SituationOutput

Type: object

This is a schema that stores result data produced when testing collision and grounding avoidance systems.

root version

Version

Type: string

maritime-schema version number
Example:

"0.2.0"

root systemUnderTest

System Under Test

Type: object

Data generated by the system under test (auto-navigation / collision and grounding avoidance system) during the scenario.

root systemUnderTest configuration

Configuration

Type: object

CAGA System Configuration

The following properties are required:

  • name
  • vendor
  • version

root systemUnderTest configuration vendor_minimum_distance_to_targets
Type: number

Example vendor parameter
Example:

100

Additional Properties of any type are allowed.

root systemUnderTest configuration additionalProperties
Type: object

root systemUnderTest eventData

Event Data

Type: array

Event data from the system

 No Additional Items

Each item of this array must be:

root systemUnderTest eventData CagaEvent

CagaEvent

Type: object

root systemUnderTest eventData CagaEvent time

Time

Type: stringFormat: date-time

Date and Time of the event in ISO 8601 format YYYY-MM-DDThh:mm:ssZ
Example:

"2025-01-01T00:00:00Z"

root systemUnderTest eventData CagaEvent waypoints

Waypoints

Type: array

Planned Collision Avoidance Route

 No Additional Items

Each item of this array must be:

root systemUnderTest eventData CagaEvent waypoints Waypoint

Waypoint

Type: object

root systemUnderTest eventData CagaEvent waypoints Waypoint position

Position

Type: object

A geographical coordinate.
Example:

{
    "lat": 51.2123,
    "lon": 11.2313
}

root systemUnderTest eventData CagaEvent waypoints Waypoint position lon

Lon

Type: number

WGS-84 Longitude

Value must be greater or equal to -180 and lesser or equal to 180


Example:

10.3432

root systemUnderTest eventData CagaEvent waypoints Waypoint position lat

Lat

Type: number

WGS-84 Latitude

Value must be greater or equal to -90 and lesser or equal to 90


Example:

57.2343

Additional Properties of any type are allowed.

root systemUnderTest eventData CagaEvent waypoints Waypoint position additionalProperties
Type: object

root systemUnderTest eventData CagaEvent waypoints Waypoint turnRadius

Turn Radius

Type: number

Orthodrome turn radius in nautical miles as defined in RTZ.
Example:

0.5

root systemUnderTest eventData CagaEvent waypoints Waypoint leg

Leg

Type: object

Leg properties. Assuming the first waypoint is WP0, the items for the first leg (WP0 - WP1) should be defined in WP1.

root systemUnderTest eventData CagaEvent waypoints Waypoint leg starboardXtd

Starboard Xtd

Type: number

Starboard cross-track distance (XTD) in nautical miles as defined in RTZ.

root systemUnderTest eventData CagaEvent waypoints Waypoint leg portsideXtd

Portside Xtd

Type: number

Portside cross-track distance (XTD) in nautical miles as defined in RTZ.

root systemUnderTest eventData CagaEvent waypoints Waypoint leg sog

Sog

Type: number

Planned speed over ground in knots for this leg. If provided, leg.data.sog shall take priority over leg.sog.

root systemUnderTest eventData CagaEvent waypoints Waypoint leg data

Data

Type: object

The data field can be used to store data that is numerical and continuous. One such example is the vessel's speed over ground (SOG). Every data object can have the following 4 attributes:

value: This is the value of the data over the current leg.

interpStart: This is the distance (in nautical miles) before the leg change, where the value will start changing (via interpolation) to the new value in the next leg.

interpEnd: This is the distance (in nautical miles) after the leg change, where the value will finish changing (via interpolation) to the new value in the next leg.

interpMethod: This sets the interpolation (linear, cosine, smoothstep, etc.) that will be used to perform the interpolation.

Each additional property must conform to the following schema

root systemUnderTest eventData CagaEvent waypoints Waypoint leg data DataPoint

DataPoint

Type: object

root systemUnderTest eventData CagaEvent waypoints Waypoint leg data DataPoint value

Value

Type: number

the value of the data at the current waypoint
Example:

12.3

root systemUnderTest eventData CagaEvent waypoints Waypoint leg data DataPoint interpStart

Interp Start

Type: number

distance (in nautical miles) before the start of the next leg, to start interpolating to the next leg's value
Example:

10

root systemUnderTest eventData CagaEvent waypoints Waypoint leg data DataPoint interpEnd

Interp End

Type: number

distance (in nautical miles) after the start of the next leg, to finish interpolating to the next leg's value
Example:

10

root systemUnderTest eventData CagaEvent waypoints Waypoint leg data DataPoint interpMethod

