4.1.3. Comparison between the Conventional TSA Algorithm and the Proposed Method

The above simulations show that the extracted features of the track segment based on an IMMEKF can adequately reflect the vessel's attributes and motion characteristics; even better, the ELM can effectively learn the features of different track segments and accurately classify them. Furthermore, we carried out simulations comparing the conventional TSA algorithm and the proposed method. As is shown in Table 3, the proposed method has better performance than the conventional TSA algorithm.

**Table 3.** Statistical results of track segment association based on simulation (%). TSA: track segment association.

