Vector-product based Collision Estimation and Detection in e-Navigation

This study focuses on the formulation of collision detection facilities among vessels that can be integrated into an e-Navigation strategy in maritime transportation. The detection of potential collision situations by relative motions of vessels that consist of state and parameter uncertainties in vessel maneuvering is considered in this study. A two vessel collision situation is presented and an extended Kalman filter is used to estimate the relative bearing and relative course-speed vectors between vessels. The collision detection process consists of cross and dot products among vessel velocity, bearing and heading vectors. Finally, a collision/near-collision situation is simulated and successful results on the detection of a potential collision situation with respect to vessel maneuvering are illustrated in this study.