Article(id=1263533688453775734, tenantId=1146029695717560320, journalId=1240618002186551303, issueId=1263533678655881533, articleNumber=null, orderNo=null, doi=10.3969/j.issn.1000-4653.2026.02.011, pmid=null, cstr=null, oa=null, hot=null, price=null, onlineType=0, articleFormat=0, articleType=null, articleTypeStr=null, receivedDate=1741708800000, receivedDateStr=2025-03-12, revisedDate=null, revisedDateStr=null, acceptedDate=null, acceptedDateStr=null, onlineDate=1779179506648, onlineDateStr=2026-05-19, pubDate=1777046400000, pubDateStr=2026-04-25, doiRegisterDate=null, doiRegisterDateStr=null, onlineIssueDate=1779179506648, onlineIssueDateStr=2026-05-19, onlineJustAcceptDate=null, onlineJustAcceptDateStr=null, onlineFirstDate=null, onlineFirstDateStr=null, sourceXml=null, magXml=null, createTime=1779179506648, creator=13701087609, updateTime=1779179506648, updator=13701087609, issue=Issue{id=1263533678655881533, tenantId=1146029695717560320, journalId=1240618002186551303, year='2026', volume='49', issue='2', pageStart='1', pageEnd='163', issueExtLink='null', onlineDate='null', pubDate='null', beforeIssueId=null, nextIssueId=null, price=null, status=1, issueComplete=1, articleOrder=1, issueType=1, specialIssue=null, createTime=1779179504312, creator=13701087609, updateTime=1779179563167, updator=13701087609, preIssue=null, nextIssue=null, ext={EN=IssueExt(id=1263533925629047616, tenantId=1146029695717560320, journalId=1240618002186551303, issueId=1263533678655881533, language=EN, specialIssueTitle=, coverIllustrator=null, specialIssueEditor=, specialIssueAbout=), CN=IssueExt(id=1263533925629047617, tenantId=1146029695717560320, journalId=1240618002186551303, issueId=1263533678655881533, language=CN, specialIssueTitle=, coverIllustrator=null, specialIssueEditor=, specialIssueAbout=)}, issueFiles=null}, startPage=95, endPage=103, ext={EN=ArticleExt(id=1263533695798002102, articleId=1263533688453775734, tenantId=1146029695717560320, journalId=1240618002186551303, language=EN, title=Robust bounded compensating control for path-following of USV via the switching L1-VS guidance, columnId=1240655021340160960, journalTitle=Navigation of China, columnName=Intelligent Shipping, runingTitle=null, highlight=null, articleAbstract=

For the path-following control problem of the Underactuated Surface Vessel (USV) under the unknown marine disturbances, this note proposes a robust bounded compensating control algorithm based on the switching L1-VS (L1 Virtual Ship) guidance. The control strategy is divided into two modules:guidance and control. For the guidance module, the control difficulty caused by the time varying reference signal is alleviated by the L1-VS guidance technique with switching mechanism. For the control module, a robust bounded compensating technique is considered to approximate the model nonlinear terms, effectively reducing nonlinear approximation error while ensuring the low designed complexity of control law. Besides, the Event-Triggered Control (ETC) technique with dynamic/static mixed threshold is used to handle the problem of communication load and actuator wear. Then, the GUUB (Global Uniform and Ultimately Bounded) stable of the control system is proved based on Lyapunov theorem. Finally, an experiment simulating the narrow-channel crossing mission is conducted, where the robustness and superiority of the algorithm is verified.

