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<p>To address the impact of the Earth’s curvature on track keeping during ocean navigation, this paper proposes an adaptive guidance and control strategy for ship navigation based on great circle route correction. First, to overcome the limitation of constant heading in conventional line-of-sight (LOS) navigation, a method integrating great circle route correction is introduced to compute a great circle heading that more accurately reflects actual geographic conditions. Second, a track-keeping controller is designed in combination with a closed-loop gain scheduling algorithm, effectively overcoming the limitation of traditional navigation strategies where ships cannot achieve continuous turning, and ensure that the vessel sails smoothly along the great circle route. Additionally, to accelerate convergence and address the issue of slow heading adjustment caused by a fixed look-ahead distance, an adaptive look-ahead distance scheme is developed to improve tracking accuracy. Simulation demonstrates that the proposed navigation and control strategy has good tracking accuracy and system stability in oceanic environments and enables accurate great circle path following.</p>

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Adaptive guidance and control of ship navigation based on great circle route correction

  • 期刊论文

  • 发表日期：

    2026年7月11日

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  • Guoshuai Li,
  • Guilong Li,
  • Xianku Zhang,
  • Shimiao Wang,
  • Zilong Xie

摘要

To address the impact of the Earth’s curvature on track keeping during ocean navigation, this paper proposes an adaptive guidance and control strategy for ship navigation based on great circle route correction. First, to overcome the limitation of constant heading in conventional line-of-sight (LOS) navigation, a method integrating great circle route correction is introduced to compute a great circle heading that more accurately reflects actual geographic conditions. Second, a track-keeping controller is designed in combination with a closed-loop gain scheduling algorithm, effectively overcoming the limitation of traditional navigation strategies where ships cannot achieve continuous turning, and ensure that the vessel sails smoothly along the great circle route. Additionally, to accelerate convergence and address the issue of slow heading adjustment caused by a fixed look-ahead distance, an adaptive look-ahead distance scheme is developed to improve tracking accuracy. Simulation demonstrates that the proposed navigation and control strategy has good tracking accuracy and system stability in oceanic environments and enables accurate great circle path following.