including a processing circuit. In a particular aspect, the present disclosure relates to a computer system including a processing circuit configured to determine information indicating a position of a translational motion sensor on a vessel. The present disclosure may be applied to a vessel, such as a ship, a boat, a barge, etc. Although the present disclosure may be described with respect to a particular vessel, the present disclosure is not limited to any particular vessel. Background Art

[0002] A vessel may include one or more translational motion sensors. By way of example only, a vessel may include a translational motion sensor for determining a position of a portion of the vessel. As another non-limiting example, a vessel may include a translational motion sensor for determining a translational velocity and / or a translational acceleration of a portion of the vessel. However, the measurement accuracy of a translational motion sensor hosted by the vessel may depend on the position of the translational motion sensor relative to the vessel. Summary of the invention

[0003] According to a first aspect of the present disclosure, there is provided a computer system comprising a processing circuit configured to determine information indicative of a position of a translational movement sensor on a vessel, the vessel extending in a longitudinal direction along a vessel longitudinal axis, the longitudinal direction preferably corresponding to an intended direction of travel of the vessel, the vessel extending in a vertical direction along a vessel vertical axis and in a transverse direction along a vessel transverse axis, wherein the transverse axis is perpendicular to each of the longitudinal axis and the vertical axis, the computer system being adapted to:

[0004] - receiving a time-varying rotational movement signal from a rotational movement sensor of the vessel, the time-varying rotational movement signal being related to a rotational movement of the vessel about a first reference axis, the rotational movement being a function of time for a first time range;

[0005] - receiving a time-varying translational movement signal from the translational movement sensor, the time-varying rotational movement signal being related to a translational movement of the translational movement sensor along a second reference axis, the translational movement being a function of time over a second time range, the first reference axis being non-parallel to the second reference axis;

[0006] - using the time-varying rotational movement signal to determine reference frequency rotational movement information, the reference frequency rotational movement information indicating the rotational movement of the vessel around the first reference axis at a reference frequency;

[0007] - using the time-varying translational movement signal to determine reference frequency translational movement information, the reference frequency translational movement information being indicative of the translational movement of the translational movement sensor along the second reference axis at the reference frequency;

[0008] - using the reference frequency rotational movement information and the reference frequency translational movement information to determine the information indicative of the position of the translational movement sensor on the vessel.

[0009] A first aspect of the present disclosure may address problems associated with uncertainty regarding the location of a translational motion sensor on a vessel. Such uncertainty may result in inaccurate results from a translational motion sensor hosted by the vessel. Technical benefits may include obtaining appropriate information regarding the location of the translational motion sensor without requiring dedicated measurement devices, etc.

[0010] According to a second aspect of the present disclosure, there is provided a computer-implemented method for determining, by processing circuitry of a computer system, information indicative of a position of a translational movement sensor on a vessel, the vessel extending in a longitudinal direction along a vessel longitudinal axis, the longitudinal direction preferably corresponding to an expected direction of travel of the vessel, the vessel extending in a vertical direction along a vessel vertical axis and in a transverse direction along a vessel transverse axis, wherein the transverse axis is perpendicular to each of the longitudinal axis and the vertical axis, the method comprising:

[0011] - receiving, by the processing circuit, a time-varying rotational movement signal from a rotational movement sensor of the vessel, the time-varying rotational movement signal being related to a rotational movement of the vessel about a first reference axis, the rotational movement being a function of time over a first time range;

[0012] - receiving, by the processing circuit, a time-varying translational movement signal from the translational movement sensor, the time-varying rotational movement signal being related to a translational movement of the translational movement sensor along a second reference axis, the translational movement being a function of time over a second time range, the first reference axis being non-parallel to the second reference axis;

[0013] - using the time-varying rotational movement signal by the processing circuit to determine reference frequency rotational movement information, the reference frequency rotational movement information indicating the rotational movement of the vessel around the first reference axis at a reference frequency;

[0014] - using the time-varying translational movement signal, by the processing circuit, to determine reference frequency translational movement information, the reference frequency translational movement information being indicative of the translational movement of the translational movement sensor along the second reference axis at the reference frequency;

[0015] - determining, by the processing circuit, the information indicative of the position of the translational movement sensor on the vessel using the reference frequency rotational movement information and the reference frequency translational movement information.

[0016] A second aspect of the present disclosure may address issues associated with uncertainty regarding the location of a translational motion sensor on a vessel. Such uncertainty may result in inaccurate results from a translational motion sensor hosted by the vessel. Technical benefits may include obtaining appropriate information regarding the location of the translational motion sensor without requiring dedicated measurement devices, etc.

[0017] Optionally, in some examples, including at least one preferred example, the second reference axis is fixed in a global reference coordinate system, the global reference coordinate system comprising a global longitudinal axis, a global transverse axis and a global vertical axis, the global reference coordinate system being such that when the vessel is floating on a calm sea with zero trim and zero pitch, the global vertical axis is parallel to the vessel vertical axis, the global reference coordinate system being fixed to an entity separate from the vessel, preferably the global reference coordinate system being earth fixed. Technical benefits may include versatility in the vessel movements that may be detected. For example, if the translational movement sensor is a sensor that detects position in a global reference coordinate system, such as a GPS, etc., the above examples may provide appropriate results.

[0018] Optionally, in some examples, including at least one preferred example, using the time-varying rotational movement signal to determine reference frequency rotational movement information indicating the rotational movement of the vessel around the first reference axis at a reference frequency includes transferring the time-varying rotational movement signal to a frequency domain to obtain frequency-dependent rotational movement information. Technical benefits may include: the motion characteristics of the rotational movement of the vessel around the first reference axis can be determined in a direct manner.

[0019] Optionally, in some examples, including at least one preferred example, using the time-varying translational movement signal to determine reference frequency translational movement information indicating the translational movement of the translational movement sensor along the second reference axis at the reference frequency includes transferring the time-varying rotational movement signal to the frequency domain to obtain frequency-dependent translational movement information. Technical benefits may include: frequency-dependent translational movement information may be used directly in combination with, for example, frequency-dependent rotational movement information.

[0020] Optionally, in some examples, including at least one preferred example, the second reference axis is perpendicular to the first reference axis.Technical benefits may include that appropriate information about the position of a translational movement sensor may be determined.

[0021] Optionally, in some examples, including at least one preferred example, the first reference axis is perpendicular to the vertical axis of the vessel.

[0022] Optionally, in some examples, including at least one preferred example, the method further comprises determining a vertical position of the translational motion sensor along the vertical axis of the vessel using the time-varying rotational motion signal and the time-varying translational motion signal. Technical benefits may include that the vertical position may be determined in a straightforward manner. Such a determined vertical position may be used, for example, to calibrate information emitted from the translational motion sensor.

[0023] Optionally, in some examples, including at least one preferred example, the method further comprises determining the vertical position of the translational movement sensor along the vertical axis of the vessel using the frequency-dependent rotational movement information and the frequency-dependent translational movement information. Technical benefits may include that the vertical position may be determined in a straightforward manner, because the use of the frequency-dependent rotational movement information and the frequency-dependent translational movement information means that relatively compact information may be used, wherein such information may also be less sensitive to interference, etc. in time-varying signals.

