JP5724907B2 - Integrated method of satellite information and ship information for integrated ship monitoring - Google Patents
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Classifications
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/02—Systems using reflection of radio waves, e.g. primary radar systems; Analogous systems
- G01S13/06—Systems determining position data of a target
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/006—Theoretical aspects
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/02—Systems using reflection of radio waves, e.g. primary radar systems; Analogous systems
- G01S13/50—Systems of measurement based on relative movement of target
- G01S13/52—Discriminating between fixed and moving objects or between objects moving at different speeds
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/88—Radar or analogous systems specially adapted for specific applications
- G01S13/89—Radar or analogous systems specially adapted for specific applications for mapping or imaging
- G01S13/90—Radar or analogous systems specially adapted for specific applications for mapping or imaging using synthetic aperture techniques, e.g. synthetic aperture radar [SAR] techniques
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/88—Radar or analogous systems specially adapted for specific applications
- G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
- G01S13/937—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of marine craft
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
- G01S5/02—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using radio waves
- G01S5/0205—Details
- G01S5/021—Calibration, monitoring or correction
Description
本発明は、船舶の統合監視（ｍｏｎｉｔｏｒｉｎｇ）のための衛星情報及び船舶情報の統合方法に関し、より具体的には、合成開口レーダ（Ｓｙｎｔｈｅｔｉｃ Ａｐｅｒｔｕｒｅ Ｒａｄａｒ、ＳＡＲ）から送信される船舶についての情報である衛星情報と、各船舶に搭載された船舶自動識別装置（Ａｕｔｏｍａｔｉｃ Ｉｄｅｎｔｉｆｉｃａｔｉｏｎ Ｓｙｓｔｅｍ、ＡＩＳ）から送信される船舶情報とを統合して、前記船舶自動識別装置を搭載して識別が可能な確認船舶及び前記船舶自動識別装置が搭載されていない未確認の船舶を全て監視できる船舶の統合 監視のための衛星情報及び船舶情報の統合方法に関する。 The present invention relates to a satellite information and ship information integration method for ship monitoring, and more specifically, is information about a ship transmitted from a Synthetic Aperture Radar (SAR). A verification ship capable of being identified by mounting the ship automatic identification device by integrating satellite information and ship information transmitted from an automatic identification system (AIS) mounted on each ship; It is related with the integration method of the satellite information for ship monitoring, and ship information which can monitor all the unidentified ships which are not equipped with the ship automatic identification device.
一般的に、海上で航海中の船舶の航行安全のためには船舶の位置を把握し、監視できるようにすることが重要であるが、そのために船舶自動識別装置（ＡＩＳ）及びレーダ装置が用いられており、特に、前記レーダ装置には、気象条件の悪化及び視界の不透明な状況でも高画質映像の取得が可能な合成開口レーダ（ＳＡＲ）の活用が行われる傾向にある。 In general, it is important to be able to grasp and monitor the position of a ship for the safety of navigating at sea. For this purpose, an automatic ship identification device (AIS) and a radar device are used. In particular, the radar apparatus tends to utilize a synthetic aperture radar (SAR) that can acquire high-quality images even when the weather conditions deteriorate and the visibility is opaque.
なお、前記船舶自動識別装置は、船舶に搭載されるもので、船舶と船舶、又は、船舶と陸上管制所間の船舶の位置情報や識別情報などを自動的に送受信することにより、海上交通量の多い海峡、交差点、海上通航分離帯（Ｔｒａｆｆｉｃ Ｓｅｐａｒａｔｉｏｎ Ｓｃｈｅｍｅｓ）海域で、相手船舶の識別を容易にし、船舶間の衝突防止及び海難捜索救助活動を支援する。 The ship automatic identification device is mounted on a ship, and automatically transmits and receives position information and identification information of the ship between the ship and the ship or between the ship and the land control station, so that the marine traffic volume is increased. It facilitates identification of other ships in the many straits, intersections, and Traffic Separation Schemes, and supports collision prevention and maritime search and rescue activities.
なお、前記合成開口レーダは、アンテナから電波を放射した後、反射されてくる電波を測定して映像に復元するもので、主にレーダ衛星又は航空機に搭載され、測定、観測、偵察、及び資源探査などに必要な広い地域の高解像度の映像を撮影することができ、特に、広い地域に対して高精度の観測が可能である。 The synthetic aperture radar, which radiates a radio wave from an antenna, measures the reflected radio wave and restores it to an image. It is mainly mounted on a radar satellite or aircraft, and is used for measurement, observation, reconnaissance, and resources. It is possible to take a high-resolution image of a wide area necessary for exploration and the like, and in particular, high-precision observation is possible over a wide area.
なお、前記合成開口レーダが搭載されたレーダ衛星から送信される衛星信号は、レーダスキャンコンバータ（Ｒａｄａｒ Ｓｃａｎ Ｃｏｎｖｅｒｔｅｒ）のような装置を用いてコンピュータのデータに変換することができ、前記レーダスキャンコンバータは、前記衛星信号を映像化し、また、映像イメージの中の移動体の座標を取得して移動体の位置を識別することもできる。 The satellite signal transmitted from the radar satellite on which the synthetic aperture radar is mounted can be converted into computer data using a device such as a radar scan converter, and the radar scan converter The satellite signal can be visualized, and the position of the moving body can be identified by obtaining the coordinates of the moving body in the video image.
一方、前記船舶自動識別装置は、前記船舶に搭載されなければならないが、前記船舶自動識別装置が搭載されていない未確認の船舶が海上で航行している場合には、海上の他の船舶又は陸上管制所で前記未確認の船舶を容易に識別したり、正確な位置情報を観測しにくい問題点があった。 On the other hand, the vessel automatic identification device must be mounted on the vessel, but when an unidentified vessel not equipped with the vessel automatic identification device is navigating at sea, There was a problem that it was difficult to easily identify the unidentified ship at the control station and to observe accurate position information.
