MPA'10 in Zurich 5 September 14th, 2010
Invited Talk
Christophe Claramunt
Naval Academy Research Institute, France
Moving objects at sea: trends and challenges
Over the past few years moving objects have been a subject of considerable research attention
in the fields of spatio-temporal databases and geographical information science. The range of
potential applications is large and cover many areas, but has been so far limited to
conventional domains of GIS. This talk will take a different perspective, by considering
moving objets not in land but at sea, and will survey current techniques, research advances
and issues of the specific domains around objects at sea. The talk will survey current maritime
information systems and navigation-aided systems and some of the research projects
developed so far at the Naval Academy Research Institute in France, while emphasizing some
of the research challenges still open.
MPA'10 in Zurich 6 September 14th, 2010
Moving objects at sea: trends
and challenges
Prof. Christophe Claramunt
Naval Academy Research Institute, France
MOVE (Knowledge Discovery from Moving Objects)
GIScience 2010 – MPA - Zurich – C. Claramunt Moving objects at sea: trends and
Département challenges
Informatique, École Navale
MPA'10 in Zurich 7 September 14th, 2010
2
2
Moving objects at sea: trends and
challenges
Part I Current trends
GIScience 2010 – MPA - Zurich – C. Claramunt Moving objects at sea: trends and
Département challenges
Informatique, École Navale
MPA'10 in Zurich 8 September 14th, 2010
3
Moving objects at sea: scope 3
• The way we consider moving objects at sea are the ones, mainly
ships, closely related to the modelling, monitoring, simulation,
visualization and analysis of maritime data, while applications cover
transportation, environmental studies and security (amongst others)
• Research and application fields :
– Maritime and geographical information systems
– Spatio-temporal data analysis and spatio-temporal data mining
– Visualisation, simulation and decision-aid systems
– Human factors, …
GIScience 2010 – MPA - Zurich – C. Claramunt Moving objects at sea: trends and
Département challenges
Informatique, École Navale
MPA'10 in Zurich 9 September 14th, 2010
4
Maritime Navigation: context 4
• Ships and control centres have to face many safety problems due to :
– Staff reduction
– Traffic increase, dangerous materials
– Piracy and terrorism risks
– Multiple and heterogeneous positioning and navigation systems to
integrate (AIS, ARPA, Argos, Iridium, ECDIS,)
– …
GIScience 2010 – MPA - Zurich – C. Claramunt Moving objects at sea: trends and
Département challenges
Informatique, École Navale
MPA'10 in Zurich 10 September 14th, 2010
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Maritime Navigation: Context 5
• Identifying new rules and promoting new standards and
products for the improvement of safety at sea is a constant
objective of the International Maritime Organisation (IMO)
• Recent progress in automated navigation includes navigation-
aid systems that combine automated positioning systems
– Global Positioning Systems (GPS)
– Automatic Radar Plotting Aids (ARPA)
– Automatic Identification System (AIS)
– Satellite-based systems (LRIT, LORAN, INMARSAT)
• With Electronic Chart Display and Information Systems
(ECDIS)
GIScience 2010 – MPA - Zurich – C. Claramunt Moving objects at sea: trends and
Département challenges
Informatique, École Navale
MPA'10 in Zurich 11 September 14th, 2010
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Maritime Data Integration Environment 6
GPS Maritime data processing
Trajectory modelling
Synthetic
Aperture
Radar
Automated navigation
Functionalities and services
Positioning
systems
Cartographic
data Monitoring/simulation
Alarms
Radar, other sensors
GIScience 2010 – MPA - Zurich – C. Claramunt Moving objects at sea: trends and
Département challenges
Informatique, École Navale
MPA'10 in Zurich 12 September 14th, 2010
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Automatic Radar Plotting Aid (ARPA) 7
ARPA: equipment associated to navigation radar in order to follow tracks and avoid
collision
GIScience 2010 – MPA - Zurich – C. Claramunt Moving objects at sea: trends and
Département challenges
Informatique, École Navale
MPA'10 in Zurich 13 September 14th, 2010
8
Radar Track Identification 8
• ARPA systems identify