Interp Method


Method used for interpolation

root systemUnderTest eventData CagaEvent waypoints Waypoint leg data DataPoint interpMethod anyOf InterpolationMethod

InterpolationMethod

Type: enum (of string)

Must be one of:

  • "linear"
  • "cosine"
  • "smoothstep"
  • "accelerate"
  • "decelerate"
  • "ordinal"
root systemUnderTest eventData CagaEvent waypoints Waypoint leg data DataPoint interpMethod anyOf item 1
Type: string

Additional Properties of any type are allowed.

root systemUnderTest eventData CagaEvent waypoints Waypoint leg data DataPoint additionalProperties
Type: object

Additional Properties of any type are allowed.

root systemUnderTest eventData CagaEvent waypoints Waypoint leg additionalProperties
Type: object

Additional Properties of any type are allowed.

root systemUnderTest eventData CagaEvent waypoints Waypoint additionalProperties
Type: object

root systemUnderTest eventData CagaEvent targetShips

Target Ships

Type: array

Target Ship (TGT) states at the time the maneuver was generated

 No Additional Items

Each item of this array must be:

root systemUnderTest eventData CagaEvent targetShips DetectedTargetShip

DetectedTargetShip

Type: object

root systemUnderTest eventData CagaEvent targetShips DetectedTargetShip position

Position

Type: object

Longitude and latitude of the ship.
Example:

{
    "lat": 57.2343,
    "lon": 10.3432
}

root systemUnderTest eventData CagaEvent waypoints Waypoint position lon

Lon

Type: number

WGS-84 Longitude

Value must be greater or equal to -180 and lesser or equal to 180


Example:

10.3432

root systemUnderTest eventData CagaEvent waypoints Waypoint position lat

Lat

Type: number

WGS-84 Latitude

Value must be greater or equal to -90 and lesser or equal to 90


Example:

57.2343

Additional Properties of any type are allowed.

root systemUnderTest eventData CagaEvent waypoints Waypoint position additionalProperties
Type: object

root systemUnderTest eventData CagaEvent targetShips DetectedTargetShip sog

Sog

Type: number

Ship speed over ground (SOG) in knots

Value must be greater or equal to 0


Example:

10.0

root systemUnderTest eventData CagaEvent targetShips DetectedTargetShip cog

Cog

Type: number

Ship course over ground (COG) in degrees

Value must be greater or equal to 0 and lesser or equal to 360


Example:

45.0

root systemUnderTest eventData CagaEvent targetShips DetectedTargetShip heading

Heading

Type: number

Ship heading in degrees

Value must be greater or equal to 0 and lesser or equal to 360


Example:

45.2

root systemUnderTest eventData CagaEvent targetShips DetectedTargetShip navStatus

Nav Status


AIS Navigational Status

root systemUnderTest eventData CagaEvent targetShips DetectedTargetShip navStatus anyOf AisNavStatus

AisNavStatus

Type: enum (of string)

AIS Navigational Status.
Source: https://www.itu.int/dms_pubrec/itu-r/rec/m/R-REC-M.1371-5-201402-I!!PDF-E.pdf#page=113.

Must be one of:

  • "Under way using engine"
  • "At anchor"
  • "Not under command"
  • "Restricted maneuverability"
  • "Constrained by her draught"
  • "Moored"
  • "Aground"
  • "Engaged in fishing"
  • "Under way sailing"
  • "Reserved for future amendment DG, HS, MP, C, HSC"
  • "Reserved for future amendment DG, HS, MP, A, WIG"
  • "Power-driven vessel towing astern"
  • "Power-driven vessel pushing ahead or towing alongside"
  • "Reserved for future use"
  • "AIS-SART (active)"
  • "Undefined (default)"
root systemUnderTest eventData CagaEvent targetShips DetectedTargetShip navStatus anyOf AisNavStatusInt

AisNavStatusInt

Type: enum (of integer)

AIS Navigational Status in Integer form.
Source: https://www.itu.int/dms_pubrec/itu-r/rec/m/R-REC-M.1371-5-201402-I!!PDF-E.pdf#page=113.