[0024] Optionally, in some examples, including at least one preferred example, the frequency-dependent rotational movement information includes a set of rotational movement amplitudes, each rotational movement amplitude being associated with a separate frequency, the method including determining a reference frequency associated with a maximum rotational movement amplitude in the set of rotational movement amplitudes, and using the frequency-dependent translational movement information to determine a translational movement amplitude at the reference frequency. Technical benefits may include that for the reference frequency associated with the maximum rotational movement amplitude, the rotational movement may be a major contributor to the translational movement of the sensor. Thus, the above example means having appropriate accuracy when determining information indicating the position of the translational movement sensor on the vessel.

[0025] Optionally, in some examples, including at least one preferred example, the first reference axis is parallel to the vessel vertical axis. Technical benefits may include that the horizontal position of the translational movement sensor may be determined in a straightforward manner.

[0026] Optionally, in some examples, including in at least one preferred example, the time-varying rotational movement signal comprises information about the rotation rate of the rotational movement of the vessel about the first reference axis of the vessel.

[0027] Optionally, in some examples, including in at least one preferred example, the time-varying translational movement signal comprises information about the velocity along the second reference axis, preferably the second reference axis is parallel to the global longitudinal axis or parallel to the global transverse axis.

[0028] Optionally, in some examples, including at least one preferred example, the method further comprises using the time-varying rotational movement signal and the time-varying translational movement signal to determine the lateral position of the translational movement sensor along the lateral axis of the vessel and / or the longitudinal position along the longitudinal axis of the vessel.

[0029] Optionally, in some examples, including at least one preferred example, the method further comprises determining the transverse position of the translational movement sensor along the transverse axis of the vessel and / or the longitudinal position along the longitudinal axis of the vessel using the frequency-dependent rotational movement information and the frequency-dependent translational movement information. Technical benefits may include that the transverse and / or longitudinal position may be determined in a straightforward manner, because the use of the frequency-dependent rotational movement information and the frequency-dependent translational movement information means that relatively compact information may be used, wherein such information may also be less sensitive to interference, etc. in time-varying signals.

[0030] Optionally, in some examples, including at least one preferred example, the frequency-dependent rotational movement information includes a set of rotation rate amplitudes, each rotation rate amplitude being associated with a separate frequency, the method including determining a reference frequency associated with a maximum rotation rate amplitude in the set of rotation rate amplitudes, and using the frequency-dependent translational movement information to determine the amplitude of the speed along the second reference axis at the reference frequency. Technical benefits may include that for the reference frequency associated with the maximum rotation rate amplitude, the rotational movement may be a major contributor to the movement of the sensor. Thus, the above example means having appropriate accuracy when determining information indicative of the position of the translational movement sensor on the vessel.

[0031] Optionally, in some examples, including at least one preferred example, the vessel has a propulsion system, the method further comprising sending a signal to the propulsion system of the vessel to perform the rotational movement. Technical benefits may include: the rotational movement may be imparted to the vessel in a direct manner.

[0032] Optionally, in some examples, including in at least one preferred example, the first time range is adjacent to or at least partially overlaps with the second time range.

[0033] As used herein, the statement that the first time range is "adjacent" to the second time range is intended to encompass that the minimum time distance from an endpoint of the first time range to an endpoint of the second time range is less than the maximum of the time extensions of the first time range and the second time range. As an example, if the first time range has a time extension of 50 seconds and the second time range has a time extension of 70 seconds, then the first time range is "adjacent" to the second time range if the minimum time distance from the endpoint of the first time range and the endpoint of the second time range is less than 70 seconds.

[0034] According to a third aspect of the present disclosure, there is provided a computer program product comprising program code for, when executed by a processing circuit, performing the method of the second aspect of the present disclosure. The third aspect of the present disclosure may seek to determine information indicative of a position of a translational movement sensor on a vessel. Technical benefits may include that such a position may be determined in a straightforward manner without necessarily requiring a dedicated measurement device, etc.

[0035] According to a fourth aspect of the present disclosure, there is provided a non-transitory computer readable storage medium comprising instructions, which when executed by the processing circuit, cause the processing circuit to perform the method of the second aspect of the present disclosure. The fourth aspect of the present disclosure may seek to determine information indicating the position of the translational movement sensor on the vessel. Technical benefits may include: such a position may be determined in a straightforward manner without necessarily requiring a dedicated measurement device, etc.

[0036] The disclosed aspects, examples (including any preferred examples), and / or the appended claims may be appropriately combined with each other, as will be apparent to any person of ordinary skill in the art. Additional features and advantages are disclosed in the detailed description, claims, and drawings, and in part will be apparent to those skilled in the art or recognized by practicing the disclosure as described herein. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] Examples are described in more detail below with reference to the accompanying drawings.

[0038] Figure 1 is an exemplary perspective view of a ship.

[0039] Figure 2a to Figure 2d A time-varying mobile signal and reference frequency information according to one example are shown.

[0040] Figure 3a to Figure 3d A time-varying mobile signal and reference frequency information according to one example are shown.

[0041] Figure 4 is an exemplary rear view of a vessel.

[0042] Figure 5 The movement of the sensor is schematically shown.

[0043] Figure 6 is an exemplary top view of a vessel.

[0044] Figure 7a to Figure 7b A time-varying mobile signal and reference frequency information according to another example are shown. DETAILED DESCRIPTION

[0045] The detailed description set forth below provides information and examples of the disclosed technology in sufficient detail to enable those skilled in the art to practice the disclosure.

[0046] Figure 1 An exemplary illustrative vessel 10 is shown. Figure 1 The vessel 10 is exemplified by a boat. However, the vessel 10 may also be a ship, a semi-submersible unit, a submarine, etc. Figure 1 As shown, the vessel 10 floats in a body of water 12 having a calm water surface 14. Figure 1 As shown, the vessel 10 is arranged in the longitudinal direction along the longitudinal axis x of the vessel. mv The longitudinal direction preferably corresponds to the intended direction of travel of the vessel 10. The vessel 10 extends in the vertical direction along the vessel vertical axis z mv extends in the transverse direction along the transverse axis y of the vessel mv When the vessel 10 is floating in a body of water 12 having a calm water surface 14, the vessel vertical axis z mv Parallel to the normal to a plane extending in the still water surface 14. Transverse axis y mv Perpendicular to the longitudinal axis x mv and the vertical axis z mv Each of them.

[0047] Figure 1 The double arrow also shows the mv ,y mv and z mv For this purpose, the rotation around the longitudinal axis x of the vessel mv The rotation is called roll φ, about the transverse axis y of the vessel. mv The rotation of the pitch θ is called the pitch θ and is about the vertical axis z of the vessel. mv The rotation of yaw is called yaw γ. mv The translational movement can be called surge, along the transverse axis y of the vessel mv The translational movement can be called rolling, along the longitudinal axis v of the vessel mv The translational movement of can be called heave.

