A novel dynamic quaternion ship domain

Based on ship maneuverability and human reliability models, a novel dynamic quaternion ship domain (DQSD) model is firstly proposed by effectively combining subsystems of ship dynamics, human performance and navigation environment, which results in the quantitative and analytical study on ship domain models. Specifically, the mathematic model group (MMG) ship motion model is used to establish the ship sub-model for estimation of scale parameters in the DQSD model. In order to identify the shape parameters of the DQSD model, the human reliability model is proposed to implement the novel human sub-model for ship navigators, whereby the variables of professional skill level, physical state, mental state and navigation environment disturbance are sufficiently considered as input states. As a consequence, the resultant DQSD model incorporated by ship dynamics and human performance sub-models could be able to realize analytical investigations on ship domains since the factors of ship, human and navigation environment are effectively quantized. Finally, systematic simulation studies and comparative analysis are conducted on three typical ships to demonstrate the effectiveness of the proposed DQSD model.