“…It is assumed that there is a point 1 (2,4,5,3) p on the ship trajectory 1 TR , where 2, 4, 5 and 3 are longitude, latitude, course and speed respectively. Measure the distance from point 1 p on the trajectory 1 TR to the trajectory 2 TR , go through all the points on the trajectory 2 TR and the two trajectory points 21 (2,4,5,3) p and 22 (2,4,5,3) p closest to the point 1 p , and make A vertical line from point 1 p to the line where point 21 p and point 22 p lie. The dashed line circle in Figure 2 is the vertical point 2 p , and the coordinates of 2 p can be obtained according to the corresponding mathematical relationship, the specific steps are as follows:…”