Research on Active Intelligent Perception Technology of Vessel Situation Based on Multisensor Fusion

Table 1

Test results.

Functions	Total number of vessels	Test results	Correct results	R	P
Vessel target detection	658	623	608	0.92	0.97
Vessel course detection	658	623	618	0.94	0.99
Vessel freeboard detection	658	623	562	0.85	0.90

Note. Because the vessel is affected by wind and waves, the height between the vessel deck and the water surface changes at any time, so in this test, the error between the measured value and the true value of the vessel's freeboard is allowed to be within 2 cm.