[0048] also, Figure 1 The vessel 10 is shown to include a translational movement sensor 16 on the vessel 10. By way of example only, the translational movement sensor 16 may be adapted to determine a location of the sensor 16. By way of non-limiting example, the translational movement sensor 16 may include a GPS, etc. Instead of or in addition to determining a location of the sensor 16, the translational movement sensor 16 may also be adapted to determine a velocity and / or acceleration of the sensor 16.

[0049] As the vessel 10 moves through the body of water 12, particularly when the vessel 10 is subjected to environmental loads such as waves (not shown), dynamic winds, etc., the vessel 10 will generally experience loads in three axes x and x. mv ,y mv and z mv The translation movement of each axis in and around the three axes x mv ,y mv and z mv Since the vessel 10 generally moves as a rigid body, the translational movement of a point of the vessel 10 may depend on the rotational movement of each axis around the three axes x. mv ,y mv and z mv The rotational movement of one or more axes in the x-axis and the rotational movement from the point to the x-axis about the three axes mv ,y mv and z mv Thus, for the translational motion sensor 16, the accuracy of the translational motion detected by the sensor 16 may depend on the position of the translational motion sensor 16 relative to the vessel 10. Thus, it is desirable to determine the above-mentioned position of the translational motion sensor 16 in a direct manner.

[0050] To this end, according to the first aspect of the present disclosure, reference is again made to Figure 1 , a computer system 18 is provided that includes a processing circuit configured to determine information indicating the position of the translational movement sensor 16 on the vessel 10. The computer system 18 is adapted to receive a time-varying rotational movement signal from a rotational movement sensor 20 of the vessel 10. By way of example only, and as Figure 1 As shown, the rotational movement sensor 20 may be separate from the translational movement sensor 16. However, it is also conceivable that the rotational movement sensor 20 and the translational movement sensor 16 may form a single component. As a non-limiting example, the rotational movement sensor 20 may include or even consist of a tilt sensor and / or a heading sensor. In some examples, the translational movement sensor 16 and / or the rotational movement sensor 20 may be in the form of a sensing unit including more than one sensor. By way of example only, the sensing unit may include an accelerometer and a gyroscope sensor, which are adapted to together provide information about the rotational movement of the vessel 10.

[0051] Regardless of the specific implementation of the rotational movement sensor 20, the time-varying rotational movement signal is related to the rotational movement of the vessel about the first reference axis as a function of time over a first time range.

[0052] Furthermore, also regardless of the specific implementation of the translational movement sensor 16 and the rotational movement sensor 20, respectively, the computer system 18 is generally adapted to receive information from each of the two sensors 16, 20. By way of example only, the computer system 18 may communicate with each of the two sensors 16, 20 via a wire-based and / or wireless communication unit (not shown).

[0053] Furthermore, computer system 18 is adapted to receive a time varying translational movement signal from translational movement sensor 16. The time varying rotational movement signal is related to translational movement of translational movement sensor 16 along a second reference axis as a function of time over a second time range. The first reference axis is not parallel to the second reference axis.

[0054] In addition, the computer system 18 is adapted to use the time-varying rotational movement signal to determine reference frequency rotational movement information indicating the rotational movement of the vessel around the first reference axis at the reference frequency. In addition, the computer system 18 is adapted to use the time-varying translational movement signal to determine reference frequency translational movement information indicating the translational movement of the translational movement sensor 16 along the second reference axis at the reference frequency.

[0055] Furthermore, the computer system 18 is adapted to determine the information indicative of the position of the translational movement sensor 16 on the vessel 10 using the reference frequency rotational movement information and the reference frequency translational movement information.

[0056] According to a second aspect of the present disclosure, a computer-implemented method is provided for determining, by processing circuitry of a computer system, information indicative of a position of a translational movement sensor 16 on a vessel 10. As a non-limiting example, the processing circuitry may include or even consist of the computer system 18 described above.

[0057] The method includes:

[0058] - receiving, by the processing circuit, a time-varying rotational movement signal from a rotational movement sensor 20 of the vessel 10, the time-varying rotational movement signal being related to a rotational movement of the vessel 10 about a first reference axis, the rotational movement being a time function of a first time range;

[0059] - receiving, by the processing circuit, a time-varying translational movement signal from the translational movement sensor 16, the time-varying rotational movement signal being related to a translational movement of the translational movement sensor 16 along a second reference axis, the translational movement being a function of time over a second time range, the first reference axis being non-parallel to the second reference axis;

[0060] - using the time-varying rotational movement signal by the processing circuit to determine reference frequency rotational movement information, the reference frequency rotational movement information indicating the rotational movement of the vessel 10 around the first reference axis at a reference frequency;

[0061] - using the time-varying translational movement signal by the processing circuit to determine reference frequency translational movement information, the reference frequency translational movement information indicating the translational movement of the translational movement sensor 16 along the second reference axis at the reference frequency;

[0062] - determining, by the processing circuit, information indicative of a position of the translational movement sensor on the vessel using the reference frequency rotational movement information and the reference frequency translational movement information.

[0063] An example of the above method will be given below. Here, it should be noted that the following example is also applicable to the computer system 18 according to the first aspect of the present disclosure.

[0064] Optionally, in some examples, including at least one preferred example, Figure 1 As shown and as will be described in further detail below, the second reference axis may be fixed in the global reference coordinate system. Figure 1 As shown, the global reference coordinate system includes the global longitudinal axis x G , global transverse axis y G and the global vertical axis z G The global reference coordinate system is such that when the vessel 10 is floating on a calm sea with zero trim and zero inclination, the global vertical axis z G Parallel to the vertical axis z of the ship mv The global reference coordinate system is fixed to an entity separate from the vessel 10, preferably the global reference coordinate system is earth fixed.

[0065] Figure 2a A graph is shown representing a time-varying rotational movement signal from a rotational movement sensor 20 of a vessel 10. As described above, the time-varying rotational movement signal is related to the rotational movement of the vessel 10 about a first reference axis, which may be fixed to the vessel 10, for example, as a function of time for a first time range ΔT1. Figure 2a In the example of FIG. 1 , the rotational movement of the vessel 10 is illustrated as a rolling φ motion. However, it is contemplated that in other examples of the present disclosure, the rotational movement may be any type of rotational movement.

[0066] also, Figure 2cA time-varying translational motion signal from the translational motion sensor 16 is shown. The time-varying rotational motion signal is related to the translational motion of the translational motion sensor 16 along the second reference axis as a function of time for the second time range ΔT2. As described above, the first reference axis is not parallel to the second reference axis. Figure 2c In the example of FIG. 1 , the translational movement of the translational movement sensor 16 is illustrated as being along the global transverse axis y G In addition, when comparing Figure 2a and Figure 2c As can be realized, the first time range ΔT1 can, for example, at least partially overlap with the second time range ΔT2. Thus, there are one or more time instances, each of which occurs within each of the first time range ΔT1 and the second time range ΔT2.

