In this paper, a novel analytical framework for Dynamic Quaternion Ship Domain (DQSD) models has been initially proposed via the Quaternion Ship Domain (QSD) model structure. Unlike previous ship domains, the proposed DQSD model is able to capture essential subjectivity and objectivity of ship domains. To be specific, the significant characteristics are as follows:
(1) The proposed DQSD model is integrated by three independent submodels of ship, human and circumstance, which are determined by ship manoeuvrability, navigator's states, and navigation circumstance, respectively.
(2) The ship manoeuvrability derived from the MMG-type ship motion model is employed to establish the ship submodel which identifies the DQSD scale.
(3) A novel navigator reliability model is proposed to realize the human submodel which defines the ship domain shape with navigator ability, physical and mental states being input variables.
(4) In addition, visibility, wind force, wave and traffic congestion are incorporated into the circumstance submodel which is employed to zoom in or out of the DQSD-type ship domain.
Finally, the well-known Esso Osaka tanker model is used to conduct simulation studies on various typical stationary and dynamic situations, and comparative investigations with each other have been comprehensively analysed. Simulation results demonstrate that the DQSD model can capture critical dynamics of ship domains and undoubtedly be effective and superior to previous ship domains in terms of performance and accuracy.
