JP2000182199A - Ship course monitoring system - Google Patents

Abstract

PROBLEM TO BE SOLVED: To enable course confirmation, grounding prediction, contact prediction with other ships in a ship by inputting the position information on a self-ship and other ships to chart information, acquiring and inputting complementary information on the other ships from radar information and calculating contact according to position comparison of the self-ship with the other ships and grounding due to the extraction of depth of water. SOLUTION: A chart data receiver 24 receives chart information via an antenna 83 for a communication satellite, an other ship position information receiver 22 receives other ship position information 34, and a GPS correction signal receiver 21 receives a GPS correction signal. The receiver 24 acquires chart information corresponding to the ship identification number of the self-ship, and chart data 36 are stored in a chart data storage device 27 and also inputted to a mapping device 28 at the same time. The information 34 is inputted to the device 28 via the receiver 22 while a ship identification number, time information and position information are extracted in an other ship position information decoder 26. Also, a radar signal 35 obtained from a radar signal device 23 is inputted to the device 28 to complement the other ship position information.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a navigation system for a ship at a port or the like.

[0002]

2. Description of the Related Art FIG. 14 is a diagram showing an outline of a typical conventional route monitoring system. In FIG. 15, reference numeral 73 denotes visual information on the traveling path of the ship by human eyes, reference numeral 74 denotes radar information which emits radio waves from the ship, and detects the position and orientation of the object from the direction and time of reflected radio waves from nearby objects, and 75 Is the chart information on the ship route obtained from the chart, 76 is the work of examination / judgment by the situation analysis from the information 73 to 75, and 77 is the instruction based on the examination judgment 76. For monitoring the navigation route of a ship in a port or the like, the visual information 73 of the pilot and the radar information 74 are superimposed on the chart information 75 to confirm the position of the own ship, grasp the position of another ship, confirm the course, predict the course obstruction, Work such as prevention of contact with other ships, confirmation of terrain obstacles, and avoidance of grounding is carried out in consideration / judgment 76, and instructions 77 concerning the route of the own ship are obtained.

[0003]

In the prior art shown in FIG. 15, the visual information of the crew and pilot is highly dependent on the position of many other ships based on the radar information.
The work of extracting the bearing and reflecting it on the chart information also needs to be updated frequently, and there is a problem with the accurate situation grasp, labor saving, and quickness of the ship's route confirmation work, and automation and simplification It is hoped that a ship navigation monitoring system will be established.

SUMMARY OF THE INVENTION The present invention has been made to solve such problems, and includes a device for measuring the position of a ship on a ship, and transmits chart information and position information of the ship between a monitoring station and the ship via a communication satellite. Information is transmitted by the communication line installed in the ship, the own ship's position is grasped inside the ship, the position information of the other ship is acquired, the own ship's and other ship's position information is input into the acquired chart information, and the supplementary information on other ships is obtained from the radar information Calculate proximity by comparing the position of own ship and other ship, stranded by extracting water depth, calculate speed information by calculating change in position information of own ship and other ship per unit time, route position By acquiring the direction information from the track, using this speed and azimuth information, the route of the own ship and the other ship at the future time is predicted by time integration, and the proximity prediction is performed based on this.
By using the azimuth information to extract the predicted water depth and performing a grounding prediction, and displaying this information on a chart display, it is possible to confirm the navigation route inside the ship, predict the grounding, and predict the proximity to other ships. The monitoring station collects and displays information on the ship's own ship position, proximity warning, proximity prediction warning, grounding warning, and grounding prediction warning, and displays the information in a comprehensive manner.
It is intended to propose an accurate and labor-saving ship route monitoring system.

