Systems for data processing, anaylsis and representation

Allam, Mosaad; Plunkett, Gordon

Bibliographic data

Monograph

Persistent identifier:: 1067490280

Title:: Systems for data processing, anaylsis and representation

Sub title:: ISPRS Commission II Symposium : June 6 - 10, Ottawa, Canada

Scope:: 1 Online-Ressource (XX, 530 Seiten)

Year of publication:: 1994

Place of publication:: Ottawa

Publisher of the original:: The Surveys, Mapping and Remote Sensing, Natural Resources Canada

Identifier (digital):: 1067490280

Illustration:: Illustrationen

Signature of the source:: ZS 312(30,2)

Language:: English

Additional Notes:: Erscheinungsdatum des Originals ist aus dem Copyrightjahr ermittelt.

Usage licence:: Attribution 4.0 International (CC BY 4.0)

Editor:: Allam, Mosaad; Plunkett, Gordon

Corporations:: Symposium Systems for Data Processing, Analysis and Representation, 1994, Ottawa; International Society for Photogrammetry and Remote Sensing; International Society for Photogrammetry and Remote Sensing, Commission Instrumentation for Data Reduction and Analysis; Kanada, Surveys, Mapping and Remote Sensing Sector

Adapter:: Symposium Systems for Data Processing, Analysis and Representation, 1994, Ottawa; International Society for Photogrammetry and Remote Sensing; International Society for Photogrammetry and Remote Sensing, Commission Instrumentation for Data Reduction and Analysis; Kanada, Surveys, Mapping and Remote Sensing Sector

Founder of work:: Symposium Systems for Data Processing, Analysis and Representation, 1994, Ottawa; International Society for Photogrammetry and Remote Sensing; International Society for Photogrammetry and Remote Sensing, Commission Instrumentation for Data Reduction and Analysis; Kanada, Surveys, Mapping and Remote Sensing Sector

Other corporate:: Symposium Systems for Data Processing, Analysis and Representation, 1994, Ottawa; International Society for Photogrammetry and Remote Sensing; International Society for Photogrammetry and Remote Sensing, Commission Instrumentation for Data Reduction and Analysis; Kanada, Surveys, Mapping and Remote Sensing Sector

Publisher of the digital copy:: Technische Informationsbibliothek Hannover

Place of publication of the digital copy:: Hannover

Year of publication of the original:: 2019

Document type:: Monograph

Collection:: Earth sciences

Chapter

Title:: [Tuesday, June 7, 1994]

Document type:: Monograph

Structure type:: Chapter

Chapter

Title:: [Session C-1 WG II/1 - Real-Time Mapping Technologies - Applications]

Document type:: Monograph

Structure type:: Chapter

Chapter

Title:: GUIDING SHIPS ON WATERWAYS M. Sandler, U. Kabatek, R. Neul, E. D. Gilles

Document type:: Monograph

Structure type:: Chapter

ries barette d'imagerie 1ation des inventaire chacune de S. et. âà.-la r qu'elles égrées aux (SIG). et raite d'un érencement barette de rpore des provenant rigation a a position -imageurs. ffectue la L.gorithmes eres. On le données acité de ité de la ée par une sciences GUIDING SHIPS ON WATERWAYS M. Sandler, U. Kabatek, R. Neul, E. D. Gilles Institut für Systemdynamik und Regelungstechnik, Universitát Stuttgart Commission ll, Working Group 1 KEY WORDS: ship guidance, radar image processing, sensor integration ABSTRACT A self-contained, integrated navigation system for the automatic guidance of ships on waterways is described. Besides the usual navigation sensors, imaging sensors like a radar or a laser scanner are used. The sensor information is combined with a-priori knowledge in the form of an electronic chart of the waterway and a dynamic ship model, in orderto determine the position and heading of the navigating ship in global coordinates. Matching of image data and electronic chart is performed by a least-squares matching technique that is applied similarly to measurements from the different imaging sensors. The results of the matching processes and measurements from other sensors are integrated by a Kalman filter. A multiple-target tracking method is implemented for the determination of the trajectories of other vessels and thus for the evaluation of the actual traffic situation. Additional processing steps of the integrated navigation system are the planning of a trajectory and the guidance of the ship along this trajectory. The methods were successfully tested in practice. The structure of this integrated navigation system, developed for the case of inland shipping, may be transferred to other traffic systems. 1 INTRODUCTION At the "Institute for System Dynamics and Control", University of Stuttgart, an integrated navigation sys- tem for inland and costal waterways is being devel- oped. The goal of the project is a system capable of automatically guiding a ship on a waterway in nor- mal traffic situations. Such a system will relieve the navigator from tiring routine work and support him in complex situations, particularly at night or in foggy weather. The heavy traffic on e. g. the river Rhine with shipment of dangerous goods such as chemicals and refinery products implies many risks for the environ- ment. The system helps to protect the environment by increasing the level of safety on the waterway. It is not targeted as a replacement for the navigator. This project is funded by the "Deutsche Forsch- ungsgemeinschaft" within the SFB 228 'High preci- sion navigation'. It is also promoted by the german ministry for traffic. Within this paper we will focus on the real-time pro- cessing of the measurements of the different sensors, especially the processing of the image data. Image data are generated by a radar and by a laser scan- ner both sensing the surroundings of the ship. 1n section 2 the configuration and components of the navigation system will be explained first. The elec- tronic chart is an important component in the image processing algorithms. Her structure and implemen- tation is discussed in section 3. The image data are used to determine the position and heading of the own vessel in global coordinates by matching the images to the electronic chart of the waterway. The match- ing algorithms are discussed within section 4. As explained in section 5 the image data are also used to determine the actual traffic situation. Based on the matching results and measurements of other sensors available to the system an integrated estimate of the ship's state is computed by a Kalman filter described in section 6. In section 7 the generalized structure of the navigation system is deduced. Finally section 8 gives a brief outlook on the trajectory planning and control algorithms implemented within the navigation system. 2 COMPONENTS AND TASKS OF THE INTEGRATED NAVIGATION SYSTEM The configuration of the integrated navigation sys- tem is shown schematically in figure 1. Onthe left side the sensors of the system are represented. Imaging and non-imaging sensors can be distinguished. The radar yields a map-like representation of the local en- vironment. Itis part ofthe standard equipment of most commercial inland and coastal ships. A new radar im- age is obtained about every 2.3 seconds and trans- ferred into the ship-borne computer. Processing of the radar image is very computationally intensive and has to be accomplished in real-time. Therefore, all algorithms for this task have to be designed for max- 63

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