Abstract With the increasing interest in autonomous shipping technology, to ensure ship’s safety it is vital to equip the ship with a navigational algorithm to continuously track the moving vessels in the area of interest and subsequently avoid any collisions. To address this problem, in this paper, an intelligent and robust tracking algorithm using the Kalman filter (KF) and Interacting Multiple Model (IMM) scheme has therefore been designed. The algorithm is able to provide accurate motion information of other ships in constrained environments using least navigational information. The capability of the proposed algorithm has been tested and verified in a number of computer-based simulations.

中文翻译：

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使用 AIS 在受限海上环境中智能跟踪移动船舶

摘要 随着对自主航运技术的日益关注，为确保船舶安全，为船舶配备导航算法以连续跟踪感兴趣区域内的移动船舶并避免任何碰撞变得至关重要。为了解决这个问题，在本文中，因此设计了一种使用卡尔曼滤波器（KF）和交互多模型（IMM）方案的智能且鲁棒的跟踪算法。该算法能够使用最少的导航信息在受限环境中提供其他船舶的准确运动信息。所提出算法的能力已在许多基于计算机的模拟中得到测试和验证。