なお、前記船舶自動識別装置の場合には、各船舶に搭載された一般的なレーダを利用して隣接する他の船舶を感知することができるが、陸地に隣接する場合には、周辺の地形の影響を受けて前記他の船舶を容易に感知しにくく、気象条件が悪い場合でも、前記他の船舶を容易に感知できない問題点があった。 In the case of the ship automatic identification device, other adjacent ships can be detected using a general radar mounted on each ship. Due to the above, there is a problem that it is difficult to detect the other ships easily, and even when the weather conditions are bad, the other ships cannot be easily detected.
なお、前記合成開口レーダの場合には、海上の広い範囲に位置した各船舶の位置を監視することができるが、前記の各船舶の位置と大きさの情報のみを得ることができ、前記各船舶の船名と船舶の種類については、識別力を持つことができない問題点があった。 In the case of the synthetic aperture radar, it is possible to monitor the position of each ship located in a wide range on the sea, but it is possible to obtain only the information on the position and size of each ship. There was a problem that the name of the ship and the type of ship could not be discriminated.
つまり、前記船舶自動識別装置から送信される船舶情報と前記合成開口レーダから送信される情報である衛星情報を統合し、航海中の船舶の位置情報を正確に測定できるようにする必要性があり、特に、前記船舶自動識別装置を搭載して識別が可能な船舶及び前記船舶自動識別装置を搭載していない識別が不可能な船舶に対しても、全て監視できる統合的な船舶監視方法の開発が要望されている。 In other words, there is a need to integrate ship information transmitted from the ship automatic identification device and satellite information, which is information transmitted from the synthetic aperture radar, so that the position information of the ship during voyage can be accurately measured. In particular, the development of an integrated ship monitoring method capable of monitoring all ships that can be identified by installing the ship automatic identification apparatus and ships that are not equipped with the ship automatic identification apparatus and cannot be identified. Is desired.
本発明者らは、合成開口レーダから送信される船舶に関する情報である衛星情報と、各船舶に搭載された船舶自動識別装置から送信される船舶情報を統合し、前記船舶自動識別装置を搭載して識別が可能な確認船舶及び前記船舶自動識別装置が搭載されていない未確認の船舶を全て監視することができ、各船舶の位置情報、前記の各船舶を識別できる識別情報及び前記衛星情報及び前記船舶情報間の誤差情報を取得できるようにするために研究を重ねた結果、 船舶の統合監視のための衛星情報と船舶情報の統合方法の技術的構成を開発することになり、本発明を完成することになった。 The present inventors integrate satellite information, which is information about a ship transmitted from a synthetic aperture radar, and ship information transmitted from a ship automatic identification device mounted on each ship, and mount the ship automatic identification device. All the unconfirmed ships that are not equipped with the ship and the ship automatic identification device can be monitored, the position information of each ship, the identification information that can identify each ship, the satellite information, and the As a result of repeated research to make it possible to obtain error information between ship information, we have developed a technical configuration of a method for integrating ship information and satellite information for integrated ship monitoring, and completed the present invention. Decided to do.
従って、本発明の目的は、前記船舶自動識別装置を搭載して識別が可能な確認船舶及び前記船舶自動識別装置が搭載されていない未確認の船舶に関する位置情報及び識別情報を取得し、統合的に監視することができるようにする船舶の統合監視のための衛星情報及び船舶情報の統合方法を提供することである。 Therefore, an object of the present invention is to acquire position information and identification information related to a confirmed ship that can be identified by mounting the automatic ship identification device and an unconfirmed ship that is not equipped with the automatic ship identification device. To provide a method for integrating satellite information and ship information for integrated monitoring of a ship so that it can be monitored.
なお、本発明の他の目的は、船舶自動識別装置から送信される船舶情報を補正し、前記船舶情報とレーダ衛星から送信される衛星情報を互いにマッチする船舶の統合監視のための衛星情報及び船舶情報の統合方法を提供することである。 Another object of the present invention is to correct ship information transmitted from the ship automatic identification device, and to provide satellite information for integrated monitoring of ships that match the ship information and satellite information transmitted from a radar satellite, and It is to provide a method for integrating ship information.
なお、本発明の又他の目的は、船舶情報上の各船舶の位置情報を補正する際に誤差の発生を最小化し、予測位置情報を算出する船舶の統合監視のための衛星情報と船舶情報の統合方法を提供することである。 Another object of the present invention is to minimize the occurrence of errors when correcting the position information of each ship on the ship information, and to calculate the predicted position information. Is to provide an integration method.
なお、本発明の又他の目的は、衛星情報上の各船舶の形状情報と船舶情報上の各船舶の識別情報を互いにマッチして、航海中の船舶の船名と船舶の種類などを識別できる船舶の統合監視のための衛星情報及び船舶情報の統合方法を提供することである。 Another object of the present invention is to identify the ship name and ship type of the ship being navigated by matching the shape information of each ship on the satellite information and the identification information of each ship on the ship information. It is to provide an integrated method of satellite information and ship information for integrated ship monitoring.
本発明の目的は、上述した目的に制限されない。言及されていない他の目的は下記の説明によって当業者に明確に理解されるのであろう。 The object of the present invention is not limited to the object described above. Other objects not mentioned will be clearly understood by those skilled in the art from the following description.
前記の目的を達成するために、本発明は、レーダ衛星から船舶に関する衛星情報が送信され、各船舶に搭載された船舶自動識別装置（ＡＩＳ）から前記の各船舶の船舶情報が送信される第１段階と、前記各船舶に対する現在の衛星情報の取得時間を抽出した後、前記取得時間と同じ時間での前記各船舶の予測位置情報を算出し、前記船舶情報上の各船舶の位置を前記予測位置情報に補正する第２段階と、前記予測位置情報を含む前記船舶情報及び前記衛星情報が統合された統合情報を生成する第３段階と、を含むことを特徴とする船舶の統合監視のための衛星情報及び船舶情報の統合方法を提供する。 In order to achieve the above object, according to the present invention, satellite information about a ship is transmitted from a radar satellite, and ship information of each ship is transmitted from a ship automatic identification device (AIS) mounted on each ship. In step 1, after extracting the acquisition time of the current satellite information for each ship, the predicted position information of each ship at the same time as the acquisition time is calculated, and the position of each ship on the ship information is A second stage for correcting the predicted position information; and a third stage for generating integrated information in which the ship information and the satellite information including the predicted position information are integrated. Provide a method for integrating satellite information and ship information.
