KR101725128B1 - Ultra-high speed ship detection method and apparatus thereof - Google Patents

Abstract

The present invention includes a step of determining whether a super high-speed ship exists by using an AIS message received from an AIS (Automatic Identification System) base station, a multi-filter model is applied to a super-high-speed ship when a super- The method includes the steps of selecting and tracking tracks, generating tracking information of a target ship corresponding to the selected high-speed ship, and displaying tracking information of a target ship corresponding to a high-speed ship, do.

Description

TECHNICAL FIELD [0001] The present invention relates to an ultra high speed ship tracking method and apparatus,

The present invention relates to a control system and a maritime safety technology for reducing the risk of accidents that may occur during a navigation operation of a ship or the like. More particularly, the present invention relates to a navigation system and a maritime safety technique, And more particularly, to a high-speed ship tracking method and apparatus for continuously tracking even a small amount of calculation without loss of a tracking target.

Techniques for ship safety are playing an important role not only in the ship itself but also in the Vessel Traffic System (VTS) on the land. Recently, VTS technology is being developed to support new safety navigation that reflects the latest IT technology aimed at e-navigation internationally.

Along with these changes, the wig ship, which is a high-speed ship in Korea, has recently been developed and is going to be operated. Therefore, it is out of the speed range of the vessels that can track (> 70NM = 129 Km / h) in the existing VTS.

Therefore, there is a need to develop an improved technology considering the wig ship environment in the tracking and convergence algorithm (a key element of the VTS system), which is the ship of the ship.

Here, a high-speed ship moving at a high speed, for example, a wig line is capable of operating at a high speed of 210 Km / h or higher. Such high-speed vessels are recommended to maintain 130 km / h or less in the port area, but they can be operated at speeds higher than the actual emergency or outside the port.

This is because the WIG ship is likely to be used in patrol ships or applications requiring high speed.

The maritime traffic control system receives the AIS message from the AIS (Automatic Identification System) of the ship in real time by sensing the speed of the ship and the result of sensing from the radar of the other sensor, The center displays and displays the location and trajectory of these objects, monitors the movement of objects to be displayed, and detects and controls the dangerous situations to prevent accidents.

On the other hand, it can be considered that various methods are applied to detect a high-speed ship in the existing VTS system.

These methods include a method of adjusting the period of the radar antenna at high speed, a separate installation of a wide coverage radar dedicated to high-speed ship detection, an airplane capable of detecting high-speed vessels in the tracking algorithm inherent in existing radar- The IMM (Interactive Multiple Model) algorithm, which is used for high-speed motion model, has a method of tracking and replacing the whole.

The background art of the present invention is disclosed in Korean Patent Publication No. 10-2009-0009418 (2009.01.23).

However, the conventional method of adjusting the period of the radar antenna is to speed up the rotation period of the radar, and incidentally, problems such as the rotation heat due to the rotation of the radar, the relative wind speed, the water surface of the driving part, .

In addition, if the number of revolutions of the radar is reduced to shorter than the conventional 3 seconds (20RPM (Revolution Per Minute)), such as 1 second (60RPM), many algorithms such as tracking algorithm and fusion processing are processed within 3 seconds , It must be processed and displayed within one second, so that it may not be calculated in time.

In addition, the system can be shut down due to the inability to process the computation volume due to the superhigh speed vessel. At this time, there is a problem that the small ship having the highest incidence rate is not detected. This is because the rotation of the radar is accelerated, and it is difficult to detect minute objects by the pulse repetition frequency (PRF), which is a beam pattern of the radar, so that small vessels such as fishing vessels are not detected. Also, in order to update the number of revolutions of the radar in 1 second, the calculation amount of the Kalman filter, which is a tracking algorithm, must be reduced. As a result, a simple calculation filter with low tracking performance can not be applied. . Therefore, the method of changing the number of revolutions of the radar is a method that requires sufficient verification.

The method of installing a radar with a wide coverage for high speed ship detection is also the result of a method of rapidly changing the above radar cycle.

In addition, the IMM (Interactive Multiple Model) algorithm, which is used for the modeling of the airplane contour motion model, can be replaced by tracking the whole system. Since the number of vessels that are to be accommodated in the control system is usually about 1500 ~ 2000, If it is out of the range of the amount of calculation that can be done and all ships are applied, the system can be down.

According to the basic theory, a method of analyzing an unspecified number of pieces of tag information received by a radar transceiver to find a motion characteristic of the corresponding tag, and continuously estimating a subsequent motion state with respect to the corresponding tag, When the actual motion of the actual target is different from the designed motion model, there is a problem that the filter performance is greatly deteriorated.

Recently, a multi-model filter for combining a plurality of filters has been proposed. However, this method has a problem that it is difficult to apply this method to a marine traffic control system having a large number of tables. Most maritime traffic control systems employ a single filter model.

