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

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J. Kor. Soc. Fish. Tech., 44(3), 229 238, 2008 DOI:10.3796/KSFT.2008.44.3.229

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

Dae-Jae L EE *

Division of Marine Production System Management, Pukyong National University, Busan 608-737, Korea

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 with the averaged COG of 37.2 , respectively. The average differences between their bearings and between their positions were 1.29 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.

Key words : Real-time position tracking, PC-based ECDIS, Consolidation of ARPA radar and AIS targets

*

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Fig. 1. A real-time tracking system of traffic vessel that consists of four sub-systems of a PC-based ARPA radar, DGPS, GPS compass, and AIS.

Fig. 2. A list of dynamic information for target vessel (MMSI 515347000) tracked simultaneously by a PC- based ARPA radar and AIS. The tracking information of AIS and ARPA radar targets is displayed on the ENC chart of a PC-based ECDIS with radar overlay.

RADAR

GPS compass

AIS DGPS

RTX board

PC based ECDIS

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VTS

(35 06 .177N, 129 07 .338E)

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(MMSI 515347000)

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Fig. 3 .

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06 .177N, 129 07 .338E)

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04 59 22 ECDIS

, PC-based ECDIS radar signal

processor UTC 04 59 41

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Fig. 3. A running track of target vessel (MMSI 5153

47000) that was simultaneously tracked by a PC-based

ARPA radar and AIS. The difference between radar and

AIS information was calculated to obtain a standards for

the consolidation of radar and AIS targets.

(5)

DGPS UTC time

tag ,

, .

Fig. 3 ECDIS

image AIS

, image AIS

.

, ECDIS AIS MMSI

515347000, 35 08 .856N, 129 14 .850E, COG 34 , SOG 10.9 knots, gyro heading 41 ,

, AIS target 66.4 , 6.7

.

(tracking no. 59R) 69 , 6.37 , 34.91 , 11.77 knots

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ARPA AIS

Fig. 4. A running track of the target vessel (MMSI 515347000) tracked simultaneously by a PC-based ARPA radar and AIS. The ship s track was displayed using the distance difference in latitude and longitude directions 0 0.5 1 1.5 2 2.5 3 3.5 4 4.5 5

reference point

35 06.177N, 129 07.338E long. offset 2.0nm lat. offset 1.5nm

ARPA radar AIS

Diff. of longitude(nm)

Diff. of latitude(nm)

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4.5

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3.5

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0.5

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, Fig. 5 .

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. Fig. 5 ARPA

37.18 , AIS 37.20 ,

gyro heading 41.44 . ARPA

AIS 3.01

( )2.63 , 0.018

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0.049% .

Fig. 3 MMSI 515347000 ARPA

, Fig. 6 . Fig. 6

AIS , ARPA

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11.73knots, AIS (SOG)

11.62knots .

0.91knots ( )0.94knots , 0.11knots ,

, AIS

0.93% .

Fig. 3 MMSI 515347000 ARPA AIS

, Fig. 7 . Fig. 7

AIS , ARPA

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,

2.4 ( )1.9 ,

1.29 .

, Fig. 3 MMSI 515347000 ARPA AIS

, Fig.

Fig. 6. Comparison of the ship s speeds as a function of running time for the target vessel (MMSI 515347000) tracked simultaneously by a PC-based ARPA radar and AIS.

0 300 600 900 1200 1500

ARPA radar AIS(SOG)

Running time(sec)

Speed(knot)

18 15 12 9 6 3

Fig. 7. Comparison of the ship s bearings as a function of running time for the target vessel (MMSI 515347000) tracked simultaneously by a PC-based ARPA radar and AIS.

0 300 600 900 1200 1500

ARPA radar AIS

Running time(sec)

Bearing(deg)

120 110 100 90 80 70 60 Fig. 5. Comparison of the ship s headings as a function of

running time for the target vessel (MMSI 515347000) tracked simultaneously by a PC-based ARPA radar and AIS.

0 300 600 900 1200 1500

ARPA radar AIS(COG)

Running time(sec)

Ship s heading(deg)

60

50

40

30

20

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8 . Fig. 8 AIS

, ARPA ,

AIS ARPA

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0.19nm ( )0.19nm ,

0.1034nm .

, Fig. 8 MMSI 515347000 R

radar

,

AIS R

ais

,

N ,

R

error

(%)

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ais

R

radar

R

error

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2.06% .

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, 14

knots

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Fig. 8. Comparison of the ship s ranges as a function of running time for the target vessel (MMSI 515347000) tracked simultaneously by a PC-based ARPA radar and AIS.

0 300 600 900 1200 1500

ARPA radar AIS

Running time(sec)

Range(nm)

8 7 6 5 4 3

Fig. 9. Tracking error between radar and AIS positions of the target vessel (MMSI 515347000) tracked simultaneously by a PC-based ARPA radar and AIS. The AIS position was used as a reference coordinate for calculating the distance error in latitude and longitude directions for radar tracking.

-500 -250 0 250 500

reference point : AIS

D. longitude(m)

posit. diff. between radar and AIS mean position difference(68.8m)

D. latitude(m)

500

250 -250

-500

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Fig. 9 (MMSI 515347000)

VTS

gyro heading 41.4 , AIS ARPA

(COG) 37.2 , 11.7 knots( )

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40.76m, N 55.45m ,

68.8m .

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, 107

50,000 (ROT)

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2.06% .

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. 0.91 ( )0.94knots,

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heading 41.4 , COG 37.2 , SOG 11.7knots

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dation)

.

2007

(

PK 2007 050). .

,

.

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ARPA AIS

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