automatic identification of arpa radar tracking vessels...
TRANSCRIPT
J. Kor. Soc. Fish. Tech., 45(3), 177 187, 2009
DOI:10.3796/KSFT.2009.45.3.177
Automatic identification of ARPA radar tracking vesselsby CCTV camera system
Dae-Jae LEE*
Division of Marine Production System Management, Pukyong National University, Busan 608-737, Korea
This paper describes a automatic video surveillance system(AVSS) with long range and 360 coverage that is
automatically rotated in an elevation over azimuth mode in response to the TTM(tracked target message) signal
of vessels tracked by ARPA(automatic radar plotting aids) radar. This AVSS that is a video security and tracking
system supported by ARPA radar, CCTV(closed-circuit television) camera system and other sensors to
automatically identify and track, detect the potential dangerous situations such as collision accidents at sea and
berthing/deberthing accidents in harbor, can be used in monitoring the illegal fishing vessels in inshore and
offshore fishing ground, and in more improving the security and safety of domestic fishing vessels in
EEZ(exclusive economic zone) area. The movement of the target vessel chosen by the ARPA radar operator in
the AVSS can be automatically tracked by a CCTV camera system interfaced to the ECDIS(electronic chart
display and information system) with the special functions such as graphic presentation of CCTV image, camera
position, camera azimuth and angle of view on the ENC, automatic and manual controls of pan and tilt angles for
CCTV system, and the capability that can replay and record continuously all information of a selected target.
The test results showed that the AVSS developed experimentally in this study can be used as an extra navigation
aid for the operator on the bridge under the confusing traffic situations, to improve the detection efficiency of
small targets in sea clutter, to enhance greatly an operator s ability to identify visually vessels tracked by ARPA
radar and to provide a recorded history for reference or evidentiary purposes in EEZ area.
Key words : Automatic video surveillance system(AVSS), ARPA radar, TTM signal, CCTV camera system,Vessel identification
*Corresponding author: [email protected], Tel: 82-51-629-5889, Fax: 82-51-629-5885
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. (
) , , , ,
, 6
,
( )
. ,
.
, ,
.
EEZ
,
. ,
EEZ
EEZ
. ,
EEZ
.
EEZ
. ,
(GPS)
,
(IALA, 2002;
Transas, 2004; HauteSea, 2009; Honeyweel, 2009;
Kitade et al., 2009; VisSim, 2009).
ARPA
CCTV
TTM(tracked
target message) CCTV
, ,
CCTV
,
,
.
CCTV
ARPA
Fig. 1 . Fig. 1 CCTV
pan/tilt
transmitter(YTC 200PC, ( ) )
PC based image tracker
window
, . ,
Fig. 1 pan/tilt transmitter
,
. ,
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, preset CCTV
.
, Fig. 1 PC based image tracker
ARPA radar(JMA 9923
9XA, JRC) TTM
,
,
. , TTM
preset
pan/tilt transmitter preset
.
pan/tilt transmitter PC-based image tracker
CCTV
RS485
CCTV
.
RS232/RS422
2
. ,
RS232/485
, CCTV
pan/tilt pan/tilt receiver
.
Fig. 1 pan/tilt driver hall sensor
3 phase BLDC(brushless DC) motor
pan/tilt
driver
receiver module CCTV
, RS485 interface
. , transmitter
(YTX-200PC-3, ( ) ) RS-422/485
interface , , pan/tilt
, , zoom
CCTV ARPA
Fig. 1. Automatic video surveillance system(AVSS) that is automatically tracked the selected target vessels in response tothe TTM signal of vessels derived from ARPA radar. The ARPA target chosen by designating a target ID of TTMsentence is visually identified by CCTV camera system in real time. The bearing of radar target being trackedcontinuously by CCTV camera system is simultaneously displayed on the ENC of ECDIS with a radar overlay.
$RATTM, 08 , 7.967 , 021.75 , T, 12.50, 022.20, T, 5.811, -72.31, N, *4F
$HEHDT, 21.75 , T*hh
X-band RADAR CCTV cameraDGPS
Gyrocompass
RTXboard
(25KW, 9FT)
PT driver
PT controller DVR PCECDIS
DVRboard
Targettracker
Imagemonitor
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joystick . , pan/tilt
driver BLDC
24VDC, pan, tilt
100W, 0.1 100
/sec, 0.1 25 /sec,
360 endless , pan, tilt, zoom, focus
RS-485 ,
30kg . driver
speed BLDC
1
, CCTV pan/tilt
receiver
.