However, there is a problem in that, when a single filter is used for a ship in which the motion model is an aircraft level, such as a high-speed ship, the performance is rapidly deteriorated.

SUMMARY OF THE INVENTION Accordingly, the present invention has been made in an effort to solve the above problems, and it is an object of the present invention to provide a radar-based tracking algorithm by first analyzing an AIS message transmitted from a ship, The purpose of the present invention is to provide a high-speed ship tracking method that can enhance the detection rate of a high-speed ship and prevent a ship accident by using an existing tracking algorithm as it is.

According to an aspect of the present invention, there is provided a high-speed ship tracking method comprising: determining whether a super-high-speed ship exists using an AIS message received from an AIS (Automatic Identification System) base station; If the superhigh vessel is present, applying a multi-filter model to the superhigh vessel and applying a single filter model to the remaining vessels to select and track the vessels; Generating tracing information of the selected trajectory corresponding to the selected high-speed vessel; And displaying the tracking information of the craft corresponding to the super-high-speed craft differentiated from the rest of the craft.

In addition, according to one aspect of the present invention, the high speed lath tracking method also allows the AIS period to transmit position information to the highest speed vessels at intervals of at least 2 seconds according to the IALA regulation, outside the distant range where the radar is insufficient. However, in the case of conventional low speed vessels, the error is not large even if it is applied. However, in the case of the high speed vessel, the wag ship, there is a difficulty in applying the basic error to the control due to a large error according to the speed. Accordingly, the present invention is characterized in that it includes a step of calculating and transmitting a high-speed AIS message that can be applied to a high-speed wig line reflecting the above-mentioned high-speed AIS message and reflecting the difference in the existing control method.

The present invention increases the detection rate of superhigh speed ships to prevent confusion between the control system and the controller, reduces the risk of accidents, and ensures the safety of the system. From this, it can be used stably for various control processors that process control.

The present invention can reduce the fatigue of the controller because the controller does not need to constantly monitor the marine environment of the superhigh speed vessel.

The present invention displays the high-speed ship trajectory and the predicted position so that the controllers can easily grasp it, and the controller can perform more precise control.

The present invention induces the centralized control to be performed in consideration of the damage caused by the accident of the ship and the possibility of the occurrence of the accident in a comprehensive manner.

1 is a block diagram of a high-speed ship tracking device according to an embodiment of the present invention.
2 is a flowchart of a high-speed ship tracking method according to an embodiment of the present invention.

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, a high-speed ship tracking system according to an embodiment of the present invention will be described in detail with reference to the accompanying drawings. In this process, the thicknesses of the lines and the sizes of the components shown in the drawings may be exaggerated for clarity and convenience of explanation. Further, terms to be described below are terms defined in consideration of the functions of the present invention, which may vary depending on the user, the intention or custom of the operator. Therefore, definitions of these terms should be made based on the contents throughout this specification.

1 is a block diagram of a high-speed ship tracking device according to an embodiment of the present invention.

1, an AIS base station 10, an AIS message distributor 20, a high-speed ship detector 30, a tracking processor 30, (40), a fusion processor (50), and a controller display processor (60).

AIS base station 10 is installed with a number of ports or books, receives an AIS message transmitted from a ship, and transmits the received AIS message to an AIS message distributor 20.

The AIS message includes identification information for identifying the ship, and the identification information includes a vessel name, a vessel type, location information, and area information. Through this AIS message, it is possible to grasp the ship present at a specific position.

The AIS message distributor 20 receives and integrates the AIS message from at least one or more AIS base stations 10 and distributes the received AIS message to the high speed ship detector 30 or the fusion processor 50.

The super-fast ship detector 30 receives and analyzes the AIS message from the AIS message distributor 20 to determine if a super-fast ship exists.

That is, when the AIS message is received, the super-high-speed ship detector 30 determines whether a super-high-speed ship exists by referring to the ship name, ship type, etc. of the super-high-speed ship in the lookup table storing information on the super-

As a result of the determination, if it is determined that the super-high-speed ship exists, the tracking processor 40 causes the super-fast ship to perform position tracking.

The tracking processor 40 applies a position-tracking multi-filter model to all the vessels' vessels to select the vessels of the super-fast vessel.

First, the tracking processor 40 increases the range of the tracking area in which the high-speed ship is detected, that is, the validation area (VG) based on the position information and the area information of the AIS message. Thus, when the effective measurement area is set, the scales of the super-high-speed ship are selected through the primary filtering and the secondary filtering.

In the first-order filtering process, the ship's tags located within the effective measurement area are selected from the AIS message. That is, the position information of the vessel of the ship can be selected through the position information of the DGPS (Differential Global Positioning System) among the AIS messages to determine whether the position information of the vessel is located within the effective measurement area.