, correspAuthors=Guoqing Zhang, authorNote=null, correspAuthorsNote=null, copyrightStatement=null, copyrightOwner=null, extLink=null, articleAbsUrl=null, sourceXml=null, magXml=null, pdfUrl=null, pdf=null, pdfFileSize=null, pdfExtLink=null, richHtmlUrl=null, mobilePdfUrl=null, reviewReport=null, pdfFirstPage=null, abstractGraph=null, abstractGraphContent=null, abstractVideo=null, citation=null, cebUrl=null, magXmlContent=null, mapNumber=null, authorCompany=null, fund=null, authors=null, authorsList=Zhu Sun, Guoqing Zhang, Jiqiang Li, Xianku Zhang, Ao Liu), CN=ArticleExt(id=1263533697047904709, articleId=1263533688453775734, tenantId=1146029695717560320, journalId=1240618002186551303, language=CN, title=基于切换式L1-VS制导的船舶路径跟踪鲁棒边界补偿控制, columnId=1240655021528904650, journalTitle=中国航海, columnName=智能航运, runingTitle=null, highlight=null, articleAbstract=

针对未知海洋环境扰动条件下的欠驱动船舶路径跟踪控制问题，本文设计了一种基于切换式L1-VS（L1 Virtual Ship）制导的鲁棒边界补偿控制算法。整体的路径跟踪控制系统分为两个模块：制导与控制。在制导模块中，融合L1-VS制导技术与切换式机制，通过设计制导切换阈值降低时变参考信号引起的控制难度。针对控制模块，利用鲁棒边界补偿技术估计未知水动力项，在保证系统控制律复杂度低的前提下有效降低非线性逼近误差。进一步针对控制系统中的控制命令采样频繁、执行单元操作冗余等问题，引入动／静态混合阈值事件触发技术，降低系统中从控制器单元到执行器单元控制输入信号的传输频率，减少执行器磨损。此外，基于李雅普诺夫稳定理论证明控制系统全局一致最终有界稳定。为了验证理论方法的有效性，以船舶狭水道机动为场景开展仿真对比试验。通过试验结果验证本文控制策略的鲁棒性与优越性。

, correspAuthors=张国庆, authorNote=null, correspAuthorsNote=, copyrightStatement=null, copyrightOwner=null, extLink=null, articleAbsUrl=null, sourceXml=AgWRYS1dT13T//hw6OG1AQ==, magXml=G/jLcwW6A70Mz69Mk+UKWw==, pdfUrl=null, pdf=lDnbtDz5Uz6uZk7MheYVtA==, pdfFileSize=2151075, pdfExtLink=null, richHtmlUrl=null, mobilePdfUrl=null, reviewReport=null, pdfFirstPage=null, abstractGraph=null, abstractGraphContent=null, abstractVideo=null, citation=null, cebUrl=null, magXmlContent=86D9O5S7vhgyIJk/F7UEqA==, mapNumber=null, authorCompany=null, fund=null, authors=, authorsList=孙竹, 张国庆, 李纪强, 张显库, 刘奡)}, authors=[Author(id=1263533704828338676, tenantId=1146029695717560320, journalId=1240618002186551303, articleId=1263533688453775734, orderNo=0, firstName=null, middleName=null, lastName=null, nameCn=null, orcid=null, stid=null, country=null, authorPic=null, dead=0, email=null, emailSecond=null, emailThird=null, correspondingAuthor=0, authorType=1, ext={EN=AuthorExt(id=1263533705814000127, tenantId=1146029695717560320, journalId=1240618002186551303, articleId=1263533688453775734, authorId=1263533704828338676, language=EN, stringName=Zhu Sun, firstName=Zhu, middleName=null, lastName=Sun, prefix=null, suffix=null, authorComment=null, nameInitials=null, affiliation=null, department=null, xref=¹, address=^1.Navigation College, Dalian Maritime University, Dalian 116026, China, bio=null, bioImg=null, bioContent=null, aboutCorrespAuthor=null), CN=AuthorExt(id=1263533707416224258, tenantId=1146029695717560320, journalId=1240618002186551303, articleId=1263533688453775734, authorId=1263533704828338676, language=CN, stringName=孙竹, firstName=null, middleName=null, lastName=null, prefix=null, suffix=null, authorComment=null, nameInitials=null, affiliation=null, department=null, xref=¹, address=^1．大连海事大学 航海学院，辽宁 大连 116026, bio={"content":"

孙竹（2000—），男，博士，研究方向为极地场景下浮冰避障制导与鲁棒自适应控制。

"}, bioImg=null, bioContent=

孙竹（2000—），男，博士，研究方向为极地场景下浮冰避障制导与鲁棒自适应控制。

, aboutCorrespAuthor=null)}, companyList=[AuthorCompany(id=1263533699581264344, tenantId=1146029695717560320, journalId=1240618002186551303, articleId=1263533688453775734, xref=1., ext=[AuthorCompanyExt(id=1263533699900031449, tenantId=1146029695717560320, journalId=1240618002186551303, articleId=1263533688453775734, companyId=1263533699581264344, language=EN, country=null, province=null, city=null, postcode=null, companyName=null, departmentName=null, remark=^1.Navigation College, Dalian Maritime University, Dalian 116026, China), AuthorCompanyExt(id=1263533700193632734, tenantId=1146029695717560320, journalId=1240618002186551303, articleId=1263533688453775734, companyId=1263533699581264344, language=CN, country=null, province=null, city=null, postcode=null, companyName=null, departmentName=null, remark=^1．大连海事大学 航海学院，辽宁 大连 116026)])]), Author(id=1263533707844043272, tenantId=1146029695717560320, journalId=1240618002186551303, articleId=1263533688453775734, orderNo=1, firstName=null, middleName=null, lastName=null, nameCn=null, orcid=null, stid=null, country=null, authorPic=null, dead=0, email=zgq_dlmu@163.com, emailSecond=null, emailThird=null, correspondingAuthor=1, authorType=1, ext={EN=AuthorExt(id=1263533708687098389, tenantId=1146029695717560320, journalId=1240618002186551303, articleId=1263533688453775734, authorId=1263533707844043272, language=EN, stringName=Guoqing Zhang, firstName=Guoqing, middleName=null, lastName=Zhang, prefix=null, suffix=null, authorComment=null, nameInitials=null, affiliation=null, department=null, xref=^{1, 2, *}, address=^1.Navigation College, Dalian Maritime University, Dalian 116026, China