[0067] The above-mentioned partial overlap can be achieved in a variety of ways. For example, the first time range ΔT1 may be completely within the second time range ΔT2, and vice versa. In addition, the first time range ΔT1 may be the same as the second time range ΔT2. As another example, the starting point of each of the first time range ΔT1 and the second time range ΔT2 may be the same, but their end points may be different. Conversely, the starting point of each of the first time range ΔT1 and the second time range ΔT2 may be different, but their end points may be the same.

[0068] In some examples, the time-varying rotational movement signal from the rotational movement sensor 20 is highly similar to the time-varying translational movement signal from the translational movement sensor 16 within a defined time. In these examples, regardless of whether the first time range ΔT1 partially overlaps with the second time range ΔT2, the time-varying rotational movement signal from the rotational movement sensor 20 and the time-varying translational movement signal from the translational movement sensor 16 will be used to determine information indicating the position of the translational movement sensor on the vessel 10.

[0069] As another non-limiting example, the first time range ΔT1 may be adjacent to the second time range ΔT2. As used herein, the statement that the first time range ΔT1 is "adjacent" to the second time range ΔT2 is intended to cover that the minimum time distance from the endpoint of the first time range to the endpoint of the second time range is less than the maximum value of the time extension of the first time range and the second time range. As an example, assume that the first time range ΔT1 is t=[0s,50s], and the second time range ΔT2 is t=[120s,200s]. This means that the minimum time distance from the endpoint of the first time range ΔT1 to the endpoint of the second time range ΔT2 is the distance from the last moment of the first time range ΔT1 to the first moment of the second time range ΔT2, and in the above example, the distance is 70 (i.e., 120-50) seconds. In addition, the time extension of the first time range ΔT1 is 50 seconds, and the time extension of the second time range ΔT2 is 80 seconds, resulting in the maximum time extension of the first time range and the second time range being 80 seconds. Using the above definition of "adjacent", the first time range ΔT1 is considered to be "adjacent" to the second time range ΔT2 because the minimum time distance is 70 seconds, which is less than 80 seconds.

[0070] Figure 2b Frequency rotation movement information is shown, which indicates the rotation movement of the vessel 10 around the first reference axis at a reference frequency. Figure 2b In the example, the frequency rotation shift information has been passed to Figure 2a The time-varying rotational movement signal is filtered so that only the movement related to the reference frequency is retained after filtering. Figure 2b As shown, the reference frequency rotation movement information can be used, for example, to determine the amplitude A φ , which is Figure 2b exemplified as the roll amplitude.

[0071] Similarly, Figure 2d Reference frequency translational movement information indicating translational movement of the translational movement sensor 16 along the second reference axis at the reference frequency is shown. Figure 2d In the example, the frequency shift information has been Figure 2c The time-varying translational motion signal is filtered so that only the motion related to the reference frequency is retained after filtering. Figure 2d As shown, the reference frequency translation movement information can be used, for example, to determine the amplitude A y ,exist Figure 2d , the amplitude is illustrated along the global transverse axis y G The amplitude of the displacement.

[0072] It should be noted that the filtering alternatives given in the above paragraphs are only used as examples of how the reference frequency rotational movement information and the reference frequency translational movement information, respectively, may be determined.

[0073] For this purpose, refer to Figure 3a to Figure 3d In some examples, including at least one preferred example, using the time-varying rotational movement signal to determine reference frequency rotational movement information indicating the rotational movement of the vessel around the first reference axis at a reference frequency may include transmitting the time-varying rotational movement signal to the frequency domain to obtain frequency-dependent rotational movement information.

[0074] If available from Figure 3a and Figure 3c Achieved, Figure 3a shows a time-varying rotational movement signal from a rotational movement sensor 20 of a vessel 10, and Figure 3a The curve graph and Figure 2a In addition, if Figure 3a As shown, Figure 3a The horizontal axis in has entity time. Figure 3c 1 shows frequency-dependent rotational movement information that has been obtained by transferring the time-varying rotational movement signal to the frequency domain. As a non-limiting example, such a transformation may be performed using, for example, a Fourier transform such as a Fast Fourier Transform (FFT). Figure 3b Collected, Figure 3b The horizontal axis in has physical frequencies. Generally speaking, transferring a time-varying signal to the frequency domain results in the magnitude and phase of each frequency. However, in Figure 3b In the graph of , only the amplitude as a function of frequency is shown. Figure 3b The time-varying rotational movement signal is transferred to the frequency domain so that the amplitude for each of the plurality of frequencies can be determined. Figure 3a and Figure 3b Similarly, Figure 3d It shows that by Figure 3b The frequency shift information is obtained by transferring the time-varying shift signal in the curve diagram to the frequency domain.

[0075] In this way, Figure 3b As shown, the frequency-dependent rotational movement information may include a set of rotational movement amplitudes, each rotational movement amplitude being associated with a separate frequency. In addition, the method of the present disclosure may include determining a reference frequency f associated with a maximum rotational movement amplitude in the set of rotational movement amplitudes. ref , and use the frequency-dependent rotational movement information to determine the reference frequency f ref Amount of rotational movement A φ (See Figure 3b ).

[0076] In addition, if Figure 3d As shown, using a time-varying translation motion signal (see Figure 3b ) to determine the reference frequency translation movement information may include transferring the time-varying rotational movement signal to the frequency domain (see Figure 3d ) in order to obtain frequency-dependent translational movement information, the reference frequency translational movement information indicating the translational movement of the translational movement sensor 16 along the second reference axis at the reference frequency. Figure 3d As shown, the frequency-dependent translational movement information presented can be used to determine, for example, Figure 3b The maximum rotational movement amplitude in the set of presented rotational movement amplitudes is associated with the reference frequency f ref Amplitude A y .

[0077] It should be noted that any of the above examples relating to any of time-varying rotational movement signals, time-varying translational movement signals, frequency rotational movement information and frequency translational movement information may be used in any example of the present disclosure, in particular in any example presented below.

[0078] With respect to the first reference axis and the second reference axis, the second reference axis may be perpendicular to the first reference axis.

[0079] Optionally, in some examples, including at least one preferred example, the first reference axis may be perpendicular to the vertical axis z of the vessel. mv To this end, refer to Figure 4 , which shows a view from the rear of the vessel 10. Figure 4 As shown, the method may include using the time-varying rotational motion signal and the time-varying translational motion signal to determine the position of the translational motion sensor 16 along the vertical axis z of the vessel. mv The vertical position h.

[0080] In particular, if Figure 4 As shown, the method may include using the frequency-dependent rotational movement information and the frequency-dependent translational movement information to determine the position of the translational movement sensor 16 along the vessel vertical axis z mv The vertical position h.

[0081] exist Figure 4 In the example, the first reference axis is the longitudinal axis x of the vessel. mv In this way, Figure 4 In the example of , the rotational movement of the vessel 10 about the first reference axis is the roll φ. Figure 4 In the example of FIG. 1 , the translational movement sensor 16 can detect the movement along the global lateral axis y. G movement.

[0082] However, it is also conceivable that in other examples the first reference axis may be the vessel transverse axis y mv , so that the rotational movement of the vessel 10 about the first reference axis may be pitch θ. In such an example, the translational movement sensor 16 may detect the rotational movement of the vessel 10 along the global longitudinal axis x G movement.

