KR20130052287A - Ultra-high speed ship detection method - Google Patents

Abstract

PURPOSE: A method for tracking a high speed ship is provided to improve the accuracy of tracking information by controlling an AIS(Automatic Identification System) message transmitting period. CONSTITUTION: An AIS message is received from an AIS base station(S10). It is determined whether a high speed ship exists or not by using the received AIS message(S30). An effective measurement region is set based on location information and region information and an object of the high speed ship is identified by applying a filter model(S50). Object tracking information corresponding to the identified high speed chip is generated(S60). The object tracking information corresponding to the high speed chip is displayed to be different from the remaining objects(S70). [Reference numerals] (AA) Start; (BB) End; (S10) Receive an AIS message; (S20) Collect and integrate the AIS message; (S30) High speed ship exists?; (S40) Transmit location information and region information to a trace processor; (S50) Select an object of the high speed ship by applying a filter model; (S60) Determine the location of the high speed ship, estimate the location, and calculate a track; (S70) Display the high speed ship in a differentiated method

Description

ULTRA-HIGH SPEED SHIP DETECTION METHOD}

The present invention relates to a control system and a maritime safety technology for reducing the risk of an accident that may occur during the operation of the ship, more specifically, ultra-high speed vessels and general vessels such as a wig ship that can operate at a high speed of 210km / h or more All of the present invention relates to a high speed ship tracking method that continuously tracks even a small amount of calculation without losing a tracking target.

The technology for ship navigation safety plays a very important role not only in the ship itself but also in the land Vessel Traffic System (VTS). Recently, the development of VTS technology to support new safe operation reflecting the latest IT technology for e-Navigation is progressing internationally.

In addition to these changes, the domestic high speed vessel, the Wig ship, is scheduled to be developed and operated in recent years, which is beyond the speed range of the target that can be tracked (> 70NM = 129 Km / h) in the existing VTS.

Therefore, there has been a need to develop an improved technology in consideration of the Wig ship environment in the vessel tracking and fusion algorithm (a key element of the VTS system).

Here, the ultra-high speed vessel moving at high speed, for example, the Wig ship is a vessel capable of running at a high speed of 210Km / h or more. These high speed vessels are recommended to be kept below 130 km / h in the harbor, but they can operate at higher speeds outside of the emergency or in the harbor.

This is because the Wig ship is likely to be used for patrol boats in maritime or in applications requiring high speed.

The maritime traffic control system asynchronously receives real-time positional information obtained by sensing the speed of the vessel from the AIS message of the vessel's AIS (Automatic Identification System) and the result of sensing from the radar, which is another sensor. The center displays and displays the location and trajectory of these objects, and monitors the movement of the objects on display to detect and control dangerous situations to prevent accidents.

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

These methods include the method of adjusting the period of the radar antenna at high speed, separately installing a wide coverage radar dedicated to high speed ship detection, and an airplane capable of detecting a high speed ship using the tracking algorithm inherent in the existing radar based tracking system. There is an interactive multiple model (IMM) algorithm used in high-speed motion models to replace and track the whole.

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

However, the conventional method for adjusting the period of the radar antenna is to speed up the rotation period of the radar, and as a result, problems such as heat of rotation due to the rotation of the radar, relative wind speed, the surface of the driving unit, and the stability of the mechanism itself may occur. Can be.

In addition, if the number of revolutions of the radar is reduced to 3 seconds (20 RPM) from 1 second (60 RPM), the algorithm will be displayed within 3 seconds. In this case, it cannot be calculated in a timely manner because it must be processed and displayed within 1 second.

In addition, the high speed ship may not be able to process the calculations and the system may be down, in which case a small ship having the highest accident rate is not detected. This is because a small vessel such as a fishing boat is not detected due to the acceleration of the rotation of the radar, making it difficult to detect fine water by the pulse repetition frequency (PRF), which is the beam pattern of the radar. In addition, in order to update the number of revolutions of the radar by 1 second, it is necessary to reduce the calculation amount of the Kalman filter, which is a tracking algorithm. Consequently, it is necessary to apply a simple calculation filter that is poor in tracking performance. Can be. Therefore, the method of changing the number of revolutions of the radar can be said to require sufficient verification.