[0005]

In a ship route monitoring system according to a first aspect of the present invention, a GPS for measuring the position of the ship on its own is provided.
Equipped with a receiver, receives GPS signals from GPS satellites, transmits chart information and GPS correction signals to ships from monitoring stations, and uses the GPS signals and GPS correction signals to control the ship's own ship position (latitude, longitude, Altitude) information, and transmits its own ship position information to the monitoring station and other ships via a communication line established between the monitoring station and each ship, and to other ships via a communication line via a communication satellite between the ships. Obtain position information, further supplement the position of other ships with information on other ships from radar information, enter the position information of your own ship and other ships in the chart information, and use your chart display Check the position of another ship. The monitoring station also displays the positions of its own ship and other ships on a chart, and understands the navigation route of each ship.

In the ship route monitoring system according to the second aspect of the present invention, the position information of the own ship and the position information of the other ship are input, a detection water range for detecting approach of the other ship is set, the proximity is detected, and each ship is monitored. , The approach of another ship to the own ship is displayed on a chart display.

In a ship route monitoring system according to a third aspect of the present invention, speed information is obtained by calculating a change in position information of the own ship and another ship per unit time, and directional information is obtained by a route position track. Using the speed and azimuth information, predict the route of own ship and other ships and perform proximity prediction, and in each ship,
This is to display on the chart display the predicted route of the other ship with respect to the own ship.

A ship route monitoring system according to a fourth aspect of the present invention obtains a water depth from own ship position information in chart information including water depth information, and obtains a tide level information transmitted from a monitoring station and a preset full load value of the own ship. It calculates the distance between the tip of the underwater ship and the sea floor, detects the grounding by comparing the distance with the grounding warning range, and displays the grounding status of each ship on the navigation route on a chart display.

A ship route monitoring system according to a fifth aspect of the present invention, in addition to the fourth aspect, predicts the route of the own ship based on speed information and direction information of the own ship, and calculates the distance between the tip of the underwater ship and the seabed at the predicted position of the own ship. The distance is calculated, the distance is compared with the grounding prediction warning range, the grounding prediction is detected, and in each ship, the prediction of the grounding of the own ship's route is displayed on a chart display.

[0010]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Several embodiments of a ship route monitoring system according to the present invention will be described below with reference to the drawings.

Embodiment 1 FIGS. 1, 2, 3, 4, and 5 show a first embodiment of the present invention. FIG. 1 is a conceptual diagram showing the concept of the present invention, wherein 1 is a communication satellite, and 2 is a GP.
GPS satellite for transmitting S signal, 3 for monitoring station, 4a, 4n
Is a ship. A communication line is set up between the monitoring station 3 and the ships 4a and 4n via the communication satellite 1 to enable mutual information transmission. FIG. 2 is a diagram showing the function of the monitoring station 3,
The GPS signal from the S satellite 2 is received by the GPS signal receiver 78 via the antenna 8, and the known installation position of the monitoring station 3 is used as the position information 79, and the deviation from the position information obtained by the GPS signal receiver 78 is obtained. GPS by the correction signal generator 80
A correction signal 81 is generated and transmitted from the antenna 8 to the vessels 4a,. On the other hand, ship 4a,
··· Own ship position information from 4n is received by the position information receiver 13 via the antenna 8, and the position information decoder 12 extracts the ship identification number 14 and the position information 15 including time information, and based on the position information 15 The area search unit 9 selects required chart information 84 from the chart information database 5 prepared by, for example, an electronic chart including water depth information issued by the Japan Hydrographic Association, and the chart data encoder 6 assigns the ship identification number 14 to the chart information 5. After the addition and coding, the chart data transmitter 7 uses the antenna 8 to transmit the vessels 4a,.
n. The chart position superimposing device 10 also displays the ship identification number 14 and the position information 15 including time information on the chart.
Is displayed on the chart by the display 11.