[0083] If available from Figure 4 When the vessel 10 is imparted with a rolling motion, such as a periodic rolling motion that may be caused by environmental loads (such as wave loads) and / or internal loads (such as a tilting moment achieved by moving the load on the vessel 10), the translational motion sensor 16 may be subjected to a rotational motion along the global transverse axis y. G Assume that, at least for the reference frequency, the rolling motion of the vessel 10, i.e., along the transverse axis y of the vessel mv The displacement is negligible, the translation movement sensor 16 along the global transverse axis y G The movement will depend on the rolling motion and the displacement from the longitudinal axis x of the vessel. mv The distance h′ to the translational motion sensor 16 .

[0084] like Figure 4 As shown, from the longitudinal axis x of the ship mv The distance h' to the translational movement sensor 16 may depend on the distance h' along the vessel's transverse axis y mv From the longitudinal axis of the ship mv The lateral distance b to the translational movement sensor 16 and the vertical axis z along the vessel mv From the longitudinal axis of the ship mv The vertical distance h to the translational motion sensor 16. By way of example only, the lateral distance b may be known or may be calculated based on, for example, Figure 6 The examples presented are to be determined.

[0085] The method of the present disclosure may include receiving a time-varying rotational movement signal from a rotational movement sensor 20 of the vessel 10. Figure 4 In the example of , the time-varying rotational movement signal may be related to the rolling motion of the vessel 10. Reference frequency rotational movement information may be determined, which indicates that the vessel 10 is rotating about a first reference axis ( Figure 4 In the example of the longitudinal axis x of the vessel mv ) is a panning movement performed at a reference frequency. As an example only, the reference frequency rotation movement and the reference frequency can be based on the above Figures 2a to 3d Thus, although only as an example, the roll amplitude A can be determined φ Sum and roll amplitude A φ The associated reference frequency f ref .

[0086] As a non-limiting example, the reference frequency f ref According to the reference above Figure 3b The presented procedure determines the reference frequency f ref Associated with the maximum rotational move magnitude in the set of rotational move magnitudes.

[0087] In addition, the method of the present disclosure may include receiving a time-varying translational motion signal from the translational motion sensor 16. Figure 4 In the example of FIG. 1 , the time-varying translational motion signal can be compared with the translational motion sensor 16 along the global lateral axis y G The time-varying translational motion signal can be used to determine reference frequency translational motion information, which indicates that the translational motion sensor 16 moves along the second reference axis (which is Figure 4 In the example of the global horizontal axis y G ) with reference frequency f ref As an example only, the reference frequency translation information can be based on the above Figures 2a to 3d Thus, although only as an example, reference is made to Figure 2d and Figure 3d In the above examples presented in each of the above examples, the reference frequency translational movement information may include the translational movement sensor 16 along the global lateral axis y G With reference frequency f ref The amplitude of the movement A y .

[0088] Figure 5 It shows that when the ship 10 is given a rolling amplitude A at the reference frequency φ The panning motion of the sensor 16 is translated into the movement of the sensor 16. Figure 5 As shown, the translational movement sensor 16 will move along the global transverse axis y G With amplitude A y With reference frequency f ref Shift.

[0089] Based on the translation movement sensor 16 along the global lateral axis y G The roll amplitude A φ and amplitude A y , can be determined from the longitudinal axis x of the ship mv The distance h' to the translational motion sensor 16. By way of example only, the distance h' may be determined according to the following formula:

[0090] #timg# Equation 1

[0091] In some examples, where the rolling motion is relatively small, resulting in the lateral distance b being significantly smaller than the vertical distance h, for example, the lateral distance b is about 10% of the vertical distance h, the distance h' may be determined according to the following simplified equation:

[0092] #timg# Equation 2

[0093] Once the distance h' is determined, again assuming that the transverse distance b is known, it is possible to determine the distance along the vertical axis z of the vessel according to mv From the longitudinal axis of the ship mv Vertical distance h to the translational motion sensor 16:

[0094] #timg# Equation 3

[0095] It should be noted that if equation 1 is used to determine the value from the longitudinal axis x of the vessel mv The distance h' to the translational motion sensor 16, and inserting Equation 1 into Equation 3, the vertical distance h can be determined without using the lateral distance b.

[0096] Although the above examples use displacement of the translational motion sensor 16 and amplitude of the roll motion, it should be noted that in other examples, the velocity or acceleration of the translational motion sensor 16 may be used instead. Similarly, the roll rate and / or roll acceleration may be used instead of the roll motion.

[0097] Optionally, in some examples, including at least one preferred example, the first reference axis is parallel to the vertical axis z of the vessel. mv To this end, refer to Figure 6 , shows a top view of the vessel 10. Figure 6 As shown, there is a mv From the longitudinal axis of the ship mv The lateral distance b to the translational movement sensor 16 and the longitudinal axis x of the vessel mv From the transverse axis of the ship mv The longitudinal distance l to the translational movement sensor 16. The above-mentioned transverse distance b and the longitudinal distance l together result in a vertical distance from the vertical axis z of the vessel. mv The horizontal distance r to the translational motion sensor 16 .

[0098] In addition, if Figure 6 As shown, the vessel 10 includes a propulsion assembly 22 suitable for propelling the vessel 10. Figure 6In the example of , the propulsion assembly 22 includes two propulsion units 24, 26. As a non-limiting example, each of the two propulsion units may include an outboard motor, a drive connected to an inboard motor (not shown), etc. In some other examples, the propulsion assembly 22 may include a bow thruster and / or a stern thruster. Regardless of the specific implementation of the propulsion assembly 22, the method may include sending a signal to the propulsion system 22 of the vessel 10 to perform a rotational movement. By way of example only, the method may include sending a signal to the two propulsion units 24, 26 to generate thrusts of equal magnitude but opposite directions. For example, the propulsion assembly 22 may be operated to impart a yaw movement to the vessel 10, i.e., a yaw movement around the vertical axis z of the vessel. mv rotation.

[0099] In some examples, the rotational movement may not be performed by the propulsion assembly 22. For example, the rotational movement may be generated by introducing one or more vertical forces at different locations of the vessel 10. For example, a weight (not shown) may be moved to a different location of the vessel 10, such as to a location located along the longitudinal axis x of the vessel. mv As another non-limiting example, rotational movement such as rolling or pitching motion may be achieved by environmental loads such as wave loads that are applied to the vessel 10.

[0100] Reference again Figure 6 In some examples, including at least one preferred example, the time-varying rotational movement signal may include information about the rotation rate of the rotational movement of the vessel 10 around the first reference axis of the vessel 10. Thus, in Figure 6 In the example of , the time-varying rotational movement signal may include the yaw rate of the vessel 10. Thus, the yaw rate is referred to as ω hereinafter, where ω = dγ / dt.