The installation of a wide coverage radar dedicated to high speed vessel detection is also the result of the method of rapidly changing the radar cycle.

In addition, IMM (Interactive Multiple Model) algorithm, which is used for the high-speed aircraft model, tracks the entire system by tracking the number of ships, which are the ships to be accommodated in the control system. If you apply all the vessels out of the range of calculations that can be done, the system can go down.

According to the basic theory, the method of analyzing the unspecified multiple target information received by the radar transceiver to find the motion characteristics of the target, and continuously estimating the subsequent motion status of the target from the single motion model-based tracking filter In this case, if the actual motion of the actual target is different from the designed motion model, there is a problem that the filter performance is greatly reduced.

Recently, a multi-model filter that combines a plurality of filters has been proposed, but this method has a problem that is difficult to apply to the marine traffic control system with many targets. Most maritime traffic control systems employ a single filter model.

However, a ship having a motion model such as an ultra high speed ship has a problem in that performance drops sharply when a single filter is used.

Therefore, the present invention was devised to improve the above-mentioned problem, and first analyzes the AIS message sent out from the ship to determine whether it is a high-speed vessel, and then selectively applies the information to a radar-based tracking algorithm. The purpose of the present invention is to provide an ultra-high speed vessel tracking method that can increase the detection rate of high-speed vessels and prevent accidents by using existing tracking algorithms.

An ultra-high speed vessel tracking method according to an aspect of the present invention comprises the steps of determining whether there is a high-speed vessel using the AIS message received from an Automatic Identification System (AIS) base station; If the ultra-high speed ship exists, the ultra-high speed ship applies a multi-filter model, and applies a single filter model to the remaining ships, selecting and tracking a target; Generating tracking information of a target corresponding to the selected high speed vessel; And differentiating and displaying the tracking information of the target corresponding to the ultra-high speed vessel from the remaining targets.

In addition, the ultra-fast lathe tracking method according to an aspect of the present invention is also to transmit the position information at least 2 seconds intervals to the vessel of the highest speed according to the IALA regulation of the cycle of the AIS outside the distant range where the radar is not crazy. However, in the case of the existing low-speed vessels, the error is not large even if it is applied, but in the case of the wig ship, which is a high-speed vessel, there is a side that is difficult to apply to the control because the error according to the speed increases in the basic error. Therefore, the present invention is characterized in that it comprises the step of displaying and differentiating the existing control method by transmitting a high-speed AIS message that can be applied to the high-speed Wig line reflecting this.

The present invention increases the detection rate of the high speed vessel to prevent confusion between the control system and the controller, lowers the risk of accidents, and secures the safety of the system. From this, it can be stably utilized in various control processors for processing the control.

The present invention can reduce the fatigue of the controller because the controller does not need to keep an eye on the surrounding maritime situation of the high speed vessel.

The present invention can display the super-high speed vessel trajectory and the predicted position so that the controller can easily grasp the controller can perform a more accurate control.

The present invention induces to perform a centralized control for this in consideration of the damage and the possibility of accidents caused by the accident of the ship.

1 is a block diagram of a high speed vessel tracking apparatus according to an embodiment of the present invention.
2 is a flow chart of the ultra-high speed vessel tracking method according to an embodiment of the present invention.

Hereinafter will be described in detail with reference to the accompanying drawings, a high speed vessel tracking device according to an embodiment of the present invention. 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. In addition, terms to be described later are terms defined in consideration of functions in the present invention, which may vary according to the intention or convention of a user or an operator. Therefore, the definitions of these terms should be made based on the contents throughout the specification.

1 is a block diagram of a high speed vessel tracking apparatus according to an embodiment of the present invention.

As shown in FIG. 1, the apparatus for tracking a high speed ship according to an embodiment of the present invention may include an automatic identification system (AIS) base station 10, an AIS message distributor 20, a high speed ship detector 30, and a tracking processor. 40, a fusion processor 50, and a control display processor 60.

The AIS base station 10 receives a plurality of AIS messages transmitted from the ship by installing a plurality of ports, books, etc., and transmits the received AIS messages to the AIS message distributor 20.

