AIS-based ship collision avoidance decision method

Abstract

The invention discloses an AIS-based ship collision avoidance decision method, which comprises the following steps of establishing a two-dimensional Cartesian coordinate system by using a true motion mapping method, and calculating speed components of a ship and other ships as well as a nearest meeting distance DCPA and a minimum meeting time TCPA when the two ships meet according to an analytic geometry principle and AIS information, judging the collision danger according to the nearest meeting distance DCPA and the minimum meeting time TCPA, based on the nearest meeting distance DCPA and the minimum meeting time TCPA, converting the coordinates into new position vectors through corresponding conversion, and judging the meeting situation of the ship and other ships, calculating a steering point and a ship collision avoidance steering angle according to the nearest meeting distance DCPA and the minimum meeting time TCPA, after the collision avoidance action is adopted, determining the effectiveness of the collision avoidance action again according to the AIS information, and according to each position coordinate of the other ship relative to the ship in the whole collision avoidance process, determining a course recovery point, a course recovery point and a steering angle during re-navigation.

Description

technical field [0001] The invention relates to the technical field of ship collision avoidance, in particular to an AIS-based ship collision avoidance decision-making method. Background technique [0002] At present, in most researches on ship intelligent collision avoidance, the main sources of collision avoidance information are radar, ship self-identification system (AIS) and electronic chart (ECDIS), among which dynamic information is mainly obtained from the first two. ECDIS mainly provides static information of navigable waters (such as water depth, reefs, etc.). Radar has been widely used in navigation as early as the middle and late 20th century. DCPA (the closest encounter distance between two ships) and TCPA (the time required to reach the closest encounter point), and then judge whether there is a risk of collision between the two ships, so the existing collision avoidance decisions are mostly based on radar signals; The target detection ability is poor, there i...

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Problems solved by technology

[0002]At present, in most researches on ship intelligent collision avoidance, the sources of collision avoidance information mainly include radar, ship self-identification system (AIS) and electronic chart ( ECDIS), etc., among which, dynamic information is mainly obtained by the first two, while ECDIS mainly provides static information of navigable waters (such as water depth, reefs, etc.). The Automatic Radar Plotting (ARPA) can easily calculate the DCPA (the closest encounter distance between two ships) and TCPA (the time required to reach the closest encounter point) of the incoming ship, and then judge whether there is a collision risk between the two ships. Some collision avoidance decisions are mostly based on radar signals; however, the detection ability of radar for small objects is poor, there is clutter interference in rainy, snowy and stormy weather, and when there are many objects, there are echo overlaps, target loss or false tracking, etc. question

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