Marine Systems Simulator (MSS)

How to Install MSS for Matlab? · How to install MSS for GNU Octave?

The Marine Systems Simulator (MSS) is a Matlab and Simulink library for marine systems control design. The m-files are compatible with the free software GNU Octave. MSS includes models for ships, underwater vehicles, uncrewed surface vehicles, and floating structures. The library also contains guidance, navigation, and control (GNC) methods for time-domain simulation. The software can be downloaded from:

GitHub Repository: https://github.com/cybergalactic/MSS

Hydrodynamic modelling and the GNC algorithms are described in:

T. I. Fossen (2021). Handbook of Marine Craft Hydrodynamics and Motion Control, 2nd Edition, John Wiley & Sons, Chichester, UK.

For a list of commands and their description, see the MSS Quick Reference.

Marine Craft M-FILE Models

The marine craft M-file models, located under /MSS/VESSELS/models/, can be simulated using the corresponding user-editable scripts, which start with SIM and are located in the /MSS/VESSELS/ directory:

SIMclarke.m

clarke83.m
Linear surge–sway–yaw maneuvering model parametrized using the main dimensions (L,B,T) derived from regression of model tests
SIMcontainer.m

Lcontainer.m
container.m
Linearized and nonlinear surge–sway–roll–yaw model of a 175-meter high-speed container ship
SIMdsrv.m

DSRV.m
Linear heave–pitch vertical-plane model of 5-meter Deep Submergence Rescue Vehicle (DSRV)
SIMfrigate.m

frigate.m
Nonlinear yaw model of a 100-meter frigate
SIMmariner.m

mariner.m
Nonlinear surge–sway–yaw maneuvering model of a 160-meter Mariner-class cargo vessel
SIMnavalvessel.m

navalvessel.m
Nonlinear surge–sway–roll–yaw maneuvering model of a 51.3-meter multipurpose naval vessel
SIMnpsauv.m

npsauv.m
Nonlinear surge–sway–heave–roll–pitch–yaw model of the 5.3-meter Naval Postgraduate School Autonomous Underwater Vehicle (AUV)
SIMosv.m

osv.m
Nonlinear surge–sway–heave–roll–pitch–yaw model of a 83-meter Offshore Supply Vessel (OSV)
SIMotter.m

otter.m
Nonlinear surge–sway–heave–roll–pitch–yaw model of the 2-meter Maritime Robotics OTTER Uncrewed Surface Vehicle (USV)
SIMremus100.m

remus100.m
Nonlinear surge–sway–heave–roll–pitch–yaw model of the 1.9-meter REMUS 100 Autonomous Underwater Vehicle (AUV)
SIMrig.m

rig.m
Linear surge–sway–heave–roll–pitch–yaw low-speed model of 84.6-meter semisubmersible
SIMsupply.m

supply.m
Linear surge–sway–yaw DP model of a 76.2-meter supply vessel
SIMtanker.m

tanker.m
Nonlinear surge–sway–yaw course-unstable maneuvering model of a 304-meter tanker
SIMzeefakkel.m

zeefakkel.m
Nonlinear yaw model of a 45-meter recreational craft

Inertial Navigation Systems (INS) M-FILE Library

The INS library, located in the directory /MSS/INS/, contains user-editable scripts that start with SIM for time-domain simulation of strapdown INS. The INS is implemented using the unit quaternion and the Euler-angle representation of the Error-State Kalman Filter (ESKF) as described in Fossen (2021, Ch. 14.4). For the unit quaternion representation, the error states are represented by the Gibbs vector in a Multiplicative Extended Kalman Filter (MEKF). The SIM scripts call the INS functions located in the directory /MSS/INS/functions/.

SIMaidedINSeuler.m

ins_ahrs.m
ESKF aided by position and optional velocity measurements utilizing an Attitude Heading Reference System (AHRS)
ins_euler.m
ESKF aided by position, optional velocity, and magnetometer measurements
SIMaidedINSquat.m

ins_mekf.m
ESKF/MEKF aided by position, optional velocity, and magnetometer measurements
ins_mekf_ins.m
ESKF/MEKF aided by position, optional velocity, and compass measurements
SIMquatObserver.m

quatObserver.m
Nonlinear quaternion-based attitude observer for 9-DOF IMU measurements. The magnetometer can operate at a slower rate (typically 100 Hz) compared to the high-rate specific force and ARS measurements (typically 1000 Hz).

SIMULINK Demos

Several m-file models have been utilized to create SIMULINK demos, which are located in the directory /MSS/SIMULINK/mssSimulinkDemos/:

demoAUVdepthHeadingControl.slx – Simultaneously heading and depth control of the Remus 100 AUV
demoCS2passiveObserverDP.slx – Passive observer with wave filtering and nonlinear PID control for the CyberShip2 model ship
demoDPThrusterModels.slx – Supply vessel with azimuth thrusters
demoDSRVdepthControl.slx – DSRV depth control system
demoKalmanWavefilterAutop.slx – Kalman-filter based wave filter and heading autopilot for the mariner class cargo ship
demoMarinerPathFollowingCourseControl.slx – Mariner-class cargo vessel Line-Of-Sight (LOS) path-following control using a course autopilot
demoNavalVesselMano.slx – Zigzag test for the naval ship Mano
demoNPSAUV.slx – NPS AUV heading control system
demoOtterUSVHeadingControl.slx – Otter USV heading control system
demoOtterUSVPathFollowingCourseControl – Otter USV Line-Of-Sight (LOS) path-following control using a course autopilot
demoOtterUSVPathFollowingHeadingControl – Otter USV Integral Line-Of-Sight (ILOS) and Adaptive Line-Of-Sight (ALOS) path-following control using a heading autopilot
demoPanamaxContainerShip.slx – Panama container ship simulator
demoPassiveWavefilterAutopilot1.slx – Passive wave filter and heading autopilot design using compass measurements only
demoPassiveWavefilterAutopilot2.slx – Passive wave filter and heading autopilot design using a compass and yaw rate measurements
demoS175WindCurrentAutopilot.slx – S-175 container ship heading autopilot with wind and current loads
demoSemisubDPsystem.slx – Semisubmersible DP system
demoWaveElevation.slx – Computation of wave elevation from wave spectra
demoWaypointGuidance.slx – Waypoint guidance system

The SIMULINK demos are located under /MSS/SIMULNK/mssSimulinkDemos/. Click on any picture below to view a larger version of the screenshot:

demoOtterUSVPathFollowingHeadingControl.slx