, ARPA TTM
CCTV
PC image tracker window
Fig. 2 . Fig. 2 ARPA
(tracking cursor)
(acquisition) ,
ARPA
,
TTM protocol
. TTM
sentence NMEA 0183 protocol ECDIS
(FEA2807, JRC) PC-based image tracker
, ECDIS ARPA signal
processor
(ENC) .
, PC-based image tracker
TTM , CCTV
, CCTV
CCD(charge coupled
device, )
. , CCTV
pan/tilt driver, ARPA radar, ECDIS
COM port ,
TTM sentence
window ARPA
.
, PC-based image tracker CCTV
, ,
CCTV
( )
RS485 protocol .
pan/tilt driver CCTV
CCD
. ,
30
harddisk .
image tracker CCTV
zoom focus
Fig. 2. Flow chart showing the CCTV tracking andidentification process of the selected target vessels inresponse to the TTM signal of vessels derived fromARPA radar.
START
Trackingmode
selection
targetselection
Abs. PZTcoordinatesconversion
Display image& bearing line
on ECDIS
Radaroverlay
on ECDIS
Datasaving
END
YES
(A)
(A) (B)
(B)
NO
trackcontinue
Pan/Tiltdrivercontrol
CCTVcoordinates
display
HDTdata output
CCTVbearing
correction
COM portsetting
TTMdata input
Target No.extraction
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CCTV
CCD NMEA0183
HDT protocol .
, ECDIS
ARPA
CCTV , ECDIS
.
,
image tracker
, ,
. ,
PC-based image tracker
,
.
, ARPA
target tracker window
panning, tilting, zooming
CCTV
pan/tilt driver CCTV
receiver panning , tilting
zooming , 3
RS485 host PC
, tag
harddisk .
ARPA
TTM sentence
CCTV
,
CCTV
. , CCTV
gyro compass ,
BLDC
pan/tilt driver CCTV
. ,
BLDC hall sensor
,
ARPA
.
CCTV ARPA
ARPA CCTV
CCTV
ARPA
CCTV
CCTV
(31 zoom lens 1/2 inch, focal length
10 310mm, Coyal)
( )
CCD
.
360 endless
pan, tilt, zoom, focus
receiver pan/tilt driver(SPT-
7080, ( ) ) .
,
pan/tilt driver ,
driver
CCTV ARPA
.
CCTV pan/tilt driver
gyro compass
(RGC 50, Simrad)
CCTV ARPA
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ECDIS ENC , ,
pan/tilt driver
gyro compass CCTV
CCD
offset ,
software layout Fig. 3
. Fig. 3 , CCTV
CCTV
pan/tilt
0
. gyro compass
, DVR(digital
video recorder) 2
image tracker window offset
CCTV
gyro compass
CCTV
CCTV .
ARPA radar TTM
sentence
CCTV
protocol , RS 485
pan/tilt driver CCTV
camera
.
ARPA TTM CCTV
, pan/tilt driver
,
. pan/tilt driver
BLDC
pan/tilt speed ,
CCTV
BLDC
. , TTM
, image tracker window
,
CCTV
, , CCTV
CCTV
CW
, CCW CCTV driver
. ARPA
TTM sentence
,
CCTV
. , CCTV
driver (pan angle) (tilt
angle) zoom focus
RS 485
image tracker
window CCTV
.
,
zoom , focus
Fig. 3. A control window of image tracker showing thetrue bearing offset of CCTV camera system and the real-time monitoring of PZT(panning, tilting, zooming) andcamera control parameters.
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image tracker window
zoom focus
.
,
CCTV
, CCTV ,
, zoom
focus
.
ARPA
ARPA
monitoring
window layout Fig. 4 . Fig. 4
ARPA
ARPA TTM
CCTV TTM
HDT
, , CCTV
.
ARPA
TTM ($RATTM sentence) ,
CCTV ,
TTM Fig. 3
PZT
CCTV
. , Fig. 4 HDT
ARPA CCTV
,
CCTV
,
CCTV
.
