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To improve the accuracy and robustness of ship trajectory prediction,
an ABiM-Ship network that encodes historical trajectories using a bidirectional selective state space model is proposed. An attention mechanism to explicitly align trajectories with heading and speed is utilized. A two-stage end-to-end joint prediction is designed, first regressing future trajectories, heading, and speed, then refining them using residual correction. Huber loss is introduced to constrain physical errors and stabilize convergence.
The experimental results show that this network outperforms traditional mainstream baselines in terms of average prediction error over short, medium, and long distances, achieving high prediction accuracy. The representation method, two-stage structure, and Huber loss all contribute significantly to performance gains.
The research findings achieve explicit coupling and coarse-to-fine prediction for trajectories, heading, and speed while maintaining linear temporal complexity. They have good reproducibility and scalability, providing a generalizable technical path and engineering reference for intelligent navigation and collaborative scheduling in complex maritime areas with high traffic density.
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| 科 Family | 属数 Number of genus | 种数 Number of species | 占总种数比例 Percentage of total species (%) | 属 Genus | 种数 Number of species | 占总种数比例 Percentage of total species (%) |
|---|---|---|---|---|---|---|
| 鹅膏菌科Amanitaceae | 2 | 11 | 5.26 | 鹅膏菌属 Amanita | 10 | 4.78 |
| 小菇科 Mycenaceae | 2 | 12 | 5.74 | 丝盖伞属 Inocybe | 5 | 2.39 |
| 多孔菌科 Polyporaceae | 8 | 14 | 6.70 | 蜡蘑属 Laccaria | 5 | 2.39 |
| 红菇科 Russulaceae | 3 | 23 | 11.00 | 小皮伞属 Marasmius | 6 | 2.87 |
| 小菇属 Mycena | 11 | 5.26 | ||||
| 光柄菇属 Pluteus | 5 | 2.39 | ||||
| 红菇属 Russula | 17 | 8.13 | ||||
| 栓菌属 Trametes | 5 | 2.39 |
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