THE EFFECTS OF SENSOR ERRORS IN CERTAIN MARINE COLLISION AVOIDANCE AND THREAT ASSESSMENT SYSTEMS

Robert F. Riggs

Peer Reviewed

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.
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