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3  Monitoring  and  execution  of  the  voyage
Monitoring  and  execution  of  the  voyage  constitute  the  central  task  area  of  the  process  “integrated  navigation”. ­
  This  area  supplies  the  fundamental  output  variables  necessary  to  fulfil  the  process  task  [2],  in
the  form  of  set  values  for  machine  data  and  rudder  angle.  These  output  variables  are  determined  from
the  following  fundamental  input  variables:
1.  Set  parameters  for  voyage  execution:
•  current  voyage  plan
•  set  values  for  direction  and  speed  of  the  ship  from  other  processes  as  track  planning.  The
sources  for  this  may  be  both  internal  (dealing  with  unplanned  incidents)  or  external  (VTS).
2.  Variable  for  describing  the  current  actual  state:
•  ship  data
•  geographical  data
•  state  variables
•  environmental  data
The  tables  on  the  following  pages  contain  the  requirements  on  the  input  information  listed  above.