– Route or heading of observed ships
– Speed
– Closing Point of Approach (CPA): the nearest point that an echo
can reach according observer
– Time to Closing Point of Approach (TCPA): time to reach the CPA
Ship track
need other mechanism to identify it
observer
buoy
radar location
GIScience 2010 – MPA - Zurich – C. Claramunt Moving objects at sea: trends and
Département challenges
Informatique, École Navale
MPA'10 in Zurich 14 September 14th, 2010
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Radar Limitations 9
• Small ships can be mistaken for sea echoes in the case of
rough sea due to small echoes
• Non accessible areas
– Hidden by the coast
– Over the limit of the radar
• No direct distinction between stable and dynamic boats
• Track monitoring difficult when ships are crossing
GIScience 2010 – MPA - Zurich – C. Claramunt Moving objects at sea: trends and
Département challenges
Informatique, École Navale
MPA'10 in Zurich 15 September 14th, 2010
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Automatic Identification System (AIS) 10
• A ship fitted with AIS receives navigation data sent by surrounding
ships, by its maritime VHF (one VHF transmitter, two VHF Time
Division Multiple Access receivers and one VHF Digital Selective
Calling receiver)
– Mandatory (IMO) From july 2005 for ship of more of 500 T and 300 T
with passengers
– It is a solution comparable to aeronautic transponders
• Transmitted data include textual data such as name, length, speed
and position of every AIS-connected ship in the neighbourhood.
Incoming data come from different sources and sensors such as GPS
and speed meters
• The AIS is able to operate in autonomous and continuous mode for
operations in all areas, it is not constrained by the topography as is
the ARPA system
GIScience 2010 – MPA - Zurich – C. Claramunt Moving objects at sea: trends and
Département challenges
Informatique, École Navale
MPA'10 in Zurich 16 September 14th, 2010
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Automatic Identification System 11
• AIS system includes
– GPS
– Transponder itself
– VHF antenna transmitting message using two bands,
• 87B (161,975 MHz) (AIS1)
• 88B (162,025 MHz) (AIS2)
• AIS uses 21 messages that integrate
– MMSI and OMI codes
Ship Type Interval
– Ship name and type Static ship 3 min
– Latitude, longitude Ship from 0 to 14 knots 12 s
Ship from 0 to 14 knots + change of route 4s
– Heading, speed Ship from 14 to 23 knots 6s
Ship from 14 to 23 knots + change of route 2s
Ship more than 23 knots 3s
Ship more than 23 knots + change of route 2s
GIScience 2010 – MPA - Zurich – C. Claramunt Moving objects at sea: trends and
Département challenges
Informatique, École Navale
MPA'10 in Zurich 17 September 14th, 2010
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AIS Metropolitan coverage 12
59 « sémaphores »
7 CROSS
18 mobile stations
GIScience 2010 – MPA - Zurich – C. Claramunt Moving objects at sea: trends and
Département challenges
Informatique, École Navale
MPA'10 in Zurich 18 September 14th, 2010
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AIS contribution to the ARPA 13
• It helps the radar to distinguish the tracks
– Useful nearby rocky coasts
• It identifies radar tracks
– Ship name obtained via VHF
• It improves CPA and TCPA calculation
– Turn radius taken into account
• It anticipates tracks
– Routes
– Destination ports
GIScience 2010 – MPA - Zurich – C. Claramunt Moving objects at sea: trends and
Département challenges
Informatique, École Navale
MPA'10 in Zurich 19 September 14th, 2010
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Electronic Chart Display & Information Systems (ECDIS) 14
'' e-navigation is the harmonised
collection, integration, exchange,
presentation and analysis of
maritime information onboard and
ashore by electronic means to
enhance berth to berth navigation
and related services, for safety and
security at sea and protection of
the marine environment ''
GIScience 2010 – MPA - Zurich – C. Claramunt Moving objects at sea: trends and
Département challenges
Informatique, École Navale
MPA'10 in Zurich 20 September 14th, 2010
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Electronic Chart Display & Information Systems (ECDIS) 15
• Combines a location-based navigation database, electronic
vector charts, navigation tools, route planning and warning
