Due to the hike in fuel price and environmental awareness by the International Maritime Organization, more attention has been given in order to optimize the fuel consumption of ships. The capability to predict the fuel consumption of ships plays a significant role in the optimization process. To date, most research on predicting ship fuel consumption did not consider marine environmental factors such as wind, wave, current, and etc. Furthermore, traditional statistical methods on predicting ship fuel consumption have low accuracy. In this paper, two different sets of data showing the fuel consumption of a voyage ship with and without the influence of marine environmental factors were obtained. The Back-Propagation Neural Network (BPNN) and Gaussian Process Regression (GPR) techniques in machine learning were used to train and predict the two datasets. Thereafter, the predictive performance of these two techniques was compared and analyzed. Results showed that both techniques were able to accurately predict the ship fuel consumption, especially on the dataset with the influence of marine environmental factors. Quantitatively, the mean prediction accuracy for GPR (mean $R^{2}=0.9887$ ) is slightly higher than BPNN (mean $R^{2}=0.9817$ ). However, GPR requires longer runtime (mean $T=2236.4$ s) compared to BPNN (mean $T=14.7$ s). Due to the longer runtime, GPR is less preferable for online and real-time prediction of enroute ship fuel consumption. The ship real-time fuel consumption data can be accurately predicted by machine learning, which will be beneficial to achieve the goal of ship fuel consumption optimization and greenhouse gas emission reduction in the future.

Accurate, reliable, and real-time prediction of ship fuel consumption is the basis and premise of the development of fuel optimization; however, ship fuel consumption data mainly come from noon reports, and many current modeling methods have been based on a single model; therefore they have low accuracy and robustness. In this study, we propose a novel hybrid fuel consumption prediction model based on sensor data collected from an ocean-going container ship. First, a data processing method is proposed to clean the collected data. Secondly, the Bayesian optimization method of hyperparameters is used to reasonably set the hyperparameter values of the model. Finally, a hybrid fuel consumption prediction model is established by integrating extremely randomized tree (ET), random forest (RF), Xgboost (XGB) and multiple linear regression (MLR) methods. The experimental results show that data cleaning, the size of the dataset, marine environmental factors, and hyperparameter optimization can all affect the accuracy of the model, and the proposed hybrid model provides better predictive performance (higher accuracy) and greater robustness (smaller standard deviation) as compared with a single model. The proposed hybrid model should play a significant role in ship fuel consumption real-time monitoring, fault diagnosis, energy saving and emission reduction, etc.