As described above, after the first-order filtering, the inflow, speed, form, and spatial information (greater than the water surface in the case of the wig line) are extracted from the data of the remaining t- It is determined whether the data conforms to the predetermined high-speed ship selection criterion.

The selection criteria for ultra-high-speed vessels is defined as the range of criteria that can be selected as a high-speed ship, and is set for each of the inflow, speed, form of the target, and spatial information.

Therefore, the tracking processor 40 compares each of the ranges defined in the ultra-high-speed ship selection criteria with the speed, speed, form, and space information, and if at least one of the data is included in the range, Corresponds to a ticket that can be selected by the ticket of a super-fast ship.

In this case, the number of the vessels of the remaining vessels as a result of the secondary filtering may be plural, and at least one of them may be selected as the vessels of the super-fast vessel.

In this way, the ship 's trajectory of the secondary filtering is changed to the acceleration processing model and the motion model of the marine tracking algorithm is processed as an acceleration model to apply the multiple filter model. Here, the multi-filter model may employ a Kalman filter or the like.

The Kalman filter improves the problem of a single filter model in which the performance of the filter is greatly degraded when the motion of the target is different from the designed motion model. By combining a plurality of filters, an appropriate tracking model is selected according to the motion state of the target, .

The Kalman filter analyzes the finger information, finds the kinetic characteristics of the corresponding finger, and continuously estimates the subsequent kinetic conditions for the finger from the kinetic characteristics. The tracking of these tracks is done in real time through dynamic filtering technique based on repetitive prediction and update, and tracking error can be minimized compared with tracking through radar.

The estimation process of the Kalman filter can be easily carried out by those skilled in the art, and thus a detailed description thereof will be omitted here.

In this case, the one with the greatest probability of being a ship of a super-fast ship is selected by the ship's high-speed ship, and the tracking information is updated using the ship's ship. The tracking information includes position information of high-speed vessels, orbit information, and the like.

To continuously track and track the ship's high speed ship, apply a data combination filter.

The secondary filtering is performed in a manner of selecting the scrolls of the superhigh speed ship among the schedules in the effective measurement area. The size of the effective measurement area is changed by the error covariance predicted by the tracking filter such as the Kalman filter .

Therefore, data combination is performed by using the covariance information of the tracking filter, and the tracking information managed by the tracking filter is updated using the selected measurement result.

On the other hand, the tracking processor 40 reduces the load by reducing the tracking calculation amount by applying a single filter model to the vessels of the remaining vessels except for the vessels of the super-high-speed vessels after selecting the vessels of the super-fast vessels.

The fusion processor 50 fuses trace of the ultra-high speed ship received from the tracking processor 40 with the other sensors, for example, a radar system, through the ultra-fast ship detector 30, .

In this case, the fusion processor 50 can map the position information of the super-high-speed ship to the ID of the super-high-speed ship and transmit it.

When the tracking processor 40 does not normally receive the AIS message, the fusion processor 50 receives and directly maps the AIS message from the AIS message distributor 20, thereby generating location information of the high-speed ship.

The controller (60) displays high-speed vessels so that controller can easily identify super-fast vessels so that the vessels of high-speed vessels are differentiated from those of the remaining vessels. In other words, the course of the high speed ship, the travel distance and the surrounding ship are marked differently so that the controller can recognize immediately. In addition, it is also possible to display the estimated moving distance greatly increased compared to the existing estimated moving distance.

In addition, when there is a risk of a collision between a superhigh vessel and an adjacent vessel, a warning message is transmitted to the superhigh vessel and the adjacent vessel through the AIS system.

In addition, in this embodiment, it is possible to improve the accuracy of the tracking information by adjusting the transmission period of the AIS message in the high-speed ship.

Hereinafter, a high-speed ship tracking method according to an embodiment of the present invention will be described in detail with reference to FIG.

2 is a flowchart of a high-speed ship tracking method according to an embodiment of the present invention.

First, the AIS base station 10 receives the AIS message from the ship (S10) and transmits it to the AIS message distributor 20.

Upon receiving the AIS message from each AIS base station 10, the AIS message distributor 20 collects and integrates these AIS messages (S20) and transmits them to the super high-speed ship detector 30. [

The super-fast ship detector 30 compares the ship name, the ship type, etc. of the AIS message received from the AIS message distributor 20 with the ship name, ship type, etc. of the ultra-high speed ship stored in the lookup table to determine whether there is a ship judged as a super high speed ship (S30).

If it is determined that the super-high-speed ship exists, the super-high-speed ship detector 30 transmits an AIS message including position information and area information to the tracking processor 40 (S40).