functionality to provide a navigation tool that can reduce the
risk of human error in navigation
• It is intended to replace conventional paper charts as the legal
base for safe navigation
• ECDIS is already being installed in large vessels that have fully
operational installations
GIScience 2010 – MPA - Zurich – C. Claramunt Moving objects at sea: trends and
Département challenges
Informatique, École Navale
MPA'10 in Zurich 21 September 14th, 2010
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Electronic Chart Display & Information Systems (ECDIS) 16
Location
Heading
Speed
Wind
…
AIS
ARPA Radar OVERLAY
GIScience 2010 – MPA - Zurich – C. Claramunt Moving objects at sea: trends and
Département challenges
Informatique, École Navale
MPA'10 in Zurich 22 September 14th, 2010
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Electronic Chart Display & Information Systems (ECDIS) 17
Navigation data AIS / ARPA Radar OVERLAY
GIScience 2010 – MPA - Zurich – C. Claramunt Moving objects at sea: trends and
Département challenges
Informatique, École Navale
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ECDIS: Route Planning 18
Route drawing Route properties
Dangers
Route planning
GIScience 2010 – MPA - Zurich – C. Claramunt Moving objects at sea: trends and
Département challenges
Informatique, École Navale
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ECDIS: Alarms 19
Alarm !
settings
GIScience 2010 – MPA - Zurich – C. Claramunt Moving objects at sea: trends and
Département challenges
Informatique, École Navale
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ECDIS: Additional Data - Tides 20
GIScience 2010 – MPA - Zurich – C. Claramunt Moving objects at sea: trends and
Département challenges
Informatique, École Navale
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ECDIS: Additional Data - Weather 21
Wind, Pressure,
Temperature,
…
GIScience 2010 – MPA - Zurich – C. Claramunt Moving objects at sea: trends and
Département challenges
Informatique, École Navale
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ECDIS: Advantages 22
• Flexible displays • Sensor connections
(contextual) – Radar, GPS, sonar, …
• Navigation-aid • Personalisation
– Speed, heading, route – Ship’s draught, length,
planning & monitoring turn radius
– Tide height, time (day vs.
• Security functions night)
– Anti-grounding, anti-
collision, rescue • Error control
• Automated mapping
updates
GIScience 2010 – MPA - Zurich – C. Claramunt Moving objects at sea: trends and
Département challenges
Informatique, École Navale
MPA'10 in Zurich 28 September 14th, 2010
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ECDIS: Limitations 23
• Data integration still not straightforward
• Legal issues: maritime data are controlled by national agencies
• Visualisation and functional issues are still basic
• Heterogeneity of data integration systems
• Lack of decision-aid and simulation functions
• Personalisation still not considered
• ECDIS is only a tool that helps a mariner safely and effectively
navigate a ship. One of the biggest risks with the transition to ECDIS
is an over reliance in the information provided
GIScience 2010 – MPA - Zurich – C. Claramunt Moving objects at sea: trends and
Département challenges
Informatique, École Navale
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24
Moving objects at sea: trends and
challenges
Part II Research challenges
GIScience 2010 – MPA - Zurich – C. Claramunt Moving objects at sea: trends and
Département challenges
Informatique, École Navale
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Moving objects at sea: research challenges 25
Maritime data integration
Modelling and tracking of maritime navigations
Diffusion of services to clients and monitoring authorities
l Heterogeneous databases l Patterns discovery & analysis
l Traffic control l Search And Rescue (SAR)
l Safety l Simulation & Decision-
Decision-aid systems
l Event tracking l Visualisation and user interfaces
GIScience 2010 – MPA - Zurich – C. Claramunt Moving objects at sea: trends and
Département challenges
Informatique, École Navale
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Moving objects at sea: research challenges 26
• We should make a difference between
– Vessels Traffic Services stations (VTS, i.e. maritime
authorities) that monitor and analyse a given navigation
area
