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 5 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 6 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 7 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 9 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 10 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 11 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 12 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 13 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 14 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 15 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 16 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 17 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 MPA'10 in Zurich 23 September 14th, 2010 18 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 MPA'10 in Zurich 24 September 14th, 2010 19 ECDIS: Alarms 19 Alarm ! settings GIScience 2010 – MPA - Zurich – C. Claramunt Moving objects at sea: trends and Département challenges Informatique, École Navale MPA'10 in Zurich 25 September 14th, 2010 20 ECDIS: Additional Data - Tides 20 GIScience 2010 – MPA - Zurich – C. Claramunt Moving objects at sea: trends and Département challenges Informatique, École Navale MPA'10 in Zurich 26 September 14th, 2010 21 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 MPA'10 in Zurich 27 September 14th, 2010 22 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 23 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 MPA'10 in Zurich 29 September 14th, 2010 24 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 MPA'10 in Zurich 30 September 14th, 2010 25 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 MPA'10 in Zurich 31 September 14th, 2010 26 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 MPA'10 in Zurich 32 September 14th, 2010 27 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 MPA'10 in Zurich 33 September 14th, 2010 28 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 MPA'10 in Zurich 34 September 14th, 2010 29 Integration of heterogeneous databases: semantic issues 29 GIScience 2010 – MPA - Zurich – C. Claramunt Moving objects at sea: trends and Département challenges Informatique, École Navale MPA'10 in Zurich 35 September 14th, 2010 30 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 MPA'10 in Zurich 36 September 14th, 2010 31 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 MPA'10 in Zurich 37 September 14th, 2010 32 Integration of heterogeneous databases 32 Data filtering GIScience 2010 – MPA - Zurich – C. Claramunt Moving objects at sea: trends and Département challenges Informatique, École Navale MPA'10 in Zurich 38 September 14th, 2010 33 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 MPA'10 in Zurich 39 September 14th, 2010 34 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 35 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 37 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 MPA'10 in Zurich 43 September 14th, 2010 38 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 MPA'10 in Zurich 44 September 14th, 2010 39 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 40 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 MPA'10 in Zurich 46 September 14th, 2010 41 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 MPA'10 in Zurich 47 September 14th, 2010 42 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 MPA'10 in Zurich 48 September 14th, 2010 43 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 MPA'10 in Zurich 49 September 14th, 2010 44 Patterns analysis and discovery 44 GIScience 2010 – MPA - Zurich – C. Claramunt Moving objects at sea: trends and Département challenges Informatique, École Navale MPA'10 in Zurich 50 September 14th, 2010 45 Patterns analysis and discovery 45 GIScience 2010 – MPA - Zurich – C. Claramunt Moving objects at sea: trends and Département challenges Informatique, École Navale MPA'10 in Zurich 51 September 14th, 2010 46 Patterns analysis and discovery 46 GIScience 2010 – MPA - Zurich – C. Claramunt Moving objects at sea: trends and Département challenges Informatique, École Navale MPA'10 in Zurich 52 September 14th, 2010 47 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 MPA'10 in Zurich 54 September 14th, 2010 49 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 MPA'10 in Zurich 55 September 14th, 2010 50 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 MPA'10 in Zurich 56 September 14th, 2010 51 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 MPA'10 in Zurich 57 September 14th, 2010 52 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 MPA'10 in Zurich 58 September 14th, 2010 53 Search and rescue (SAR) 53 GIScience 2010 – MPA - Zurich – C. Claramunt Moving objects at sea: trends and Département challenges Informatique, École Navale MPA'10 in Zurich 59 September 14th, 2010 54 Searc and rescue (SAR) 54 GIScience 2010 – MPA - Zurich – C. Claramunt Moving objects at sea: trends and Département challenges Informatique, École Navale MPA'10 in Zurich 60 September 14th, 2010 55 Searc and rescue (SAR) 55 Search area GIScience 2010 – MPA - Zurich – C. Claramunt Moving objects at sea: trends and Département challenges Informatique, École Navale MPA'10 in Zurich 61 September 14th, 2010 56 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 MPA'10 in Zurich 62 September 14th, 2010 57 Ship pollution 57 Observing Retrieving GIScience 2010 – MPA - Zurich – C. Claramunt Moving objects at sea: trends and Département challenges Informatique, École Navale MPA'10 in Zurich 63 September 14th, 2010 58 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 MPA'10 in Zurich 64 September 14th, 2010 59 Web-based visualisation 59 GIScience 2010 – MPA - Zurich – C. Claramunt Moving objects at sea: trends and Département challenges Informatique, École Navale MPA'10 in Zurich 65 September 14th, 2010 60 VTS Services within GIS 60 GIScience 2010 – MPA - Zurich – C. Claramunt Moving objects at sea: trends and Département challenges Informatique, École Navale MPA'10 in Zurich 66 September 14th, 2010 61 VTS Services Within GIS 61 GIScience 2010 – MPA - Zurich – C. Claramunt Moving objects at sea: trends and Département challenges Informatique, École Navale MPA'10 in Zurich 67 September 14th, 2010 62 VTS Services Within GIS 62 GIScience 2010 – MPA - Zurich – C. Claramunt Moving objects at sea: trends and Département challenges Informatique, École Navale MPA'10 in Zurich 68 September 14th, 2010 63 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 MPA'10 in Zurich 69 September 14th, 2010 64 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 MPA'10 in Zurich 70 September 14th, 2010 65 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 MPA'10 in Zurich 71 September 14th, 2010 66 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 MPA'10 in Zurich 72 September 14th, 2010 67 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