[0101] Furthermore, the method may include using the time-varying rotational movement signal to determine reference frequency rotational movement information indicating the rotational movement of the vessel around the first reference axis at a reference frequency. In this example, the method may determine the frequency at which the yaw rate is high. For example only, Figure 6 The frequency-dependent rotational movement information of an example may include a set of yaw rate amplitudes, each yaw rate amplitude being associated with a separate frequency. In addition, the method may include determining a reference frequency f associated with a maximum yaw rate amplitude in the set of yaw rate amplitudes. ref .

[0102] Furthermore, the time-varying translational motion signal may be used to determine reference frequency translational motion information indicating the movement of the translational motion sensor 16 along a second reference axis (eg, which may be the global longitudinal axis x G ) with reference frequency fref The translation movement performed.

[0103] To this end, a translational motion sensor 16 is used to move the sensor 16 in the global longitudinal axis x G As an example, the longitudinal axis x of the translational motion sensor 16 is G The magnitude of the velocity in can be determined as A xG As a non-limiting example, the global longitudinal axis x of the translational movement sensor 16 G The magnitude of the velocity in xG The above reference frequency f associated with the maximum yaw rate amplitude may be used ref In addition, as a non-limiting example, the above reference Figure 2d and Figure 3d Any of the examples presented in each of the examples to determine the amplitude A xG .

[0104] Furthermore, the time-varying rotational movement signal may include an initial position γ0, i.e., a yaw position (or heading) detected at the beginning of the time-varying rotational movement signal. mv With the global longitudinal axis x G If the time-varying rotational motion signal is overlapped or parallel, the initial position γ0 can be zero at the beginning of the time-varying rotational motion signal. mv Along the longitudinal axis of the ship x mv The angle p can be determined using information from a time-varying translational motion signal, for example, the translational motion sensor 16 along the global longitudinal axis x G The translational movement of as a function of time is Figure 7a shown. Figure 7b It is then shown that the frequency translation information has been Figure 7a The time-varying translational motion signal is filtered so that only the motion related to the reference frequency remains after filtering. In this way, the offset p corresponding to the time difference between the starting point T0 of the time-varying rotational motion signal and the peak of the reference frequency is obtained. XG . Offset p XG It can then be converted into the corresponding angle.

[0105] Therefore, the translation movement sensor 16 is aligned with the vertical axis z of the vessel. mv Along the longitudinal axis of the ship x m The above angle p can be determined according to the following formula:

[0106] #timg# Equation 4

[0107] Using the above information, the method may include using the time-varying rotational movement signal and the time-varying translational movement signal to determine the position of the translational movement sensor 16 along the vessel transverse axis y. mv transverse position b and / or along the longitudinal axis x of the vessel mv The longitudinal position l.

[0108] For example, the lateral position b and the longitudinal position l may be determined using reference frequency rotational movement information, such as a reference frequency f associated with the maximum yaw rate amplitude in the yaw rate amplitude set. ref and the maximum yaw rate ω. In this way, the longitudinal axis x of the vessel along the translational movement sensor 16 can be used mv The above reference frequency f ref To determine the global longitudinal axis x of the translational motion sensor 16 G The magnitude of the velocity in xG As an example only, the above-mentioned lateral distance b and longitudinal distance l can be determined according to the following formula:

[0109] #timg# Equation 5 #timg# Equation 6

[0110] It should be noted that although the above process for determining the lateral position b and / or the longitudinal position l of the translational movement sensor 16 has been illustrated as using the translational movement sensor 16 along the longitudinal axis x G However, it is conceivable that, instead of or in addition to using the speed along the longitudinal axis x G In addition to the speed of the method, other examples of the method can also use the translation movement sensor 16 along the transverse axis y G speed.

[0111] Furthermore, the present disclosure may be illustrated by any of the following examples.

[0112] Example 1: A computer system comprising a processing circuit configured to determine information indicative of a position of a translational motion sensor 16 on a vessel 10 in a longitudinal direction along a longitudinal axis x of the vessel. mv The longitudinal direction preferably corresponds to the expected travel direction of the vessel 10, and the vessel 10 extends in the vertical direction along the vertical axis z of the vessel. mv Extends and in the transverse direction along the vessel transverse axis y mv extends, wherein the transverse axis y mv perpendicular to the longitudinal axis x mv and the vertical axis z mv In each of the embodiments, the computer system is adapted to:

[0113] - receiving a time-varying rotational movement signal from a rotational movement sensor of the vessel 10, the time-varying rotational movement signal being related to the rotational movement of the vessel 10 around a first reference axis, the rotational movement being a time function of a first time range ΔT1;

[0114] - receiving a time-varying translational movement signal from the translational movement sensor 16, the time-varying rotational movement signal being related to a translational movement of the translational movement sensor 16 along a second reference axis, the translational movement being a time function over a second time range ΔT2, the first reference axis being non-parallel to the second reference axis;

[0115] - using the time-varying rotational movement signal to determine reference frequency rotational movement information, the reference frequency rotational movement information indicating the rotational movement of the vessel 10 around the first reference axis at a reference frequency;

[0116] - using said time-varying translational movement signal to determine reference frequency translational movement information, said reference frequency translational movement information being indicative of said translational movement of said translational movement sensor 16 along said second reference axis at said reference frequency;

[0117] - determining said information indicative of said position of said translational movement sensor 16 on said vessel 10 using said reference frequency rotational movement information and said reference frequency translational movement information.

[0118] Example 2: A computer-implemented method for determining, by processing circuitry of a computer system, information indicating a position of a translational motion sensor 16 on a vessel 10 along a longitudinal axis x of the vessel mv The vessel 10 extends in a longitudinal direction, which preferably corresponds to the intended direction of travel of the vessel 10, and in a vertical direction along a vessel vertical axis z mv Extends and in the transverse direction along the vessel transverse axis y mv extends, wherein the transverse axis y mv perpendicular to the longitudinal axis x mv and the vertical axis z mv In each of the above, the method comprises:

[0119] - receiving, by the processing circuit, a time-varying rotational movement signal from a rotational movement sensor 20 of the vessel 10, the time-varying rotational movement signal being related to a rotational movement of the vessel 10 around a first reference axis, the rotational movement being a time function of a first time range ΔT1;

[0120] - receiving, by the processing circuit, a time-varying translational movement signal from the translational movement sensor 16, the time-varying rotational movement signal being related to a translational movement of the translational movement sensor 16 along a second reference axis, the translational movement being a time function over a second time range ΔT2, the first reference axis being non-parallel to the second reference axis;

[0121] - determining, by the processing circuit, reference frequency rotational movement information using the time-varying rotational movement signal, the reference frequency rotational movement information indicating the rotational movement of the vessel 10 around the first reference axis at a reference frequency;

[0122] - determining, by the processing circuit, reference frequency translational movement information using the time-varying translational movement signal, the reference frequency translational movement information being indicative of the translational movement of the translational movement sensor 16 along the second reference axis at the reference frequency;

[0123] - determining, by the processing circuitry, the information indicative of the position of the translational movement sensor 16 on the vessel 10 using the reference frequency rotational movement information and the reference frequency translational movement information.

