Fig 1.
The flowchart of the provided algorithm.
Table 1.
27 types of AIS message meanings.
Fig 2.
Schematic diagram of GCN structure.
Fig 3.
Construction of Gated Recurrent Unit Neural Network.
Fig 4.
T-GCN computation flow diagram.
Fig 5.
The study of case study.
Fig 6.
The trajectory interpolation of the ship (MMSI: 211377300).
Fig 7.
The trajectory interpolation of the ship (MMSI: 229633000).
Table 2.
The error of the predictive model.
Fig 8.
The parameters of different models.
Table 3.
The error of the predictive model.
Fig 9.
The ship’s trajectory of study case.
Fig 10.
The ship congestion heatmap.
Fig 11.
Correlation validation and linear regression analysis between vessel density and Speed Performance Index.