FIG. 3 is a diagram showing the operation of each ship 4a,... 4n, where the chart information 84 via the communication satellite antenna 83 is sent to the chart data receiver 24, and the other ship position information 34 is sent to the other ship position information receiver. 22, The GPS correction signal is received by the GPS correction signal receiver 21. GP signal from GPS satellite 2
The signal received by the S signal receiver 20 and the GPS correction signal receiver 21
The GPS signal is corrected by the GPS signal corrector 25 based on the GPS correction signal 33 received at step (1) to obtain accurate ship position information 32. The own ship position information code / editor 17 edits and encodes the time information 30 from the time signal generator 18, the ship identification number 31 from the ship identification signal generator 19, and the own ship position information 32, and encodes the own ship position. The information is transmitted from the information transmitter 16 to the monitoring station 3 and the other vessel 4n by the communication satellite 1 via the communication satellite antenna 83. The chart data corresponding to the ship identification number of the own ship is obtained by the chart data receiver 24, and the chart data 36 is obtained.
Are stored in the chart data storage device 27 and are simultaneously input to the mapping device 28 for displaying the chart. The other ship position information 34 passes through the other ship position information receiver 22, and the other ship position information decoder 26 extracts the ship identification number, time information, and position information, and inputs the extracted information to the mapping device 28. In addition, a radar signal 35 obtained from the radar signal device 23 is input to the mapping device 28 in order to supplement other ship position information.

FIGS. 4 and 5 show an operation of complementing the position information 34 of the other ship. In order to obtain position information of the ship not equipped with the GPS signal receiver, the position of the other ship detected by the radar is complemented. . In FIG. 4, the radar signal 35 is set on the nautical chart radar position setting unit 37 with the distance and the azimuth based on the position of the ship, converted into latitude and longitude information, the position on the nautical chart is set, and the position does not match. It is input to the ship shadow detector 38, compared with the other ship position information 34 by the other ship position setting unit 39 on the chart, and the missing position information is added to the other ship position information 34 by the information adder 40 and displayed as the other ship position. It is displayed on the chart by the container 29. The own ship position information 32 is also set on the chart by the own ship position setting unit 41 on the chart, and is displayed on the chart on the display 29 as the own ship position.

FIG. 5 shows another ship position information 34 and a radar signal 35.
42 is the other vessel position information 34
, 43 indicate the ship position (SR0, SR1, SR3) in the radar signal 35, and the radar signal 3 in the ship position in the other ship position information 34.
The vessel position at SR5 (SR3) is missing information as a vessel not equipped with a GPS signal receiver and the radar signal 35
The ship position in the other ship position information 34 (S
2) is missing information as a ship that did not have radar reflections on obstacles. In this state, according to the processing flow 44, the matching ship is confirmed, and the missing ship is complemented.
The supplementary other ship position information 45 is obtained. With the above operation, the position of the own ship and the position of the other ship can be accurately displayed on the chart in each ship.

In a GPS navigation system disclosed in Japanese Patent Application Laid-Open No. Hei 6-342057, positioning means of the ship using GPS satellites and measured position data are transmitted at a timing controlled by a control station. Means and a ship navigation system based on the position display of the own ship and other ships by receiving signals transmitted from other ships.Each ship needs to transmit electronic chart information required for navigation from the monitoring station. It is not distributed by satellite line, and there is inadequacy in confirming the route to your ship on the chart including the terrain, and complements information on other ships that do not have a GPS satellite-based positioning system. There is no means to do so, and it does not support detection of the ship. Similarly, Japanese Unexamined Patent Application Publication No. 5-233999 entitled "Vessel Safety Management Support Method and Apparatus" similarly has no means for supplementing information on other vessels not equipped with a positioning system using GPS satellites, Does not support. The same applies to the “moving object monitoring system” of JP-A-9-35200.

Embodiment 2 FIG. 6 shows a second embodiment of the present invention, in which the proximity detector 46 detects the distance between the complementary other vessel position information 45 and the own vessel position information 36a, and generates a proximity alarm 47 when the distance is within the proximity warning range. At the same time as being displayed on the display 29, it is input and edited into the own ship position information editor 17, and the own ship position information transmitter 16 and the communication satellite antenna 83 are displayed.
And transmitted to the monitoring station 3 by the communication satellite 1. FIG. 7 shows the operation of the proximity detector 46.
0 is a diagram showing the positional relationship between the other ship positions S1, S2, and S3.
Is set as a function of the braking characteristics and the steering characteristics of the own ship as functions, and a proximity warning is issued to the other ship S1 existing within the range. In the monitoring station 3, the position information decoder 12 extracts the ship identification number 14, the position information 15 including the time information, and the proximity alarm 47, and the chart position superimposing device 10 displays the ship identification number 14 and the position information including the time information on the chart. 15 and the proximity alarm 47 are displayed on the chart by the display 11.

