An approach to dynamic modeling of the predicted trajectory of movement of a displacement vessel and its continuous visualization on an electronic panel is considered, superimposed on the actual digital twin of the real scene of the environment along the course of the vessel. The hardware and software implementation of the developed approach as a decision support system for the navigator in the form of a standard option of the integrated control panel located in the wheelhouse provides an opportunity to objectively assess the safe distance to potential navigation obstacles within the ship’s course at the free distance of the vessel by means of combined visualization. As part of the organizational and technical measures to ensure the safety of navigation, the proposed innovative approach to continuous joint visualization of the digital twin of the current scene of the surrounding sailing situation and the predicted trajectory of the vessel’s movement acquires significant importance in the operation of automatic vessels as an option for the supervisor to intervene in the operation of an integrated automatic control system in complex navigating conditions.

The article shows that modeling the movement of ships allows you to build predictive trajectories of movement of both your own vessel and other vessels in the water area. The issues of modeling and software construction of the proposed dynamic trajectory of the vessel as part of the ship's decision support system in navigation (DSS) are considered. The analysis of mathematical models of vessel movement that have proven themselves positively in research and design practice is carried out. The adequacy of the mathematical model was assessed taking into account the definition of the limits of its applicability, i.e. identification of typical modes of movement and the design (type) of the vessel for which the selected model can be used. The analysis of theoretical calculations and oscillograms of full-scale tests of serial vessels is carried out, showing that the dynamics of river displacement vessels is characterized by a number of specific features. The method of choosing a mathematical model of ship movement in order to create a DSS when controlling movement at short distances in cramped navigation conditions is proposed.

Движение водоизмещающего судна по курсу в линейных районах и акваториях внутренних водных путей (ВВП) осуществляется обычно в стесненных навигационных условиях (СНУ). К ним, например, относятся участки с регулируемым движением и всевозможные помехи. В силу наличия таких ограничений движению судна по курсу судоводитель должен уметь в сжатые промежутки времени, на коротких дистанциях принимать решения, обусловливаемые текущей эксплуатационной ситуацией. Ошибочное прогнозирование траектории движения судна с последующим принятием не вполне корректного решения может привести к нештатным ситуациям таким, как посадка судна на мель, касание затопленных предметов, навал, столкновение с гидротехническими сооружениями и т.п. Один из возможных путей совершенствования способов управления движением судна по курсу в СНУ заключается в реализации технологии дополненной реальности при отображении на мониторе ходового мостика в реальном масштабе времени прогнозной траектории движения судна вкупе с цифровым двойником видимой панорамы текущей судоходной обстановки. Статья посвящена обсуждению такого подхода, реализованного на основе теоретического исследования, последующей разработки модельно-алгоритмического обеспечения и его экспериментального апробирования. The movement of a displacement vessel along the course in linear areas and waters of inland waterways (IWW) is usually carried out in cramped navigation conditions (CNC). These, for example, include areas with controlled traffic and all kinds of interference. Due to the presence of such restrictions on the movement of the vessel along the course, the navigator must be able to make decisions in short periods of time, at short distances, due to the current operational situation. Erroneous prediction of the trajectory of the vessel, followed by the adoption of an incorrect decision, can lead to abnormal situations such as stranding, touching submerged objects, bulk, collision with hydraulic structures. One of the possible ways to improve the methods of controlling the movement of the vessel along the course in the CNC is to implement augmented reality technology when displaying on the monitor of the navigation bridge in real time the forecast trajectory of the vessel, coupled with a digital double of the visible panorama of the current navigational situation. The article is devoted to the discussion of such an approach, implemented on the basis of theoretical research, subsequent development of model-algorithmic support and its experimental testing.