– Ships concerned by their location and the routes of
neighbouring ships
– Other End-users
GIScience 2010 – MPA - Zurich – C. Claramunt Moving objects at sea: trends and
Département challenges
Informatique, École Navale
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Moving objects at sea: research challenges 27
Maritime data integration
Modelling and tracking of maritime navigations
Diffusion of services to clients and monitoring authorities
l Heterogeneous databases l Patterns discovery & analysis
l Traffic control l Search And Rescue (SAR)
l Safety l Simulation & Decision-
Decision-aid systems
l Event tracking l Visualisation and user interfaces
GIScience 2010 – MPA - Zurich – C. Claramunt Moving objects at sea: trends and
Département challenges
Informatique, École Navale
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Integration of heterogeneous databases: semantic issues 28
ARPA AIS
- Integration of different
models, ontologies and
visualisation paradigms
- Different levels of ECDIS
abstraction
- Normalisation (IMO)
GIScience 2010 – MPA - Zurich – C. Claramunt Moving objects at sea: trends and
Département challenges
Informatique, École Navale
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Integration of heterogeneous databases: semantic issues 29
GIScience 2010 – MPA - Zurich – C. Claramunt Moving objects at sea: trends and
Département challenges
Informatique, École Navale
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Integration of heterogeneous databases 30
Real-time
tracking of
large
volumes of
maritime
data (NOAA
volunteered
weather
data)
GIScience 2010 – MPA - Zurich – C. Claramunt Moving objects at sea: trends and
Département challenges
Informatique, École Navale
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Integration of heterogeneous databases 31
Real-time tracking of
large volumes of
maritime data
(-> physical data
structures and
indexing)
GIScience 2010 – MPA - Zurich – C. Claramunt Moving objects at sea: trends and
Département challenges
Informatique, École Navale
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Integration of heterogeneous databases 32
Data filtering
GIScience 2010 – MPA - Zurich – C. Claramunt Moving objects at sea: trends and
Département challenges
Informatique, École Navale
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Integration of heterogeneous databases 33
Error control:
- Differences in geodetic
systems
- Practical installations of GPS
receivers …
GIScience 2010 – MPA - Zurich – C. Claramunt Moving objects at sea: trends and
Département challenges
Informatique, École Navale
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Integration of heterogeneous databases 34
Error control: Deficiency of heading
COG is from GPS and
Heading is from
GYRO
.
AIS can connecting LOG and
GPS, therefore the transmit
speed is equal to LOG speed.
When ship is under strong
current, speed error will be
larger. So the computed CPA
and TCPA are incorrect.
GIScience 2010 – MPA - Zurich – C. Claramunt Moving objects at sea: trends and
Département challenges
Informatique, École Navale
MPA'10 in Zurich 40 September 14th, 2010
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Moving objects at sea: research challenges 35
Maritime data integration
Modelling and tracking of maritime navigations
Diffusion of services to clients and monitoring authorities
l Heterogeneous databases l Patterns discovery & analysis
l Traffic control l Search And Rescue (SAR)
l Safety l Simulation & Decision-
Decision-aid systems
l Event tracking l Visualisation and user interfaces
GIScience 2010 – MPA - Zurich – C. Claramunt Moving objects at sea: trends and
Département challenges
Informatique, École Navale
MPA'10 in Zurich 41 September 14th, 2010
36
Patterns analysis and discovery 36
Modelling and analysis
maritime trajectories
trends and patterns at a
global level (NOAA data)
Analyzing maritime
trajectories and behaviours at
a local level
(e.g. port management and
safety)
GIScience 2010 – MPA - Zurich – C. Claramunt Moving objects at sea: trends and
Département challenges
Informatique, École Navale
MPA'10 in Zurich 42 September 14th, 2010
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Event tracking 37
Real-time monitoring of
maritime trajectories and
behaviours
(e.g. trajectory vs. navigation
path)
Detecting regular and
irregular behaviours,
incidents etc.
