Precision in Determining Ship Position using the Method of Comparing an Omnidirectional Map to a Visual Shoreline Image

摘要

This paper summarises research that evaluates the precision of determining a ship's position by comparing an omnidirectional map to a visual image of the coastline. The first part of the paper describes the equipment and associated software employed in obtaining such estimates. The system uses a spherical catadioptric camera to collect positional data that is analysed by comparing it to spherical images from a digital navigational chart. Methods of collecting positional data from a ship are described, and the algorithms used to determine the statistical precision of such position estimates are explained. The second section analyses the results of research to determine the precision of position estimates based on this system. It focuses on average error values and distance fluctuations of position estimates from referential positions, and describes the primary factors influencing the correlation between spherical map images and coastline visual images.