This work is devoted to the second order rational Bezier curve coefficients estimation. We present the methodology of unique coefficients for each type of ship computation. In the presented formulas of ship’s length, a draft and angular path combined with a drift path are used. This approach leads to the simplest and most accurate Maritime Autonomous Surface Ships (MASS) path modeling. Three rational curve control points are waypoints (WPT). Using WPTs as curve control points allows integrating a trajectory intuitive for the navigator with a path predicting model used as a reference in the control system. Research was done based on real-time data originating from the MASS autonomous trajectory tracking system. The presented mathematical modeling tool may be treated as the best way of future trajectory prediction due to low computation power required.

中文翻译：

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使用贝塞尔曲线逼近海上自主水面船舶的路径

这项工作致力于二阶有理贝塞尔曲线系数估计。我们介绍了每种船舶计算的唯一系数方法。在给出的船长公式中，使用了吃水和角路径以及漂移路径。这种方法导致最简单和最准确的海上自主水面舰艇 (MASS) 路径建模。三个合理的曲线控制点是航路点（WPT）。使用 WPT 作为曲线控制点允许将导航器直观的轨迹与用作控制系统中参考的路径预测模型相结合。研究是基于源自 MASS 自主轨迹跟踪系统的实时数据进行的。