## 3 AIS Sensor Data Acquisition and Preprocessing
### AIS Sensor Navigation Trajectory Data Extraction and Separation
\begin{table}
\begin{tabular}{c c c c c c} \hline \hline  & **Function** & \multicolumn{2}{c}{**ACDE**} & \multicolumn{2}{c}{**LSHADE**} \\ \cline{3-6}  & & **Mean** & **Std.** & **Mean** & **Std.** \\ \hline Unimodal & F1 & **0.00** & **0.00** & **0.00** & **0.00** \\ Functions & F2 & **0.00** & **0.00** & **0.00** & **0.00** \\  & F3 & **0.00** & **0.00** & **0.00** & **0.00** \\ \hline  & F4 & \(5.14\times 10^{1}\) & \(4.43\times 10^{1}\) & \(\mathbf{5.64\times 10^{-1}}\) & \(\mathbf{1.46\times 10^{0}}\) \\  & F5 & \(\mathbf{2.52\times 10^{1}}\) & \(\mathbf{1.41\times 10^{0}}\) & \(6.19\times 10^{0}\) & \(2.08\times 10^{0}\) \\  & F6 & \(8.15\times 10^{-8}\) & \(1.09\times 10^{-6}\) & **0.00** & **0.00** \\  & F7 & \(\mathbf{4.12\times 10^{1}}\) & \(\mathbf{1.00\times 10^{0}}\) & \(5.67\times 10^{1}\) & \(1.15\times 10^{0}\) \\  & F8 & \(\mathbf{2.63\times 10^{1}}\) & \(\mathbf{1.58\times 10^{0}}\) & \(5.95\times 10^{0}\) & \(2.24\times 10^{0}\) \\ Simple & F9 & **0.00** & **0.00** & **0.00** & **0.00** \\ Multimodal & F10 & \(3.10\times 10^{2}\) & \(3.41\times 10^{1}\) & \(\mathbf{3.62\times 10^{0}}\) & \(\mathbf{6.71\times 10^{0}}\) \\ Functions & F11 & \(\mathbf{2.14\times 10^{0}}\) & \(\mathbf{1.08\times 10^{0}}\) & \(9.07\times 10^{0}\) & \(3.36\times 10^{0}\) \\  & F12 & \(\mathbf{1.48\times 10^{0}}\) & \(\mathbf{3.65\times 10^{0}}\) & \(1.58\times 10^{0}\) & \(4.42\times 10^{0}\) \\  & F13 & \(6.94\times 10^{1}\) & \(3.45\times 10^{1}\) & \(\mathbf{3.43\times 10^{0}}\) & \(\mathbf{1.50\times 10^{0}}\) \\  & F14 & \(\mathbf{2.41\times 10^{1}}\) & \(\mathbf{2.47\times 10^{0}}\) & \(2.90\times 10^{1}\) & \(3.94\times 10^{0}\) \\  & F15 & \(2.56\times 10^{1}\) & \(4.06\times 10^{0}\) & \(\mathbf{1.56\times 10^{1}}\) & \(\mathbf{6.70\times 10^{0}}\) \\  & F16 & \(\mathbf{2.76\times 10^{2}}\) & \(\mathbf{9.73\times 10^{1}}\) & \(4.13\times 10^{2}\) & \(1.68\times 10^{2}\) \\ \hline  & F17 & \(\mathbf{2.09\times 10^{2}}\) & \(\mathbf{7.32\times 10^{1}}\) & \(2.94\times 10^{2}\) & \(1.20\times 10^{2}\) \\  & F18 & \(\mathbf{2.58\times 10^{1}}\) & \(\mathbf{2.55\times 10^{0}}\) & \(3.30\times 10^{1}\) & \(7.23\times 10^{0}\) \\ Hybrid & F19 & \(\mathbf{1.74\times 10^{1}}\) & \(\mathbf{2.48\times 10^{0}}\) & \(2.18\times 10^{1}\) & \(4.82\times 10^{0}\) \\ Function & F20 & \(\mathbf{1.14\times 10^{2}}\) & \(\mathbf{3.95\times 10^{1}}\) & \(1.65\times 10^{2}\) & \(1.11\times 10^{2}\) \\  & F21 & \(2.67\times 10^{2}\) & \(8.42\times 10^{0}\) & \(\mathbf{2.15\times 10^{2}}\) & \(\mathbf{9.23\times 10^{0}}\) \\  & F22 & \(2.13\times 10^{3}\) & \(2.17\times 10^{3}\) & \(\mathbf{8.17\times 10^{2}}\) & \(\mathbf{1.49\times 10^{3}}\) \\ \hline  & F23 & \(\mathbf{4.39\times 10^{2}}\) & \(\mathbf{6.95\times 10^{0}}\) & \(4.39\times 10^{2}\) & \(7.19\times 10^{0}\) \\  & F24 & \(5.13\times 10^{2}\) & \(5.67\times 10^{0}\) & \(\mathbf{5.12\times 10^{2}}\) & \(\mathbf{5.80\times 10^{0}}\) \\  & F25 & \(4.97\times 10^{2}\) & \(2.45\times 10^{0}\) & \(\mathbf{4.63\times 10^{2}}\) & \(\mathbf{8.50\times 10^{0}}\) \\ Composition & F26 & \(\mathbf{1.07\times 10^{3}}\) & \(\mathbf{5.43\times 10^{1}}\) & \(1.14\times 10^{3}\) & \(6.93\times 10^{1}\) \\ Function & F27 & \(\mathbf{4.18\times 10^{2}}\) & \(\mathbf{9.94\times 10^{0}}\) & \(5.03\times 10^{2}\) & \(8.99\times 10^{-5}\) \\  & F28 & \(4.59\times 10^{2}\) & \(1.28\times 10^{1}\) & \(\mathbf{4.04\times 10^{5}}\) & \(\mathbf{8.49\times 10^{0}}\) \\  & F29 & \(\mathbf{1.24\times 10^{2}}\) & \(\mathbf{9.14\times 10^{0}}\) & \(2.75\times 10^{2}\) & \(5.96\times 10^{1}\) \\  & F30 & \(6.55\times 10^{3}\) & \(5.15\times 10^{2}\) & \(\mathbf{6.57\times 10^{2}}\) & \(\mathbf{4.10\times 10^{2}}\) \\ \hline \hline \end{tabular}
\end{table} 
Table 1: Performance comparison of ACDE and LSHADE algorithms of the 50T benchmark. point, \(v_{n}\) denotes the speed of ship and \(\lambda_{n}\) denotes the longitude of the ship.