[0124] Example 3: The method of Example 2, wherein the second reference axis is fixed in a global reference coordinate system, the global reference coordinate system including a global longitudinal axis x G , global transverse axis y G and the global vertical axis z G , the global reference coordinate system is such that when the vessel 10 is floating on a calm sea with zero trim and zero inclination, the global vertical axis z G Parallel to the vertical axis z of the vessel mv , the global reference coordinate system is fixed to an entity separate from the vessel 10, preferably the global reference coordinate system is earth fixed.

[0125] Example 4: A method according to any one of Examples 2 to 3, wherein using the time-varying rotational movement signal to determine reference frequency rotational movement information indicating the rotational movement of the vessel 10 around the first reference axis at a reference frequency includes transmitting the time-varying rotational movement signal to the frequency domain so as to obtain frequency-dependent rotational movement information.

[0126] Example 5: A method according to any one of Examples 2 to 4, wherein using the time-varying translational movement signal to determine reference frequency translational movement information indicating the translational movement of the translational movement sensor 16 along the second reference axis at the reference frequency includes transmitting the time-varying rotational movement signal to the frequency domain so as to obtain frequency-related translational movement information.

[0127] Example 6: A method according to any one of Examples 2 to 5, wherein the second reference axis is perpendicular to the first reference axis.

[0128] Example 7: A method according to any one of Examples 2 to 6, wherein the first reference axis is perpendicular to the vertical axis z of the vessel. mv .

[0129] Example 8: The method according to Example 6 and Example 7, wherein the method further comprises using the time-varying rotational movement signal and the time-varying translational movement signal to determine the translational movement sensor (16) along the vertical axis z of the vessel. mv vertical position.

[0130] Example 9: The method according to Example 4, Example 5 and Example 8, wherein the method further comprises using the frequency-dependent rotational movement information and the frequency-dependent translational movement information to determine the translational movement sensor 16 along the vertical axis z of the vessel. mv The vertical position of .

[0131] Example 10: A method according to Example 9, wherein the frequency-dependent rotational movement information includes a set of rotational movement amplitudes, each rotational movement amplitude is associated with a separate frequency, the method comprising determining a reference frequency associated with a maximum rotational movement amplitude in the set of rotational movement amplitudes, and using the frequency-dependent translational movement information to determine a translational movement amplitude performed at the reference frequency.

[0132] Example 11: A method according to any one of Examples 2 to 6, wherein the first reference axis is parallel to the vertical axis z of the vessel. mv .

[0133] Example 12: The method according to Example 11, wherein the time-varying rotational movement signal comprises information about the rotation rate of the rotational movement of the vessel 10 around the first reference axis of the vessel.

[0134] Example 13: The method according to any one of Examples 3 and Examples 11 to 12, wherein the time-varying translational movement signal comprises information about the velocity along the second reference axis, preferably the second reference axis is parallel to the global longitudinal axis x G or parallel to the global transverse axis y G .

[0135] Example 14: The method according to Example 13, wherein the method further comprises using the time-varying rotational movement signal and the time-varying translational movement signal to determine the translational movement sensor 16 along the transverse axis y of the vessel. mvThe transverse position and / or along the longitudinal axis x of the vessel mv The vertical position of the

[0136] Example 15: The method according to Example 4, Example 5 and Example 14, wherein the method further comprises using the frequency-dependent rotational movement information and the frequency-dependent translational movement information to determine the rotational movement of the translational movement sensor 16 along the transverse axis y of the vessel. mv The transverse position and / or along the longitudinal axis x of the vessel mv The vertical position of the

[0137] Example 16: A method according to Example 15, wherein the frequency-dependent rotational movement information includes a set of rotational rate amplitudes, each rotational rate amplitude being associated with a separate frequency, the method comprising determining a reference frequency associated with a maximum rotational rate amplitude in the set of rotational rate amplitudes, and using the frequency-dependent translational movement information to determine the amplitude of the speed along the second reference axis at the reference frequency.

[0138] Example 17: The method according to any one of Examples 2 to 16, wherein the vessel 10 has a propulsion system 22, the method further comprising:

[0139] - Sending a signal to the propulsion system of the vessel 10 to perform a rotational movement.

[0140] Example 18: The method according to any one of Examples 2 to 17, wherein the first time range ΔT1 is adjacent to or at least partially overlaps with the second time range ΔT2.

[0141] Example 19: A computer program product comprising program code for performing the method according to any one of Examples 2 to 18 when executed by the processing circuit.

[0142] Example 20: A non-transitory computer-readable storage medium comprising instructions that, when executed by the processing circuit, cause the processing circuit to perform the method of any one of Examples 2 to 18.

[0143] The disclosed aspects, examples (including any preferred examples) and / or the appended claims may be appropriately combined with each other, which is obvious to any person skilled in the art. Additional features and advantages are disclosed in the detailed description, claims and drawings, and will be partially obvious.

[0144] The terms used herein are only for the purpose of describing specific aspects and are not intended to limit the present disclosure. As used herein, unless the context clearly indicates otherwise, the singular forms "one", "a kind of" and "said" are intended to include plural forms as well. As used herein, the term "and / or" includes any and all combinations of one or more of the associated listed items. It should also be understood that the terms "include" and / or "comprising" when used herein indicate the presence of stated features, integers, actions, steps, operations, elements and / or parts, but do not exclude the presence or addition of one or more other features, integers, actions, steps, operations, elements, parts and / or their groups.

[0145] It should be understood that although the terms first, second, etc. may be used herein to describe various elements, these elements should not be limited by these terms. These terms are only used to distinguish one element from another element. For example, without departing from the scope of the present disclosure, a first element may be referred to as a second element, and similarly, a second element may be referred to as a first element.

[0146] Relative terms such as "below" or "above" or "upper" or "lower" or "horizontal" or "vertical" may be used herein to describe the relationship of one element to another element, as shown in the figures. It should be understood that these relative terms and those discussed above are intended to cover different device orientations in addition to the orientations depicted in the figures. It should be understood that when an element is referred to as being "connected" or "coupled" to another element, the element may be directly connected or coupled to the other element, or there may be intervening elements. In contrast, when an element is referred to as being "directly connected" or "directly coupled" to another element, there are no intervening elements.

[0147] Unless otherwise defined, all terms (including technical and scientific terms) used herein have the same meaning as commonly understood by those of ordinary skill in the art to which the present disclosure belongs. It should also be understood that, unless otherwise clearly defined herein, the terms used herein should be interpreted as meanings consistent with their meanings in the context of this specification and the relevant art, and should not be interpreted in an idealized or overly formal sense.

[0148] It should be understood that the present disclosure is not limited to the aspects described above and shown in the accompanying drawings; rather, the skilled person will recognize that many changes and modifications may be made within the scope of the present disclosure and the appended claims. In the drawings and description, various aspects have been disclosed for illustrative purposes only and not for limiting purposes, and the scope of the present disclosure is set forth in the appended claims.

