Real-time monitoring of ship s dynamic behavior characteristics by AIS

Transcription

1 J Kor Soc Fish Tech 44(3) DOI:103796/KSFT Real-time monitoring of ship s dynamic behavior characteristics by Dae-Jae LEE* Division of Marine Production System Management Pukyong National University Busan Korea This paper describes on the real-time tracking of ship s dynamic behavior by information in the coastal waters The data was received at a land station by using the antenna of receiver mounted on the rooftop of the laboratory Pukyong National University (PKNU) Busan Korea and stored as a NMEA format of serial output sentence of VDM( Data-Link Message) and displayed on the ENC(Electronic Navigational Chart) of a PC-based ECDIS In this study the receiver was mainly used to obtain the dynamic information that is necessary to evaluate and track the movement situation of training ship KAYA of PKNU in the coastal waters The change of position with time for the ship turning under the rudder angle of port 30 was correctly tracked with the turning circle of 940 m in diameter on the ENC of a PC-based ECDIS Then the dynamic information of the system was updated every 629 seconds under the turning situation for the speed of 109 knots and every 2165 seconds under the situation running at the speed of 1105 knots on the straight line route of 155 respectively In case of target tracking in the inshore zone behind large topographical obstructions such as mountain and apartment buildings the update rate of dynamic information was irregularly changed by the existence of land obstacles However the position tracking by information under the situation existing no sea obstructions was achieved in real or near real-time and the instant presentation of course alternations for the ship was correctly monitored by using a PC-based ECDIS From these results we concluded that the PC-based ECDIS technology and methodology combined with the information can be easily extended and applied to the surveillance and management for the fishing operation of fishing vessels in the coastal zone and in the EEZ fishing grounds Key words : Real-time tracking Ship s dynamic behavior ECDIS Update rate *Corresponding author: daejael@pknuackr Tel: Fax:

2 (automatic identification system) 150MHz (TDMA) 2 (CH87B: MHz CH88B: MHz) SOG( ) COG( ) gyro heading ROT( ) (Imazu et al 2003 Takeda 2004; Yamada et al 2005; U 2006) VTS CH70(156525MHz) DSC(digital selective calling ) ECDIS 2006; IMO 2004) ARPA (Shin et al 2006; Volker ( 1737 ) (FA 100 FURUNO) (AI3000 Euronav) data message interface NMEA0183 data format ( ) 6 MMSI( ) call sign VDM( Data Link Message) Fig ( )

3 GPS RADAR RTX board PC based ECDIS Fig 1 A real-time tracking system of ship s dynamic behavior that consist of four sub-systems of a PC-based ECDIS a radar system a GPS receiver and an receiver Fig 2 A real-time display for the dynamic behavior of the training ship KAYA (MMSI ) continuously tracked by and radar systems The radar information was acquired by using the radar system installed at the land station and simultaneously displayed with information on the ENC chart of a PC-based ECDIS RS232C protocol $AIVDM $AIVDO message ECDIS( PM3D) message UTC time tag message MMSI IMO GMT ROT status( ) message Fig 2 message update ( ) update rate( ) ECDIS ENC tracking ( ) SOG COG HDG( ) DGPS

4 gyro compass ROT sensor EEZ (MMSI ) transponder VDM message Fig 3 Fig update rate protocol $AIVDM message message decoding MMSI ECDIS ENC chart Fig 3 On- Line Off-Line DGPS 10m radar (pulse width) (beam width) 30 50m Fig 3 A tracking route continuously recorded the dynamic behavior of the ship using in the Suyeong Man Busan Diff of latitude(m) turning circle (dia 940m) ship s position(kaya) reference poing (35N 129E) Diff of logitude(m) Fig 4 A turning circle and running track of the ship continuously recorded by receiver The ship s track was displayed using the distance difference in latitude and longitude directions between the measured coordinates and the reference ones VTS COG SOG Fig 3 Port 30

5 (A) (B) (C) (D) (E) (F) Fig 5 The changes in position and heading of the ship continuously recorded by receiver Fig 4 Fig 4 ROT message HDG GPS ECDIS VDM gyro compass COG ENC Fig 5 Fig 5

6 (A) (B) Fig 6 VDM sentences (A) and the dynamic information (B) for the ship received by receiver (Lee et al 2007) Fig 4 35 N 129 E transponder update rate COG HDG SOG 114knots 111knots 105knots 102knots 106knots Fig 5 GPS (COG SOG) HDG(heading) ROT Fig 4 ( 30 ) 940m update rate Fig 5 GPS HDG ROT Fig 5 (A) N E (SOG) 112knots HDG 1130 COG 1090 HDG (B) (C) (D) (E) (F) (Lee et al 2007) $AIVDM sentence

7 Ship s heading(deg) Gyro heading COG(GPS) Running time(sec) Speed(knot) ship s speed Running time(sec) Fig 7 Relationship between heading(gyro compass) and COG(GPS) as a function of running time for the ship received by receiver Fig 8 The change in ship s speed as a function of running time for the ship received by receiver MMSI GMT heading SOG SOG Fig 6 Fig 6 240rpm 30 transponder Fig 6 $AIVDM sentence gyro heading HDG GPS heading COG target vector GPS COG SOG sleeping target active target symbol gyro compass (gyro converter) gyro compass Fig 7 Fig 7 0sec 480sec 1012sec 532sec HDG COG heading 5 ( )5 059 HDG COG heading 6 ( )9 207 HDG COG Class A IEC gyro compass (HDG) IEC61174 Annex E ECDIS 25mm active GPS SOG ECDIS ENC chart Fig 8 Fig 8 480sec 1012sec 99knots 117knots 18knots 14knots 33sec 1012sec 14knots

8 10sec Fig 9 Fig 10 Fig 9 ( ) 10 Fig 9 Fig 9 Fig 1086knots 30 Fig sec knots 2165sec GPS gyro compass 8 message (update rate) 14knots 10sec 14knots 33sec Fig 9 629sec 3sec 2165sec Update interval(sec) update interval turning circle : 1086kt/629 sec straight route : 1105kt/2165 sec Running speed(knot) Fig 9 Relationship between the update interval of dynamic information and the ship s speed for the turning test of the ship received by receiver under the situation without large topographical obstructions Update interval(sec) update interval turning circle : 868kt/4909 sec Running speed(knot) Fig 10 Relationship between the update interval of dynamic information and the ship s speed for the turning test of the ship received by receiver under the situation with large topographical obstructions

9 internet 2006) (Shin et al Fig 11 A example continuously tracked the dynamic behavior of the ship based on the information under the situation with large topographical obstructions sec message ( ) Fig knots 4909sec Fig 9 629sec 428sec Fig 11 Fig 11 VDM message COG SOG (45m ) 500 ( ) (2 ) class A COG SOG class A 6 EEZ 300GT

10 shadow zone GPS shadow zone 30 EEZ Class A Class B (message ID 6) EEZ knots 629sec 940m ECDIS ENC chart knots 2165sec 33sec 10sec gyro heading(hdg) GPS heading(cog) heading 5 ( )5 059 route HDG COG heading 6 ( )9 207 HDG COG 868knots) 491sec ( 428sec ECDIS ENC chart

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