^2.State Key Laboratory of Maritime Technology and Safety, Dalian 116026, China, bio=null, bioImg=null, bioContent=null, aboutCorrespAuthor=null), CN=AuthorExt(id=1263533709165249049, tenantId=1146029695717560320, journalId=1240618002186551303, articleId=1263533688453775734, authorId=1263533707844043272, language=CN, stringName=张国庆, firstName=null, middleName=null, lastName=null, prefix=null, suffix=null, authorComment=null, nameInitials=null, affiliation=null, department=null, xref=^{1, 2, *}, address=^1．大连海事大学 航海学院，辽宁 大连 116026
^2．水路交通控制全国重点实验室，辽宁 大连 116026, bio=null, bioImg=null, bioContent=null, aboutCorrespAuthor=null)}, companyList=[AuthorCompany(id=1263533699581264344, tenantId=1146029695717560320, journalId=1240618002186551303, articleId=1263533688453775734, xref=1., ext=[AuthorCompanyExt(id=1263533699900031449, tenantId=1146029695717560320, journalId=1240618002186551303, articleId=1263533688453775734, companyId=1263533699581264344, language=EN, country=null, province=null, city=null, postcode=null, companyName=null, departmentName=null, remark=^1.Navigation College, Dalian Maritime University, Dalian 116026, China), AuthorCompanyExt(id=1263533700193632734, tenantId=1146029695717560320, journalId=1240618002186551303, articleId=1263533688453775734, companyId=1263533699581264344, language=CN, country=null, province=null, city=null, postcode=null, companyName=null, departmentName=null, remark=^1．大连海事大学 航海学院，辽宁 大连 116026)]), AuthorCompany(id=1263533703670710753, tenantId=1146029695717560320, journalId=1240618002186551303, articleId=1263533688453775734, xref=2., ext=[AuthorCompanyExt(id=1263533703704265188, tenantId=1146029695717560320, journalId=1240618002186551303, articleId=1263533688453775734, companyId=1263533703670710753, language=EN, country=null, province=null, city=null, postcode=null, companyName=null, departmentName=null, remark=^2.State Key Laboratory of Maritime Technology and Safety, Dalian 116026, China), AuthorCompanyExt(id=1263533703729431014, tenantId=1146029695717560320, journalId=1240618002186551303, articleId=1263533688453775734, companyId=1263533703670710753, language=CN, country=null, province=null, city=null, postcode=null, companyName=null, departmentName=null, remark=^2．水路交通控制全国重点实验室，辽宁 大连 116026)])]), Author(id=1263533710264156706, tenantId=1146029695717560320, journalId=1240618002186551303, articleId=1263533688453775734, orderNo=2, firstName=null, middleName=null, lastName=null, nameCn=null, orcid=null, stid=null, country=null, authorPic=null, dead=0, email=null, emailSecond=null, emailThird=null, correspondingAuthor=0, authorType=1, ext={EN=AuthorExt(id=1263533712042541609, tenantId=1146029695717560320, journalId=1240618002186551303, articleId=1263533688453775734, authorId=1263533710264156706, language=EN, stringName=Jiqiang Li, firstName=Jiqiang, middleName=null, lastName=Li, prefix=null, suffix=null, authorComment=null, nameInitials=null, affiliation=null, department=null, xref=¹, address=^1.Navigation College, Dalian Maritime University, Dalian 116026, China, bio=null, bioImg=null, bioContent=null, aboutCorrespAuthor=null), CN=AuthorExt(id=1263533712432611883, tenantId=1146029695717560320, journalId=1240618002186551303, articleId=1263533688453775734, authorId=1263533710264156706, language=CN, stringName=李纪强, firstName=null, middleName=null, lastName=null, prefix=null, suffix=null, authorComment=null, nameInitials=null, affiliation=null, department=null, xref=¹, address=^1．