Claims

1. A computer system comprising a processing circuit, the processing circuit being configured to determine information indicative of a position of a translational motion sensor (16) on a vessel (10), the vessel (10) being oriented in a longitudinal direction along a longitudinal axis (x mv ), the longitudinal direction preferably corresponds to the expected travel direction of the ship (10), the ship (10) extending in the vertical direction along the vertical axis (z mv ) and extends in the transverse direction along the transverse axis of the vessel (y mv ) extends, wherein the transverse axis (y mv ) is perpendicular to the longitudinal axis (x mv ) and the vertical axis (z mv ), the computer system being adapted to: - receiving a time-varying rotational movement signal from a rotational movement sensor (20) of the vessel (10), the time-varying rotational movement signal being related to a rotational movement of the vessel (10) about a first reference axis, the rotational movement being a time function of a first time range (ΔT1); - receiving a time-varying translational movement signal from the translational movement sensor (16), the time-varying rotational movement signal being related to a translational movement of the translational movement sensor (16) along a second reference axis, the translational movement being a function of time over a second time range (ΔT2), the first reference axis being non-parallel to the second reference axis; - using the time-varying rotational movement signal to determine reference frequency rotational movement information, the reference frequency rotational movement information being indicative of the rotational movement of the vessel (10) around the first reference axis at a reference frequency; - using the time-varying translational movement signal to determine reference frequency translational movement information, the reference frequency translational movement information being indicative of the translational movement of the translational movement sensor (16) along the second reference axis at the reference frequency; - using the reference frequency rotational movement information and the reference frequency translational movement information to determine the information indicative of the position of the translational movement sensor (16) on the vessel (10).

2. A computer-implemented method for determining, by processing circuitry of a computer system, information indicative of a position of a translational motion sensor (16) on a vessel (10), the vessel (10) being longitudinally along a longitudinal axis (x mv ), the longitudinal direction preferably corresponds to the expected travel direction of the ship (10), the ship (10) extending in the vertical direction along the vertical axis (z mv ) and extends in the transverse direction along the transverse axis of the vessel (y mv ) extends, wherein the transverse axis (y mv ) is perpendicular to the longitudinal axis (x mv ) and the vertical axis (z mv ), the method comprising: - receiving, by the processing circuit, a time-varying rotational movement signal from a rotational movement sensor (20) of the vessel (10), the time-varying rotational movement signal being related to a rotational movement of the vessel (10) about a first reference axis, the rotational movement being a time function of a first time range (ΔT1); - receiving, by the processing circuit, a time-varying translational movement signal from the translational movement sensor (16), the time-varying rotational movement signal being related to a translational movement of the translational movement sensor (16) along a second reference axis, the translational movement being a function of time over a second time range (ΔT2), the first reference axis being non-parallel to the second reference axis; - determining, by the processing circuit, reference frequency rotational movement information using the time-varying rotational movement signal, the reference frequency rotational movement information being indicative of the rotational movement of the vessel (10) about the first reference axis at a reference frequency; - determining, by the processing circuit, reference frequency translational movement information using the time-varying translational movement signal, the reference frequency translational movement information being indicative of the translational movement of the translational movement sensor (16) along the second reference axis at the reference frequency; - determining, by the processing circuit, the information indicative of the position of the translational movement sensor (16) on the vessel (10) using the reference frequency rotational movement information and the reference frequency translational movement information.

3. The method of claim 2, wherein the second reference axis is fixed in a global reference coordinate system, the global reference coordinate system comprising a global longitudinal axis (x G ), the global horizontal axis (y G ) and the global vertical axis (z G ), the global reference coordinate system is such that when the vessel (10) is floating on a calm sea with zero trim and zero inclination, the global vertical axis (z G ) is parallel to the vertical axis of the vessel (z mv ), the global reference coordinate system is fixed to an entity separate from the vessel (10), preferably the global reference coordinate system is earth fixed.

4. The method according to any one of claims 2 to 3, wherein using the time-varying rotational movement signal to determine reference frequency rotational movement information indicating the rotational movement of the vessel (10) around the first reference axis at a reference frequency comprises transferring the time-varying rotational movement signal to the frequency domain so as to obtain frequency-dependent rotational movement information.

5. The method according to any one of claims 2 to 4, wherein using the time-varying translational movement signal to determine reference frequency translational movement information indicating the translational movement of the translational movement sensor (16) along the second reference axis at the reference frequency includes transmitting the time-varying rotational movement signal to the frequency domain so as to obtain frequency-dependent translational movement information.

6. The method of any one of claims 2 to 5, wherein the second reference axis is perpendicular to the first reference axis.

7. The method according to any one of claims 2 to 6, wherein the first reference axis is perpendicular to the vertical axis (z mv ).

8. The method of claim 7 when dependent on claim 6, wherein the method further comprises using the time-varying rotational movement signal and the time-varying translational movement signal to determine the time-varying rotational movement signal of the translational movement sensor (16) along the vertical axis (z mv )’s vertical position.

9. The method according to claim 8 when dependent on claims 4 and 5, wherein the method further comprises using the frequency-dependent rotational movement information and the frequency-dependent translational movement information to determine the position of the translational movement sensor (16) along the vessel vertical axis (z mv ), preferably the frequency-dependent rotational movement information comprises a set of rotational movement amplitudes, each rotational movement amplitude being associated with a separate frequency, the method comprising determining a reference frequency associated with a maximum rotational movement amplitude in the set of rotational movement amplitudes, and using the frequency-dependent translational movement information to determine a translational movement amplitude performed at the reference frequency.

10. The method according to any one of claims 2 to 6, wherein the first reference axis is parallel to the vertical axis (z mv ), preferably said time-varying rotational movement signal comprises information about the rotation rate of said rotational movement of said vessel (10) around said first reference axis of said vessel (10).

11. A method according to claim 10 when dependent on claim 3, wherein the time-varying translational movement signal comprises information about the velocity along the second reference axis, preferably the second reference axis being parallel to the global longitudinal axis (x G ) or parallel to the global transverse axis (y G ).

12. The method according to claim 11, wherein the method further comprises using the time-varying rotational motion signal and the time-varying translational motion signal to determine the time-varying rotational motion signal of the translational motion sensor (16) along the transverse axis (y mv ) and / or along the longitudinal axis (x mv )’s vertical position.

13. The method according to claim 12 when dependent on claims 4 and 5, wherein the method further comprises using the frequency-dependent rotational movement information and the frequency-dependent translational movement information to determine the position of the translational movement sensor (16) along the transverse axis (y) of the vessel. mv ) and / or along the longitudinal axis (x mv ), preferably the frequency-dependent rotational movement information comprises a set of rotation rate amplitudes, each rotation rate amplitude being associated with a separate frequency, the method comprising determining a reference frequency associated with a maximum rotation rate amplitude in the set of rotation rate amplitudes, and using the frequency-dependent translational movement information to determine the amplitude of the speed along the second reference axis at the reference frequency.

14. The method according to any one of claims 2 to 13, wherein the vessel (10) has a propulsion system (22), the method further comprising: - sending a signal to the propulsion system of the vessel (10) to perform a rotational movement.

15. The method according to any one of claims 2 to 14, wherein the first time range (ΔT1) is adjacent to or at least partially overlaps with the second time range (ΔT2).

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