Navigation Decision-Making Method in Estuary Deep Trough with Varying Width of Navigable Waters

doi:10.16183/j.cnki.jsjtu.2023.356

Abstract

Abstract:

To address the challenges of ship navigation decision-making in the water area where the navigable width of the estuary deep channel changes, taking the north channel deep waterway of the Yangtze River estuary as an example, research is conducted on the key scientific issues such as environmental digital twin, navigation rule integration, ship maneuverability limitation, and collision avoidance mechanism in special water area. First, the environmental components are classified, modeled, and implented into an environmental digital twin. Navigation requirements are summarized, quantitatively analyzed, and integrated into the decision-making process. A control and process prediction method for the nonlinear maneuvering characteristics of the own ship is proposed. Then, collision avoidance mechanism specific to the ship behavior characteristics of the research water area is explored. A method for obtaining the feasible heading and speed range is established, and a dynamic navigation decision-making method is proposed, which is capable of adapting to the system residual error and the random motion of the target ship under multiple constraints. In preset scenarios, the method proposed ensures all safe passage targets with adjustments of course 7° to starboard, course 2° to starboard with a telegraph order reduction to forward 1, course 5° to starboard with a telegraph order reduction to forward 1 at 241 s, 1 484 s, and 4 119 s respectively. The results show that the proposed method can accurately make navigation decisions, ensure collision avoidance, and perform route tracking in a timely manner.

Key words: navigation decision, deep trough waters of estuary, collision avoidance mechanism, course speed control system, digital twin environment

CLC Number:

U675.96

HE Yixiong, DAI Yonggang, ZHAO Xingya, YU Deqing, HUANG Liwen. Navigation Decision-Making Method in Estuary Deep Trough with Varying Width of Navigable Waters[J]. Journal of Shanghai Jiao Tong University, 2025, 59(4): 489-502.

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环境要素类型	要素模型	要素状态
钻井平台、岛屿	圆形	静态
浮标、明(暗)礁	点状	静态
浅滩、岸线	多边形	静态
常规机动船	普通机动船	动态
拖带船、拖网渔船	条形	动态
操限、失控船	圆形	动态
非机动船	点状	动态

车令	转速/ (r·min^-1)	匹配航速/kn	车令	转速/ (r·min^-1)	匹配航速/kn
海上速度	93	14	后退3	85	12
前进3	85	12	后退2	70	10.5
前进2	70	10.5	后退1	48	5
前进1	48	5	微速后退	35	3
微速前进	35	3	停车	0	0

船舶类别	位置坐标/(°)	航向/(°)	航速/kn	船长/m
本船	(122.495, 31.104)	270	12	225
目标船1	(122.470, 31.104)	270	6	80
目标船2	(122.369, 31.118)	140	10	80
目标船3	(122.295, 31.110)	113	5	80
目标船4	(122.330, 31.094)	90	9	85
目标船5	(122.381, 31.101)	90	10	85

船舶类别	位置坐标/(°)	航向/(°)	航速/kn	船长/m
本船	(122.122, 31.215)	300	12	225
目标船1	(122.110, 31.222)	305	6	80
目标船2	(122.044, 31.250)	205	5.4	85
目标船3	(121.018, 31.256)	245	2	50
目标船4	(121.978, 31.249)	102	9	85
目标船5	(122.053, 31.227)	108	8	85