大连海事大学 航海学院，辽宁 大连 116026, bio=null, bioImg=null, bioContent=null, aboutCorrespAuthor=null)}, companyList=[AuthorCompany(id=1263533699581264344, tenantId=1146029695717560320, journalId=1240618002186551303, articleId=1263533688453775734, xref=1., ext=[AuthorCompanyExt(id=1263533699900031449, tenantId=1146029695717560320, journalId=1240618002186551303, articleId=1263533688453775734, companyId=1263533699581264344, language=EN, country=null, province=null, city=null, postcode=null, companyName=null, departmentName=null, remark=^1.Navigation College, Dalian Maritime University, Dalian 116026, China), AuthorCompanyExt(id=1263533700193632734, tenantId=1146029695717560320, journalId=1240618002186551303, articleId=1263533688453775734, companyId=1263533699581264344, language=CN, country=null, province=null, city=null, postcode=null, companyName=null, departmentName=null, remark=^1．大连海事大学 航海学院，辽宁 大连 116026)])]), Author(id=1263533713338581555, tenantId=1146029695717560320, journalId=1240618002186551303, articleId=1263533688453775734, orderNo=3, firstName=null, middleName=null, lastName=null, nameCn=null, orcid=null, stid=null, country=null, authorPic=null, dead=0, email=null, emailSecond=null, emailThird=null, correspondingAuthor=0, authorType=1, ext={EN=AuthorExt(id=1263533716618527288, tenantId=1146029695717560320, journalId=1240618002186551303, articleId=1263533688453775734, authorId=1263533713338581555, language=EN, stringName=Xianku Zhang, firstName=Xianku, middleName=null, lastName=Zhang, prefix=null, suffix=null, authorComment=null, nameInitials=null, affiliation=null, department=null, xref=¹, address=^1.Navigation College, Dalian Maritime University, Dalian 116026, China, bio=null, bioImg=null, bioContent=null, aboutCorrespAuthor=null), CN=AuthorExt(id=1263533717247672891, tenantId=1146029695717560320, journalId=1240618002186551303, articleId=1263533688453775734, authorId=1263533713338581555, language=CN, stringName=张显库, firstName=null, middleName=null, lastName=null, prefix=null, suffix=null, authorComment=null, nameInitials=null, affiliation=null, department=null, xref=¹, address=^1．大连海事大学 航海学院，辽宁 大连 116026, bio=null, bioImg=null, bioContent=null, aboutCorrespAuthor=null)}, companyList=[AuthorCompany(id=1263533699581264344, tenantId=1146029695717560320, journalId=1240618002186551303, articleId=1263533688453775734, xref=1., ext=[AuthorCompanyExt(id=1263533699900031449, tenantId=1146029695717560320, journalId=1240618002186551303, articleId=1263533688453775734, companyId=1263533699581264344, language=EN, country=null, province=null, city=null, postcode=null, companyName=null, departmentName=null, remark=^1.Navigation College, Dalian Maritime University, Dalian 116026, China), AuthorCompanyExt(id=1263533700193632734, tenantId=1146029695717560320, journalId=1240618002186551303, articleId=1263533688453775734, companyId=1263533699581264344, language=CN, country=null, province=null, city=null, postcode=null, companyName=null, departmentName=null, remark=^1．大连海事大学 航海学院，辽宁 大连 116026)])]), Author(id=1263533717922955840, tenantId=1146029695717560320, journalId=1240618002186551303, articleId=1263533688453775734, orderNo=4, firstName=null, middleName=null, lastName=null, nameCn=null, orcid=null, stid=null, country=null, authorPic=null, dead=0, email=null, emailSecond=null, emailThird=null, correspondingAuthor=0, authorType=1, ext={EN=AuthorExt(id=1263533718275277380, tenantId=1146029695717560320, journalId=1240618002186551303, articleId=1263533688453775734, authorId=1263533717922955840, language=EN, stringName=Ao Liu, firstName=Ao, middleName=null, lastName=Liu, prefix=null, suffix=null, authorComment=null, nameInitials=null, affiliation=null, department=null, xref=³, address=^3.Beiliang Port Marine Department of Dalian Maritime Safety Administration, Dalian 116001, China, bio=null, bioImg=null, bioContent=null, aboutCorrespAuthor=null), CN=AuthorExt(id=1263533718753428037, tenantId=1146029695717560320, journalId=1240618002186551303, articleId=1263533688453775734, authorId=1263533717922955840, language=CN, stringName=刘奡, firstName=null, middleName=null, lastName=null, prefix=null, suffix=null, authorComment=null, nameInitials=null, affiliation=null, department=null, xref=³, address=^3．