望ましい実施例において、前記衛星情報は、前記船舶の位置に関する情報を含み、前記船舶情報は、前記各船舶を識別する船名、船舶の大きさ及び船舶の種類に関する情報である識別情報を含み、前記第２段階及び前記第３段階の間に、前記のそれぞれの予測位置情報と前記衛星情報を比較して、前記衛星情報上の各船舶と前記船舶情報上のそれぞれの識別情報を互いにマッチする第２−１段階をさらに含む。 In a preferred embodiment, the satellite information includes information on the position of the ship, and the ship information includes identification information that is information on a ship name, a ship size, and a ship type that identifies each ship, During the second stage and the third stage, the respective predicted position information and the satellite information are compared, and each ship on the satellite information and each identification information on the ship information are matched with each other. The method further includes stage 2-1.
望ましい実施例において、前記レーダ衛星は、前記衛星情報を一定の周期で送信し、前記船舶自動識別装置は、船の速力に応じて変動する周期で前記船舶情報を送信し、前記第１段階及び前記第２段階の間に、前記衛星情報の送信周期と前記船舶情報の送信周期との間の差を計算し、前記予測位置情報の算出時に前記取得時間以前又は以前及び以後の船舶情報中、どの時点での情報を抽出するかを決定する第１−１段階をさらに含む。 In a preferred embodiment, the radar satellite transmits the satellite information at a constant period, and the automatic ship identification device transmits the ship information at a period that varies according to the speed of the ship. During the second stage, the difference between the transmission period of the satellite information and the transmission period of the ship information is calculated, and in the ship information before or before and after the acquisition time when calculating the predicted position information, The method further includes a first-first step of determining at which time point information is to be extracted.
望ましい実施例において、前記第２段階は、前記衛星情報の取得時間よりも以前の時間に取得された船舶情報から前記船舶が航海した針路及び速度情報を抽出し、前記船舶が前記取得時間と同じ時間に位置するものと推定される位置を前記予測位置情報として算出する。 In a preferred embodiment, the second stage extracts the course and speed information that the ship has navigated from ship information acquired at a time earlier than the acquisition time of the satellite information, and the ship is the same as the acquisition time. A position estimated to be located in time is calculated as the predicted position information.
望ましい実施例において、前記第２段階は、ＤＲ（ｄｅａｄ ｒｅｃｋｏｎｉｎｇ）アルゴリズムを用いて前記予測位置情報を算出し、前記ＤＲアルゴリズムは前記船舶情報上で前記船舶の位置である基準位置情報と、前記基準位置情報上で前記船舶の針路及び速度情報を抽出し、前記取得時間上で前記船舶の位置である前記予測位置情報を計算する。 In a preferred embodiment, in the second step, the predicted position information is calculated using a DR (dead reckoning) algorithm, and the DR algorithm includes reference position information that is the position of the ship on the ship information, and the reference The ship's course and speed information is extracted on the position information, and the predicted position information, which is the position of the ship, is calculated on the acquisition time.
望ましい実施例において、前記第２段階は、前記衛星情報の取得時間の以前と以後に取得された船舶情報から前記船舶が移動した位置を抽出し、前記船舶が、前記取得時間と同じ時間に位置するものと推定される位置を前記予測位置情報と算出する。 In a preferred embodiment, the second stage extracts a position where the ship has moved from ship information acquired before and after the acquisition time of the satellite information, and the ship is located at the same time as the acquisition time. The estimated position information is calculated as the predicted position information.
望ましい実施例において、前記衛星情報は、前記レーダ衛星で前記船舶を撮影した映像から抽出され、前記各船舶の大きさ及び形状の情報である形状情報をさらに含み、前記第２−１段階は、前記各船舶の形状情報と前記船舶情報上のそれぞれの識別情報を相互に比較して、前記衛星情報上の各船舶と前記識別情報を互いにマッチする第２−１−１段階をさらに含む。 In a preferred embodiment, the satellite information is extracted from an image obtained by photographing the ship with the radar satellite, and further includes shape information that is information on the size and shape of each ship, and the step 2-1 includes The method further includes a step 2-1-1 in which the shape information of each ship and the identification information on the ship information are compared with each other to match each ship on the satellite information with the identification information.
望ましい実施例において、前記統合情報は、前記衛星情報と前記船舶情報との間の誤差の情報である誤差情報を含む。 In a preferred embodiment, the integrated information includes error information that is information on an error between the satellite information and the ship information.
望ましい実施例において、前記レーダ衛星は合成開口レーダ（ＳＡＲ）を搭載した衛星を備える。 In a preferred embodiment, the radar satellite comprises a satellite equipped with a synthetic aperture radar (SAR).
本発明は、次のような優れた効果がある。 The present invention has the following excellent effects.
まず、本発明の一実施例による船舶の統合監視のための衛星情報及び船舶情報の統合方法によれば、レーダ衛星から送信される衛星情報により船舶自動識別装置を搭載していない船舶に関する情報が送信され、前記船舶自動識別装置から送信される船舶情報により前記船舶自動識別装置を搭載した船舶に関する情報が送信された後、前記衛星情報及び前記船舶情報を統合することにより、前記船舶自動識別装置を搭載し、識別が可能な確認船舶及び前記船舶自動識別装置が搭載されていない未確認船舶を統合的に監視することができる効果が得られる。 First, according to the satellite information for ship integrated monitoring and the ship information integration method according to one embodiment of the present invention, information on a ship not equipped with an automatic ship identification device is obtained by satellite information transmitted from a radar satellite. The ship automatic identification device is integrated by integrating the satellite information and the ship information after the information on the ship on which the ship automatic identification device is mounted is transmitted by the ship information transmitted from the ship automatic identification device. The confirmation ship which can be identified and the unidentified ship which is not equipped with the ship automatic identification device can be integratedly monitored.
