Real-time position tracking of traffic ships by ARPA radar and AIS in Busan Harbor, Korea

Transcription

1 J Kor Soc Fish Tech 44(3) DOI:103796/KSFT Real-time position tracking of traffic ships by radar and in Busan Harbor Korea Dae-Jae LEE* Division of Marine Production System Management Pukyong National University Busan Korea This paper describes on the consolidation of and radar positions by comparing the and radar information for the tracked ship targets using a PC-based in Busan harbor Korea The information of and radar target was acquired independently and the tracking parameters such as ship s position COG SOG gyro heading rate of turn CPA TCPA ship s name and MMSI etc were displayed automatically on the chart of a PC-based with radar overlay and tracking The tracking information obtained from the observed radar images of the target ship was compared with the information received from the same vessel to investigate the difference in the position and movement behavior between and tracked target ships For the radar and targets to be consolidated the differences in range speed course bearing and distance between their targets were estimated to obtain a clear standards for the consolidation of radar and targets The average differences between their ranges their speeds and their courses were 206% of the average range 011 knots with the averaged SOG of 1162 knots and 002 with the averaged COG of 372 respectively The average differences between their bearings and between their positions were 129 and 688m respectively From these results we concluded that if the ROT COG SOG and HDG informations are correct the system can be improved the prediction of a target ship s path and the OOW(Officer of Watch) s ability to anticipate a traffic situation more accurately Key words : Real-time position tracking PC-based Consolidation of radar and targets *Corresponding author: daejael@pknuackr Tel: Fax:

2 GPS COG SOG GPS DGPS gyro-compass anemometer current meter echo sounder speed log NMEA 0183 video TTM (Imazu 2003; Takeda 2004; IMO 2004a; IMO 2004b; Yamada 2005) (Vessel Traffic Service) (Torsten et al 1988; Liu et al 2004; Volker 2006) Fig 1 (PM3D ) (radar target extractor(rtx) ) GPS compass ( ) (MD 3641 Koden)

3 DGPS RADAR GPS compass RTX board PC based Fig 1 A real-time tracking system of traffic vessel that consists of four sub-systems of a PC-based radar DGPS GPS compass and ENC(electronic navigational chart) DGPS(GP37 Furuno) 4 kw rpm 1 RTX 12 bit 40 MHz echo frame memory map 1 pixel image data 8 bit(256 color) host computer DMA(Direct Memory Access) RTX Fig 2 A list of dynamic information for target vessel (MMSI ) tracked simultaneously by a PCbased radar and The tracking information of and radar targets is displayed on the ENC chart of a PC-based with radar overlay host computer ENC hard disk RTX image bearing offset range offset DGPS GPS compass NMEA0183 RTX host computer cursor RS232C protocol $AIVDM $AIVDO sentence sentence sentence MMSI( ) IMO

4 GMT COG SOG (ROT) status ( N E) 3m DGPS Fig 2 ENC WGS 84 CPA TCPA heading COG SOG VHF Fig 3 A running track of target vessel (MMSI ) that was simultaneously tracked by a PC-based radar and The difference between radar and information was calculated to obtain a standards for the consolidation of radar and targets ( ) ( ) ENC Fig 3 CPA TCPA MMSI COG SOG heading CPA TCPA NE (MMSI ) Fig 3 Fig 3 ( N E) (UTC) time tag hard disk Fig 3 UTC PC-based radar signal processor UTC ENC

5 DGPS UTC time tag Fig 3 image image MMSI N E COG 34 SOG 109 knots gyro heading 41 target (tracking no 59R) knots knots Fig 3 symbol COG SOG SOG COG COG SOG Fig 4 Fig 4 Fig 3 15nm +20nm offset Fig 4 021nm ( )017nm ( 0022nm) 016nm ( )025nm ( 0030nm) 0037nm Fig 3 Diff of latitude(nm) reference point N E long offset 20nm lat offset 15nm Diff of longitude(nm) Fig 4 A running track of the target vessel (MMSI ) tracked simultaneously by a PC-based radar and The ship s track was displayed using the distance difference in latitude and longitude directions between measured and reference coordinates radar

6 Fig 5 Fig gyro heading ( ) % Fig 3 MMSI Ship s heading(deg) Speed(knot) radar (COG) Running time(sec) Fig 5 Comparison of the ship s headings as a function of running time for the target vessel (MMSI ) tracked simultaneously by a PC-based radar and radar (SOG) Running time(sec) Fig 6 Comparison of the ship s speeds as a function of running time for the target vessel (MMSI ) tracked simultaneously by a PC-based radar and Fig 6 Fig knots (SOG) 1162knots 091knots ( )094knots 011knots 093% Fig 3 MMSI Fig 7 Fig 7 24 ( ) Fig 3 MMSI Fig Bearing(deg) radar Running time(sec) Fig 7 Comparison of the ship s bearings as a function of running time for the target vessel (MMSI ) tracked simultaneously by a PC-based radar and

7 Range(nm) 8 Fig 8 019nm ( )019nm 01034nm Fig 8 MMSI R radar R ais R error ( N N R error (%) 1 R ais R radar i l ) 100 N R ais 206% 25% 3 02 knots 10 50m radar Running time(sec) Fig 8 Comparison of the ship s ranges as a function of running time for the target vessel (MMSI ) tracked simultaneously by a PC-based radar and (U 2006) reference point : symbol sentence DGPS 24 rpm 25 sec PC-based RTX target image COG SOG ENC ) D latitude(m) D longitude(m) -250 posit diff between radar and mean position difference(688m) -500 Fig 9 Tracking error between radar and positions of the target vessel (MMSI ) tracked simultaneously by a PC-based radar and The position was used as a reference coordinate for calculating the distance error in latitude and longitude directions for radar tracking (bias ) ( 14 knots

8 VHF 10 sec COG SOG HDG ROT (ROT) data sentence time tag time tag COG SOG Fig 9 Fig 9 Fig 9 GPS ROT GPS GPS ROT ROT DCPA TCPA ROT CPA transponder Fig 9 (MMSI ) gyro heading 414 (COG) knots( ) W 4076m N 5545m 688m Fig 9 (37 ) m icon icon icon

9 ROT 091 ( )094knots 011knots 093% gyro heading 414 COG 372 SOG 117knots 688m VHF ROT COG SOG HDG ROT radar tracking algorithm (MMSI ) 019nm ( )019nm 01034nm 206% 301 ( ) % (consolidation) 2007 ( PK ) Liu S H Hagiwara R Shji H Tamara and T Okano 2004 Radar network system to observe & analyze Tokyo bay vessel traffic IEEE A&E system

10 magazine 3 11 Imazu H T Fujisaka J Fukumoto and Y Okake 2003 Study of the integration and presentation of navigation information The Journal of Japan institute of Navigation IMO 2004a Large passenger ship safety -Effective voyage planning for large passenger ships- NAV50/11/1 pp 10 IMO 2004b Adoption of the revised performance standards for radar equipment MSC79/23/Add2 pp 4 Takeda K 2004 Introduction of system to charts Navigation Torsten G and S Wolf 1988 (transponder) data in wwwsevencscom/ecdis/aisdatahtm pp 6 U 2006 Recommendation for integration of in bridge operations wwwuaisorg/recommend ationstochtm pp 8 Volker K 2006 Experience with the on-board use of 3th International workshop on intelligent transportation WIT Yamada T T Tanaka A Yamamoto and A Nagasawa 2005 Utilization of vessel traffic evaluation- -A comparative study of the radar and positioning results- The Journal of Japan Institute of Navigation