GIScience 2010 – MPA - Zurich – C. Claramunt Moving objects at sea: trends and
Département challenges
Informatique, École Navale
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Event tracking 38
What happened there ?
Detecting irregular behaviours
GIScience 2010 – MPA - Zurich – C. Claramunt Moving objects at sea: trends and
Département challenges
Informatique, École Navale
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Event tracking 39
What happened there ?
Detecting irregular behaviours
GIScience 2010 – MPA - Zurich – C. Claramunt Moving objects at sea: trends and
Département challenges
Informatique, École Navale
MPA'10 in Zurich 45 September 14th, 2010
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Event tracking: CPA 40
« In the example
above, you are
about to cross a
shipping lane with
two vessels
crossing each way.
Turning left will
make things
worse, but turning
right between the
red “danger
clouds” will result
in a safe passage
(assuming the
other vessels
maintain course
and speed). «
GIScience 2010 – MPA - Zurich – C. Claramunt Moving objects at sea: trends and
Département challenges
Informatique, École Navale
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Event tracking: CPA 41
«The AIS graphic display shown here has one ship, WHITE MIZU, with a CPA
(closest point of approach) that was too close for comfort. Another ship (25680000)
was following WHITE MIZU and closing, giving further concern. »
GIScience 2010 – MPA - Zurich – C. Claramunt Moving objects at sea: trends and
Département challenges
Informatique, École Navale
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Event tracking: CPA 42
« Here you can see the maneuver behind the two ships of concern »
GIScience 2010 – MPA - Zurich – C. Claramunt Moving objects at sea: trends and
Département challenges
Informatique, École Navale
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Navigation control 43
All vessels should monitor VHF Channel A River wide 6 knot speed limit with a wash limit
68 when underway in the harbour commences at Beacon Number 2
Caution is required at low water, depending on the state of the tide, as some marks stand in shallow water
GIScience 2010 – MPA - Zurich – C. Claramunt Moving objects at sea: trends and
Département challenges
Informatique, École Navale
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Patterns analysis and discovery 44
GIScience 2010 – MPA - Zurich – C. Claramunt Moving objects at sea: trends and
Département challenges
Informatique, École Navale
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Patterns analysis and discovery 45
GIScience 2010 – MPA - Zurich – C. Claramunt Moving objects at sea: trends and
Département challenges
Informatique, École Navale
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Patterns analysis and discovery 46
GIScience 2010 – MPA - Zurich – C. Claramunt Moving objects at sea: trends and
Département challenges
Informatique, École Navale
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Trajectory analysis and discovery 47
GIScience 2010 – MPA - Zurich – C. Claramunt Moving objects at sea: trends and
Département challenges
Informatique, École Navale
MPA'10 in Zurich 53 September 14th, 2010
48
Container tracking 48
International reports indicate
that between 2,000 and 10,000
containers are dropped into the
sea each year.
