In this study, a survey was conducted among students who received ARPA/radar simulation training in order to verify the effect of training. An effective training method based on the analysis results was also proposed. Furthermore, this study analyzed full mission simulation conducted over one semester, and found that training effect increased as time passed. The survey showed improvement in skills related to radar/ARPA utilization, ARPA decoding, ship handling, and overall skill. Students responded practical skills improved more than theoretical knowledge, and also analysis showed that ship handling skills had a larger effect than radar decoding skills on improving overall skill, therefore proposed that theoretical education regarding the functions of radar and ARPA should be reinforced in ARPA/radar simulation training.

예비 항해사는 타선과의 충돌 가능성을 사전에 파악하여 회피할 수 있는 능력을 ARPA/레이더 시뮬레이션 교육을 통해 갖추어야 한다. 이러한 시뮬레이션 교육은 국내외 지침(해양수산부 고시, STCW 협약 등)에 교육 내용과 기간만이 명시되어 있는 것으로 조사되었다. 또한 시뮬레이션 교육 훈련 모듈의 부재로 각 해기 교육 기관에서는 자체적으로 모듈을 구성하여 관련 증서를 발행하고 있는 것으로 확인되었다. 이로 인하여 ARPA/레이더 시뮬레이션을 통한 동일한 해기 능력 함양이 어려운 것이 현실이다. 따라서 본 연구에서는 우리나라 해기 교육 기관별 동일한 능력 함양을 위하여 ARPA/레이더 시뮬레이션 교육 모듈을 표준화하고, 표준화된 모듈을 통한 교육 향상도에 대하여 검증하고자 한다. 이를 위해서 우리나라 해기 교육 기관의 시뮬레이션 교육 형태를 조사하고, 교통 조사를 기반으로 한 실해역의 교통 흐름을 반영한 시나리오 제시, 교육 훈련 및 평가를 효율적으로 하기 위한 해기사 핵심 역량 기반 모듈을 제시하였다. 그리고 2년간에 데이터를 이용하여 표준화된 모듈을 통한 교육 훈련의 향상 정도를 파악하였다. 이러한 표준화된 ARPA/레이더 시뮬레이션 모듈을 통해 각 교육 기관에서는 효율적이고 체계적인 해기 교육이 가능하고 해기능력 향상을 통한 선박 통항 안전에 기여할 수 있는 기반을 마련할 수 있다.

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.

This paper describes on the consolidation of AIS and ARPA radar positions by comparing the AIS and ARPA radar information for the tracked ship targets using a PC-based ECDIS in Busan harbor, Korea. The information of AIS and ARPA radar target was acquired independently, and the tracking parameters such as ship's position, COG, SOG, gyro heading, rate of turn, CPA, TCPA, ship s name and MMSI etc. were displayed automatically on the chart of a PC-based ECDIS with radar overlay and ARPA tracking. The ARPA tracking information obtained from the observed radar images of the target ship was compared with the AIS information received from the same vessel to investigate the difference in the position and movement behavior between AIS and ARPA tracked target ships. For the ARPA radar and AIS targets to be consolidated, the differences in range, speed, course, bearing and distance between their targets were estimated to obtain a clear standards for the consolidation of ARPA radar and AIS targets. The average differences between their ranges, their speeds and their courses were 2.06% of the average range, -0.11 knots with the averaged SOG of 11.62 knots, and 0.02˚ with the averaged COG of 37.2˚, respectively. The average differences between their bearings and between their positions were -1.29˚ and 68.8m, respectively. From these results, we concluded that if the ROT, COG, SOG, and HDG informations are correct, the AIS system can be improved the prediction of a target ship's path and the OOW(Officer of Watch) s ability to anticipate a traffic situation more accurately.

Through the rapid development in personal computer technology, it has recently become possible to make a radar become possible to make a radar simulator based on the PC. Althougth such a technology has already been developed in the advanced countries like Japan, U.K., and U.S.A., our country has not been able to make such a simulator so far. In addition, revised STCW convention requires the maritime training institution to be equipped with the ARPA simulator satisfying the performance standard specified in the convention. In this thesis therefore, an attempt was made to developed the software of the ARPA radar simulation system using Visual Basic 4.0, with which we can finally make a Mockup style ARPA simulator satisfying the performance standard specified in the convention. In this thesis therefore, and attempt was made to developed the software of the ARPA radar simulation system using Visual Basic 4.0, with which we can finally make a Mockup style ARPA radar simulator. The system developed through the research has been found to run successfully on the desk top personal computer(586PC). A Mockup style ARPA radar simulator will be able to be made by simply installing this software on the PC which will be placed inside a ARPA radar Mockup, and this is one of the future research subjects.