なお、本発明の一実施例による船舶の統合監視のための衛星情報及び船舶情報の統合方法によれば、衛星情報上の船舶に関する情報と、船舶情報上の船舶に関する情報とを統合するために、前記船舶情報を補正する時に前記衛星情報の取得時間と同じ時間で前記船舶情報上の各船舶の予測位置を算出して前記船舶情報を補正するので、前記衛星情報と前記船舶情報とのマッチングがより正確に行われる効果が得られる。 According to the satellite information and ship information integration method for integrated ship monitoring according to an embodiment of the present invention, the ship information on the satellite information and the ship information on the ship information are integrated. Since the ship information is corrected by calculating the predicted position of each ship on the ship information at the same time as the acquisition time of the satellite information when correcting the ship information, matching between the satellite information and the ship information Can be obtained more accurately.
なお、本発明の一実施例による船舶の統合監視のための衛星情報及び船舶情報の統合方法によれば、衛星情報の送信周期と、船舶情報の送信周期の差を計算し、前記衛星情報の取得時間以前、または以前及び以後の船舶情報のうち、どの時点の情報を抽出するかを決定し、予測位置情報を算出するので、船舶情報の補正のための前記予測位置情報の算出時に誤差の発生を最小限にし、より精度の高い予測位置を算出できる効果が得られる。 According to the satellite information and ship information integration method for ship integrated monitoring according to an embodiment of the present invention, a difference between the satellite information transmission period and the ship information transmission period is calculated, and the satellite information Before the acquisition time, or before and after the ship information, it is determined which time point information is to be extracted, and the predicted position information is calculated, so there is no error when calculating the predicted position information for correcting the ship information. The effect of minimizing the occurrence and calculating a more accurate predicted position can be obtained.
なお、本発明の一実施例による船舶の統合監視のための衛星情報及び船舶情報の統合方法によれば、衛星情報及び船舶情報が統合された統合情報の生成時に前記各船舶の位置情報のみでなく、前記衛星情報に含まれている船舶の形状情報及び前記船舶情報上の識別情報をマッチし、前記統合情報を生成するので、前記統合情報により海上で航海中の船舶に対する位置情報と、前記各船舶の船名、船舶の種類を識別できる効果が得られる。 In addition, according to the integration method of the satellite information and the ship information for the integrated monitoring of the ship according to the embodiment of the present invention, only the position information of each ship is generated when generating the integrated information in which the satellite information and the ship information are integrated. Without matching the shape information of the ship included in the satellite information and the identification information on the ship information, and generating the integrated information, the position information for the ship navigating at sea by the integrated information, The effect that the ship name of each ship and the kind of ship can be identified is acquired.
以下、添付の図面及び望ましい実施例を參照して本発明の技術的な構成を詳細に説明する。 Hereinafter, the technical configuration of the present invention will be described in detail with reference to the accompanying drawings and preferred embodiments.
但し、本発明はこれらの実施例に限定されるものではない。明細書の全体にわたって同一な構成要素に対しては同一な符号を付す。 However, the present invention is not limited to these examples. The same components are denoted by the same reference numerals throughout the specification.
図１は、本発明の一実施例による衛星情報及び船舶情報の統合方法を示す概念図であり、図２は、本発明の一実施例による衛星情報及び船舶情報の統合方法を示すブロック図である。 FIG. 1 is a conceptual diagram illustrating a method for integrating satellite information and ship information according to an embodiment of the present invention. FIG. 2 is a block diagram illustrating a method for integrating satellite information and ship information according to an embodiment of the present invention. is there.
図１〜図２を参照すれば、本発明の一実施例による船舶の統合監視のための衛星情報及び船舶情報の統合方法は、レーダ衛星１１０から送信される船舶１０に対する情報である衛星情報と、各船舶１０に搭載された船舶自動識別装置（Ａｕｔｏｍａｔｉｃ Ｉｄｅｎｔｉｆｉｃａｔｉｏｎ Ｓｙｓｔｅｍ、ＡＩＳ）１２０から送信される船舶情報を統合するためのもので、海上で航海中の船舶１０の位置情報と、各船舶１０の船名及び船舶の種類のような識別情報を同時に取得することができる。 Referring to FIGS. 1 to 2, a satellite information and ship information integration method for integrated ship monitoring according to an embodiment of the present invention includes satellite information that is information about a ship 10 transmitted from a radar satellite 110. In order to integrate ship information transmitted from an automatic identification system (AIS) 120 mounted on each ship 10, the position information of the ship 10 that is navigating at sea, Identification information such as ship name and ship type can be acquired simultaneously.
なお、前記レーダ衛星１１０は、海や港に停泊した船舶１０に対する情報を収集するもので、種々の形態のレーダを搭載した衛星が使用できるが、本発明の一実施例では、合成開口レーダ（Ｓｙｎｔｈｅｔｉｃ Ａｐｅｒｔｕｒｅ Ｒａｄａｒ、ＳＡＲ）を搭載した衛星を備える。 The radar satellite 110 collects information about the ship 10 anchored at the sea or the port, and a satellite equipped with various types of radars can be used. In one embodiment of the present invention, a synthetic aperture radar ( A satellite equipped with a Synthetic Aperture Radar (SAR).
なお、前記レーダ衛星１１０は、前記船舶１０の情報を収集するのみでなく、前記合成開口レーダを利用して海流の流れ及び波などの情報を含む海洋情報、地形又は地質構造についての情報である地理情報、海氷又は氷河の情報である氷雪情報、川又は湖の面積と、湿地帯の分類及び植生についての情報である水文情報、農作物の耕作面積又は農作物の災害状況についての情報である農作物情報又は道路、線路、橋、工場や都市の情報である都市情報をさらに収集することもできる。 The radar satellite 110 not only collects information on the ship 10 but also information on ocean information, topography, or geological structure including information such as current flow and waves using the synthetic aperture radar. Geographic information, ice and snow information that is sea ice or glacier information, river or lake area, hydrological information that is information about wetland classification and vegetation, crop area that is information on crop cultivation area or crop disaster situation It is also possible to collect information or city information which is road, railroad, bridge, factory and city information.
なお、本発明の一実施例で前記レーダ衛星１１０は、海上で航海する船舶１０の位置情報及び形状情報を含む衛星情報を収集することになる。 In one embodiment of the present invention, the radar satellite 110 collects satellite information including position information and shape information of the ship 10 sailing at sea.
