Szukana fraza: [Abstract = "A solution to these problems is to derive more suitable descriptions of real ship dynamics and to design adaptive estimation algorithms. After an analysis of basic hydrodynamic models, new ship models are derived in the paper. They are implemented in two versions of the Interacting Multiple Model \(IMM\) algorithm which has become very popular recently. The first one is a standard IMM version based on fixed model structures \(FS's\). They represent various modes of ship motion, distinguished by their rates of turns."]

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