The AIS message includes identification information for identifying a ship, and the identification information includes a ship name, a ship type, location information, area information, and the like. Through this AIS message, it is possible to identify the corresponding ship in a specific position.

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

The high speed vessel detector 30 receives and analyzes the AIS message from the AIS message distributor 20 to determine whether the high speed vessel exists.

That is, when the AIS message is received, the high speed ship detector 30 determines whether there is a high speed ship by referring to the ship name, the ship type, and the like of the high speed ship in a lookup table that stores information on the previously stored high speed ship.

As a result of the determination, if it is determined that there is a high speed vessel, the tracking processor 40 performs the position tracking for the high speed vessel.

The tracking processor 40 selects the targets of the high speed vessels by applying the multiple filter model for position tracking to the targets of all the vessels.

First, the tracking processor 40 increases the range of the tracking area where the high speed vessel is detected, that is, the Validation Gate (VG), based on the location information and the area information of the AIS message. In this way, when the effective measurement area is set, the target of the ultra-high speed vessel is selected through the first filtering and the second filtering.

In the first filtering process, the ship's targets located in the effective measurement area are selected from the AIS message. That is, the position information of the target of the corresponding ship may be selected through the position information of the DGPS (Differential Global Positioning System) in the AIS message based on whether it is located in the effective measurement area.

As described above, after the first filtering, the course, the speed, the shape of the target, and the spatial information (greater than the water surface in the case of the wig) are extracted from the data on the ship's target remaining as a result of the first filtering. It is determined whether the data meets the pre-set vessel selection criteria.

The high speed vessel selection criteria are values that define a range that can be selected as a high speed vessel, and are set in each of the course, the speed, the target type, and the spatial information.

Accordingly, the tracking processor 40 compares each of the course, the speed, the target form, and the spatial information with each range defined in the ultrafast ship selection criteria, and when at least one of these data is included in the range, the target of the vessel Corresponds to the target that can be selected as the target of the high speed vessel.

In this case, there may be a plurality of targets of the vessel remaining as a result of the secondary filtering, and at least one of them may be selected as the target of the high speed vessel.

In this way, the remaining ship's target as a result of the secondary filtering changes the tracking algorithm to the acceleration processing model, and applies the multi-filter model by processing the motion model of the sea tracking algorithm as the acceleration model. Here, the Kalman filter or the like may be employed as the multiple filter model.

The Kalman filter improves on the problem of a single filter model where the performance of the target is significantly different when the target's motion is different from the designed motion model.It combines multiple filters to track the target by selecting an appropriate tracking model based on the target's motion. Done.

The Kalman filter analyzes the target information to find the movement characteristics of the target, and continuously estimates the subsequent movement state of the target from the movement characteristics. Such tracking is performed in real time through repetitive prediction and dynamic filtering techniques, and tracking errors can be minimized compared to tracking through radar.

Since the estimation process of the Kalman filter can be easily performed by those skilled in the art, the detailed description thereof is omitted here.

In this case, the most likely to be the target of the high speed vessel is selected as the target of the high speed vessel, and the tracking information is updated using the target of the high speed vessel. The tracking information includes the position information of the high speed vessel, the trajectory information, and the like.

In order to continuously detect and track the surface of a high speed vessel, a data combining filter is applied.

The secondary filtering is performed by selecting a target of a high speed vessel from among the targets in the effective measurement area, where the size of the effective measurement area is changed by the error covariance predicted by a tracking filter such as a Kalman filter. .

Accordingly, data combining is performed using the covariance information of the tracking filter, and the tracking information managed by the tracking filter is updated again by using the selected measurement result.

On the other hand, the tracking processor 40, after selecting the target of the ultra-high speed vessel, by applying a single filter model to the target of the remaining vessels other than the target of the high-speed vessel, the tracking calculation amount is reduced to reduce the load.

The fusion processor 50 fuses the target of the ultra-high speed vessel received from the tracking processor 40 through the ultra-high speed vessel detector 30 with another sensor, for example, a radar system, to control the tracking information of the ultra high speed vessel. To pass on.