なお、前記船舶自動識別装置１２０は、船舶１０に搭載されるもので、各船舶１０の船名、船舶の種類、船舶の大きさ、針路および位置に関する情報である船舶情報を提供し、船舶１０間の事故を防止する。 The ship automatic identification device 120 is mounted on the ship 10 and provides ship information which is information on the ship name, ship type, ship size, course, and position of each ship 10. Prevent accidents during
なお、前記衛星情報及び前記船舶情報は、情報統合システム１３０で統合されることになり、前記情報統合システム１３０は、前記レーダ衛星１１０から前記衛星情報が送信されて前記各船舶１０の船舶自動識別装置１２０から前記船舶情報が送信される。 Note that the satellite information and the ship information are integrated by the information integration system 130, and the information integration system 130 transmits the satellite information from the radar satellite 110 and automatically identifies each ship 10. The vessel information is transmitted from the device 120.
なお、前記情報統合システム１３０は、例えば、港湾や入港路及び出港路を航行したり移動する船舶１０の動きを観察して、前記船舶１０に航行安全に必要な情報を提供する海上交通管制システム（Ｖｅｓｓｅｌ Ｔｒａｆｆｉｃ Ｓｅｒｖｉｃｅ）からなる。 The information integration system 130 is a marine traffic control system that provides information necessary for navigation safety to the vessel 10 by observing the movement of the vessel 10 navigating or moving in, for example, a port, a port entry / exit, and a port exit. (Vessel Traffic Service).
なお、前記情報統合システム１３０は、前記衛星情報及び前記船舶情報を処理するための情報統合プログラム１４０を備えることになるが、前記情報統合プログラム１４０は、前記情報統合システム１３０が、前記衛星情報から各船舶１０の位置情報及び形状情報を抽出するように機能し、前記船舶情報から各船舶１０の位置情報及び識別情報を抽出するように機能する。なお、前記情報統合プログラム１４０は、前記情報統合システム１３０が、前記衛星情報及び前記船舶情報に対する処理及び統合情報を生成するように機能する。 The information integration system 130 includes an information integration program 140 for processing the satellite information and the ship information. However, the information integration program 140 includes the information integration system 130 based on the satellite information. It functions to extract position information and shape information of each ship 10 and functions to extract position information and identification information of each ship 10 from the ship information. The information integration program 140 functions so that the information integration system 130 generates processing and integrated information for the satellite information and the ship information.
まず、本発明の一実施例による船舶の統合監視のための衛星情報及び船舶情報の統合方法は、前記統合情報システム１３０に前記衛星情報及び前記船舶情報が送信されることになる。 First, according to an embodiment of the present invention, the satellite information and ship information integration method for integrated monitoring of ships transmits the satellite information and the ship information to the integrated information system 130.
なお、前記衛星情報は、前記レーダ衛星１１０で前記船舶１０を撮影した映像から抽出されるものであるが、前記船舶１０の位置に関する情報を含み、前記各船舶１０の大きさ及び形状の情報である形状情報を含む。 The satellite information is extracted from an image obtained by photographing the ship 10 with the radar satellite 110. The satellite information includes information on the position of the ship 10, and is information on the size and shape of each ship 10. Contains some shape information.
なお、前記船舶情報は、前記各船舶１０の位置情報と、前記各船舶１０を識別できる船名、船舶の大きさ及び船舶の種類ついての情報である識別情報とを含む。 The ship information includes position information of each ship 10 and identification information that is information about a ship name, a ship size, and a ship type that can identify each ship 10.
一方、前記船舶情報に含まれた前記識別情報により海上で航海する船舶１０を確認することができるが、前記海上には、識別が可能な確認船舶以外にも、前記船舶自動識別装置１２０を搭載していない識別が不可能な未確認の船舶も存在することになる。この時、前記レーダ衛星１１０から送信される前記衛星情報は、前記未確認船舶の位置情報及び形状情報を取得できるようになる（Ｓ１１０）。 On the other hand, the ship 10 sailing at sea can be confirmed by the identification information included in the ship information, but the ship automatic identification device 120 is mounted on the sea in addition to the identification ship that can be identified. There are also unidentified ships that cannot be identified. At this time, the satellite information transmitted from the radar satellite 110 can acquire position information and shape information of the unconfirmed ship (S110).
次に、前記衛星情報の送信周期と前記船舶情報の送信周期との間の差のΔｔを計算することになるが、これは、前記衛星情報の場合には、一定の周期で送信される一方、前記船舶情報の場合には、各船舶１０の航行速度に応じて送信周期が変動されるので、前記Δｔを計算して前記各船舶１０の予測位置情報をより正確に計算するためである。 Next, the difference Δt between the transmission period of the satellite information and the transmission period of the ship information is calculated. In the case of the satellite information, this is transmitted at a constant period. In the case of the ship information, since the transmission cycle varies according to the navigation speed of each ship 10, the Δt is calculated to calculate the predicted position information of each ship 10 more accurately.
この時、前記衛星情報と前記船舶情報とは、互いに取得された時間が同一であることもあるが、前記船舶情報の送信周期の変動に伴い、前記衛星情報と前記船舶情報の取得時間は、前記Δｔの値だけ差を持つようになる。また、前記予測位置情報は、前記衛星情報の取得時間と同じ時間で前記船舶情報上の各船舶１０の位置を推定したものである。 At this time, the satellite information and the ship information may have the same acquired time, but with the change in the transmission period of the ship information, the acquisition time of the satellite information and the ship information is: There is a difference by the value of Δt. The predicted position information is obtained by estimating the position of each ship 10 on the ship information at the same time as the acquisition time of the satellite information.
なお、前記Δｔを計算した後に、前記Δｔの値が一定の臨界値よりも高い値を持つか又は同等か低い値を持つかを判別することになり、本発明の一実施例では、前記臨界値を１分に設定している。 In addition, after calculating the Δt, it is determined whether the value of the Δt has a value higher than a certain critical value or a value equal to or lower than the certain critical value. The value is set to 1 minute.
なお、前記Δｔが前記臨界値よりも高い値を持つ場合には、現在、衛星情報の取得時間以前の船舶情報から前記各船舶１０に関する情報を抽出する。 When Δt has a value higher than the critical value, information on each ship 10 is currently extracted from ship information before the acquisition time of satellite information.
