Assessment of ship position estimation accuracy based on radar navigation mark echoes identified in an Electronic Navigational Chart

Abstract This article presents research on assessing the accuracy of ship position determination based on observations of radar echoes of navigation marks identified in an Electronic Navigational Chart (ENC). The accuracy analysis of the simulated radar positioning in relation to navigation marks the validity of the research. Position accuracy on the approach fairways was better than 6.5 m (RMS). A specially prepared measuring system made it possible to conduct tests based on radar images. In subsequent stages of the research, the association of extracted characteristic radar echoes with navigation marks found in an ENC was made. Then, in order to eliminate significant values of measurement errors and erroneous identification of navigation marks, geodetic adjustment was applied. The obtained position accuracy equal to 34.1 m (RMS) provides a premise to state that the method can be adopted for autonomous navigation systems which are alternatives to Global Navigation Satellite System (GNSS).

[1]  Krzysztof Naus.  Electronic Navigational Chart as an Equivalent to Image Produced by Hypercatadioptric Camera System , 2015 .

[2]  Yusuf Sinan Akgül,et al.  Ship positioning by matching radar images and map data , 2014, 2014 22nd Signal Processing and Communications Applications Conference (SIU).

[3]  Per Enge,et al.  The Need for a Robust, Precise Time and Frequency Alternative to GNSS | NIST , 2012 .

[4]  Ralf Ziebold,et al.  Performance Characterization of GNSS/IMU/DVL Integration under Real Maritime Jamming Conditions , 2018, Sensors.

[5]  Xin Yang,et al.  Local difference binary for ultrafast and distinctive feature description. , 2013, IEEE transactions on pattern analysis and machine intelligence.

[6]  Mariusz Waz,et al.  Precision in Determining Ship Position using the Method of Comparing an Omnidirectional Map to a Visual Shoreline Image , 2015, Journal of Navigation.

[7]  Jinwhan Kim,et al.  GPS-less Coastal Navigation using Marine Radar for USV Operation , 2016 .

[8]  Tom Drummond,et al.  Faster and Better: A Machine Learning Approach to Corner Detection , 2008, IEEE Transactions on Pattern Analysis and Machine Intelligence.

[9]  John R. Mather,et al.  Beaufort wind scale , 1987 .

[10]  A. Banachowicz,et al.  The influence of coordinates error of navigational marks on the accuracy of position in radar navigation , 2012 .

[11]  Ke Liu,et al.  Spoofing Detection Algorithm Based on Pseudorange Differences , 2018, Sensors.

[12]  Paul D. Groves,et al.  The PNT Boom: Future Trends in Integrated Navigation , 2013 .

[13]  Cheng Li,et al.  Future Alternative Positioning, Navigation, and Timing Techniques: A Survey , 2016, IEEE Wireless Communications.

[14]  Jiaqi Zhang,et al.  A Two-Stage Interference Suppression Scheme Based on Antenna Array for GNSS Jamming and Spoofing , 2019, Sensors.

[15]  Vincent Lepetit,et al.  BRIEF: Binary Robust Independent Elementary Features , 2010, ECCV.

[16]  Thomas Pany,et al.  Known Vulnerabilities of Global Navigation Satellite Systems, Status, and Potential Mitigation Techniques , 2016, Proceedings of the IEEE.

[17]  Christopher Hunt,et al.  Notes on the OpenSURF Library , 2009 .

[18]  M. Wąż.  Problems with Precise Matching Radar Image to the Nautical Chart , 2010 .

[19]  Teresa Wu,et al.  Improved small blob detection in 3D images using jointly constrained deep learning and Hessian analysis , 2020, Scientific Reports.

[20]  David G. Lowe,et al.  Distinctive Image Features from Scale-Invariant Keypoints , 2004, International Journal of Computer Vision.

[21]  Naus Krzysztof,et al.  The Positioning Accuracy of BAUV Using Fusion of Data from USBL System and Movement Parameters Measurements , 2016, Sensors.

