• Proceedings of the Korean Institute of Navigation and Port Research Conference
• /
• 2004.08a
• /
• pp.45-53
• /
• 2004

In this paper, an INS compensation algorithm for auto sailing system is proposed, where low cost IMU (Inertial Measurement Unit) is used for measuring the accelerometer data. First, we denote the basic INS algorithm with IMU and show that how to compensate the error of position by using low cost IMU. Second, in considering the ship's characteristic and ocean environments, we consider with a factor as a periodic external disturbance which effects to the exact position. To develop the compensation algorithm, we use a repetitive method to reduce the external environment changes. Lastly, we verify the proposed algorithm by using experiments results.

• Journal of Hydrospace Technology
• /
• v.1 no.1
• /
• pp.75-88
• /
• 1995

Auto-Pilot System uses heading angle information via the position sensor and the rudder device to control the ship's direction. Most of the control logics are composed of the state estimation and control algorithms assuming that the measurement device and the actuator have no fault except the measurement noise. But such asumptions could bring the danger in real situation. For example, if the heading angle measuring device is out of order the control action based on those false position information could bring serious safety problem. In this study, the control system including improved method for processing the position information is applied to the Auto-Pilot System. To show the difference between general state estimator and F.D.F., BJDFs for the sensor and the actuator failure detection are designed and the performance are tested. And it is shown that bias error in sensor could be detected by state-augmented estimator. So the residual confined in the 2-dimension in the presence of the sensor failure could be unidirectional in output space and bias sensor error is much easier to be detected.

• Journal of Sensor Science and Technology
• /
• v.32 no.5
• /
• pp.300-306
• /
• 2023

A hull-cleaning robot sticks to the surface of a vessel and moves for efficient cleaning. Precise path planning and tracking using the current position is crucial. Many robots rely on the INS algorithm, but errors accumulate. To fix this, GPS, sonar, and USBL are used, though with limitations. Selecting suitable sensors for the surface operation and accurate positioning algorithm are vital. In this study, we developed a robot position estimation algorithm using the structure of a ship. Problems that arise when expanding the 2D position estimation algorithm used in existing wall structures to 3D were evaluated and methods for solving them were proposed. In addition, we aimed to improve performance by deriving singularities that exist in the robot path and proposing an error correction algorithm based on the singularities.

• Journal of Navigation and Port Research
• /
• v.44 no.4
• /
• pp.275-282
• /
• 2020

Recently, the occurrence of a ship capsizing was analyzed as the main cause of the lack of stability or loss because of the improper management of the center of gravity, the movement of cargo or heavy weight when excessive steering occurs or when navigating during bad weather. Thus, to prevent a ship from capsizing, it is necessary to secure stability to enable the ship's return to its upright position, even if a dangerous heel occurs. The GM is a crucial evaluation factor regarding stability, which the navigation officer uses to preserve stability. In this study, based on the stability data collected from the operating of ships for five years, The GM by ship's type according to the operating status was analyzed specifically such as a ship's length, breadth, and gross tonnage. The feature of the GM distribution according to a ship's length was confirmed, and after performing the correlation analysis between the breadth and the GM, the ratio of the GM to breadth was calculated, and the result was compared with the previous ratio. Additionally, a simple approximation formula and minimum GM for the estimation of the GM by ship type were proposed by the regression analysis of the GM using the gross tonnage (GT)/breadth (B) to reflect the trend of larger ships being built. The results of this study are expected to be used as data for the review of securing a stable GM on ships.

• Journal of the Korean Society of Marine Environment & Safety
• /
• v.26 no.7
• /
• pp.830-837
• /
• 2020

With the rapid development of information and communication technology, information exchange between ships and shore has become faster and more convenient, However, accessing ship information has also become easier and concerns about cyber security attacks are growing. When a ship suffers a cyber-attack, it may cause considerable damage and incurs enormous costs and time to repair. In response to this threat, the maritime industry now demands that a cyber security officer be assigned to each ship to take charge of cyber security management onboard. In order to reduce the damage cause by an attack and to respond effectively, a specialized training course for the ship's cyber security officer is required. The purpose of this study was to present a training course for the position of the ship's cyber security officer, and to highlight the necessity of amending current legislation, To this end, domestic and foreign trends, ship cyber security incident cases, and cyber security training courses were investigated, and based on the results a standard training course for a ship's cyber security of icer was developed. Additionally, recommendations on the related amendments to legislation ware established. The results of the study can be used as basic data to establish future training courses for cyber security officers.

• Journal of Ocean Engineering and Technology
• /
• v.21 no.4
• /
• pp.45-54
• /
• 2007

In the context of auto-landing containers from a container ship to a truck or automatic guided vehicle and vice versa, this research investigates three schemes, one in Part I and two in Part II, for measuring the absolute position of a container. Coordinate transformations between the reference-coordinate, sensor-coordinate, and body-coordinate systems are briefly discussed. The scheme explored in Part I aims the use of three laser-slit sensors, which are relatively inexpensive. In this case, nine nonlinear equations are formulated for six unknown variables (three for orientation and three for position), so a closed-form solution is not available. Instead, an approximate solution through linearization was derived. An advantage of the method in Part I is its ability to measure an absolute position in 3D space, while a disadvantage is the computation time required to obtain pseudo-inverses and the approximate nature of the obtained solution. Numerical examples are provided.

