• Journal of the Korean Society of Fisheries and Ocean Technology
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• v.25 no.1
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• pp.1-5
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• 1989

A number of studies for the improvement of the accuracy of NNSS fix were carried out previously. But most studies were done when a ship was stationary at the fixed position. To investigate the accuracy of NNSS fix affected by the error of ship's speed and course when a ship was moving, the computer simulation was performed by each satellite, passing direction of satellite, and elevation angle. The obtained results are summarized as follows: 1. When elevation angle and passing direction of satellite were constant, there were little difference in the accuracy of NNSS fix from among those. 2. The accuracy of NNSS fox caused by the error of ship's speed was in proportion to the absolute value of it without regard to the magnitude of ship's speed, and it also became different according to the ship's course. 3. When the error of ship's speed was constant, the accuracy of the fixed position became different according to the passing direction of the satellite. 4. When the ship's course was south or north, the error of NNSS fix was greater than that of east or west, and the higher the elevation angle of the satellite, the greater the error of the NNSS fix.

• Proceedings of the KSRS Conference
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• 2004.10a
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• pp.144-147
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• 2004

Two different sensors (here, KOMPSAT and RADARSAT) are considered for ship detection, and are used to delineate the detection performance for their data. The experiments are set for coastal regions of Mokpo Port and Ulsan Port and field experiments on board pilot boat are conducted to collect in situ ship validation information such as ship type and length. This paper introduce mainly the experiment result of ship detection by both RADARSAT SAR imagery and landbased RADAR data, operated by the local Authority of South Korea, so called vessel traffic system (VTS) radar. Fine imagery of Ulsan Port was acquired on June 19, 2004 and in-situ data such as wind speed and direction, taking pictures of ships and natural features were obtained aboard a pilot ship. North winds, with a maximum speed of 3.1 m/s were recorded. Ship's position, size and shape and natural features of breakwaters, oil pipeline and alongside ship were compared using SAR and VTS. It is shown that KOMPSAT/EOC has a good performance in the detection of a moving ship at a speed of 7 kts or more an hour that ship and its wake can be imaged. The detection capability of RADARSAT doesn't matter how fast ship is running and depends on a ship itself, e.g. its material, length and type. Our results indicate that SAR can be applicable to automated ship detection for a VTS and SAR combination service.

• Journal of the Korea Institute of Military Science and Technology
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• v.9 no.3
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• pp.41-47
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• 2006

Naval combat system is total management system integrating a ship and several weapon system functions. For the mission of a ship, naval combat system manages features and constraints of each weapon system. Proper treats of each weapon system's conditions guarantee effective performances of naval combat system. In this paper, the relationship of anti-air weapon system's on board position and self-defence effectiveness against anti-surface missiles is studied

• Proceedings of the Korean Institute of Navigation and Port Research Conference
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• 2011.06a
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• pp.349-354
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• 2011

This paper addresses the trajectory tracking problem for ship berthing using sliding mode technique. With significant potential advantages: insensitivity to plant nonlinearities, parameter variations, remarkable stability and performance robustness with environmental disturbances, the multivariable sliding modes controller is proposed for solving trajectory tracking of ship in harbor area. In this study, the ship position and heading angle are simultaneously tracked to guarantees that the ship follows a given path (geometric task) with desired velocities (dynamic task). The stability of the proposed control law is proved based on Lyapunov theory. The proposed approach has been simulated on a computer model of a supply vessel with good results.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.23 no.11 s.170
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• pp.1982-1992
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• 1999

This paper presents a novel concept of cargo handling system adapted for a sea port subjected to severe time-varying tide. The proposed system can perform loading or unloading by using a sort of hydraulic elevator associated with real-time position control. In order to achieve a proof-of-concept, a small-sized laboratory model of the cargo handling system is designed and built. The model consists of three principal components container palette transfer (CPT) car, platform with lifting columns, and cargo ship. The platform activated by electro-rheological (ER) valve-cylinders is actively controlled to track the position of the cargo ship subjected to be varied due to the time-varying tide and wave motion. Following the derivation of the dynamic model for the platform and cargo ship motions, an appropriate control scheme is formulated and implemented. The location of the CPT car is sensed by a set of photoelectric switches and controlled via sequence controller. On the other hand, a sliding mode controller (SMC) is adopted as the position controller for the platform. Both simulated and measured control results are presented to demonstrate the effectiveness of the proposed cargo system.

• Special Issue of the Society of Naval Architects of Korea
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• 2008.09a
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• pp.68-75
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• 2008

This paper describes the design and implementation of a low cost inertial navigation system(INS) using an inertial measurement unit(IMU), a digital compass, GPS, and an embedded system. The system has been developed for a transporter that load and unload ship blocks in a shipbuilding yard. When the transporter would move from place to place, they would periodically pass under obstructions that would obscure the GPS signal. This increases the error when estimating the position. Thus the INS has been used to improve position accuracy. INS is also capable of providing continuous estimates of the transporter's position and orientation. Even though IMU is typically very expensive, this INS is made of "low cost" components and the indirect Kalman filtering algorithm.

