VHF - PowerPoint PPT Presentation

船舶に搭載した VHF レーダーによる 表層流計測の可能性について ー 方位推定に対する影響の検証 ー 佐地 健太郎 1 , 新井 励 2 , 中谷 直樹 2 , 山田 智貴 2 , 奥野 武俊 2 , 濱野 哲也 3 1 Graduate Student of Osaka Prefecture University 2 Osaka Prefecture University 3 Kawasaki Shipbuilding Corporation

introduction introduction environmental phenomena salt temperature nutrient …etc safe and efficient sailing Flow field Flow field

VHF radar VHF radar introduction introduction near the coast near the coast Flow field Flow field in the ocean in the ocean Metallic ship hull Metallic ship hull ↓ ↓ Radio wave Radio wave Flow field Flow field

VHF radar VHF radar 3 antennas 3 antennas Compact size Compact size VHF radar VHF radar Produced by CODAR Produced by CODAR

Estimation of arrival direction Estimation of arrival direction Ｘ：received signal value    2 ( ) ( ) ( ) X t AF t t I Ｆ：intensity of the arrival radio wave σ 2 I ： noise vector         1   , , A a a Ａ：directivity characteristic L θ：arrival direction Angle(degree) Angle(degree) 0 0 330 330 30 30 antenna1 antenna1 300 300 60 60 270 270 90 90 1.0 1.0 2.0 2.0 antenna2 antenna2 240 240 120 120 210 210 150 150 180 180

Estimation of arrival direction Estimation of arrival direction xx  H ( ) ( ) R X t X t ：covariance matrix of X signal noise signal noise              e N :eigen vector 2  K 1 2 L L t： score      ( ) e： eigen vector X t t e t e t e 1 1 2 2 S S n N s: signal e  N: noise e S N H e a   ( ) 0 inner product: inner product: directive component directive component L N arrival direction arrival direction         1   , , A a a L

Estimation of arrival direction Estimation of arrival direction H e a   ( ) 0 ∴ ∴ inner product: inner product: L N 1   ( ) P P : directive function   MU H | ( ) | e a i （ MUSIC spectrum ） 1 0.9 position of peak position of peak 0.8 MU Music spectrum P 0.7 0.6 ＭＵＳＩＣ ＭＵＳＩＣ algorism 0.5 algorism 0.4 MUltiple MUltiple 0.3 Arrival direction Arrival direction SIgnal SIgnal 0.2 Classification Classification 0.1 0 180 210 240 270 300 330 360 azimuth direction θ

Antenna pattern Antenna pattern Angle(degree) Angle(degree) 0 0 アンテナパターンを歪める物体 アンテナパターンを歪める物体 330 330 30 30 antenna1 antenna1 巨大な構造物 巨大な構造物 300 300 60 60 θ ・島 島 ・ θ ・山 山 ・ ・橋 橋 ・ 270 270 90 90 ・建物 建物 … ・ 1.0 1.0 2.0 2.0 …etc etc 金属 金属 antenna2 antenna2 ・鉄 鉄 ・ 240 240 120 120 ・銅 銅 … ・ …etc etc 210 210 150 150 180 180 Antenna Pattern Antenna Pattern

The measurement method of Antenna pattern The measurement method of Antenna pattern 50m 50m

The measurement method of Antenna pattern The measurement method of Antenna pattern Angle(degree) 0 GPS GPS 330 30 antenna1 GPS GPS gyro gyro VLCC VLCC 300 60 workboat workboat 270 90 1.0 2.0 transponder transponder antenna2 240 120 210 150 180 Antenna Pattern

ｓ Result ｓ Result Head of VLCC Head of VLCC Angle(degree) 0 330 30 upper deck 300 60 270 90 1.0 2.0 wing 240 120 wing funnel 210 150 180 Antenna Pattern

Estimation of the arrival direction Estimation of the arrival direction 1 0.9 0.8 MU Music spectrum P 0.7 0.6 workboat workboat workboat workboat MUSIC algorism MUSIC algorism 0.5 0.4 0.3 0.2 VLCC VLCC VLCC VLCC 0.1 0 180 210 240 270 300 330 360 azimuth direction θ transponder transponder transponder transponder transponder transponder によって算出した GPS によって算出した アルゴリズムによる MUSIC アルゴリズムによる GPS MUSIC 正確な方位 到来方向の推定結果 正確な方位 到来方向の推定結果 比較 比較

Results of MUSIC Results of MUSIC 360 300 240 estimate direction direction of structure direction of structure 180 (4,171) (4,171) 120 y=x estimated results 60 0 90 190 90 190 270 330 270 330 0 60 120 180 240 300 360 correct direction

