II. Kinematic Model of the Process

The ARPA system enables to track automatically at least 20 encountered j objects as is shown on Figure 4, determination of their movement parameters (speed Vj , course ψj) and elements of approach to the own ship (Dj,min - Distance of the Closest Point of Approach, Tj,mi- Time to the Closest Point of Approach) and also the assessment of the collision risk rj [12].