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J. Kor. Soc. Fish. Tech., 45(3), 165 176, 2009
DOI:10.3796/KSFT.2009.45.3.165
Real-time monitoring of berthing/deberthing operations process
for entering/leaving vessels using VTS system in Busan
northern harbor, Korea
Dae-Jae LEE*
Division of Marine Production System Management, Pukyong National University, Busan 608-737, Korea
The process of berthing/deberthing operations for entering/leaving vessels in Busan northern harbor was
analyzed and evaluated by using an integrated VTS(vessel traffic service) system installed in the ship training
center of Pukyong National University, Busan, Korea. The integrated VTS system used in this study was
consisted of ARPA radar, ECDIS(electronic chart display and information system), backup(recording) system,
CCTV(closed-circuit television) camera system, gyro-compass, differential GPS receiver, anemometer,
AIS(automatic identification system), VHF(very high frequency) communication system, etc. The network of
these systems was designed to communicate with each other automatically and to exchange the critical
information about the course, speed, position and intended routes of other traffic vessels in the navigational
channel and Busan northern harbor. To evaluate quantitatively the overall dynamic situation such as
maneuvering motions for target vessel and its tugboats while in transit to and from the berth structure inside a
harbor, all traffic information in Busan northern harbor was automatically acquired, displayed, evaluated and
recorded. The results obtained in this study suggest that the real-time tracking information of traffic vessels
acquired by using an integrated VTS system can be used as a useful reference data in evaluating and analyzing
exactly the dynamic situation such as the collision between ship and berth structure, in the process of
berthing/deberthing operations for entering/leaving vessels in the confined waters and harbor.
Key words : Berthing/deberthing operations, VTS system, Busan northern harbor, Real-time tracking
*Corresponding author: [email protected], Tel: 82-51-629-5889, Fax:82-51-629-5885
VTS(vessel traffic service)
. VTS
, AIS , , VHF
, CCTV
,
, ,
. ,
, ( )
,
,
.
VTS
, ,
,
, ,
, HarborGuard(L 3 communications,
2008) .
,
.
, , ,
.
,
. ,
.
,
,
(Thoresen,
2002; Oda et al., 2004; Yang et al., 2004; Yoon et
al., 2007; Kitade et al., 2009).
VTS
,
.
(35 06 .827N, 129
05 .295E) ,
( )
, .
VTS
ECDIS(JAN 901M, JRC FEA 2807,
Furuno), ARPA (JMA 9923, JRC; FAR
2827, Furuno), AIS(AI3000, Euronav), CCTV
(closed-circuit television), gyro compass(GRC 50,
Simrad), , DGPS (GP37, Furuno),
VDR(Model3000, Transas), VHF
,
Fig. 1 ,
backup (PM3D,
) .
ARPA
,
,
X band ARPA
, , ARPA
2 backup
. backup
(radar target extractor(RTX))
12
bit, 40 MHz
echo memory map ,
.
ARPA
25 kW , Furuno ,
,
0.95 , 20 , 24rpm , JRC
0.8 , 20 , 26rpm .
AIS
,
,
AIS
ARPA
, .
AIS , , RS232C protocol
$AIVDM $AIVDO sentence ECDIS ENC
chart
sentence .
sentence MMSI( ) ,
IMO , , , , ,
, ,
, GMT, , ,
, (ROT), status
, , , , ,
,
, , , ,
.
CCTV
0.0007lux
(SDN 550, )
12mm 660mm
(H55ZME F, PENTAX) CCTV
,
CCTV ,
,
VTS
Fig. 1. Schematic configuration of a Vessel TrafficService(VTS) system for the real-time monitoring ofberthing/deberthing operations process to entering/leaving vessels in Busan northern harbor, Korea. TheVTS system used in this study is a fully integrated coastalsurveillance system consisting of ARPA radar system,PC-based ECDIS, DGPS receiver, CCTV camera system,Gyrocompass, and AIS system.
X-band RADAR
RTXboard
Gyrocompass
DVRboard
DVRPC
ECDIS
DGPS
(25KW, 9FT)
AIS CCTV camera
. ,
CCTV
.
ARPA
AIS
ECDIS ENC
. ,
backup
ARPA $RATTM sentence AIS
$AIVDM sentence ,
, CCTV
pan/tilt driver controller(KBD3000A,
Pelco) CCTV
, ,
.
backup ECDIS
ENC ARPA , AIS
ECDIS
DVR harddisk
. ,
ECDIS
ARPA , AIS, CCTV
.
, , , ,
,
.
VTS ECDIS ENC
ARPA AIS
VHF
,
.
,
,
,
( )
.
