Abstract
In order to get safety of saling ships and reduce the risk of collisions, an automatic collision avoidance system is very useful. The principle of automatic collision avoidance and the relative mathematical model are given in this paper. The paper presents also algorithms for calculating the course, relative velocity, true velocity, true track, bearing, closest point of approach (CPA) and time to CPA (TCPA) with other ships, by using a mathematical model contained in the paper. Algorithms, software, hardware and block diagrams for the whole system are given in the paper.
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