E-Navigation Underway 2014 Trial results of Radar Positioning for resilient positioning Tatsuya Kojima Technology Development & Research Lab. Furuno Electric Co., Ltd. FURUNO ELECTRIC CO., LTD. All Rights Reserved. Agenda Concept of Radar Positioning UK Trial Overview Trial Results Conclusion FURUNO ELECTRIC CO., LTD. All Rights Reserved. 2 Agenda Concept of Radar Positioning UK Trial Overview Trial Results Conclusion FURUNO ELECTRIC CO., LTD. All Rights Reserved. 3 Concept of Radar Positioning eRacon eRacon Detect Radar pulse and transmit own position data Position Data Position Data Radar Pulse eRadar Compass FURUNO ELECTRIC CO., LTD. All Rights Reserved. Detect Racon pulse, obtain Racon position data and calculate own position 4 Concept of Radar Positioning One eRacon available: "1-Rcn-Pos" -Position of one eRacon -Radar Ranging and Bearing Measurement -Ship's Heading Ship's Position eRacon eRacon eRadar FURUNO ELECTRIC CO., LTD. All Rights Reserved. Positioning accuracy; -strongly depends on the accuracy of heading data. -gets worse in proportion to the distance from the eRacon. 5 Concept of Radar Positioning Two eRacons available: "2-Rcn-Pos" -Positions of two eRacons -Radar Ranging and Bearing Measurement Ship's Position eRacon eRacon eRadar FURUNO ELECTRIC CO., LTD. All Rights Reserved. Positioning accuracy; -does not depend on the distances from the eRacons -is comparable to GNSS without augmentation 6 Radar Positioning Features Coverage Within radar line of sight (Up to 20 NM at UK Trial) Availability Multipath effects, blockage by structures and weather condition could cause the lower availability of Radar Positioning. Cost Only new signal processing is needed in each eRadar and eRacon but a number of eRacons have to be deployed to cover large area. Installation and maintenance Easy? (eRacon, power supply and fixing) Regulatory Changing regulation and replacing all existing Radars and Racons with new ones will take long time. Extendability ERacon and eRadar (solid state) can potentially be one of tools of local shore-to-ship communication (weather, wind, sea condition, VTS, etc.) FURUNO ELECTRIC CO., LTD. All Rights Reserved. 7 Agenda Concept of Radar Positioning UK Trial Overview Trial Results Conclusion FURUNO ELECTRIC CO., LTD. All Rights Reserved. 8 UK Trial ACCSEAS Practical Test-bed TIDELAND -eRacon GLA R&RNAV -Test Vessel -Installation FURUNO ELECTRIC CO., LTD. All Rights Reserved. FURUNO -eRadar -Position Calculation 9 Trial Area eRacon A 10 NM eRacon B FURUNO ELECTRIC CO., LTD. All Rights Reserved. 10 eRacon Installation Lowestoft Southwold eRacon A FURUNO ELECTRIC CO., LTD. All Rights Reserved. eRacon B 11 eRadar Installation Not optimal condition in stern and portside direction Most tests were conducted facing eRacons on starboard side. FURUNO ELECTRIC CO., LTD. All Rights Reserved. 12 System Configuration eRacon (Shore-side) Antenna Transceiver Radar Pulse Detection FSK Mod Lat/Lon Heading eRadar (On board) Heading /Position Sensor Lat/Lon Antenna Transceiver FSK Demod Radar Signal Processing FURUNO ELECTRIC CO., LTD. All Rights Reserved. Position Calculation Lat/Lon Accuracy Evaluation Radar Image Display 13 Specifications for the UK Trial eRadar Item Specifications Platform X-band Solid State (prototype for Shipborne radar) Output Power 150 W Transmit Frequency 9350 MHz Pulse Width 0.3 us Pulse Repetition Frequency 1250 Hz Modulation Non modulated (same as conventional Shipborne radar) Antenna 4 feet, 27.5 dBi Antenna Rotation Speed 24 rpm (2.5 sec per antenna rotation) FURUNO ELECTRIC CO., LTD. All Rights Reserved. 14 Specifications for the UK Trial eRacon Item Specifications Platform Seabeacon 2 Sytem 6 (Tideland Signal) Output Power 1W Modulation Scheme FSK Center Frequency Same frequency as received radar pulse (Frequency Agile) Maximum Frequency Deviation 15 MHz Symbol Length 200 ns Antenna Omni-directional, 6 dBi Duty Cycle OFF (always ACTIVE) FURUNO ELECTRIC CO., LTD. All Rights Reserved. 