なお、前記Δｔが前記臨界値と同じか、低い値を持つ場合には、現在の衛星情報の取得時間以前と以後の船舶情報から前記各船舶に関する情報を抽出する。 When Δt is equal to or lower than the critical value, information on each ship is extracted from ship information before and after the current satellite information acquisition time.
つまり、前記衛星情報及び前記船舶情報の送信周期との間の差の値を計算する簡単な方法で、船舶情報のうち、どの時点の船舶情報を抽出するかを決定することになる（Ｓ１２０）。 That is, it is determined which time point of ship information is to be extracted from the ship information by a simple method of calculating a difference value between the satellite information and the ship information transmission cycle (S120). .
次に、前記船舶情報上の各船舶１０の位置情報を補正することになるが、この時、前記現在の衛星情報の取得時間と同じ時間での前記各船舶１０の予測位置を推定した後、各船舶情報上の各船舶１０の位置を予測位置情報に補正することになる。 Next, the position information of each ship 10 on the ship information will be corrected. At this time, after estimating the predicted position of each ship 10 at the same time as the acquisition time of the current satellite information, The position of each ship 10 on each ship information is corrected to the predicted position information.
なお、前記取得時間は前記レーダ衛星１１０で前記各船舶１０の映像を撮影して位置情報及び形状情報を取得した時間を意味し、前記現在の衛星情報の取得時間は、現在、統合しようとする衛星情報の取得時間を意味する。 The acquisition time means a time when the radar satellite 110 captures an image of each ship 10 to acquire position information and shape information, and the acquisition time of the current satellite information is currently being integrated. It means the acquisition time of satellite information.
なお、前記船舶情報上の各船舶１０の位置情報を補正する時に、前記Δｔが前記の臨界値より高い値を持つ場合には、前記衛星情報の取得時間よりも以前の時間に取得された船舶情報から前記船舶１０が航行した針路や速度情報を抽出した後、前記船舶１０が、前記取得時間と同じ時間に位置すると推定される位置を前記予測位置情報に算出し、前記船舶情報上の船舶１０の位置情報を補正する。 When correcting the position information of each ship 10 on the ship information, if the Δt has a value higher than the critical value, the ship acquired at a time earlier than the acquisition time of the satellite information. After extracting the course and speed information on which the ship 10 has navigated from the information, the ship 10 calculates a position estimated to be located at the same time as the acquisition time as the predicted position information, and the ship on the ship information. 10 position information is corrected.
この時には、ＤＲ（ｄｅａｄ ｒｅｃｋｏｎｉｎｇ）アルゴリズムを用いて、前記予測位置情報を算出することができ、前記予測位置情報を算出するためには、前記船舶情報上から前記船舶１０の位置である基準位置情報を算出することになるが、前記基準位置情報は、前記取得時間よりも以前の時間の値を持つ。 At this time, it is possible to calculate the predicted position information using a DR (dead reckoning) algorithm. In order to calculate the predicted position information, reference position information which is the position of the ship 10 from the ship information. The reference position information has a value of time before the acquisition time.
なお、前記ＤＲアルゴリズムは、すでに位置を知っている移動物体の進行方向、進行速度や方向角などの情報を利用して、前記移動物体が、一定の時間の経過後に移動すると推定される新しい位置を計算するアルゴリズムを意味する。 The DR algorithm uses information such as the traveling direction, traveling speed, and direction angle of a moving object that already knows the position, so that the moving object is estimated to move after a certain period of time. Means the algorithm to calculate
つまり、前記ＤＲアルゴリズムを用いて、前記基準位置情報から前記船舶１０の針路及び速度情報を抽出することになるが、この時、前記船舶１０が航行することになると推定される針路の推定針路を計算し、前記推定針路上で前記船舶１０の速度情報を計算し、前記取得時間と同じ時間に前記船舶１０が位置すると推定される位置を前記の予測位置情報に算出する。 That is, using the DR algorithm, the course and speed information of the ship 10 is extracted from the reference position information. At this time, the estimated course of the course that is estimated to be navigated by the ship 10 is obtained. The speed information of the ship 10 is calculated on the estimated course, and the position where the ship 10 is estimated to be located at the same time as the acquisition time is calculated as the predicted position information.
なお、前記ＤＲアルゴリズムは、前記情報統合システム１３０に備られた前記情報統合プログラム１４０に搭載され、前記船舶の前記予測位置情報に算出するように機能させることができる。 The DR algorithm is installed in the information integration program 140 provided in the information integration system 130 and can function to calculate the predicted position information of the ship.
つまり、前記船舶１０が以前に航海した針路及び位置に関する情報と、前記船舶の速度に関する情報を利用して、一定の時点で、前記船舶が位置すると予測されるポイントを前記の予測位置情報に算出することになる。 That is, using the information related to the course and position where the ship 10 has previously navigated and the information related to the speed of the ship, the predicted point information where the ship is predicted to be located at a certain time is calculated as the predicted position information. Will do.
一方、前記船舶情報上の各船舶１０の位置情報を補正する時に、前記Δｔが前記臨界値と同じか、低い値を持つ場合には、前記衛星情報の取得時間よりも以前の時間に取得された船舶情報と、前記衛星情報の取得時間より以後の時間に取得された船舶情報とを抽出し、前記船舶が、前記取得時間と同じ時間に位置すると推定される位置を前記予測位置情報に算出する。 On the other hand, when the position information of each ship 10 on the ship information is corrected, if the Δt has the same or lower value than the critical value, it is acquired at a time earlier than the acquisition time of the satellite information. Ship information and ship information acquired at a time after the acquisition time of the satellite information are extracted, and a position where the ship is estimated to be located at the same time as the acquisition time is calculated as the predicted position information. To do.
なお、前記Δｔが前記臨界値と同じか、低い値を持つ場合は、通常、船舶１０が海上で航海した距離が短かったり、固定された状態であり、この時には、前記デッドレコーニング（ｄｅａｄ ｒｅｃｋｏｎｉｇｎ）を用いると、前記予測位置情報の正確な算出が難しく、誤差が大きく発生するので、前記衛星情報の取得時間の以前及び以後に取得された船舶情報から前記船舶１０が移動した位置を抽出するようにする。 When Δt is equal to or lower than the critical value, the distance traveled by the ship 10 at sea is usually short or fixed. At this time, the dead reckoning (dead reckoning) ), It is difficult to accurately calculate the predicted position information, and a large error occurs. Therefore, the position where the ship 10 has moved is extracted from the ship information acquired before and after the acquisition time of the satellite information. Like that.