The tracking processor 40 sets a valid measurement area based on the positional information and the area information received from the ultra-high-speed ship detector 30 and applies a filter model to select a ship of the super-high-speed ship (S50).

First, a first-order filtering process is performed to select schedules located within the effective measurement area from the position information of the DPGS among the AIS messages.

Second filtering is used to extract data from the remaining data from the first filtering result, and to determine whether these data are suitable for the ultra-high-speed ship sorting criteria. .

As a result of the second filtering, the data binding filter is applied to the remaining vessel charts to accurately select the vessels of the high-speed vessels and update the tracking information (S60).

In other words, the secondary filtering is performed in such a manner as to sort out the scales of the superhigh speed ship among the schedules in the effective measurement area. The size of the effective measurement area is changed by the error covariance predicted by the tracking filter such as the Kalman filter do. Therefore, data combination is performed by using the covariance information of the tracking filter, and the tracking information managed by the tracking filter is updated using the selected measurement result.

In this case, the one with the greatest probability of being the ship of the super-fast ship is finally selected as the super-fast ship, and the trace information is updated using the ship's ship.

Thereafter, the tracking processor 40 reduces the load by reducing the amount of tracking calculation by applying a single filter model to the ship of the ship other than the ship of the super high-speed ship, after selecting the ship of the super-fast ship.

After the position of the super-high-speed ship is finally determined and the tracking information is updated, the fusion processor 50 causes the super-high-speed ship, which is received from the tracking processor 40 via the super-fast ship detector 30, And transmits the tracking information of the super-high-speed ship to the control-display processor 60 by fusing with the radar system or the like.

The control display processor 60 displays the super-high-speed vessel in a differentiated manner (S70) so that the controller can easily identify the controller.

When there is a risk of a collision between a superhigh vessel and an adjacent vessel, a warning message is transmitted to the superhigh vessel and the adjacent vessel through an AIS system (not shown).

In addition, in this embodiment, it is possible to improve the accuracy of the tracking information by adjusting the transmission period of the AIS message in the high-speed ship.

While the present invention has been particularly shown and described with reference to exemplary embodiments thereof, it is clearly understood that the same is by way of illustration and example only and is not to be taken by way of limitation, I will understand. Accordingly, the true scope of the present invention should be determined by the following claims.

10: AIS base station 20: AIS message distributor
30: High Speed Ship Detector 40: Tracking Processor
50: fusion processor 60: control display processor

Claims (10)

Analyzing an Automatic Identification System (AIS) message generated in the ship to determine whether the ship is a super-fast ship;
Applying a multi-filter model to the ship's ship charts when the ship is determined to be a super-fast ship;
Applying a single filter model to the ship's craft when it is determined that the ship is not a super-fast ship; And
A step of updating tracking information of the super-high-speed vessel by applying a tracking filter and a data combining filter to the table of the super-high-
Gt; a < / RTI > high-speed ship tracking method.
The method according to claim 1, wherein the step of determining whether the ship is a high-
Comparing the AIS message with at least one of a ship name and a ship type included in the pre-built lookup table to determine whether the ship is a super-fast ship
Gt; a < / RTI > high-speed ship tracking method.
The method according to claim 1,
Selecting a plurality of schedules existing in the effective measurement area based on the location information included in the AIS message corresponding to the high-speed ship; And
Determining a ship that satisfies the selected high speed ship selection criterion among the selected vessels as a vessel of the super high speed vessel
Further comprising the steps < RTI ID = 0.0 > of: < / RTI >
delete The method according to claim 1,
A step of differentiating and displaying the tag of the super-high-speed ship and the remaining tag on the basis of the tracking information
Further comprising the steps < RTI ID = 0.0 > of: < / RTI >
A super high-speed ship detector for analyzing an AIS (Automatic Identification System) message generated from a ship to determine whether the ship is a super-fast ship; And
A multi-filter model is applied to the ship's ship chart when the ship is a super-fast ship, and a single filter model is applied to the ship's ship chart when the ship is not a super-fast ship, A tracking processor for applying a filter to update the tracking information of the superhigh-
Speed vessel tracking device.
The system of claim 6, wherein the super-fast ship detector comprises:
The AIS message is compared with at least one of a ship name and a ship type included in the pre-built lookup table to determine whether the ship is a super-fast ship
High speed ship tracking system.
The method according to claim 6,
Wherein the super-fast ship detector transmits an AIS message corresponding to a super-fast ship to the tracking processor,
Wherein the tracking processor comprises means for selecting a spot in the effective measurement area based on the position information included in the AIS message received from the super high speed ship detector, It is decided by the ticket of super-fast ship
High speed ship tracking system.
delete The method according to claim 6,
And a control display processor for differentiating the scrolls of the super-high-speed vessel and the remaining scrolls based on the tracking information received from the tracking processor,
Further comprising the step of:

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