,
,
Fig. 2. An example of real-time monitoring of theberthing/deberthing situation for entering/leaving vesselsin Busan northern harbor, Korea. The trackedinformation of AIS targets including two tugboats isdisplayed on the ENC of a PC-based ECDIS with ARPAradar image and CCTV camera image. This ECDISinformation is used to evaluate the change in themovement of all selected vessels.
,
.
VTS
,
( )
(MMSI 209109000) ARPA ,
AIS, CCTV
,
Fig. 2 . Fig. 2
(MMSI440080000)
(MMSI
440110920), ,
(MMSI 440103640)
AIS .
ARPA
AIS
ECDIS
. Fig. 2 ARPA
AIS
, , MMSI, , IMO ,
call sign, , , COG, SOG, HDG,
CPA, TCPA ENC
,
CCTV
ENC .
, Fig. 2 ARPA
, AIS CCTV
(UTC)
time tag harddisk ,
. AIS
,
, (
), ( )
. , Fig. 2
,
AIS , COG, SOG
.
AIS
, ,
Fig. 2
AIS image
CCTV
.
VTS
Fig. 3. (A) Real-time monitoring of berthing operationprocess for the entering vessel(MMSI209109000) beingapproached toward the pier to be berthed along theentering waterway. (B) Running routes of leavingvessel(MMSI440080000) and two tugboats(MMSI440110920/440103640) in Busan northern harbor, Korea.
, VTS
ARPA radar, AIS, VHF
,
. ,
(false echo)
ARPA radar
AIS
VHF
. , Fig. 2
,
.
AIS
, Fig. 3 .
Fig. 3(A) Fig. 2 (MMSI
209109000)
,
, Fig. 3(B)
(MMSI 440110920)
(MMSI440080000) Fig. 3(A)
(MMSI 440103640, MMSI
440110920) AIS
.
Fig. 3 (A) (B)
3knots
AIS
, 3knots
.
, Fig. 3(A)
(HDT, COG) ROT
Fig. 4
. 294 , 11.2knots
09:08:01
A ,
305
ROT 0 /min
+23.6 /min , ,
ROT 0 /min
. 11.6knots
360
340
320
300
280
260
2400 480 960 1440 1920 2400
Ship
s he
adin
g(de
g)
2520151050
-5-10-15-20-25
0 480 960 1440 1920 2400
RO
T(d
eg/m
in)
Running time(sec)
Fig. 4. Relationship between ship s heading and ROTvariations for the entering vessel being approachedtoward the pier to be berthed along the enteringwaterway of Busan northern harbor.
Gyro headingGPS heading
Rate of Turn(ROT)
(09:08:01)
(09:08:01)
(09:23:21)
(09:23:21)
09:23:21 B ,
283
ROT
0 /min 21.6 /min
. ,
ROT 0 (+)15
.
, 107
50,000
, (ROT )
,
30 /min
. Fig. 3(A) (MMSI 209109000)
ROT
$TIROT sentence ROT( /min)
. Fig. 3 (A) (B)
,
,
, Fig. 5 .
Fig. 5 1(MMSI440103640)
09 24 25 35
06 .434N, 129 03 .681E
docking , 2(MMSI
440110920)
09 25 04 35 06 .454N, 129
03 .570E
docking . , 1
2
VTS
Fig. 5. Tracked results of maneuvering motions for a target ship(MMSI 209109000) approaching to the central wharf inorder to get alongside to her berth in Busan northern harbour. The maneuvering motions for a tugboat(MMSI440110920) approaching toward the entering vessel from Jaseongdae container terminal and a tugboat(MMSI440103640) approaching toward the entering vessel from Gamman citizen wharf were simultaneously tracked,respectively.
14500
13100
11700
10300
8900
75005000 7100 9200 11300 13400 15500
0 480 960 1440 1920 2400 0 480 960 1440 1920 2400
0 480 960 1440 1920 2400
15
12
9
6
3
0
12
9
6
3
0
12
9
6
3
0
Dif
f. o
f la
titud
e(m
)
Spee
d(kn
ot)
Spee
d(kn
ot)
Diff. of longitude(m)
(A) (C)
(B) (D)
Tug 1(440103640) STBY
tracking vessel s routeTug 1 route(440103640)Tug 2 route(440110920)
tug STBYJaseongdae Container Terminal
(09:25:04)
(09:24:25)CentralWharf
Tug 2(440110920) STBY
Jaseongdae Container Terminal(Tug 2)
Gamman citizen wharf(Tug 1)
Gamman citizen wharf
tug STBYTug 1 speed(440103640)
Tug 2 speed(440110920)
ship s speed
Running time(sec) Running time(sec)
Running time(sec)
Spee
d(kn
ot)
docking
7.7knots, 7.2knots ,
1 2 docking
9.0 knots 8.4 knots .
AIS
, .