The problem is to retrieve
container trajectories
according to current and
winds, or to retrieve the
ships they came from
GIScience 2010 – MPA - Zurich – C. Claramunt Moving objects at sea: trends and
Département challenges
Informatique, École Navale
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Container tracking 49
Virtual AtoN
Sinking of Ice Prince
01/15/2008
GIScience 2010 – MPA - Zurich – C. Claramunt Moving objects at sea: trends and
Département challenges
Informatique, École Navale
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Searc and rescue (SAR) 50
Broadcasting of safety
messages
Localization, tracking
and guidance of SAR
means
GIScience 2010 – MPA - Zurich – C. Claramunt Moving objects at sea: trends and
Département challenges
Informatique, École Navale
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Searc and rescue (SAR) 51
Search And Rescue:
. Location of incident
. Type of rescue
. Availability of resources
. Wind and currents
Compute of probability of detection:
. Compute optimum rescue route
. Record operations into logbook
. Provide debriefing tools
GIScience 2010 – MPA - Zurich – C. Claramunt Moving objects at sea: trends and
Département challenges
Informatique, École Navale
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Searc and rescue (SAR) 52
Oil spill:
. Oil quality
. Currents
. Winds
Compute quantity of oil:
. On shore
. On sea bed
. Evaporated
GIScience 2010 – MPA - Zurich – C. Claramunt Moving objects at sea: trends and
Département challenges
Informatique, École Navale
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Search and rescue (SAR) 53
GIScience 2010 – MPA - Zurich – C. Claramunt Moving objects at sea: trends and
Département challenges
Informatique, École Navale
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Searc and rescue (SAR) 54
GIScience 2010 – MPA - Zurich – C. Claramunt Moving objects at sea: trends and
Département challenges
Informatique, École Navale
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Searc and rescue (SAR) 55
Search area
GIScience 2010 – MPA - Zurich – C. Claramunt Moving objects at sea: trends and
Département challenges
Informatique, École Navale
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Searc and rescue (SAR) 56
Search area + rescue
ships trajectories…
GIScience 2010 – MPA - Zurich – C. Claramunt Moving objects at sea: trends and
Département challenges
Informatique, École Navale
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Ship pollution 57
Observing
Retrieving
GIScience 2010 – MPA - Zurich – C. Claramunt Moving objects at sea: trends and
Département challenges
Informatique, École Navale
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Moving objects at sea: research challenges 58
Maritime data integration
Modelling and tracking of maritime navigations
Diffusion of services to clients and monitoring authorities
l Heterogeneous databases l Patterns discovery & analysis
l Traffic control l Search And Rescue (SAR)
l Safety l Simulation & Decision-
Decision-aid systems
l Event tracking l Visualisation and user interfaces
GIScience 2010 – MPA - Zurich – C. Claramunt Moving objects at sea: trends and
Département challenges
Informatique, École Navale
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Web-based visualisation 59
GIScience 2010 – MPA - Zurich – C. Claramunt Moving objects at sea: trends and
Département challenges
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VTS Services within GIS 60
GIScience 2010 – MPA - Zurich – C. Claramunt Moving objects at sea: trends and
Département challenges
Informatique, École Navale
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VTS Services Within GIS 61
GIScience 2010 – MPA - Zurich – C. Claramunt Moving objects at sea: trends and
Département challenges
Informatique, École Navale
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VTS Services Within GIS 62
GIScience 2010 – MPA - Zurich – C. Claramunt Moving objects at sea: trends and
Département challenges
Informatique, École Navale
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Navigation modelling and simulation 63
User’s ship course
S1
S5
1500 yd
range
S4 500 yd S2
range
S3
1000 yd
range
Navigation rules Collaborative navigation modelling
Collision avoidances range
GIScience 2010 – MPA - Zurich – C. Claramunt Moving objects at sea: trends and
Département challenges
Informatique, École Navale
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Navigation modelling and decision processes 64
• Integration of an expert decision process into simulation
platforms
– Whose objective is to build realistic maritime traffic
simulations and by taking into account actors and decision
processes
GIScience 2010 – MPA - Zurich – C. Claramunt Moving objects at sea: trends and
Département challenges
Informatique, École Navale
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3D Marine GIS 65
Replay (« Grand Prix 2009 »)
GIScience 2010 – MPA - Zurich – C. Claramunt Moving objects at sea: trends and
Département challenges
Informatique, École Navale
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What should we retain ? 66
As citizen: we
don't care too
much to what is
really happening
at sea,
and we don't
know too much
about it
GIScience 2010 – MPA - Zurich – C. Claramunt Moving objects at sea: trends and
Département challenges
Informatique, École Navale
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Conclusion 67
Thank you very much for your
attention !
Prof. Christophe Claramunt
Naval Academy Research Institute,
France
claramunt@ecole-navale.fr
http://christophe.claramunt.free.fr
GIScience 2010 – MPA - Zurich – C. Claramunt Moving objects at sea: trends and
Département challenges
Informatique, École Navale