Results of MUSIC 360 1 0.9 300 0.8 MU MUSIC Sspectrum P 0.7 240 estimate direction 0.6 0.5 180 0.4 6 171 6 171 0.3 120 y=x (4,171) (4,171) estimated results 0.2 60 0.1 0 0 0 60 120 180 240 300 360 Angle(degree) 0 60 120 180 240 300 360 azimuth direction θ 0 325 360 325 360 correct direction 330 30 300 60 270 90 1.0 2.0 275 275 240 120 85 85 265 265 210 150 180 190 190 A P

Results of MUSIC Results of MUSIC before before 360 360 300 240 estimate direction 300 180 120 y=x estimated results (4,171) 240 (4,171) estimate direction 60 0 0 60 120 180 240 300 360 180 correct direction y=x 120 estimated results 60 (4,6) (4,6) 0 0 60 120 180 240 300 360 correct direction

Results of MUSIC Results of MUSIC before before 360 360 300 240 estimate direction 300 180 120 y=x estimated results (4,171) 240 (4,171) estimate direction 60 0 0 60 120 180 240 300 360 180 correct direction 構造物からどの程度の距離を離 構造物からどの程度の距離を離 y=x 120 して，アンテナを設置する必要が して，アンテナを設置する必要が estimated results あるのか？？ あるのか？？ 60 (4,6) (4,6) 0 0 60 120 180 240 300 360 correct direction

The experiment of the obstacles The experiment of the obstacles Rinku Park Rinku Park

The experiment of the obstacles The experiment of the obstacles case3 case2 電波の約 1 波長 VHF 電波の約 1 波長 VHF Case 1 no obstacles around the antennas Case 2 a car placed 3.5 meter away from antennas Case 3 a car placed 7.0 meter away from antennas

Results of measuring antenna patterns Results of measuring antenna patterns Angle(degree) Angle(degree) Angle(degree) 0 0 0 The direction The direction 330 330 330 30 30 30 antenna1 antenna1 antenna1 of obstacles of obstacles 300 300 300 60 60 60 antenna2 antenna2 antenna2 270 270 270 90 90 90 0.500 0.500 0.500 1.000 1.000 1.000 case1 case1 case1 240 240 240 120 120 120 no obstacles no obstacles 210 210 210 150 150 150 180 180 180 Antenna Radiation Pattern Antenna Radiation Pattern Antenna Radiation Pattern Angle(degree) Angle(degree) Angle(degree) Angle(degree) Angle(degree) Angle(degree) 0 0 0 0 0 0 330 330 330 30 30 30 330 330 330 30 30 30 antenna1 antenna1 antenna1 antenna1 antenna1 antenna1 300 300 300 60 60 60 300 300 300 60 60 60 antenna2 antenna2 antenna2 antenna2 antenna2 antenna2 270 270 270 90 90 90 270 270 270 90 90 90 0.500 0.500 0.500 1.000 1.000 1.000 0.500 0.500 0.500 1.000 1.000 1.000 case2 case2 case2 case3 case3 case3 240 240 240 120 120 120 240 240 240 120 120 120 ｍ 3.5 ｍ 3.5 ｍ 7.0 ｍ 7.0 210 210 210 150 150 150 210 210 210 150 150 150 180 180 180 180 180 180 Antenna Radiation Pattern Antenna Radiation Pattern Antenna Radiation Pattern Antenna Radiation Pattern Antenna Radiation Pattern Antenna Radiation Pattern

Estimation of arrival direction Estimation of arrival direction 360 340 320 estimate direction y=x-5 y=x y=x+5 300 case1 case2 case3 280 260 240 240 260 280 300 320 340 360 correct direction

Estimation of arrival direction in case1 Estimation of arrival direction in case1 360 340 320 estimate direction y=x-5 y=x 300 y=x+5 case1 280 260 240 240 260 280 300 320 340 360 correct direction

Estimation of arrival direction in case 2 – – 4 4 Estimation of arrival direction in case 2 360 340 320 estimate direction y=x-5 y=x 300 y=x+5 case2 case3 280 260 240 240 260 280 300 320 340 360 correct direction

conclusions conclusions 船舶搭載時の 船舶搭載時の ・アンテナパターンへの影響 ・アンテナパターンへの影響 構造物の方位に大きな歪み 構造物の方位に大きな歪み ・到来方向推定への影響 ・到来方向推定への影響 アンテナパターンから歪んだ方位を除くことで アンテナパターンから歪んだ方位を除くことで 到来方向の推定が可能 到来方向の推定が可能 ・良好な設置条件 ・良好な設置条件 障害物の少ない場所に設置 障害物の少ない場所に設置 構造物から7 7ｍ以上 ｍ以上離して設置 離して設置 構造物から

Thank you very much Thank you very much for your kind attention!! for your kind attention!!

The measurement method of Antenna pattern The measurement method of Antenna pattern Angle(degree) 0 330 30 antenna1 300 60 270 90 GPS 1.0 2.0 GPS gyro gyro antenna2 GPS GPS 240 120 VLCC VLCC workboat workboat 210 150 180 Antenna Pattern transponder transponder Anchoring in the open sea Anchoring in the open sea mooring at the land mooring at the land