なお、前記衛星情報の取得時間よりも以前の時間に取得された船舶情報上で各船舶１０の針路及び位置の情報である第１位置情報を算出し、前記衛星情報の取得時間より以後の時間に取得された船舶情報上で各船舶１０の針路及び位置に関する情報である第２位置情報を算出した後、前記第１位置情報と前記第２位置情報とを相互に比較して、前記船舶１０が、前記取得時間と同じ時間に位置すると推定される位置を前記予測位置情報に算出する。 The first position information, which is the course and position information of each ship 10, is calculated on the ship information acquired at a time earlier than the acquisition time of the satellite information, and the time after the acquisition time of the satellite information. After calculating the second position information, which is information related to the course and position of each ship 10, on the ship information acquired in the above, the first position information and the second position information are compared with each other, and the ship 10 However, the position estimated to be located at the same time as the acquisition time is calculated as the predicted position information.
なお、前記予測位置情報を算出した後には、前記船舶情報上の各船舶１０の位置を前記予測位置情報上の予測位置に補正することになる（Ｓ１３０）。 After calculating the predicted position information, the position of each ship 10 on the ship information is corrected to the predicted position on the predicted position information (S130).
次に、船舶情報上の各船舶１０の位置情報を各予測位置情報に補正した後に、前記各予測位置情報に補正された船舶情報上の各船舶１０と、前記衛星情報上の各船舶１０とをマッチすることになる。 Next, after correcting the position information of each ship 10 on the ship information to each predicted position information, each ship 10 on the ship information corrected to each predicted position information, and each ship 10 on the satellite information Will be matched.
この時、前記衛星情報上の各船舶１０の位置と、前記予測位置に補正された前記船舶情報上の各船舶１０の位置とを相互に比較して、同一または最も近い位置を持つ場合に互いに同一の船舶と判断し、マッチングが行われるようになる。 At this time, when the position of each ship 10 on the satellite information and the position of each ship 10 on the ship information corrected to the predicted position are compared with each other, and have the same or the closest position, It is judged that they are the same ship and matching is performed.
なお、前記の船舶情報及び前記衛星情報を相互にマッチする時、前記衛星情報に含まれた形状情報と、前記船舶情報に含まれた識別情報とも比較するにことになるが、前記形状情報は、前記レーダ衛星で撮影された映像から抽出された前記船舶の具体的な形状についての情報であり、前記識別情報は、前記船舶１０の実質的な大きさ、長さおよび幅に関する情報である。 When the ship information and the satellite information are matched with each other, the shape information included in the satellite information is compared with the identification information included in the ship information. The information about the specific shape of the ship extracted from the video imaged by the radar satellite, and the identification information is information on the substantial size, length and width of the ship 10.
なお、前記衛星情報上の各船舶１０と、前記船舶情報上の各船舶１０の位置に対する情報のみでなく、前記各船舶１０の形態に対する情報も比較してマッチすることにより、前記船舶情報及び前記衛星情報のマッチング時、誤差の発生を最小限にし、より高い精度でマッチングが行われることになる。 In addition, not only the information about the position of each ship 10 on the satellite information and the position of each ship 10 on the ship information, but also the information on the form of each ship 10 is compared and matched, so that the ship information and the When matching satellite information, the occurrence of errors is minimized and matching is performed with higher accuracy.
なお、前記衛星情報と前記船舶情報とをマッチする時、前記予測位置を中心とする一定の範囲を検索範囲として設定し、その範囲内に位置する前記衛星情報上の船舶１０のみをマッチすることもできる。 When the satellite information and the ship information are matched, a certain range centered on the predicted position is set as a search range, and only the ship 10 on the satellite information located within the range is matched. You can also.
つまり、前記船舶情報は、前記各船舶１０の船名、大きさ、船舶の種類等の識別情報を含んでいる一方、前記衛星情報の場合には、前記各船舶１０を識別するのが難しいので、前記衛星情報上の各船舶と、前記船舶情報上の各船舶とをマッチすることにより、前記衛星情報上の各船舶１０が識別力を持つようになる（Ｓ１４０）。 In other words, the ship information includes identification information such as the ship name, size, and ship type of each ship 10, whereas in the case of the satellite information, it is difficult to identify each ship 10. By matching each ship on the satellite information with each ship on the ship information, each ship 10 on the satellite information comes to have discriminating power (S140).
次に、前記予測位置情報を含む、前記船舶情報及び前記衛星情報が統合された統合情報を生成することになるが、前記統合情報は、前記衛星情報に含まれている前記各船舶１０の位置情報及び形状情報を含み、前記船舶情報上の前記各船舶１０の識別情報及び前記予測位置情報を含む。 Next, integrated information in which the ship information and the satellite information including the predicted position information are integrated is generated. The integrated information is a position of each ship 10 included in the satellite information. Information and shape information, including identification information and predicted position information of each ship 10 on the ship information.
なお、前記統合情報は、前記衛星情報と前記船舶情報との間の誤差情報を含んでいるが、前記誤差情報は、前記星情報上の各船舶の位置及び形状に関する情報と、前記船舶情報上の各船舶の予測位置情報及び識別情報を相互に比較した差を示すものである。 The integrated information includes error information between the satellite information and the ship information, but the error information includes information on the position and shape of each ship on the star information and the ship information. The difference which mutually compared predicted position information and identification information of each ship of is shown.
つまり、前記統合情報は、前記衛星情報及び前記船舶情報が含まれ、なお、前記誤差情報まで含むようになる（Ｓ１５０）。 That is, the integrated information includes the satellite information and the ship information, and includes the error information (S150).
