Aiming at shipping movement and the time of collision avoidance in decision-making collision avoidance, a mathematical model was used for ship collision avoidance and to forecast the DCPA and TCPA.
针对船舶避碰决策系统中的船舶运动趋势和避碰时机建立数学模型，实时预估目标船相对于本船的最近会遇距离和最近会遇时间。
According to features of multi ship collision avoidance decision making, a model of multi ship collision avoidance based on the AHP method is presented in the paper.
根据多船会遇避碰决策的特点，提出了基于层次分析方法的多船避碰模型。
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