Identification of Load Sway in Quay-Cranes

This paper describes the use of an inertial navigation system in conjunction with a Kaiman filter to estimate crane load sway. The estimator was based on a simple dynamic model of the crane yaw motion. Experiments were conducted on a l/15 th geometric scale model of a quay-crane. The performance of the filter was assessed using data obtained from video images. A yaw position estimator was able to track accurately the motion of the load over extended time periods.

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