大连海事局北良港海事处，辽宁 大连 116001, bio=null, bioImg=null, bioContent=null, aboutCorrespAuthor=null)}, companyList=[AuthorCompany(id=1263533704035615211, tenantId=1146029695717560320, journalId=1240618002186551303, articleId=1263533688453775734, xref=3., ext=[AuthorCompanyExt(id=1263533704048198126, tenantId=1146029695717560320, journalId=1240618002186551303, articleId=1263533688453775734, companyId=1263533704035615211, language=EN, country=null, province=null, city=null, postcode=null, companyName=null, departmentName=null, remark=^3.Beiliang Port Marine Department of Dalian Maritime Safety Administration, Dalian 116001, China), AuthorCompanyExt(id=1263533704056586735, tenantId=1146029695717560320, journalId=1240618002186551303, articleId=1263533688453775734, companyId=1263533704035615211, language=CN, country=null, province=null, city=null, postcode=null, companyName=null, departmentName=null, remark=^3．大连海事局北良港海事处，辽宁 大连 116001)])])], keywords=[Keyword(id=1263533722498941513, tenantId=1146029695717560320, journalId=1240618002186551303, articleId=1263533688453775734, language=EN, orderNo=1, keyword=autonomous transportation), Keyword(id=1263533722842874444, tenantId=1146029695717560320, journalId=1240618002186551303, articleId=1263533688453775734, language=EN, orderNo=2, keyword=path-following), Keyword(id=1263533722977092174, tenantId=1146029695717560320, journalId=1240618002186551303, articleId=1263533688453775734, language=EN, orderNo=3, keyword=underactuated surface vessel), Keyword(id=1263533723354579536, tenantId=1146029695717560320, journalId=1240618002186551303, articleId=1263533688453775734, language=EN, orderNo=4, keyword=switching L1-VS guidance), Keyword(id=1263533724998746707, tenantId=1146029695717560320, journalId=1240618002186551303, articleId=1263533688453775734, language=EN, orderNo=5, keyword=event-triggered control), Keyword(id=1263533725434954327, tenantId=1146029695717560320, journalId=1240618002186551303, articleId=1263533688453775734, language=EN, orderNo=6, keyword=bounded compensation), Keyword(id=1263533725825024602, tenantId=1146029695717560320, journalId=1240618002186551303, articleId=1263533688453775734, language=CN, orderNo=1, keyword=自主交通), Keyword(id=1263533726202511964, tenantId=1146029695717560320, journalId=1240618002186551303, articleId=1263533688453775734, language=CN, orderNo=2, keyword=船舶路径跟踪), Keyword(id=1263533726626136670, tenantId=1146029695717560320, journalId=1240618002186551303, articleId=1263533688453775734, language=CN, orderNo=3, keyword=欠驱动船舶), Keyword(id=1263533727053955679, tenantId=1146029695717560320, journalId=1240618002186551303, articleId=1263533688453775734, language=CN, orderNo=4, keyword=切换式L1-VS制导), Keyword(id=1263533727242699360, tenantId=1146029695717560320, journalId=1240618002186551303, articleId=1263533688453775734, language=CN, orderNo=5, keyword=事件触发), Keyword(id=1263533727653741153, tenantId=1146029695717560320, journalId=1240618002186551303, articleId=1263533688453775734, language=CN, orderNo=6, keyword=边界补偿)], refs=null, funds=[Fund(id=1263533727922176610, tenantId=1146029695717560320, journalId=1240618002186551303, articleId=1263533688453775734, awardId=52322111, language=CN, fundingSource=国家优秀青年科学基金项目(52322111), fundOrder=null, country=null), Fund(id=1263533729516012131, tenantId=1146029695717560320, journalId=1240618002186551303, articleId=1263533688453775734, awardId=52171291, language=CN, fundingSource=国家自然科学基金项目(52171291), fundOrder=null, country=null), Fund(id=1263533729591509604, tenantId=1146029695717560320, journalId=1240618002186551303, articleId=1263533688453775734, awardId=XLYC2203129, language=CN, fundingSource=辽宁省“兴辽英才计划”青年拔尖人才(XLYC2203129), fundOrder=null, country=null), Fund(id=1263533729671201381, tenantId=1146029695717560320, journalId=1240618002186551303, articleId=1263533688453775734, awardId=2022RJ07, language=CN, fundingSource=大连市杰出青年科技人才项目(2022RJ07), fundOrder=null, country=null)], companyList=[AuthorCompany(id=1263533699581264344, tenantId=1146029695717560320, journalId=1240618002186551303, articleId=1263533688453775734, xref=1., ext=[AuthorCompanyExt(id=1263533699900031449, tenantId=1146029695717560320, journalId=1240618002186551303, articleId=1263533688453775734, companyId=1263533699581264344, language=EN, country=null, province=null, city=null, postcode=null, companyName=null, departmentName=null, remark=^1.Navigation College, Dalian Maritime University, Dalian 116026, China), AuthorCompanyExt(id=1263533700193632734, tenantId=1146029695717560320, journalId=1240618002186551303, articleId=1263533688453775734, companyId=1263533699581264344, language=CN, country=null, province=null, city=null, postcode=null, companyName=null, departmentName=null, remark=^1．