, Fig. 2 Fig. 3(B)
(MMSI 440080000) ARPA
radar AIS
(MMSI440110920)
, ,
ARPA AIS
Fig. 6 . Fig. 6
ARPA
, AIS
. , AIS
, AIS COG,
SOG GPS ( )
gyro compass
(HDT) ,
. , Fig. 6 ARPA
AIS
,
. , AIS
ARPA
Fig. 7 .
Fig. 7
a ,
Fig. 6. AIS data and ARPA radar images for thedeberthing vessel(MMSI 440080000) and itstugboat(MMSI 440110920) towing the vessel that isberthed port side alongside to the NW face of theJaseongdae container terminal out of the pier.
(A)
(B) Fig. 7. Changes in the maneuvering motion tracks for thedeberthing vessel being towed by one tugboat from theberth and its tugboat during the deberthing operationprocess. The deberthing vessel being assisted out of thepier by one tugboat from central wharf and its tugboatare shown with ship mark(or white circle) and blackcircle, respectively.
13750
13690
13630
13570
13510
13450
Diff. of longitude(m)
tug s position(440110920)deberthing vessel(440080000)gyro heading
reference point(35 N, 129 E)
a a b
b
6950 7000 7050 7100 7150 7200 7250
Dif
f. o
f la
titud
e(m
)
, b
. AIS
,
, ,
ARPA
AIS
.
Fig. 7 ROT
ROT
, gyro compass HDT
ROT
. , ROT ,
AIS HDT message
ROT
, , ROT 10 /min
720 /min , ROT 10 /min
720 /min ,
0 /min
. ,
, (Nauticast,
2004). , Fig. 7
, ( ) COG
SOG GPS
, AIS
COG gyro compass (HDT)
. ,
Fig. 8 . Fig. 8
0.5 3.0knots
, , COG HDT
. ,
3knots
COG HDT
. , Fig. 7
, ( ) ,
.
VTS
,
ECDIS ENC
ARPA , AIS
. , VHF
,
.
, ARPA Fig. 2
, ,
shadow zone
masking
radar .
AIS
,
VTS
Fig. 8. Variations in ship s heading and speed of thedeberthing vessel being towed by one tugboat from theberth during the deberthing operation process.
360
288
216
144
72
015
12
9
6
3
0
Ship
s he
adin
g(de
g)
Running time(sec)
Gyro hedingGPS heading(COG)
Ship s speed
self-running
self-running
deberthing operation
0 420 840 1260 1680 2100
Spee
d(kn
ot)
AIS target swapping
.
ARPA , AIS CCTV
( )
,
crane
,
,
AIS, CCTV
ARPA
Fig. 9 Fig 10 . Fig. 9
AIS CCTV
,
, Fig. 10 AIS,
CCTV ARPA
.
, Fig. 9 (MMSI 525019103)
AIS gyro compass (HDT)
,
. ,
COG 1(MMSI 440112730)
2(MMSI440113180) COG
40
COG 40
pushing ,
CCTV camera
. , AIS CCTV
,
. , DGPS COG
(tugboat)
.
,
2004
Fig. 9. AIS display and CCTV image for berthingvessel(MMSI 525019103) and two tugboats pushing theport bow and stern of berthing vessel towards theSinseondae container terminal wharf to be berthed onthe eastern face.
Fig. 10. ARPA radar and CCTV images for thedeberthing vessel being assisted out of the pier by twotugboats from Sinseondae container terminal wharf andits tugboats towing the deberthing vessel that was berthedstarboard side alongside to the eastern face of the pier.
( 108 5 )
50
,
(AIS) .
, Fig. 10 (MMSI 372444000)
AIS VDL message
AIS
, AIS
.
, ,
50
AIS
.
, Fig. 10 AIS VDL message
ARPA radar
CCTV camera
. Fig. 10
Nr S2
, gyro heading(HDT)
11 , GPS heading(COG) 241
230 ,
GPS
COG . , GPS COG
GPS
,
gyro compass
,
HDT COG
. ,
, GPS
COG
,
.
.
,
PSC(port state control)
VTS .
PSC
, VTS
. 1993
/ , , / , /
, , , , , ,
, , 13
. ,
, VTS
, VTS
,
.
,
,
,
.
VTS
. ,
VTS maritime
surveillance system
.
, (VTS)
, . ,
ARPA
AIS
, CCTV
,
,
. ,
VTS
, VTS
.
VTS
.
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radar/camera system. private communication, 1 6.
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Integrated waterside surveillance and security
system(IWSSS, HarborGuard), Performance tests
results . 1 8.
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manual(version 1.0). 24 25.
Oda, H., S. Horie, N. Hamamoto, M. Uchida and T.
Nagai, 2004. New berthing support system with
starfire DGPS. The 2004 International symposium
on GNSS/GPS, 1 14.
Thoresen, C.A., 2002. Port designer s handbook,
Recommendations and guidelines . Thomas
Telford, 95 110.
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