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Vessel trajectory prediction supports navigation services and collision detection. To maintain safety and efficiency in maritime transportation, vessel trajectory prediction is always an important topic. By using automatic identification system (AIS) data and deep learning methods, the task of vessel trajectory prediction has made significant progress. However, this task is still full of challenges due to the complexity of historical information dependencies and the strong influence of spatial correlations. In this paper, we introduce a novel deep learning model, PESO, based on the structure of Seq2Seq, consisting of Parallel Encoders and a Ship-Oriented Decoder. The Parallel Encoders, including the Location Encoder and the Sailing Status Encoder are designed to integrate more information into feature representation. The Ship-Oriented Decoder is targeted to utilize the Semantic Location Vector (SLV) to guide the prediction, which better represents the spatial correlation of historical track points. In order to verify the efficiency and efficacy of PESO, we conducted comparative experiments with several baseline models. The experimental results demonstrate that PESO is superior to them both quantitatively and qualitatively.

We suggest a data-driven approach to predict vessel trajectories by mimicking the underlying policy of humancaptains. Decisions made by those experts are recorded by theautomatic identification system (AIS) signals and can be fusedwith additional non-kinematic factors like destination, weathercondition, current tide level or ship size to get a more accuratesnapshot of the situation that led to chosen maneuvers. In thiswork, we explore the usage of a method meant for optimalcontrol, namely Behavioral Cloning, in a forecasting problem,in order to generate end-to-end vessel trajectories purely based on a given initial state. The training and test datasets consist oftrajectories from the coast of Bremerhaven, having more thanone thousand unique ships and different motion clusters. Theseare processed by a single deep-learning model, showing promisingresults in terms of accuracy and providing a research avenue fora near real-time application where vessel trajectories are to beforecast from a given snapshot of the situation -not from the costly history of all the vessels present.

Deep learning provides appropriate mechanisms to predict vessel trajectories for safer and efficient shipping, but still existing models are mainly oriented to longer-term prediction trends and do not fully support real time navigation needs. While most recent works have been largely exploiting Automatic Identification System (AIS), the complete semantics of these data haven't so far fully exploited. The research presented in this paper introduced an extended sequence-to-sequence model using AIS data. A Gated Recurrent Unit (GRU) network encodes historical spatio-temporal sequences as a context vector, which not only preserves the sequential relationships among trajectory locations, but also alleviates the gradient descent problem. The GRU network acts as a decoder, outputting target trajectory location sequences. Real AIS data from the Chongqing and Wuhan sections of the Yangzi River were selected as typical experimental areas for evaluation purposes. The proposed ST-Seq2Seq model has been tested against the LSTM-RNN and GRU-RNN baseline models for short term trajectory prediction experiments. A 10-minute historical trajectory sequence was used to predict the trajectory sequence for the next five minutes. Overall, the findings show that LSTM and GRU networks, while applying a recursive method to predict a sequence of continuous trajectory points, when the number of predicted trajectory points increases accuracy decreases. Conversely, the extended sequence-to-sequence model shows satisfactory stability on different ship channels.

In this study, we propose an effective method using deep learning to strengthen real-time vessel carbon dioxide emission management. We propose a method to predict real-time carbon dioxide emissions of the vessel in three steps: (1) convert the trajectory data of the fixed time interval into a spatial–temporal sequence, (2) apply a long short-term memory (LSTM) model to predict the future trajectory and vessel status data of the vessel, and (3) predict the carbon dioxide emissions. Automatic identification system (AIS) database of a liquefied natural gas (LNG) vessel were selected as the sample and we reconstructed the trajectory data with a fixed time interval using cubic spline interpolation. Applying the interpolated AIS data, the carbon dioxide emissions of the vessel were calculated based on the International Towing Tank Conference (ITTC) recommended procedures. The experimental results are twofold. First, it reveals that vessel emissions are currently underestimated. This study clearly indicates that the actual carbon dioxide emissions are higher than those reported. The finding offers insight into how to accurately measure the emissions of vessels, and hence, better execute a greenhouse gases (GHGs) reduction strategy. Second, the LSTM model has a better trajectory prediction performance than the recurrent neural network (RNN) model. The errors of the trajectory endpoint and carbon dioxide emissions were small, which shows that the LSTM model is suitable for spatial–temporal data prediction with excellent performance. Therefore, this study offers insights to strengthen the real-time management and control of vessel greenhouse gas emissions and handle those in a more efficient way.