大连海事大学 航海学院，辽宁 大连 116026)]), AuthorCompany(id=1263533703670710753, tenantId=1146029695717560320, journalId=1240618002186551303, articleId=1263533688453775734, xref=2., ext=[AuthorCompanyExt(id=1263533703704265188, tenantId=1146029695717560320, journalId=1240618002186551303, articleId=1263533688453775734, companyId=1263533703670710753, language=EN, country=null, province=null, city=null, postcode=null, companyName=null, departmentName=null, remark=^2.State Key Laboratory of Maritime Technology and Safety, Dalian 116026, China), AuthorCompanyExt(id=1263533703729431014, tenantId=1146029695717560320, journalId=1240618002186551303, articleId=1263533688453775734, companyId=1263533703670710753, language=CN, country=null, province=null, city=null, postcode=null, companyName=null, departmentName=null, remark=^2．水路交通控制全国重点实验室，辽宁 大连 116026)]), AuthorCompany(id=1263533704035615211, tenantId=1146029695717560320, journalId=1240618002186551303, articleId=1263533688453775734, xref=3., ext=[AuthorCompanyExt(id=1263533704048198126, tenantId=1146029695717560320, journalId=1240618002186551303, articleId=1263533688453775734, companyId=1263533704035615211, language=EN, country=null, province=null, city=null, postcode=null, companyName=null, departmentName=null, remark=^3.Beiliang Port Marine Department of Dalian Maritime Safety Administration, Dalian 116001, China), AuthorCompanyExt(id=1263533704056586735, tenantId=1146029695717560320, journalId=1240618002186551303, articleId=1263533688453775734, companyId=1263533704035615211, language=CN, country=null, province=null, city=null, postcode=null, companyName=null, departmentName=null, remark=^3．大连海事局北良港海事处，辽宁 大连 116001)])], figs=null, attaches=null, journal=Journal(id=1240617866001694726, delFlag=0, nameCn=中国航海, nameEn=Navigation of China, nameHistory1=null, nameHistory2=null, issn=1000-4653, eissn=null, cn=10-1741/U, coden=null, periodic=1, language=CN, oaType=null, ccby=null, superviseOffice=null, ownerOffice=null, pubOffice=null, editorOffice=null, officeType=null, aims=null, clcCode=null, officeProv=null, officeCity=null, officeAddr=null, officeZip=null, officeEmail=null, officePhone=null, editDirector=null, officeDirector=null, officeDirectorPhone=null, officeStaffNum=null, officeEmpNum=null, coverPicUrl=noZCpe+7WzqFjMsPMw3Ylg==, journalPrice=null, startedYear=null, abbrevIsoEn=Navigation of China, journalRemark=null, publicationField=null, createdTime=1773715948823, updatedTime=1773716241174, createdBy=18614031015, updatedBy=13701087609, firstLetterCn=N, firstLetterEn=N, subjectCode=Engineering, subjectName=null, subjectCodeEn=Engineering, subjectNameEn=null, picCn=noZCpe+7WzqFjMsPMw3Ylg==, picEn=h3SZYo8W+nhAJz8ZlQjXpw==, jcr=null, cjcr=null, exts=[JournalExt(id=1240619092323922506, language=CN, name=中国航海, nameHistory1=null, nameHistory2=null, managedBy=, sponsoredBy=, publishedBy=, editorOffice=, officeProv=null, officeCity=null, officeAddr=, officeZip=, editDirector=, officeDirector=null, officePhone=null, coverPicUrl=null, journalRemark=, submitArticleUrl=null, websiteUrl=, createdTime=1773716241198, updatedTime=1773716241198, createdBy=13701087609, updatedBy=13701087609, submissionGuidelinesUrl=, submissionAuthorUrl=http://hhxhbjb.cinnet.cn/authorLogOn.action, submissionEditorUrl=http://hhxhbjb.cinnet.cn/editorLogOn.action, submissionReviewUrl=http://hhxhbjb.cinnet.cn/expertLogOn.action, submissionCeEditorUrl=, submissionAeEditorUrl=, option={"copyright":""}), JournalExt(id=1240619092365865547, language=EN, name=Navigation of