Conflict detection method based on multi-ship motion uncertainty, memory and processor
An uncertainty and motion technology, applied in the field of conflict detection, memory and processor based on the uncertainty of multi-vessel motion, can solve the problem of no collision risk, no consideration of the uncertainty of ship motion, etc., to improve computing efficiency Effect
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[0054] As an embodiment, the method mainly includes the following parts: 1) conflict definition and severity metric; 2) Ship motion modeling; 3) Calculation of conflict.
[0055] 1) Conflict definition and severeity
[0056] Conflicts occur when predicted the trajectory of the two ships violates a given set of provisions. The present invention defines a ship conflict on the basis of a marine domain model. figure 2 Examples of conflict detection are given. In this figure, if the following formula (1) is satisfied in the near future, it is considered that the A boat and the B ship have conflicts.
[0057] Dist AB (t) ≤ SD A (t) + SD B (t) (1)
[0058] SD A SD B Refers to the distance from each ship center to its penalty border, dist AB Refers to the distance between the ship and the target boat. The present invention adopts a wide range of ship domain models suitable for use in high traffic density restrictions, an ellipse having a long radius of 6L (L is a captain), short radius of...
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