• Proceedings of the Korean Institute of Navigation and Port Research Conference
• /
• 2015.10a
• /
• pp.53-54
• /
• 2015

The maritime industry is expanding at an alarming rate and as such there is a perpetual need to improve situation awareness in the maritime environment using new and emerging technology. Tracking is one of the numerous ways of enhancing situation awareness by providing information that may be useful to the operator. The tracking system described herein comprises determining existing states of own ship, state prediction and state compensation caused by random noise. The purpose of this paper is to analyze the process of tracking and develop a tracking algorithm by using ${\alpha}-{\beta}-{\gamma}$ tracking filter under a random noise or irregular motion for use in a warship. The algorithm involves initializing the input parameters of position, velocity and course. The actual positions are then computed for each time interval. In addition, a weighted difference of the observed and predicted position at the nth observation is added to the predicted position to obtain the smoothed position. This estimation is subsequently employed to determine the predicted position at (n+1). The smoothed values, predicted values and the observed values are used to compute the twice distance root mean square (2drms) error as a measure of accuracy of the tracking module.

• Bulletin of the Society of Naval Architects of Korea
• /
• v.8 no.2
• /
• pp.35-44
• /
• 1971

In terms of this paper, concerning primarily with the U-tube tank stabilizer, the authors' aim is to clarify and consolidate the theory as it has been developed thus far, and to provide with the certain additions which will make it more complete, more accurate, and more practical. And then we can know that the effect of the vertical tank position from the C.G., $a_{st}=1-w^2/{w^2}_{st}$, is very important, on account for the fact that the position factor, $a_{st}$, increase when the anti-rolling tank attaches to higher position vertically, but $a_{st}$ does not increase in proportion to the distance of the tank position. Measuring many characteristic coefficients by experiment, in the equation of the ship-tank system motion, such as the inertia coefficient, the damping coefficient, the natural frequency and so on, they can also give a guess that the higher position will accompany the non-linear motion of the tank water, but the non-linear effect will decrease the tank ability. In this study, they deal with not only the optimum damping coefficient of tank, which has very simply been expressed by the strength ratio, $\lambda$, but also the effect of the tank top, which has experimentally been treated when the water has hit the tank top. As this result, we can immediately find that the ability of the anti-rolling tank decrease at w/ws=0.9 generally low frequency.

• Journal of the Korean Society for Marine Environment & Energy
• /
• v.17 no.4
• /
• pp.297-305
• /
• 2014

In this study, we installed the Automatic Identification System (AIS) receiver on the Ieodo Ocean Research Station (IORS) from November 21 to 30, 2013 in order to monitor marine traffic and fishery activity in the jurisdictional sea area. The collected AIS raw data consist of static data report (MMSI, IMO NO., Call Sign, Ship Name, etc.) and position information report (position, speed, course, etc.), and the developed program was applied to classify ships according to ship flag and type information. The nationalities are released from the first three-digit numbers (MID) of MMSI, but in general most of small ships do not send an exact ship flag through Class B type AIS, a simplified and low-power equipment. From AIS data with flag information, ships under the flag of China had the highest frequency and the second was Korean flag, while in ship type cargo and fishing vessels were dominant in sequence. As for the ships without flag information, we compared the tracks with others in order to estimate ship flags. It can be said that fleets of ships with Chinese frequently appear sail together for fisheries over the waters, because the unknown ships followed a similar moving pattern with Chinese fishing vessels.

• Journal of the Korean Society of Marine Environment & Safety
• /
• v.26 no.6
• /
• pp.587-593
• /
• 2020

The securing safety of ferry ships on the domestic coast is evaluated by comparing the external force applied and the securing device based on the cargo weight and hull acceleration that can exist at the loaded position. The hull acceleration based on the domestic standard, which is the basis for securing safety evaluation, is applied without reflecting the characteristics of the ship and the sailing conditions. In this study, a total of 12 acceleration measurements were performed at four points of the hull of a ship with a DWT 6,800 ton class 15.5 knots passing through Busan-Jeju to analyze the hull acceleration of the domestic coastal ferry ship. Data were collected for the buoy. For a theoretical comparative analysis of the limited measurement results, the response amplitude operator (RAO) was analyzed through frequency-response analysis by numerical simulation, and acceleration analysis for the four points was performed using the RAO results. Based on the acceleration comparison, differences in the degree of each position were observed, but in the case of the Y-axis acceleration, the analysis was 1.81 m/s², and the measurement was 1.47 m/s². The analyzed simulation result was as high as 0.34 m/s². Moreover, analysis was performed at 22 % level, and measurement at 18 % level.