15 Specifications for the UK Trial eRacon Pulse Radar Pulse Freq. Time 16 us 37.3 us FURUNO ELECTRIC CO., LTD. All Rights Reserved. 16 Specifications for the UK Trial ADC sample value [digit] eRacon Pulse Preamble Lat or Lon CRC Dash Dot Dot 37.3 us Time FURUNO ELECTRIC CO., LTD. All Rights Reserved. 17 Radar Image © 2013 Google FURUNO ELECTRIC CO., LTD. All Rights Reserved. 18 Agenda Concept of Radar Positioning UK Trial Overview Trial Results Conclusion FURUNO ELECTRIC CO., LTD. All Rights Reserved. 19 Static Trial -Trial PointsPoint 1 eRacon A Point 11 Point 2 Point 10 10 NM Point 3 Point 9 Point 4 Point 5 eRacon B Point 6 Point 8 Point 7 *) ERacon A was not visible well from the south side (Point 3-7) due to masking by structures. FURUNO ELECTRIC CO., LTD. All Rights Reserved. 20 Result at Point 1 Distance: 4.9 NM to eRacon A, 12.1 NM to eRacon B Measuring Time: 23 min (558 radar antenna rotations) 100 Error Plot (vs. GPS) eRacon A 12.1 NM Error in Latitude [m] 4.9 NM 2-Rcn-Pos Accuracy: 2.2 m (95%) Availability: 87 % 0 1-Rcn-Pos(A) Accuracy: 41 m (95%) Availability: 98 % eRacon B 1-Rcn-Pos(B) Accuracy: 104 m (95%) Availability: 87 % -100 -100 FURUNO ELECTRIC CO., LTD. All Rights Reserved. 0 Error in Longitude [m] 100 21 Result at All Trial Points Accuracy [m(95%)] Accuracy 120 100 80 60 1-Rcn-Pos(A) 1-Rcn-Pos(B) 2-Rcn-Pos Total Perf. 40 20 0 Less than 7 m (2-Rcn-Pos ) Availability Availability 1 0.8 0.6 0.4 1-Rcn-Pos(A) 1-Rcn-Pos(B) 2-Rcn-Pos Total Perf. 0.2 0 FURUNO ELECTRIC CO., LTD. All Rights Reserved. 22 Dependency on Distance Accuracy [m(95%)] Accuracy 120 100 80 60 40 20 0 1-Rcn-Pos(A) 1-Rcn-Pos(B) The accuracy of 1-Rcn-Pos is proportional to the distance. (7.4 m per 1 NM) 0 2 4 6 8 10 12 Distance b/w Radar and Racon [NM] Availability Height Pattern (Two path model) 1 Availability 14 1-Rcn-Pos(A) 0.8 1-Rcn-Pos(B) 0.6 0.4 0.2 0 0 2 4 6 8 10 12 Distance b/w Radar and Racon [NM] FURUNO ELECTRIC CO., LTD. All Rights Reserved. 14 23 Dynamic Trial - Trial Route 1st Pass START eRacon A 2nd Pass eRacon A END eRacon B eRacon B 32 NM 21 NM START END FURUNO ELECTRIC CO., LTD. All Rights Reserved. 24 Result of Dynamic Trial 52.7 1st Pass 2nd Pass White: GPS Cyan: 1-Rcn-Pos(A) Green: 1-Rcn-Pos(B) Magenta: 2-Rcn-Pos White: GPS Cyan: 1-Rcn-Pos(A) Green: 1-Rcn-Pos(B) Magenta: 2-Rcn-Pos eRacon A eRacon A Latitude [deg] Latitude [deg] 52.7 eRacon B eRacon B Total Perf. (within 10NM) Accuracy: 70 m (95%) Availability: 63 % 52.1 1.65 52.1 Longitude [deg] FURUNO ELECTRIC CO., LTD. All Rights Reserved. 2.1 1.65 Lower performance due to structures around radar Total Perf. (within 10NM) Accuracy: 535 m (95%) Availability: 25 % Longitude [deg] 2.1 25 Result of Dynamic Trial - 1st Pass 300 Error Plot (vs. GPS, within 10NM) Error in Latitude [m] 1-Rcn-Pos(B) Accuracy: 77 m (95%) Availability: 41 % 0 1-Rcn-Pos(A) Accuracy: 80 m (95%) Availability: 42 % -300 -300 FURUNO ELECTRIC CO., LTD. All Rights Reserved. 2-Rcn-Pos Accuracy: 4.9 m (95%) Availability: 23 % 0 Error in Longitude [m] 300 26 Agenda Concept of Radar Positioning UK Trial Overview Trial Results Conclusion FURUNO ELECTRIC CO., LTD. All Rights Reserved. 27 Trials Conclusion Accuracy: with one eRacon roughly 7.4 m per 1 NM with high-accuracy compass decreases with superstructure around radar on ship with two eRacons less than 7 m (95%) through all tests Availability: more than 80 % in good situation can significantly decrease with multipath effects FURUNO ELECTRIC CO., LTD. All Rights Reserved. 28 Next Steps Evaluation in several conditions Measures against multipath effects Cost / benefit analysis Propose standards FURUNO ELECTRIC CO., LTD. All Rights Reserved. 29 Thank you for your kind attention. FURUNO ELECTRIC CO., LTD. All Rights Reserved. 30
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