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
M.Sc. Thesis
2022.02.16 15:06
Yeongmin Jo, "A Method for the Path Tracking of Surrounding Ships Using Multiple Sensors", M.Sc. Thesis, Seoul National University, 2022.02.25
조회 수 1082
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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. |
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| Publication Date | 2022-02-25 |
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