• Journal of the Korean Society for Marine Environment & Energy
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• v.8 no.1
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• pp.17-22
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• 2005

The movement of drifting ships on the sea is closely related to marine environmental forces such as waves, currents, winds, etc. To develop a prediction model for trajectories oi drifting ships, an experiment on the movement of drifting ships was carried out in the Southeastern Sea of Korea. Five types of ships including a lire raft and tour ships with G/T 10tons, G/T 2o tons, G/T 50 tons, and G/T 80 tons, were considered in the experiment. The G/T 50 ton class ship was used as a base ship for obtaining the currents, winds and heading angles of ship following the trajectory. The trajectory of each ship was measured by DGPS(Differential Global Positioning System) and collected using APRS(Automatic Position Reporting System) installed on the base ship. The error range in position fix of DGPS are approximately ±1 m. The drift speed of ship in the experiment was between 3％ to 5％ of wind speed and drift direction of ship was deflected by ±90° from wind direction. Also, the heading of drifting ship was normal to wind direction.

• Journal of the Korean Society of Marine Environment & Safety
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• v.27 no.1
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• pp.38-46
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• 2021

In the era of the 4th Industrial Revolution, the interest in autonomous ship technology is increasing as high-tech technologies are being increasingly utilized throughout the industry. Therefore, we conducted a basic study on autonomous ships. In particular, a passenger ship model was produced and an autonomous navigation system was established by applying the ardupilot used for drones. The possibility of automatic control of the autonomous ship operations was confirmed by executing various voyage plans using the built model ship. In the performance test for maintaining the course the model ship could not follow the designated course straight and sailed up to 5.4 m away from the course while navigating in a zigzag (S-shape); however, after the parameters were modified, the deviation distance was reduced to a maximum of 1.8 m. In the turning performance test, the maximum diameter of the turning sphere was found to be approximately 9.3 m, but no significant change could be confirmed even after the parameters were modified. However, the results of our tests on slowing down the ship before arriving at the WP confirmed that the diameter of the turning sphere was reduced to a maximum of approximately 3.2 m. In order to evaluate the stopping performance, the last scheduled stopping position of all experiments was compared with the actual stopping position of the model ship and it was confirmed that the model ship stopped at a point at least 0.4 m and a maximum of 6.2 m away from the stopping position. In the future, improvement of course stability, turning performance, and stopping performance is required through modification and supplementation of various parameters. Moreover, a study on automatic berthing of the model ship through automatic control is planned.

• Journal of the Korean Society of Fisheries and Ocean Technology
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• v.58 no.3
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• pp.230-240
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• 2022

In general, a high tension on the anchor and chain is placed when a ship at anchor is subjected to heavy weather. Mariners have to pay attention to whether dragging anchor occurs to keep the safety of the ship at anchorage since it is difficult to maintain the stable motion of ship and it causes collisions with other ships nearby. In this paper, the ship motion against the external forces was shown to obtain the fundamental data about characteristic of holding power due to nature of seabed at anchor, so practical trials were carried out in rocky area and muddy area using a trial ship around coastal area of South Korea. In muddy seabed, holding power showed reasonable tension values depending on the distance from anchor position of continuing swing motions of a ship corresponding to wind force. Meanwhile in rocky seabed, tension values on the chain appeared very high occasionally regardless of the distance from the anchor position and seemed to exceed its holding power to be the breaking strain of the chain although weather was not in a severe condition. Therefore, some of the cables laid on the seabed were presumed to be caught in a crack on the rock. It is assumed that even a small amount of external force may cause the chain to break in a moment in rocky seabed. Additionally, wind and current forces had a somewhat contradictory effect on holding power of the ship between them.

• KSII Transactions on Internet and Information Systems (TIIS)
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• v.14 no.8
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• pp.3350-3365
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• 2020

A considerable literature has recently grown up on the theme of ship wireless communications. However, much of the research up to now has been descriptive in the offshore area. There has been little quantitative analysis of wireless communication in inland waterways, which has received considerable attention lately. Until now, only the effects on inland river environment are examined. What is less clear is the nature of channel change caused by the antenna movement. Here we explore the moving ship-to-fixed-ship fading characteristics at 5.9 GHz for an inland waterway in the city center of China. The ship motion trajectory is designed in order to determine the effect of changes in the antenna position. We evaluate the channel fading characteristics of inland waterway, which are highly correlated with the distance between transmitter and receiver. We demonstrate that the line-of-sight component, as well as the components from multipath with obstruction reflections, contributes largely to the mean power gap. Our findings reveal critical ship-to-ship characteristics in inland waterway, which definitely contribute to the field of ship wireless communications.