Data-driven methods open up unprecedented possibilities for maritime surveillance using Automatic Identification System (AIS) data. In this work, we explore deep learning strategies using historical AIS observations to address the problem of predicting future vessel trajectories with a prediction horizon of several hours. We propose novel sequence-to-sequence vessel trajectory prediction models based on encoder-decoder recurrent neural networks (RNNs) that are trained on historical trajectory data to predict future trajectory samples given previous observations. The proposed architecture combines Long Short-Term Memory (LSTM) RNNs for sequence modeling to encode the observed data and generate future predictions with different intermediate aggregation layers to capture space-time dependencies in sequential data. Experimental results on vessel trajectories from an AIS dataset made freely available by the Danish Maritime Authority show the effectiveness of deep-learning methods for trajectory prediction based on sequence-to-sequence neural networks, which achieve better performance than baseline approaches based on linear regression or on the Multi-Layer Perceptron (MLP) architecture. The comparative evaluation of results shows: i) the superiority of attention pooling over static pooling for the specific application, and ii) the remarkable performance improvement that can be obtained with labeled trajectories, i.e., when predictions are conditioned on a low-level context representation encoded from the sequence of past observations, as well as on additional inputs (e.g., port of departure or arrival) about the vessel's high-level intention, which may be available from AIS., Accepted for publications in IEEE Transactions on Aerospace and Electronic Systems, 17 pages, 9 figures

In this paper, we address the problem of predicting vessel trajectories based on Automatic Identification System (AIS) data. The goal is to learn the predictive distribution of maritime traffic patterns using historical data during the training phase, in order to be able to forecast future target trajectory samples online on the basis of both the extracted knowledge and the available observation sequence. We explore neural sequence-to-sequence models based on the Long Short-Term Memory (LSTM) encoder-decoder architecture to effectively capture long-term temporal dependencies of sequential AIS data and increase the overall predictive power. The experimental evaluation on a real-world AIS dataset demonstrates the effectiveness of sequence-to-sequence recurrent neural networks (RNNs) for vessel trajectory prediction and shows their potential benefits compared to model-based methods.

There are difficulties in obtaining accurate modeling of ship trajectories with traditional prediction methods. For example, neural networks are prone to falling into local optima and there are a small number of Automatic Identification System (AIS) information samples regarding target ships acquired in real time at sea. In order to improve the accuracy of ship trajectory predictions and solve these problems, a trajectory prediction model based on support vector regression (SVR) is proposed. Ship speed, course, time stamp, longitude and latitude from AIS data were selected as sample features and the wavelet threshold de-noising method was used to process the ship position data. The adaptive chaos differential evolution (ACDE) algorithm was used to optimize the internal model parameters to improve convergence speed and prediction accuracy. AIS sensor data corresponding to a certain section of the Tianjin Port ships were selected, on which SVR, Recurrent Neural Network (RNN) and Back Propagation (BP) neural network model trajectory prediction simulations were carried out. A comparison of the results shows that the trajectory prediction model based on ACDE-SVR has higher and more stable prediction accuracy, requires less time and is simple, feasible and efficient.

With the rapid development of marine IoT (Internet of Things), ocean MDTN (Mobile Delay Tolerant Network) has become a research hot spot. Long-term trajectory prediction is a key issue in MDTN. There are no long-term fine-grained trajectory prediction methods proposed for ocean vessels because a vessel&rsquo, s mobility pattern lacks map topology support and can be easily influenced by the fish moratorium, sunshine duration, etc. A traditional on-land trajectory prediction algorithm cannot be directly utilized in this field because trajectory characteristics of ocean vessels are far different from that on land. To address the problem above, we propose a novel long-term trajectory prediction algorithm for ocean vessels, called L-VTP, by utilizing multiple sailing related parameters and K-order multivariate Markov Chain. L-VTP utilizes multiple sailing related parameters to build multiple state-transition matrices for trajectory prediction based on quantitative uncertainty analysis of trajectories. Trajectories&rsquo, sparsity of ocean vessels results in a critical state missing problem of a high-order state-transition matrix. L-VTP automatically traverses other matrices in a specific sequence in terms of quantitative uncertainty results to overcome this problem. Furthermore, the different mobility models of the same vessel during the day and the night are also exploited to improve the prediction accuracy. Privacy issues have been taken into consideration in this paper. A quantitative model considering Markov order, training metadata and privacy leak degree is proposed to help the participant make the trade-off based on their customized requirements. We have performed extensive experiments on two years of real-world trajectory data that include more than two thousand vessels. The experiment results demonstrate that L-VTP can realize fine-grained long-term trajectory prediction with the consideration of privacy issues. The average error of 4.5-hour fine-grained prediction is less than 500 m. In addition, the proposed method can be extended to 10-hour prediction with an average error of 2.16 km, which is also far less than the communication range of ocean vessel communication devices.