The present disclosure discloses a submarine position detection method based on extreme points of gravity gradients. A space rectangular coordinate system is established by taking a centroid of the middle cylindrical portion as a coordinate origin, a direction pointing to a bow is taken as a forward direction of the X axis, a direction pointing to a port is taken as a forward direction of the Y direction, and a vertical upward direction is taken as a forward direction of the Z axis. The detection method includes steps of: determining a horizontal position of a submarine, i.e., coordinates (X, Y), according to a position of a central extreme point and a central position between extreme points of non-diagonal components of a gradient tensor; and determining a functional relation between a depth and the extreme points of gravity gradients by using the submarine model.

Predictive analytics techniques are provided for produce leading indicators of economic activity based on observed pedestrian attributes—e.g., appearance and behavior—and other factors determined from a range of available data sources. A consistent, semantic metadata structure is described as well as a hypothesis generating and testing system capable of generating predictive analytics models in a non-supervised or partially supervised mode.

Predictive analytics techniques are provided for produce leading indicators of economic activity based on observed pedestrian attributes—e.g., appearance and behavior—and other factors determined from a range of available data sources. A consistent, semantic metadata structure is described as well as a hypothesis generating and testing system capable of generating predictive analytics models in a non-supervised or partially supervised mode.

A vessel analysis device capable of appropriately determining a suspicious vessel is provided. The vessel analysis device (1) includes a pattern generation unit (2), an estimation unit (4), and a determination unit (6). The pattern generation unit (2) generates an intended track pattern representing a track of an intended vessel that is a vessel to be analyzed, from position information on the intended vessel, the position information changing as time proceeds. The estimation unit (4) estimates the navigation state of the intended vessel using the generated track pattern. The determination unit (6) determines whether an intended navigation state that is a navigation state indicated in vessel information originated by the intended vessel is falsified or not by comparing the estimated navigation state with the intended navigation state.

A vessel analysis device capable of appropriately determining a suspicious vessel is provided. The vessel analysis device (1) includes a pattern generation unit (2), an estimation unit (4), and a determination unit (6). The pattern generation unit (2) generates an intended track pattern representing a track of an intended vessel that is a vessel to be analyzed, from position information on the intended vessel, the position information changing as time proceeds. The estimation unit (4) estimates the navigation state of the intended vessel using the generated track pattern. The determination unit (6) determines whether an intended navigation state that is a navigation state indicated in vessel information originated by the intended vessel is falsified or not by comparing the estimated navigation state with the intended navigation state.

The present invention discloses a collaborative design method using an event-triggered scheme (ETS) and a Takagi-Sugeno (T-S) fuzzy H.sub.∞ controller in a network environment. For the problem about the unmanned surface vehicle control based on a switching T-S fuzzy system under an aperiodic DoS attack, the present invention provides an H∞ controller design method based on the event-triggered scheme. The characteristics of the unmanned surface vehicle system under the DoS attack are analyzed, and external disturbance in the navigation process is added into an unmanned surface vehicle motion model to establish an unmanned surface vehicle switching system model. The stability of the system is analyzed by piecew se Lyapunov functionals, such that controller gain and event-triggered scheme weight matrix parameters are obtained, thus ensuring that a networked unmanned surface vehicle navigation system has the ability to resist the DoS attack and the external disturbance.

The present invention discloses a collaborative design method using an event-triggered scheme (ETS) and a Takagi-Sugeno (T-S) fuzzy H.sub.∞ controller in a network environment. For the problem about the unmanned surface vehicle control based on a switching T-S fuzzy system under an aperiodic DoS attack, the present invention provides an H∞ controller design method based on the event-triggered scheme. The characteristics of the unmanned surface vehicle system under the DoS attack are analyzed, and external disturbance in the navigation process is added into an unmanned surface vehicle motion model to establish an unmanned surface vehicle switching system model. The stability of the system is analyzed by piecew se Lyapunov functionals, such that controller gain and event-triggered scheme weight matrix parameters are obtained, thus ensuring that a networked unmanned surface vehicle navigation system has the ability to resist the DoS attack and the external disturbance.

A route planning device is provided with a display configured to display a chart on a screen, an operation interface configured to specify a position on the screen, a storage configured to store navigation publication related to a book referred to during past route planning in association with the position, a waypoint setting module configured to set a waypoint on the chart in response to a user's operation received by the operation interface, a navigation publication acquisition module configured to acquire navigation publication within a range of the set waypoint as a reference from the storage, and a display control module configured to display the acquired navigation publication on the screen of the display.

A traveling route generating device is provided, which may include a user interface and processing circuitry. The user interface may receive a home route that is a route on which a ship travels upon departing from a home harbor or upon returning to the home harbor, the home harbor being a location from which the ship departs. The processing circuitry may generate a traveling route between one of a destination of the ship and a current location of the ship, and a location on the home route.

A traveling route generating device is provided, which may include a user interface and processing circuitry. The user interface may receive a home route that is a route on which a ship travels upon departing from a home harbor or upon returning to the home harbor, the home harbor being a location from which the ship departs. The processing circuitry may generate a traveling route between one of a destination of the ship and a current location of the ship, and a location on the home route.