Improved Vessel Trajectory Prediction Model Based on Stacked-BiGRUs

Algorithm 2

Statistical Trajectory Restoration.

(i)	Input: Sequence to be repaired , maximum repair range , step length of each repair
(ii)	Output: repaired sequence
(1)	Compute according to equation (1)
(2)	Create a Probability distribution table of acceleration according to step 1
(3)	Initialize,
(4)	For to do//Start repairing
(5)	//Windowing the subsequence (size: 3, step: 1)
(6)	For in
(7)	For in
(8)	For in
(9)	Compute according to equation (2)
(10)	Read from
(11)	If //If the probability goes up
(12)	//Update the subsequence
(13)	//Update the acceleration sequence
(14)	Update , //Update the probability
(15)	Update //Update the table of acceleration probability distribution
(16)	End If
(16)	End For
(17)	End For
(18)	End For
(19)	End For
(20)	Return