Embodiment 3 FIG. 8 is a block diagram showing Embodiment 3 of the present invention.
Calculates the change per unit time of the position information of the other ship's position information 34a and the own ship's position information 36a, obtains the speed information of each ship, obtains the direction information from the route position track, and obtains the speed and direction information. The proximity prediction is performed by using the proximity prediction detector 50 to predict the route of the own ship and the other ship at a future time based on the time integration of the velocity vector. Speed information calculation method 1
An example is shown below using the own ship position information 36a as an example. Own ship speed (longitude component) = (L1-L0) / t L0: Initial position of own ship position (longitude component) L1: Own ship position (longitude component) after time t t: Time from L0 to L1 Own ship The latitude component of the speed and the speed of the other ship are obtained in the same manner as above.

FIG. 9 is a diagram showing the operation of the proximity prediction detector 50, and 52 is a diagram showing the predicted positional relationship between the own ship position S00 and the other ship position S10. The own ship speed is calculated from the position S01, and the time t2, t3,
The own ship positions S02, S03, S0n at tn are calculated and set as the own ship predicted positions. By the same process for other ships,
The other ship speed is calculated from the base position S10 of the other ship and the current position S11, and the other ship positions S12, S at times t2, t3, tn.
13, S1n is calculated and set as a predicted other ship position, a circle with a radius R0 is set as a predicted proximity warning range at each own ship position S02, S03, S0n, and another ship position S12, relative to the predicted predicted warning range at each position is set. The distances to S13 and S1n are compared by the proximity prediction detector 50, and when the other ship is in the proximity prediction warning range, a proximity prediction alarm 51 is generated and displayed on the display 29, and at the same time, inputted to the own ship position information editor 17, Edit,
The information is transmitted to the monitoring station 3 by the communication satellite 1 via the own ship position information transmitter 16 and the communication satellite antenna 83. In the monitoring station 3, the proximity prediction warning 51 is displayed in addition to the display on the chart by the display 11 shown in the second embodiment.

Embodiment 4 FIG. 10 shows a fourth embodiment of the present invention, in which 53 is a chart water depth position setting device, 54 is a water depth information generator, and 55 is a grounding detector.
In the chart information database 5 of the monitoring station 3, for example, electronic data including water depth information issued by the Japan Hydrographic Association is stored off-line, and information in a corresponding range from the own ship position information 15 is stored by the area search unit 9. Select and transmit to ship. In the transmitted chart depth data 58, the value of the water depth contour in the own ship position information 36 is obtained by the chart depth position setting device 53, and the chart depth own ship information 60, which is the own ship position on the chart, is obtained.
Output as 60a. The water depth information on the nautical chart is defined based on the reference level surface, which indicates the water level at which the water level due to the tide has dropped to the lowest level. Based on the tide level information 59 obtained from the data center and transmitted to each ship, the chart depth self-ship information 60 obtained by the chart depth position setting device 53 is corrected to generate a preset full load draft value of the own ship. Draft information 63 generated by ship draft information generator 57
Is calculated by the water depth information generator 54 to obtain the distance between the tip of the underwater ship and the sea bottom, and the water depth information 61, 61a from the ship bottom to the sea bottom is obtained. This water depth information 61,
61a is compared with a grounding detector 55 for detecting whether it is in a grounding warning range set in advance as a water depth for grounding detection.
2 is output. The chart depth own ship information 60, the water depth information 61 and the grounding warning 62 are displayed on the chart depth indicator 56,
Further, the information is input to and edited by the own ship position information editor 17, and transmitted to the monitoring station 3 by the communication satellite 1 via the own ship position information transmitter 16 and the communication satellite antenna 83.

