Coordinate conversion and switching correction to reduce vessel heading related errors in high-latitude navigation

Considering the distortion errors of projected coordinates and the switching property of vessel heading, coordinate conversion and switching correction methods are proposed to modify a kinematic motion model and the Unscented Kalman Filter (UKF). The coordinate conversion method utilizes the grid convergence from a Universal Transverse Mercator (UTM) projection to correct the vessel heading. The switching correction is embedded in the UKF so that the innovations of vessel heading can be calculated correctly. The simulation results demonstrate that the proposed modifications in both model and algorithm can generate more accurate estimated vessel states from two simulated maneuvers. Since a reliable estimation of vessel maneuvers is the prerequisite in many intelligent systems that support various decision-making processes in maritime transportation, the proposed modifications can be therefore implemented into these systems to support navigation safety in high latitude areas.