China, nameHistory1=null, nameHistory2=null, managedBy=, sponsoredBy=, publishedBy=, editorOffice=, officeProv=null, officeCity=null, officeAddr=, officeZip=, editDirector=, officeDirector=null, officePhone=null, coverPicUrl=null, journalRemark=, submitArticleUrl=null, websiteUrl=, createdTime=1773716241208, updatedTime=1773716241208, createdBy=13701087609, updatedBy=13701087609, submissionGuidelinesUrl=, submissionAuthorUrl=http://hhxhbjb.cinnet.cn/authorLogOn.action, submissionEditorUrl=http://hhxhbjb.cinnet.cn/editorLogOn.action, submissionReviewUrl=http://hhxhbjb.cinnet.cn/expertLogOn.action, submissionCeEditorUrl=, submissionAeEditorUrl=, option={"copyright":""})], databaseList=null, tenantJournalId=1240618002186551303, websiteList=[Website(id=1240619203443618380, webName=null, webTitle=null, webDomain=null, webCopyrigh=null, webIpcNo=null, seoTitle=null, seoKeywords=null, seoDescription=null, tenantJournalId=null, journalId=1240618002186551303, journalNameCn=null, journalNameEn=null, grayFlag=null, tenantId=1146029695717560320, platformId=null, journalGroupId=null, journalGroupNameCn=null, journalGroupNameEn=null, type=1, domain=https://castjournals.cast.org.cn/joweb/zghh/CN, language=CN, createTime=1773716267691, createBy=18614031015, updateTime=1773716289156, updateBy=18614031015, name=中国航海-中文, tplId=1146099689490845704, title=中国航海, delFlag=0, indexPage=/home, props=[WebsiteProps(id=1240620222206505565, tenantId=1146029695717560320, journalId=null, journalGroupId=null, siteId=1240619203443618380, code=articleTextType, value=kx, createTime=1773716510583, updateTime=1773716510583, creator=18614031015, updator=18614031015), WebsiteProps(id=1240620222185534042, tenantId=1146029695717560320, journalId=null, journalGroupId=null, siteId=1240619203443618380, code=banner, value=null, createTime=1773716510578, updateTime=1773716510578, creator=18614031015, updator=18614031015), WebsiteProps(id=1240620222223282784, tenantId=1146029695717560320, journalId=null, journalGroupId=null, siteId=1240619203443618380, code=grayFlag, value=0, createTime=1773716510587, updateTime=1773716510587, creator=18614031015, updator=18614031015), WebsiteProps(id=1240620222177145433, tenantId=1146029695717560320, journalId=null, journalGroupId=null, siteId=1240619203443618380, code=logo, value=https://castjournals.cast.org.cn/joweb/zghh/CN/file/pic?fileId=KvlDOS/lCoEQEn0ia9k/vw==, createTime=1773716510576, updateTime=1773716510576, creator=18614031015, updator=18614031015), WebsiteProps(id=1240620222244254306, tenantId=1146029695717560320, journalId=null, journalGroupId=null, siteId=1240619203443618380, code=minRunFlag, value=0, createTime=1773716510592, updateTime=1773716510592, creator=18614031015, updator=18614031015), WebsiteProps(id=1240620222198116956, tenantId=1146029695717560320, journalId=null, journalGroupId=null, siteId=1240619203443618380, code=picServerUrl, value=https://castjournals.cast.org.cn/joweb/zghh/CN/file/pic, createTime=1773716510581, updateTime=1773716510581, creator=18614031015, updator=18614031015), WebsiteProps(id=1240620222235865697, tenantId=1146029695717560320, journalId=null, journalGroupId=null, siteId=1240619203443618380, code=silenceFlag, value=0, createTime=1773716510590, updateTime=1773716510590, creator=18614031015, updator=18614031015), WebsiteProps(id=1240620222189728347, tenantId=1146029695717560320, journalId=null, journalGroupId=null, siteId=1240619203443618380, code=staticResourcePath, value=https://castjournals.cast.org.cn/joweb/cast_kjdb_cn_619/, createTime=1773716510579, updateTime=1773716510579, creator=18614031015, updator=18614031015), WebsiteProps(id=1240620222210699870, tenantId=1146029695717560320, journalId=null, journalGroupId=null, siteId=1240619203443618380, code=themeColor, value=null, createTime=1773716510584, updateTime=1773716510584, creator=18614031015, updator=18614031015), WebsiteProps(id=1240620222219088479, tenantId=1146029695717560320, journalId=null, journalGroupId=null, siteId=1240619203443618380, code=themeStyle, value=null, createTime=1773716510586, updateTime=1773716510586, creator=18614031015, updator=18614031015)]), Website(id=1240619203519115854, webName=null, webTitle=null, webDomain=null, webCopyrigh=null, webIpcNo=null, seoTitle=null, seoKeywords=null, seoDescription=null, tenantJournalId=null, journalId=1240618002186551303, journalNameCn=null, journalNameEn=null, grayFlag=null, tenantId=1146029695717560320, platformId=null, journalGroupId=null, journalGroupNameCn=null, journalGroupNameEn=null, type=1, domain=https://castjournals.cast.org.cn/joweb/zghh/EN, language=EN, createTime=1773716267709, createBy=18614031015, updateTime=1773716307444, updateBy=18614031015, name=中国航海-英文, tplId=1146101810881728533, title=Navigation