In FIG. 11, reference numeral 64 denotes information on the water depth D0 at the own ship position S00 at the present time t0 on the nautical chart sectional view. In the monitoring station 3, the position information decoder 1
2, the ship identification number 14, the position information 15 including time information, the chart depth water own ship information 60, the water depth information 61, and the grounding alarm 6
2, the ship identification number 14, the position information 15 including the time information, the chart depth self-ship information 60, the water depth information 61, and the grounding warning 62 are displayed on the chart by the chart position superimposing device 10 on the chart. Is displayed.

Embodiment 5 FIG. 12 shows a fifth embodiment of the present invention. In the same manner as in the third embodiment, a change in the position information of the own ship position information 36 in the speed / azimuth detector 49 per unit time is calculated. The direction information is obtained from the own ship's speed information and the track position track, and using this speed and azimuth information, the own ship's predicted route position extraction process at future time by time integration of the speed vector is set. This is performed in the vessel 65. Further, similarly to the fourth embodiment, in the chart depth data 58 transmitted from the monitoring station 3, the value of the water depth contour in the predicted position information of the own ship is obtained by the chart predicted water depth setting device 66, and the own ship on the chart is obtained. Chart predicted water depth information at the predicted position 8
5, 85a. The water depth information on the nautical chart is defined based on the reference level surface, which indicates the water level at which the water level due to the tide has dropped to the lowest level. Based on the tide level information 59 obtained from the data center and transmitted to each ship, the chart predicted water depth information 85 obtained by the chart predicted water depth setting device 66 is corrected to obtain predicted water depth information 86, 86a. Further, a calculation is performed to obtain the distance between the tip of the underwater ship and the sea bottom by subtracting the draft information 63 generated by the own ship draft information generator 57 that generates a preset full load value of the own ship from the predicted water depth information 86, 86a. Water depth information generator 67 predicting processing
The predicted groundwater depth from the bottom of the ship to the seabed is obtained and compared with the grounding prediction detector 68 that detects whether the groundwater is within the grounding prediction warning range set in advance as the water depth for grounding prediction detection. , A stranded prediction alarm 69 is output. The chart predicted water depth information 85, the predicted water depth information 86 and the stranded prediction warning 69 are provided by the chart depth indicator 5
6, and a stranded prediction alarm 69 is input to and edited by the own ship position information editor 17 and the own ship position information transmitter 16 is displayed.
And the communication satellite antenna 83, and is transmitted to the monitoring station 3 by the communication satellite 1.

FIG. 13 shows an example of a detection processing flow of a grounding prediction warning. In FIG. 14, reference numeral 64 denotes a base position S of the ship.
00 and the own ship speed from the current position S01 are calculated, and the water depth D is calculated.
0, D1 is set, and the own ship predicted position S at time t2, tn
02, S0n and predicted water depths D2, Dn are shown. In the monitoring station 3, a stranded prediction alarm 62 is displayed in addition to the display on the chart by the display 11 shown in the fourth embodiment.

[0023]

According to the first aspect of the present invention, own ship position information by the own ship position measuring device provided on the ship, and chart information acquired via a communication line set between the monitoring station and the ship and between the ships. In addition, by complementing the position of the other ship with the position information of the other ship and the radar signal of the own ship, the exact position of the own ship and the position of the other ship on the chart can be confirmed by each ship and the monitoring station, and the route of many ships Monitoring can be performed collectively.

According to the second invention, in each ship, the proximity detector which sets the detection water range for detecting the approach of another ship compares the own ship position information with the other ship position information and issues a proximity warning. By doing so, the safety of the ship's navigation route can be ensured.

According to the third invention, the speed and the direction are calculated from the own ship position information and the other ship position information, the approach of the other ship to the own ship is predicted from the speed and the direction information, and the proximity prediction warning is issued. By issuing the announcement, the safety of the shipping route of the ship can be secured.

