The research of ship yaw detection method based on virtual navigation channel

The ship may deviate from the proposed route at any time because it will be influenced by the wind current and other factors during the navigation. Especially near the bridge river area, the river terrain is complex, such as straight and curved navigation channels. If the ship yaws without regulation immediately, this may cause unpredictable consequences such as hitting the bridges. To address the problems above, this paper proposed a ship yaw detection method based on virtual navigation channel. By building the virtual navigation channel from the video stream, the detected distance between the ship and the virtual navigation channel is used to determine whether the ship has the risk of hitting the bridge. The proposed method has been examined in the practical environment. The results show that the method can effectively detect the yawing ship and provide a technical support for the safe driving of the ship in the complex environment.