In this case, the fusion processor 50 may transfer the location information of the high speed vessel by mapping it with the target ID of the high speed vessel.

In addition, when the tracking processor 40 does not normally receive the AIS message, the fusion processor 50 may receive and map the AIS message directly from the AIS message distributor 20, thereby generating location information of the high speed vessel.

The control display processor 60 displays the super high speed vessel, so that the controller can easily recognize the high speed vessel to differentiate the target of the high speed vessel from the rest of the vessel. In other words, the course and moving distance of the target of the high speed vessel and the surrounding vessels are differentiated so that the controller can recognize them immediately. In addition, it is also possible to display the estimated movement distance greatly increased compared to the existing estimated movement distance.

In addition, in case of danger of collision between the high speed ship and the adjacent ship, a warning broadcast message is transmitted to the high speed ship and the adjacent ship through the AIS system.

In addition, in this embodiment, the accuracy of the tracking information may be improved by adjusting the period of transmitting the AIS message in the high speed vessel.

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

2 is a flow chart of the ultra-high speed vessel 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 to the AIS message distributor 20.

When the AIS message distributor 20 receives an 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 high speed ship detector 30.

The ultra-high speed vessel detector 30 compares the vessel name, vessel type, etc. of the AIS message received from the AIS message distributor 20 with the vessel name, vessel type, etc. of the ultra-high speed vessel stored in the lookup table, and determines whether there is a vessel determined to be a high-speed vessel. (S30).

As a result of the determination, when the ultra high speed ship detector 30 determines that there is a high speed ship, the ultra high speed ship detector 30 transmits an AIS message including location information and area information to the tracking processor 40 (S40).

The tracking processor 40 sets an effective measurement area based on the location information and the area information received from the high speed ship detector 30 and selects the target of the high speed ship by applying a filter model (S50).

First of all, the first filtering process selects the objects located in the effective measurement area from the location information of the DPGS in the AIS message.

As a result of the first filtering, the second, which extracts the course, speed, object type, and spatial information from the remaining data, determines whether the data are suitable for the high speed vessel selection criteria, and selects the high speed data targets suitable for the high speed vessel selection criteria. Perform the filtering process.

As a result of the secondary filtering, the data combining filter is applied to the remaining ship's target to accurately select the target of the high speed vessel and update the tracking information (S60).

In other words, the secondary filtering is performed by selecting the target of the high speed vessel from among the targets in the effective measurement area, where the size of the effective measurement area is changed by the error covariance predicted by a tracking filter such as a Kalman filter. do. Accordingly, data combining is performed using the covariance information of the tracking filter, and the tracking information managed by the tracking filter is updated again by using the selected measurement result.

In this case, the highest probability of being the target of the high speed vessel is finally selected as the high speed vessel, and the tracking information is updated using the target of the high speed vessel.

After the tracking processor 40 selects the targets of the high speed vessel, the tracking processor 40 reduces the load by applying a single filter model to the targets of the remaining vessels except for the high speed vessel.

In this way, after finally determining the position of the ultra-high speed ship and updating the tracking information, the fusion processor 50 receives the target of the ultra-high speed ship received from the tracking processor 40 through the ultra high speed ship detector 30 as another sensor example. For example, by fusion with the radar system, and delivers the tracking information of the ultra-high speed ship to the control display processor 60.

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

In case of danger of collision between the high speed ship and the adjacent ship, a warning broadcast message is sent to the high speed ship and the adjacent ship through the AIS system (not shown).

In addition, in this embodiment, the accuracy of the tracking information may be improved by adjusting the period of transmitting the AIS message in the high speed vessel.

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: fusing processor 60: control display processor

Claims (1)

Determining whether a high speed vessel exists using an AIS message received from an Automatic Identification System (AIS) base station;
If the ultra-high speed ship exists, the ultra-high speed ship applies a multi-filter model, and applies a single filter model to the remaining ships, selecting and tracking a target;
Generating tracking information of a target corresponding to the selected high speed vessel; And
And displaying the tracking information of the target corresponding to the ultra-high speed vessel differently from the remaining targets.

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