According to the fourth aspect of the present invention, it is possible to calculate the water depth on the chart from the own ship position information and the tide level information, and detect the grounding by comparing with the own ship draft information.

According to the fifth invention, the speed and the direction are obtained from the own ship position information, the course of the own ship is predicted from the information on the speed and the direction, and the grounding prediction is performed based on the predicted water depth corresponding thereto. And the safety of the route can be predicted.

[Brief description of the drawings]

FIG. 1 is a diagram showing a first embodiment of a ship route monitoring system according to the present invention;

FIG. 2 is a diagram showing a form of a monitoring station of the ship route monitoring system according to the present invention.

FIG. 3 is a diagram showing a form of a ship in the ship route monitoring system according to the present invention.

FIG. 4 is a diagram showing an operation of complementing other vessel position information in the vessel route monitoring system according to the present invention.

FIG. 5 is a diagram showing a processing flow of complementing other ship position information in the ship route monitoring system according to the present invention.

FIG. 6 is a diagram showing a second embodiment of a ship route monitoring system according to the present invention.

FIG. 7 is a diagram showing the operation of the proximity detector in the ship route monitoring system according to the present invention.

FIG. 8 is a diagram showing Embodiment 3 of a ship route monitoring system according to the present invention.

FIG. 9 is a diagram showing the operation of the proximity prediction detector in the ship route monitoring system according to the present invention.

FIG. 10 is a diagram showing Embodiment 4 of a ship route monitoring system according to the present invention.

FIG. 11 is a sectional view of a marine chart showing information on the position of the own ship and the water depth in the ship route monitoring system according to the present invention.

FIG. 12 is a diagram showing Embodiment 5 of a ship route monitoring system according to the present invention.

FIG. 13 is a diagram showing a detection processing flow of a grounding prediction warning in the ship route monitoring system according to the present invention.

FIG. 14 is a sectional view of a marine chart showing information on the predicted position of the own ship and the predicted water depth in the ship route monitoring system according to the present invention.

FIG. 15 is a diagram showing an outline of a typical conventional route monitoring system.

[Explanation of symbols]

1 communication satellite, 2 GPS satellite, 3 monitoring station, 4a, 4
n ship, 5 chart information database, 6 chart data encoder, 7 chart data transmitter, 8 antenna, 9
Area search unit, 10 chart position superposition unit, 11
Display, 12 position information decoder, 13 position information receiver, 14 ship identification number, 15 position information including time information, 16 own ship position information transmitter, 17 own ship position information code / editor, 18 time signal generator , 19 Ship identification signal generator, 20 GPS signal receiver, 21 GPS correction signal receiver, 22 Other ship position information receiver, 23 Radar signal device, 24 Chart data receiver, 25 GPS signal corrector, 26 Other ship position Information decoder, 27 chart data storage device, 28 mapping device, 29 display, 3
0 time information, 31 ship identification number, 32 own ship position information, 32a own ship position information on chart, 33 GPS correction signal, 34 other ship position information, 35 radar signal, 36 chart data, 37 chart radar position setting device, 38 Position mismatch detector, 39 Other ship position setting device on chart, 40
Information adder, 41 Own ship position setting device on chart, 42 Ship position (S0, S1, S2) in other ship position information 34, 4
Ship position (SR0, SR1, SR
3) Relationship, 44 Process Flow, 45 Complementary Other Ship Position Information, 46 Proximity Detector, 47 Proximity Warning, 48 Positional Relationship between Own Ship Position S0 and Other Ship Positions S1, S2, S3, 49
Speed / direction detector, 50 proximity prediction detector, 51 proximity prediction warning, 52 predicted positional relationship between own ship position S00 and other ship position S10, 53 chart water depth position setting device, 54 water depth information generator, 55 grounding detector, 56 Chart depth indicator, 5
7 Own ship draft information generator, 58 Chart depth data, 59
Tide level information, 60 chart depths own ship information, 61 water depth information, 62 grounding warning, 63 draft information, 64 current time t
Information of water depth D0 at own ship position S00 at 0, 65
Own ship prediction position setting device, 66 Chart chart water depth prediction setting device, 67
Predicted water depth information generator, 68 Grounding prediction detector, 69
Grounding prediction warning, 70 Detection processing flow of grounding prediction warning,
71 Relationship between base point position S00 of own ship, current position S01 and water depths D0, D1, corresponding to predicted ship positions S02, S0n, and predicted water depths D2, Dn, 73 visual information, 74 radar information, 75 chart information, 76 study -Judgment, 77 instruction, 78 GPS signal receiver, 79 Known position information of monitoring station installation, 80 GPS correction signal generator, 81 GPS
Correction signal, 82 proximity / ground warning information, 83 antenna for communication satellite, 84 chart information, 85, 85a predicted chart depth information, 86, 86a predicted depth information.