In recent years, through the rapid development in personal computer technology, it has become possible to make a radar simulator based on the personal computer. The advantage of the personal Computer aidd radar simulator lies in its cost effectiveness, when comparing with that using the real radar. Although there have been studies carried out to develop radar simulator using PC and the products of thi kind is in the commercial market already, they are all using the mockup of the real radar, and therefore, the price of the simulator is still rather expensive. In this respect, this thesis aims to develop a ARPA radar simulator which is running on the sole PC, so that the students of the maritime educational institution may get ARPA radar training easily and cheaply. The simulator developed in this thesis using Visual Basic is found to run successfully on the 486PC, and it is expected that this new simulator system designed first time in Korea would be used as an easily accessible ARPA radar training equipment.

“Tracking” here refers to the estimation of a moving object with some degree of accuracy where at least one measurement is given. The measurement, which is the sensor-obtained output, contains systemic errors and errors that are due to the surrounding environment. Tracking filters play the key role of the target-state estimation after the updating of the tracking system; therefore, the type of filter that is used for the conduction of the estimations is crucial in the determining of the reliability of the updated value, and this is especially true since the performances of different filters vary when they are subjected to different environmental and initial conditions. The purpose of this paper is the conduction of a comparison between the performances of the α-β-γ filter and the Kalman filter regarding an ARPA-system tracking module that is used on board high-dynamic warships. The comparison is based on the capability of each filter to reduce noise and maintain a stable response. The residual error is computed from the difference between the true and predicted positions and the true and estimated positions for the given sample. The results indicate that the tracking accuracy of the Kalman filter is higher compared with that of the optimal α-β-γ filter; however, the response of the optimal α-β-γ filter is more stable.

The tracking filter plays a key role in the accurate estimation and prediction of maneuvering a vessel’s position and velocity when attempting to enhance safety by avoiding collision. Therefore, in order to achieve accurate estimation and prediction, many oceangoing vessels are equipped with the Automatic Radar Plotting Aid (ARPA) system. However, the accuracy of prediction depends on the tracking filter’s ability to reduce noise and maintain a stable transient response. The purpose of this paper is to derive the optimal values of the gain parameters used in tracking a High Dynamic Warship. The algorithm employs a α-β-γ filter to provide accurate estimates and updates of the state variables, that is, positions, velocity and acceleration of the high dynamic warship based on previously observed values. In this study, the filtering coefficients α, β and γ are determined from set values of the damping parameter, ξ. Optimization of the damping parameter, ξ, is achieved experimentally by plotting the residual error against different values of the damping parameter to determine the least value of the damping parameter that results in the optimum smoothing coefficients leading to a reduction in the noise corruption effect. Further investigation of the performance of the filter indicates that optimal smoothing coefficients depend on the initial and average velocity of the target.

The maritime industry is expanding at an alarming rate hence 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 module designed herein comprises determining existing states of high dynamic target warship, state prediction and state compensation due to random noise. This is achieved by first analyzing the process of tracking followed by design of a tracking algorithm that uses α-β-γ tracking filter under a random noise. The algorithm involves initializing the state parameters which include position, velocity, acceleration and the course. This is then followed by state prediction at each time interval. A weighted difference of the observed and predicted state values at the nth observation is added to the predicted state to obtain the smoothed (filtered) state. This estimation is subsequently employed to determine the predicted state in the next radar scan. The filtering coefficients ,  and  are determined from a pre- determined value of the damping parameter, . The smoothed, predicted and the observed positions are used to compute the twice distance root mean square (2drms) error as a measure of the ability of the tracking module to manage the noise to acceptable levels.

ARPA(Automatic Radar Plotting Aid)는 자동레이더 플로팅 장치로써, 레이더 물표의 상대침로와 상대방위로 구성된 운동벡터에 본선의 침로와 방위로 구성되는 운동벡터를 가감 연산(벡터연산)하여, 물표의 진침로와 진방위 및 최근접점과 근접시간을 계산하는 장치를 말한다. 본 연구의 목적은 ARPA 레이더를 구현하기 위한 물표의 획득 및 추적 기술을 개발하는 것으로, 이에 관한 여러 선행 연구를 검토하 여 적용 가능한 알고리듬 및 기법을 조합하여 기초적인 ARPA 기능을 개발하였다. 주요 연구내용으로, 레이더 영상에서 물표를 획득하기 위 하여, 회색조 변환, 가운시안 평활 필터 적용, 이진화 및 라벨링(Labeling)과 같은 순차적 영상 처리 방법을 고안하였고, 이전 영상에서의 물표 가 다음 영상에서의 어느 물표인지를 결정하는데 근접이웃탐색알고리듬을 사용하였으며, 물표의 진침로와 진방위를 계산하는 거동해석에 칼 만필터를 사용하였다. 또한 이러한 기법을 전산 구현하여 실선실험을 수행하였고, 이를 통해 개발된 ARPA의 기능이 실용상 사용가능함을 검 증하였다.