An integrated sensor system employing high-precision ultrasound range finding instruments combined with a charged-couple device (CCD) video processor can be used to determine the precise position and motion of container ships being loaded at a pier. Processing will be carried out by a twelve state Kalman filter which relies on feedback from the loading crane's automatic control processor for good a priori state vector estimates and for high-order corrections. The system will be self-monitoring, providing a reliable estimate of the errors in its own predictions, and detecting unpredicted motions quickly, for operator alert and correction. The primary anticipated benefit of this research is to demonstrate the feasibility of fully automating the loading of container cargo onto ships at pierside.