１１０ レーダ衛星
１２０ 船舶自動識別装置
１３０ 情報統合システム
１４０ 情報統合プログラム
DESCRIPTION OF SYMBOLS 110 Radar satellite 120 Ship automatic identification device 130 Information integration system 140 Information integration program
Claims (8)
前記各船舶に対する統合情報を生成しようとする衛星情報の取得時間を抽出した後、前記取得時間と同じ時間での前記各船舶の予測位置情報を算出し、前記船舶情報上の各船舶の位置を前記予測位置情報に補正する第２段階と、
前記予測位置情報を含む前記船舶情報及び前記衛星情報が統合された統合情報を生成する第３段階と、を含み、
前記レーダ衛星は、前記衛星情報を一定の周期で送信し、前記船舶自動識別装置は、船舶の速度に応じて変動される周期で前記船舶情報を送信し、
前記第１段階及び前記第２段階の間に、
前記衛星情報の送信周期と前記船舶情報の送信周期との間の差を計算し、前記予測位置情報の算出時に前記取得時間の以前又は以前及び以後の船舶情報のうち、どの時点での情報を抽出するかを判断する第１−１段階をさらに含むことを特徴とする船舶の統合監視のための衛星情報及び船舶情報の統合方法。 A first stage in which satellite information for a ship is transmitted from a radar satellite, and ship information of each ship is transmitted from an automatic identification system (AIS) mounted on each ship;
After extracting the acquisition time of the satellite information for generating the integrated information for each ship, the predicted position information of each ship at the same time as the acquisition time is calculated, and the position of each ship on the ship information is calculated. A second step of correcting the predicted position information;
A third step of generating integrated information in which the ship information including the predicted position information and the satellite information are integrated, and
The radar satellite transmits the satellite information at a constant period, the ship automatic identification device transmits the ship information at a period that varies according to the speed of the ship,
Between the first stage and the second stage,
The difference between the transmission period of the satellite information and the transmission period of the ship information is calculated, and at the time of the ship information before or before and after the acquisition time when calculating the predicted position information, A satellite information for ship integrated monitoring and a ship information integration method, further comprising a first-first stage for determining whether to extract.
前記第２段階及び前記第３段階の間に、
前記それぞれの予測位置情報と前記衛星情報とを比較して、前記衛星情報上の各舶船と前記船舶情報上のそれぞれの識別情報とを相互にマッチする第２−１段階をさらに含むことを特徴とする請求項１に記載の船舶の統合監視のための衛星情報及び船舶情報の統合方法。 The satellite information includes information about the position of the ship, and the ship information includes identification information that is information about the ship name, the size of the ship, and the type of the ship that can identify each ship,
Between the second stage and the third stage,
The method further includes a step 2-1 for comparing the respective predicted position information and the satellite information to match each ship on the satellite information with each identification information on the ship information. The satellite information and ship information integration method for ship integrated monitoring according to claim 1.
前記衛星情報の取得時間よりも以前の時間に取得された船舶情報から前記船舶が航海した針路及び速度情報を抽出し、前記船舶が前記取得時間と同じ時間に位置すると推定される位置を前記予測位置情報に算出することを特徴とする請求項１または２に記載の船舶の統合監視のための衛星情報及び船舶情報の統合方法。 The second stage includes
Extracting the course and speed information that the ship sailed from the ship information acquired at a time earlier than the acquisition time of the satellite information, and predicting the position where the ship is estimated to be located at the same time as the acquisition time The satellite information and ship information integration method for integrated ship monitoring according to claim 1 or 2, wherein the position information is calculated.
前記ＤＲアルゴリズムは、前記船舶情報で前記船舶の位置である基準位置情報と、前記基準位置情報で前記船舶の針路及び速度情報を抽出し、前記取得時間で、前記船舶の位置である、前記予測位置情報を計算することを特徴とする請求項３に記載の船舶の統合監視のための衛星情報及び船舶情報の統合方法。 In the second step, the predicted position information is calculated using a DR (dead reckoning) algorithm,
The DR algorithm extracts reference position information that is the position of the ship from the ship information, and the course and speed information of the ship from the reference position information, and is the position of the ship at the acquisition time. The position information is calculated, and the satellite information and ship information integrating method for integrated ship monitoring according to claim 3.
前記第２−１段階は、
前記各船舶の形状情報と前記船舶情報上の各識別情報を相互に比較して、前記衛星情報上の各船舶と前記識別情報を相互にマッチする第２−１−１段階をさらに含むことを特徴とする請求項２に記載の船舶の統合監視のための衛星情報及び船舶情報の統合方法。 The satellite information is extracted from an image of the ship taken from the radar satellite, and further includes shape information that is information about the size and shape of each ship,
The step 2-1 includes
The method further includes a step 2-1-1 in which the shape information of each ship and each identification information on the ship information are compared with each other to match each ship on the satellite information with the identification information. The satellite information and ship information integration method for integrated ship monitoring according to claim 2 , wherein the ship information is integrated.
前記衛星情報の取得時間の以前及び以後に取得された船舶情報から前記船舶が移動した位置を抽出し、前記船舶が、前記取得時間と同じ時間に位置すると推定される位置を前記予測位置情報に算出することを特徴とする請求項１または２または５に記載の船舶の統合監視のための衛星情報及び船舶情報の統合方法。 The second stage includes
The position where the ship has moved is extracted from the ship information acquired before and after the acquisition time of the satellite information, and the position where the ship is estimated to be located at the same time as the acquisition time is used as the predicted position information. 6. The satellite information and ship information integration method for integrated ship monitoring according to claim 1, 2 or 5 , wherein the ship information is calculated.
前記誤差情報は前記衛星情報に含まれた各船舶の位置情報と前記船舶情報に含まれた各船舶の位置情報を比較した差異についての情報と、
前記衛星情報に含まれた各船舶の形状情報と前記船舶情報に含まれた船舶の大きさ、長さ及び幅についての情報を含む識別情報を比較した差異についての情報を含むことを特徴とする請求項６に記載の船舶の統合監視のための衛星情報及び船舶情報の統合方法。 The integrated information includes error information that is information about an error between the satellite information and the ship information,
The error information is information about the difference between the position information of each ship included in the satellite information and the position information of each ship included in the ship information;
It includes information about the difference between the shape information of each ship included in the satellite information and the identification information including information about the size, length, and width of the ship included in the ship information. The satellite information and ship information integration method for integrated ship monitoring according to claim 6.
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