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Abstract It is essential to find the state (position, velocity, and heading) of the surrounding ships to avoid the risk of collision during the operation of the ships. For this purpose, we need to recognize other ships with various sensors such as AIS (Automatic Identification System), RADAR (RAdio Detection And Ranging), and cameras, and track the route of other ships by using the data obtained from the sensors. Since each sensor has different characteristics such as detection range, period, and error, it is necessary to merge the data of each sensor to accurately track the ship's path. In this study, we proposed a method of performing fusion using multi-sensor data such as AIS, RADAR, and camera, and using this to accurately and stably track the path of a nearby ship. First, AIS and RADAR data were created virtually in consideration of the case where actual data could not be obtained. Next, after associating the real or virtual generated sensor data with a non-rigid PPM (Point Pattern Matching) method, an extended Kalman filter was applied to track the ship's path according to each sensor data. Finally, a sensor-level fusion method was applied to fuse the tracking results of each sensor data, and a covariance intersection method was applied as a distributed data fusion algorithm required for fusion. In order to confirm the effectiveness of the proposed method, the entire sensor fusion process and tracking process were performed by establishing a virtual simulation environment, and as a result, it was confirmed that the proposed method works properly.
Publication Date 2022-02-25

Yeongmin Jo, "A Method for the Path Tracking of Surrounding Ships Using Multiple Sensors", M.Sc. Thesis, Seoul National University, 2022.02.25

조영민, "다중 센서 융합을 이용한 주위 선박의 경로 추적 방법", 석사학위논문, 서울대학교, 2022.02.25


List of Articles
번호 분류 제목 Publication Date
23 Ph.D. Thesis Jisang Ha, "Optimal Arrangement Method of Equipment and Pipes in the Engine Room of a Ship", Ph.D. Thesis, Seoul National University, 2023.08.29 file 2023-08-29
22 M.Sc. Thesis Dong-Geun Jeong, "A Method for Hierarchical Route Planning of Small ships in Coastal Area Using Quadtree Chart", M.Sc. Thesis, Seoul National University, 2023.02.24 2023-02-24
21 M.Sc. Thesis Jeong-Ho Park, "A Method for Detection and Tracking of Maritime Obstacles Based on Multi-Video", M.Sc. Thesis, Seoul National University, 2023.02.24 file 2023-02-24
20 M.Sc. Thesis Hamin Song, "Optimization of Crew Manning Considering Operation Scenarios of a Naval Ship", M.Sc. Thesis, Seoul National University, 2023.02.24 file 2023-02-24
» M.Sc. Thesis Yeongmin Jo, "A Method for the Path Tracking of Surrounding Ships Using Multiple Sensors", M.Sc. Thesis, Seoul National University, 2022.02.25 file 2022-02-25
18 M.Sc. Thesis Won-Jae Lee, "Image-based Object Detection and Tracking Method for the Awareness around the Ship", M.Sc. Thesis, Seoul National University, 2021.02.26 file 2021-02-26
17 M.Sc. Thesis June-Beom Lee, "Development of Prediction Models of Ship Power and Ocean Environmental Data Based on Deep Learning", M.Sc. Thesis, Seoul National University, 2021.02.26 file 2021-02-26
16 Ph.D. Thesis Hye-Won Lee, "Wire Rope Contact Model and Crane Control Method for the Advanced Simulation and Automation of Block Erection", Ph.D. Thesis, Seoul National University, 2020.02.26 file 2020-02-26
15 Ph.D. Thesis Ki-Su Kim, "Assessment Method of the Fitness of Initial Arrangement Design of a Naval Ship", Ph.D. Thesis, Seoul National University, 2019.08.29 file 2019-08-29
14 M.Sc. Thesis Sung-Woo Park, "Data Mining Method for Offshore Structures based on Big Data Technology", M.Sc. Thesis, Seoul National University, 2019.02.26 file 2019-02-26
13 Ph.D. Thesis Luman Zhao, "Simulation Method to Support Autonomous Navigation and Installation Operation of an Offshore Support Vessel", Ph.D. Thesis, Seoul National University, 2019.02.26 file 2019-02-01
12 M.Sc. Thesis Joo-Pil Lee, "Design of Wreck Removal Considering Safety and Economy", M.Sc. Thesis, Seoul National University, 2019.02.26 file 2019-02-26
11 Ph.D. Thesis Seung-Ho Ham, "Integrated Simulation Method Based on Multibody Dynamics for Production Design Verification in Ships and Offshore Structures", Ph.D. Thesis, Seoul National University, 2018.08.29 file 2018-08-29
10 M.Sc. Thesis Sang-Hyun Lee, "Integrated Method for Layout Design of LNG FPSO Based on Optimization Technique and Expert System", M.Sc. Thesis, Seoul National University, 2018.02.26 file 2018-02-26
9 M.Sc. Thesis Seong-Hoon Kim, "A Study on the Method for the Estimation of Energy Efficiency Operational Indicator of a Ship Based on Technologies of Big Data and Deep Learning", M.Sc. Thesis, Seoul National University, 2018.02.26 file 2018-02-26
8 M.Sc. Thesis Sung-Min Lee, "A Study on the Method of Simultaneous Determination of Path and Speed for Ship Route Planning", M.Sc. Thesis, Seoul National University, 2017.08.25 file 2017-08-25
7 M.Sc. Thesis Sun-Kyung Jung, "Optimal Arrangement Method of a Naval Surface Ship Considering Stability, Operability, and Survivability", M.Sc. Thesis, Seoul National University, 2017.02.24 file 2017-02-24
6 M.Sc. Thesis Dong-Hoon Jeong, "A Method of Engagement Simulation of Engineering Level Considering the Detection and Maneuvering Performance", M.Sc. Thesis, Seoul National University, 2017.02.24 file 2017-02-24
5 M.Sc. Thesis Ju-Sung Kim, "Quasi-static Flooding Analysis Method of a Damaged Ship Considering Oil Spill and Cargo Load", M.Sc. Thesis, Seoul National University, 2017.02.24 file 2017-02-24
4 M.Sc. Thesis Sung-Kyoon Kim, "Optimal Layout Method of an Offshore Plant Topside Based on Expert System", M.Sc. Thesis, Seoul National University, 2016.02.26 file 2016-02-26
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