Abstract: | The paper distinguishes between optimal and practical collision avoidance systems and selects a set of variables that can be used to compute collision avoidance (C/A) parameters in practical systems. Specifically, the paper studies the effects of sensor errors upon the calculation of the passing distance at CPA, the point-of-possible-collision (PPC), and range over range-rate (TAU). The possible sources of error are summarized and characterized as deterministic or random, dependent or independent, correlated or decorrelated, and fixed bias. A computer program is described that makes use of a Kalman filter to compute the effects of error upon C/A parameters. The results of computer runs are given that show that most errors have insignificant effects. The others can be reduced or removed if required. A means is provided for estimating a part of the economic return on investment in a computerized collision avoidance system. |
Published in: | NAVIGATION: Journal of the Institute of Navigation, Volume 21, Number 1 |
Pages: | 16 - 34 |
Cite this article: | Riggs, Robert F., "THE EFFECTS OF SENSOR ERRORS IN CERTAIN MARINE COLLISION AVOIDANCE AND THREAT ASSESSMENT SYSTEMS", NAVIGATION: Journal of The Institute of Navigation, Vol. 21, No. 1, Spring 1974, pp. 16-34. |
Full Paper: |
ION Members/Non-Members: 1 Download Credit
Sign In |