Must be one of:

  • 0
  • 1
  • 2
  • 3
  • 4
  • 5
  • 6
  • 7
  • 8
  • 9
  • 10
  • 11
  • 12
  • 13
  • 14
  • 15

root systemUnderTest eventData CagaEvent targetShips DetectedTargetShip cpa

Cpa

Type: number

Target range in nautical miles, at the closest point of approach. Sometimes known as 'dcpa'.

root systemUnderTest eventData CagaEvent targetShips DetectedTargetShip tcpa

Tcpa

Type: number

Time to CPA in seconds.

root systemUnderTest eventData CagaEvent targetShips DetectedTargetShip range

Range

Type: number

Current distance to the target in nautical miles

root systemUnderTest eventData CagaEvent targetShips DetectedTargetShip encounterType

Encounter Type


COLREG Encounter Type

root systemUnderTest eventData CagaEvent targetShips DetectedTargetShip encounterType anyOf EncounterType

EncounterType

Type: enum (of string)

Must be one of:

  • "Overtaking stand-on"
  • "Overtaking give-way"
  • "Head-on"
  • "Crossing give-way"
  • "Crossing stand-on"
  • "No Risk"
root systemUnderTest eventData CagaEvent targetShips DetectedTargetShip encounterType anyOf EncounterTypeInt

EncounterTypeInt

Type: enum (of integer)

Must be one of:

  • 0
  • 1
  • 2
  • 3
  • 4
  • 5

Additional Properties of any type are allowed.

root systemUnderTest eventData CagaEvent targetShips DetectedTargetShip additionalProperties
Type: object

root systemUnderTest eventData CagaEvent ownShip

Own Ship

Type: object

Own Ship state at the time the maneuver was generated

root systemUnderTest eventData CagaEvent ownShip position

Position

Type: object

Longitude and latitude of the ship.
Example:

{
    "lat": 57.2343,
    "lon": 10.3432
}

root systemUnderTest eventData CagaEvent waypoints Waypoint position lon

Lon

Type: number

WGS-84 Longitude

Value must be greater or equal to -180 and lesser or equal to 180


Example:

10.3432

root systemUnderTest eventData CagaEvent waypoints Waypoint position lat

Lat

Type: number

WGS-84 Latitude

Value must be greater or equal to -90 and lesser or equal to 90


Example:

57.2343

Additional Properties of any type are allowed.

root systemUnderTest eventData CagaEvent waypoints Waypoint position additionalProperties
Type: object

root systemUnderTest eventData CagaEvent ownShip sog

Sog

Type: number

Ship speed over ground (SOG) in knots

Value must be greater or equal to 0


Example:

10.0

root systemUnderTest eventData CagaEvent ownShip cog

Cog

Type: number

Ship course over ground (COG) in degrees

Value must be greater or equal to 0 and lesser or equal to 360


Example:

45.0

root systemUnderTest eventData CagaEvent ownShip heading

Heading

Type: number

Ship heading in degrees

Value must be greater or equal to 0 and lesser or equal to 360


Example:

45.2

root systemUnderTest eventData CagaEvent ownShip navStatus

Nav Status


AIS Navigational Status

root systemUnderTest eventData CagaEvent ownShip navStatus anyOf AisNavStatus

AisNavStatus

Type: enum (of string)

AIS Navigational Status.
Source: https://www.itu.int/dms_pubrec/itu-r/rec/m/R-REC-M.1371-5-201402-I!!PDF-E.pdf#page=113.

Same definition as AisNavStatus
root systemUnderTest eventData CagaEvent ownShip navStatus anyOf AisNavStatusInt

AisNavStatusInt

Type: enum (of integer)

AIS Navigational Status in Integer form.
Source: https://www.itu.int/dms_pubrec/itu-r/rec/m/R-REC-M.1371-5-201402-I!!PDF-E.pdf#page=113.

Same definition as AisNavStatusInt

Additional Properties of any type are allowed.

root systemUnderTest eventData CagaEvent ownShip additionalProperties
Type: object

Additional Properties of any type are allowed.

root systemUnderTest eventData CagaEvent additionalProperties
Type: object

Additional Properties of any type are allowed.

root systemUnderTest additionalProperties
Type: object

root simulator

Simulator

Type: object

Data generated by the simulator during the scenario

root simulator configuration

Configuration

Type: object

Simulator Configuration

The following properties are required:

  • name
  • vendor
  • version

root simulator configuration vendor_own_ship_model_type
Type: string

Example vendor specific parameter describing the type of own ship model used in the system
Examples:

"3-DOF"

"6-DOF"

Additional Properties of any type are allowed.

root simulator configuration additionalProperties
Type: object

root simulator eventData

Event Data

Type: array

Event data from the simulator

 No Additional Items

Each item of this array must be:

root simulator eventData Event

Event

Type: object

root simulator eventData Event time

Time

Type: stringFormat: date-time

Date and Time of the event in ISO 8601 format YYYY-MM-DDThh:mm:ssZ
Example:

"2025-01-01T00:00:00Z"

Additional Properties of any type are allowed.

root simulator eventData Event additionalProperties
Type: object

Additional Properties of any type are allowed.

root simulator additionalProperties
Type: object

Additional Properties of any type are allowed.

root additionalProperties
Type: object