[22]  Kurt Konolige,et al.  CenSurE: Center Surround Extremas for Realtime Feature Detection and Matching , 2008, ECCV.

[23]  Stephen T. C. Wong,et al.  Detection of blob objects in microscopic zebrafish images based on gradient vector diffusion , 2007, Cytometry. Part A : the journal of the International Society for Analytical Cytology.

[24]  M. Wąż,et al.  Improvement in Accuracy of Determining a Vessel’s Position with the Use of Neural Networks Ana Robust M-Estimation , 2017 .

[25]  Luc Van Gool,et al.  Speeded-Up Robust Features (SURF) , 2008, Comput. Vis. Image Underst..

[26]  Fredrik Gustafsson,et al.  Statistical Sensor Fusion , 2013 .

[27]  Todd E. Humphreys,et al.  Attackers can spoof navigation signals without our knowledge. Here's how to fight back GPS lies , 2016, IEEE Spectrum.

[28]  Pierre Vandergheynst,et al.  FREAK: Fast Retina Keypoint , 2012, 2012 IEEE Conference on Computer Vision and Pattern Recognition.

[29]  Duk-Sun Shim,et al.  Performance Analysis of Direct GPS Spoofing Detection Method with AHRS/Accelerometer , 2020, Sensors.

[30]  Liang Wang,et al.  A Robust Blob Detection and Delineation Method , 2008, 2008 International Workshop on Education Technology and Training & 2008 International Workshop on Geoscience and Remote Sensing.

[31]  Bernhard Hofmann-Wellenhof,et al.  Image-based navigation , 2003 .

[32]  Bunyarit Uyyanonvara,et al.  Medical image blob detection with feature stability and KNN classification , 2011, 2011 Eighth International Joint Conference on Computer Science and Software Engineering (JCSSE).

[33]  Jinwhan Kim,et al.  Coastal SLAM With Marine Radar for USV Operation in GPS-Restricted Situations , 2019, IEEE Journal of Oceanic Engineering.

[34]  Krzysztof Naus,et al.  Use of a Weighted ICP Algorithm to Precisely Determine USV Movement Parameters , 2019 .

[35]  Adrien Bartoli,et al.  KAZE Features , 2012, ECCV.

[36]  Gary R. Bradski,et al.  ORB: An efficient alternative to SIFT or SURF , 2011, 2011 International Conference on Computer Vision.

[37]  M. Wąż,et al.  A Novel Approach of Using Selected Unconventional Geodesic Methods of Estimation on VTS Areas , 2019 .

[38]  Roland Siegwart,et al.  BRISK: Binary Robust invariant scalable keypoints , 2011, 2011 International Conference on Computer Vision.

[39]  Min Zhang,et al.  Small Blob Identification in Medical Images Using Regional Features From Optimum Scale , 2015, IEEE Transactions on Biomedical Engineering.

[40]  Larry Andrews,et al.  A template for the nearest neighbor problem , 2001 .

[41]  Andres Guesalaga,et al.  Automatic ship positioning and radar biases correction using the hausdorff distance , 2007, 2007 10th International Conference on Information Fusion.

[42]  Alexander Rügamer,et al.  Jamming and Spoofing of GNSS Signals - An Underestimated Risk?! , 2015 .

[43]  Zhengyou Zhang,et al.  Iterative point matching for registration of free-form curves and surfaces , 1994, International Journal of Computer Vision.

[44]  Fredrik Gustafsson,et al.  Radar SLAM using visual features , 2011, EURASIP J. Adv. Signal Process..

[45]  Michael Veth,et al.  Navigation Using Images, A Survey of Techniques , 2011 .

[46]  A Noel,et al.  Autonomous Ship Navigation Methods: A Review , 2019 .

[47]  Chao Wu,et al.  A novel positioning approach for an intelligent vessel based on an improved simultaneous localization and mapping algorithm and marine radar , 2019 .