A real-time calculation method for the distance of high-speed vessels hitting reefs at sea is proposed to im-prove the safety of vessel navigation and address potential collision risks during navigation.By using navigation radar to de-tect reef targets in the navigation environment of ships,the position coordinates in the polar coordinate system are determ-ined,and then they are converted into the geocentric vertical coordinate system.A ship trajectory prediction model based on PLSTM-FCN is constructed,and AIS data such as the historical position,speed,heading,length,width,and draft of high-speed sailing ships are obtained from the ship automatic recognition system,which is used as model input,The output of the model is the real-time position prediction result of the ship's navigation,combined with the target position of the reef,to complete the real-time calculation of the distance to the reef.The experimental results show that this method can predict the navigation trajectory of ships,with a predicted MSE value of only 0.0022.It can achieve real-time calculation of ship's reef distance,and the calculation result has an error between(0.77,1.55)and the actual distance.
high speed sailing vesselsreef distancenavigation radarcoordinate conversionPLSTM-FCN mod-eltrack prediction
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