of China, delFlag=0, indexPage=/home, props=[WebsiteProps(id=1240620320386765737, tenantId=1146029695717560320, journalId=null, journalGroupId=null, siteId=1240619203519115854, code=articleTextType, value=kx, createTime=1773716533991, updateTime=1773716533991, creator=18614031015, updator=18614031015), WebsiteProps(id=1240620320361599910, tenantId=1146029695717560320, journalId=null, journalGroupId=null, siteId=1240619203519115854, code=banner, value=null, createTime=1773716533985, updateTime=1773716533985, creator=18614031015, updator=18614031015), WebsiteProps(id=1240620320411931564, tenantId=1146029695717560320, journalId=null, journalGroupId=null, siteId=1240619203519115854, code=grayFlag, value=0, createTime=1773716533997, updateTime=1773716533997, creator=18614031015, updator=18614031015), WebsiteProps(id=1240620320353211301, tenantId=1146029695717560320, journalId=null, journalGroupId=null, siteId=1240619203519115854, code=logo, value=https://castjournals.cast.org.cn/joweb/zghh/EN/file/pic?fileId=KvlDOS/lCoEQEn0ia9k/vw==, createTime=1773716533983, updateTime=1773716533983, creator=18614031015, updator=18614031015), WebsiteProps(id=1240620320424514478, tenantId=1146029695717560320, journalId=null, journalGroupId=null, siteId=1240619203519115854, code=minRunFlag, value=0, createTime=1773716534000, updateTime=1773716534000, creator=18614031015, updator=18614031015), WebsiteProps(id=1240620320378377128, tenantId=1146029695717560320, journalId=null, journalGroupId=null, siteId=1240619203519115854, code=picServerUrl, value=https://castjournals.cast.org.cn/joweb/zghh/EN/file/pic, createTime=1773716533989, updateTime=1773716533989, creator=18614031015, updator=18614031015), WebsiteProps(id=1240620320420320173, tenantId=1146029695717560320, journalId=null, journalGroupId=null, siteId=1240619203519115854, code=silenceFlag, value=0, createTime=1773716533999, updateTime=1773716533999, creator=18614031015, updator=18614031015), WebsiteProps(id=1240620320369988519, tenantId=1146029695717560320, journalId=null, journalGroupId=null, siteId=1240619203519115854, code=staticResourcePath, value=https://castjournals.cast.org.cn/joweb/cast_kjdb_en_623/, createTime=1773716533987, updateTime=1773716533987, creator=18614031015, updator=18614031015), WebsiteProps(id=1240620320395154346, tenantId=1146029695717560320, journalId=null, journalGroupId=null, siteId=1240619203519115854, code=themeColor, value=null, createTime=1773716533993, updateTime=1773716533993, creator=18614031015, updator=18614031015), WebsiteProps(id=1240620320403542955, tenantId=1146029695717560320, journalId=null, journalGroupId=null, siteId=1240619203519115854, code=themeStyle, value=null, createTime=1773716533995, updateTime=1773716533995, creator=18614031015, updator=18614031015)])], journalTitle=中国航海, weixinUrl=null, journalUrl=https://zghh.cinnet.cn/, iacademicId=null, status=1, seqNo=null, journalTitleEn=Navigation of China, journalPhotoCn=noZCpe+7WzqFjMsPMw3Ylg==, journalPhotoEn=h3SZYo8W+nhAJz8ZlQjXpw==, journalFirstLetter=N, journalRecommend=null, journalNew=null, journalCollection=null, jcrJf=null, cjcrJf=null, jcrJfStr=null, cjcrJfStr=null, submissionFirstDecision=null, sciSubjectClassification=null, casSubjectClassification=null, citeScore=null, totalCitationFrequency=null, icpCode=null, psCode=null, advertisingLicenseCode=null, copyrightInformation=null, country=null, option=, provinceCode=null, provinceName=null, collectFlag=false), detailUrlCn=https://castjournals.cast.org.cn/joweb/zghh/CN/10.3969/j.issn.1000-4653.2026.02.011, detailUrlEn=https://castjournals.cast.org.cn/joweb/zghh/EN/10.3969/j.issn.1000-4653.2026.02.011, pdfUrlCn=https://castjournals.cast.org.cn/joweb/zghh/CN/PDF/10.3969/j.issn.1000-4653.2026.02.011, pdfUrlEn=https://castjournals.cast.org.cn/joweb/zghh/EN/PDF/10.3969/j.issn.1000-4653.2026.02.011, aliStartDate=null, aliEndDate=null, collectionFlag=false, citedCount=null, citedUrl=null, reference=null)