 ──────────────────────────────────────────────────続 き Continued on the front page F term (reference) 5H180 AA25 BB04 BB15 CC12 CC14 EE02 EE07 FF05 FF07 FF27 LL01 LL04 LL08 LL14 5J062 AA01 AA03 BB02 CC07 GG02 HH01 HH03 HH05 HH09 5J070 AC01 AC02 A03 AC06 BF12 BG02 BG16 BG24 BG27 BG28 BG30

Claims (5)

[Claims] 1. A ship route monitoring system for monitoring the navigation of a large number of ships, comprising a GPS (Global Positionin) provided on the ship and measuring a position of the ship.
g System Global Positioning System) receiver and G
A PS correction signal receiver, a GPS satellite for transmitting a GPS signal, and a communication line set between the monitoring station and the ship are provided, and own ship position information from the ship is set between the monitoring station and the ship. The monitoring station and other ships are transmitted via the communication line, and the monitoring station sends electronic chart information including water depth information to each ship via the communication line established between the monitoring station and the ship. Means to transmit the information to the ship and the chart information on each ship, and align the position of the own ship with the position of the other ship that complements the other ship position information from the radar information in addition to the position information of the other ship by GPS on the chart display. And a display means for displaying the position of each ship at the monitoring station. 2. A proximity detector which is provided on a ship, inputs own ship position information and other ship position information, and sets a detection water area range for detecting approach of another ship. 2. The ship route monitoring system according to claim 1, further comprising a chart display for displaying information on approach of another ship to the own ship detected by the display. 3. A speed and heading detector provided on a ship for inputting own ship position information and other ship position information to calculate a speed and heading of the ship, and a speed and heading detected by the heading detector. A proximity prediction detector for predicting the approach of the other ship to the own ship from the information, and for each ship, displaying a predicted route of the other ship's approach to the own ship on a chart display. 2. The ship route monitoring system according to 2. 4. A ship's draft information generator which is provided on the ship and generates a preset draft value of the ship's own ship, a chart depth position setting device which obtains depth information on a chart in the ship's position information, A water depth information generator that generates the current water depth information based on the tide level information transmitted to the ship, calculates the distance between the tip of the ship below sea level and the seabed from the full draft of the ship, and a water depth from the water depth information generator A grounding detector for detecting whether the information is within the warning range for grounding, and for each ship, displaying a grounding situation with respect to the route of the own ship on a chart display. A ship route monitoring system as described. 5. A ship's own speed detector for calculating a speed and an azimuth from own ship's position information provided on a ship, and predicting a course of the own ship from information on the speed and azimuth detected by the own ship's speed detector. Own ship predicted position setting device, a predicted water depth information generator that calculates the distance between the tip of the underwater ship and the sea floor at the predicted route position, and whether the water depth information from the predicted water depth information generator is in the grounding prediction warning range 2. A stranded prediction detector for predicting and detecting, wherein each marine vessel displays a predicted stranded state of the route of the ship on a chart display.
A ship route monitoring system according to any one of claims 1 to 4.