• Journal of Advanced Navigation Technology
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• v.14 no.6
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• pp.783-790
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• 2010

For safety navigation of ships at sea, ships monitor their location obtained from Global Positioning Satellite System (GNSS). In this study, we computed near-real-time positions of a ship at sea using GPS Precise Point Positioning (PPP) technique and analyzed precision of the near-real-time positions. We conducted ship borne GPS observations in the south sea of Korea. To process the GPS data using PPP technique, GIPSY-OASIS (GPS Inferred Positioning System-Orbit Analysis and Simulation Software) developed by the Jet Propulsion Laboratory was used. Antenna phase center variations, ocean tidal loading displacements, and azimuthal gradients of the atmosphere were corrected or estimated as standard procedures of high-precision GIPSY-OASIS data processing. As a result, the precisions of near-real-time positions was ~1cm.

• Journal of the Korean Society of Fisheries and Ocean Technology
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• v.44 no.3
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• pp.229-238
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• 2008

This paper describes on the consolidation of AIS and ARPA radar positions by comparing the AIS and ARPA radar information for the tracked ship targets using a PC-based ECDIS in Busan harbor, Korea. The information of AIS and ARPA 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 ECDIS with radar overlay and ARPA tracking. The ARPA tracking information obtained from the observed radar images of the target ship was compared with the AIS information received from the same vessel to investigate the difference in the position and movement behavior between AIS and ARPA tracked target ships. For the ARPA radar and AIS 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 ARPA radar and AIS targets. The average differences between their ranges, their speeds and their courses were 2.06% of the average range, -0.11 knots with the averaged SOG of 11.62 knots, and $0.02^{\circ}$ with the averaged COG of $37.2^{\circ}$, respectively. The average differences between their bearings and between their positions were $-1.29^{\circ}$ and 68.8m, respectively. From these results, we concluded that if the ROT, COG, SOG, and HDG informations are correct, the AIS 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.

• Korean Journal of Remote Sensing
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• v.38 no.1
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• pp.45-56
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• 2022

The Ieodo Ocean Research Station (IORS) lies between the exclusive economic zone (EEZ) boundaries of Korea, Japan, and China. The geographical positioning of the IORS makes it ideal for monitoring ships in the area. In this study, we introduce ship monitoring results by Automatic Identification System (AIS) and the Broadband 3G^TM radar, which has been developed for use in small ships using the Frequency Modulated Continuous Wave (FMCW) technique. AIS and FMCW radar data were collected at IORS from November 23th to 30th, 2013. The acquired FMCW radar data was converted to 2-D binary image format over pre-processing, including the internal and external noise filtering. The ship positions detected by FMCW radar images were passed into a tracking algorithm. We then compared the detection and tracking results from FMCW radar with AIS information and found that they were relatively well matched. Tracking performance is especially good when ships are across from each other. The results also show good monitoring capability for small fishing ships, even those not equipped with AIS or with a dysfunctional AIS.

• Proceedings of the Korean Institute of Navigation and Port Research Conference
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• 2015.10a
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• pp.53-54
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• 2015

The maritime industry is expanding at an alarming rate and as such there is a perpetual need to improve situation awareness in the maritime environment using new and emerging technology. Tracking is one of the numerous ways of enhancing situation awareness by providing information that may be useful to the operator. The tracking system described herein comprises determining existing states of own ship, state prediction and state compensation caused by random noise. The purpose of this paper is to analyze the process of tracking and develop a tracking algorithm by using ${\alpha}-{\beta}-{\gamma}$ tracking filter under a random noise or irregular motion for use in a warship. The algorithm involves initializing the input parameters of position, velocity and course. The actual positions are then computed for each time interval. In addition, a weighted difference of the observed and predicted position at the nth observation is added to the predicted position to obtain the smoothed position. This estimation is subsequently employed to determine the predicted position at (n+1). The smoothed values, predicted values and the observed values are used to compute the twice distance root mean square (2drms) error as a measure of accuracy of the tracking module.

• Ocean Systems Engineering
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• v.9 no.4
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• pp.391-407
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• 2019

Tracking the location (position) of a surface or underwater marine vehicle is important as part of guidance and navigation. While the Global Positioning System (GPS) works well in an open sea environment but its use is limited whenever testing scaled-down models of such vehicles in the laboratory environment. This paper presents the design, development and implementation of a low energy ultrasonic augmented single beacon-based localization technique suitable for such requirements. The strategy consists of applying Extended Kalman Filter (EKF) to achieve location tracking from basic dynamic distance measurements of the moving model from a fixed beacon, while on-board motion sensor measures heading angle and velocity. Iterative application of the Extended Kalman Filter yields x and y co-ordinate positions of the moving model. Tests performed on a free-running ship model in a wave basin facility of dimension 30 m by 30 m by 3 m water depth validate the proposed model. The test results show quick convergence with an error of few centimeters in the estimated position of the ship model. The proposed technique has application in the real field scenario by replacing the ultrasonic sensor with industrial grade long range acoustic modem. As compared with the existing systems such as LBL, SBL, USBL and others localization techniques, the proposed technique can save deployment cost and also cut the cost on number of acoustic modems involved.