Fig. 4 ARPA
, talker device identifier, talker device
type, talker device sentence data format
window , ,
talker device sentence CCTV
target
number, target
distance( ), target
( ) . , ARPA
, Fig. 4
image tracker window
,
,
CCTV ARPA
. , RS
485 CCTV
pan/tilt driver ARPA
CCTV
. CCTV
CCTV
zoom , focus
CCTV receiver image tracker
PC , CCTV
RS232C
ECDIS .
, talker device identifier HE ,
talker device type HDT CCTV
( ) $HEHDT,
071.85, T*hh[CR][LF] data format
. , TTM protocol CCTV
071.85 . ,
ECDIS CCTV
ENC
ENC overlay ARPA
CCTV ARPA
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CCTV
. , ARPA
CCTV
.
, Fig. 4 ARPA
time tag ,
CCTV
ARPA ,
,
. ARPA
TTM sentence image
tracker ARPA
tracker window
. CCTV
image tracker PC
RS485 protocol 9600 baud rate
, image tracker PC ARPA
ECDIS RS232C protocol
4800 baud rate
, baud rate
.
, Fig. 4 ARPA
RA radar/ARPA radar
, TTM
Fig. 4. A monitoring window of image tracker that is automatically being tracked the selected target vessel(No. 13) inresponse to the TTM signal($RATTM) of vessel information receiving from ARPA radar. The bearing signal($HEHDT)of vessel being tracked continuously by CCTV camera system is simultaneously being transmitted to the ECDIS in real-time.
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, ASCII
format TTM sentence
, carriage return line feed
.
VTS
ARPA , ECDIS, DGPS, gyrocompass
, gyro compass
VTS heading
1 HDT , tracker
CCTV
2 HDT ECDIS ENC
.
CCTV ARPA
ARPA
Fig. 5 . Fig. 5 ARPA
ARPA
TTM sentence image tracker PC ,
TTM sentence ,
CCTV
.
CCTV ARPA
Fig. 5. An example of the monitoring results for the entering vessel tracked by the AVSS in the Busan northern harbor,Korea. The bearing of radar target being tracked continuously by CCTV camera system is simultaneously displayed onthe electronic chart of ECDIS with a radar overlay.
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, Fig. 5 ECDIS
NMEA
combiner (ZNC-580, Zinnos) DGPS
(GP37, Furuno), ARPA image tracker
PC NMEA0183
COM port
, ,
. Fig. 5 ARPA
DGPS ARPA
site(35 06 .827N, 129
05 .295E) 169.4 , 1.47
(35 05 .379N, 129 05 .612E)
308.8 , 9.5 knot ,
ARPA 01
. ARPA TTM
protocol , ECDIS
CCTV image tracker PC , ,
ECDIS ENC ARPA target symbol
vector
, CCTV image tracker PC
TTM sentence Fig. 4
window
.
, Fig. 4 01
, CCTV image tracker PC RS485
CCTV
pan/tilt driver
, BLDC
pan/tilt driver
. pan/tilt driver
pan/tilt receiver pan/tilt
driver image
tracker PC ,
, Fig. 5
, CCTV
169.4 . CCTV $HEHDT
protocol NMEA combiner
ECDIS , ENC
CCTV , Fig. 5
tracking target
CCTV CCD .
Fig. 5 CCTV
CCD ARPA
ARPA
. ,
Fig. 5 CCTV ENC
,
, CCTV
.
(A 2313, )
(3M1031AP, Coyal)
. CCTV
,
ARPA radar TTM
sentence
, ,
, CCTV
.
,
. , ,
,
, ,
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CCTV
,
. , ARPA
CCTV
AIS
ECDIS ENC
.
ARPA
ARPA
, ECDIS CCTV
,
.
ARPA CCTV
TTM CCTV
CCTV
,
. ,
, ARPA TTM
CCTV
, CCTV
ECDIS ENC
.
ARPA
. ,
,
.
HauteSea, 2009. Coastal and offshore surveillance
brochure. 1 3
Honeyweel, 2009. Radar video surveillance(RVS)
brochure. 1 4.
IALA, 2002. Vessel traffic services manual. 1 134.
Kitade, T. and Y. Isamu, 2009. Harbor surveillance
radar/camera system. Private communication, 1 6.
Transas Ltd., 2004. Navi-harbour VTS operator manual.
1 84.
VisSim AS, 2009. CCTV2000 brochure. 1 2.
CCTV ARPA
2009 7 162009 8 9 12009 8 11
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