• International Journal of Fuzzy Logic and Intelligent Systems
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• v.14 no.4
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• pp.288-294
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• 2014

Understanding a ship's present position has been one of the most important tasks during a ship's voyage, in both ancient and modern times. Particularly, a ship's dead reckoning (DR) has been used for predicting traffic situations and collision avoidance actions. However, the current system that uses the traditional method of calculating DR employs the received position and speed data only. Therefore, it is not applicable for predicting navigation within the harbor limits, owing to the frequent changes in the ship's course and speed in this region. In this study, planned routes were applied for improving the reliability of the proposed system and predicting the traffic patterns in advance. The proposed method of determining the dead reckoning position (DRP) uses not only the ships' received data but also the navigational patterns and tracking data in harbor limits. The Mercator sailing formulas were used for calculating the ships' DRPs and planned routes. The data on the traffic patterns were collected from the automatic identification system and analyzed using MATLAB. Two randomly chosen ships were analyzed for simulating their tracks and comparing the DR method during the timeframes of the ships' movement. The proposed method of calculating DR, combined with the information on planned routes and DRPs, is expected to contribute towards improving the decision-making abilities of operators.

• Proceedings of the Korean Institute of Navigation and Port Research Conference
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• v.1
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• pp.151-156
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• 2006

Accurate vessel traffic observation is indispensable to carry out vessel traffic management, design of vessel traffic route, planning of port construction, etc. In order to observe the vessel traffic accurately without many efforts such as the use of a ship or car equipped with special radar observation system and the preparation of observation staff, the authors have been developing completely automated remote radar/AIS network system covering the main traffic area in Tokyo Bay. The composite radar image observed at Yokosuka and Kawasaki radar stations with AIS information can be seen on web site of Internet. In addition to the development of radar/AIS observation system, the software to analyze observed vessel traffic flow has been developed. This software has various functions such as automatic tracking of ship's positions, automatic estimation of ship's size, automatic integration of radar image and AIS data, animation of ships' movements, extraction of dangerous ship encounters, etc. The configuration and functions of the developed remote radar/AIS network system are shown first in this paper. Then various functions of the software to analyze vessel traffic are introduced, and some analyzed results on the vessel traffic in Tokyo Bay are described demonstrating the effectiveness of the developed system.

• Journal of Navigation and Port Research
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• v.30 no.9
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• pp.741-748
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• 2006

Number of researches on efficient terminal operation system applying RFID(Radio Frequency Identification) are in progress. However, RFID has limitations on tracking and providing accurate positions of containers. In this paper, to enhance the performance of the integrated terminal operation system, an efficient loading management of yard is proposed by applying RFID based RTLS(Real Time Locating System) that provides real time accurate positions of containers. It was found that a group based sequence system is more efficient than the existing individual sequence number system in the container yard In the group based sequence system, the containers in the same group should have similar characteristics such as port of destination(POD), size, weight, etc. In order to run this system, we proposed the parameters to the unspecified N bytes of RFID tag which are specified in ISO 18000 7. And then, we developed an integrated operation system of container terminal using RFID. The proposed system reduces the ship turnaround time in ubiquitous port environments.

• Proceedings of the Korean Institute of Navigation and Port Research Conference
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• v.1
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• pp.343-348
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• 2006

Number of researches on efficient terminal operation system applying RFID(Radio Frequency Identification) are on progress. However, RFID has limitations on tracking and providing accurate positions of containers. In this paper, to enhance the performance of the integrated terminal operation system, an efficient loading management of yard is proposed by applying RFID-based RTLS(Real Time Locating System) that provides real-time accurate positions of containers. We found that a group-based sequence system is more efficient than the existing individual sequence number system in the container yard. In the group-based sequence system, the containers in the same group should have similar characteristics such as port of destination(POD), size, weight, etc. In order to run this system, we have proposed the parameters to the unspecified N bytes of RFID tag which are specified in ISO 18000-7. And, this paper proposed a development of integrated operation system of container terminal using RFID for reducing the ship turnaround time in ubiquitous port environment.