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Randy Soto & Oscar Gonzalez Advisors: Liz Lennon & Hugh Roarty
Final Presentation: July 25, 2013
DHS Acknowledgement and Disclaimer:
"This material is based upon work supported by the U.S. Department of Homeland Security under Grant Award Number 2008-‐ST-‐061-‐ML0002." The views and conclusions contained in this document are those of the authors and should not be interpreted as necessarily representing the official policies, either expressed or implied, of the U.S. Department of Homeland Security."
Overview How HF Radar helps with Coast Guard Missions
Motivation and Conceptual Approach
Approach Implementation
Analysis and Visualization of our Sample data
Conclusions
Future Works
Coast Guard Missions Ports, waterways, and coastal security
Drug interdiction
Aids to navigation
Search and rescue
Living marine resources
Marine environment protection
Ice operations
Other law enforcement
Applica=ons of HF Radar (Relevant to Coast Guard Missions) Circulation
Oil Spill / Pollution
Search and Rescue
Beach Closures
Natural Disaster Detection
Maritime Safety
Fisheries
Green Energy
Water Quality
Recreation
HF Radar Applica=ons vs CG Missions Coast Guard Missions
Coastal Security
Drug Interdiction
Aids to Navigation
Search and
Rescue
Living Marine
Resources
Marine Safety
Defense Readiness
Migrant Interdiction
Marine Environment Protection
Ice Operations
Other Law Enforcement
HF Ra
dar A
pplic
ations
Circulation ✓ ✓ ✓
Pollution ✓ ✓
Search and Rescue ✓ ✓
Beach Closures ✓
Natural Disaster Detection
✓ ✓
Maritime Safety ✓ ✓ ✓ ✓ ✓ ✓ ✓ ✓ ✓ ✓ ✓
Fisheries ✓ ✓
Mo=va=on (Why?) Integrate HF radar in decision-‐support systems to augment maritime domain awareness.
Improve visualization of HF radar & present it in a clearer way.
Conceptual Approach (How?) Develop algorithm to compare AIS & HF Radar data to determine if they represent the same vessel.
Use output to display the clearest picture of vessels in a region, i.e. remove redundant info.
MATLAB Implementa=on Calculate error between each individual element in XAIS with respect to all elements in XHF.
i.e. || XAIS – XHF|| = εi,j
MATLAB Implementa=on Find minimum in each row of the error matrix that must also be less that or equal to some threshold.
Find minimum of the minimums obtained in each row; then remove from XHF coordinates that correspond to row index of final minimum obtained for each column.
Java Implementa=on AIS List Hidden List
(𝑥↓1 , 𝑦↓1 )
(𝑥↓2 , 𝑦↓2 )
(𝑥↓3 , 𝑦↓3 )
(𝑥↓4 , 𝑦↓4 )
(𝑥↓5 , 𝑦↓5 )
(𝑥↓4 , 𝑦↓4 )
HF List
(𝑥↓1 , 𝑦↓1 )
(𝑥↓2 , 𝑦↓2 )
(𝑥↓3 , 𝑦↓3 )
(𝑥↓4 , 𝑦↓4 )
(𝑥↓5 , 𝑦↓5 )
Distances
(𝑑↓1 )
(𝑑↓2 )
(𝑑↓3 )
(𝑑↓4 )
(𝑑↓5 )
Java Implementa=on AIS List Hidden List
(𝑥↓1 , 𝑦↓1 )
(𝑥↓2 , 𝑦↓2 )
(𝑥↓3 , 𝑦↓3 )
(𝑥↓4 , 𝑦↓4 )
(𝑥↓5 , 𝑦↓5 )
(𝑥↓4 , 𝑦↓4 )
HF List
(𝑥↓1 , 𝑦↓1 )
(𝑥↓2 , 𝑦↓2 )
(𝑥↓3 , 𝑦↓3 )
(𝑥↓5 , 𝑦↓5 )
(𝑥↓2 , 𝑦↓2 )
Distances
(𝑑↓1 )
(𝑑↓2 )
(𝑑↓3 )
(𝑑↓5 )
Java Implementa=on AIS List
(𝑥↓1 , 𝑦↓1 )
(𝑥↓2 , 𝑦↓2 )
(𝑥↓3 , 𝑦↓3 )
(𝑥↓4 , 𝑦↓4 )
(𝑥↓5 , 𝑦↓5 )
HF List
(𝑥↓1 , 𝑦↓1 )
(𝑥↓3 , 𝑦↓3 )
(𝑥↓5 , 𝑦↓5 )
Ini%al Results La
titude
Longitude
HF Radar Detections and AIS after Processing
Vessel NOT on AIS
Likely path of vessel during
AIS gap
Rang
e (km)
Time
Range vs. Time
Flow Diagram for the Determina=on of Possible Vessels Trajectories
Classify HF Radar pepper plots in the Range vs. Time plot
by groups.
Eliminate any datum that deviates from the centroid of the group that it belongs by at
least 2σ.
Map in coordinate system remaining pepper plots within each group using its
corresponding coordinates.
Latitude
Longitude
Pepper Plots Classified by Groups
Latitude
Longitude
Pepper Plots Classified by Groups aQer Elimina=ng Data that Deviate from Centroid
Latitude
Longitude
Pepper Plot Anima=on Video
Associated HF Radar and AIS Data Using Range Only La
titude
Longitude
Summary A list of advantages that HF radars provide to the Coast Guard were enumerated.
Algorithms for processing HF radar data in order to augment information provided by AIS with unreported vessel detections were discussed.
An alternative way for utilizing HF radar data to approximate the number of vessels within a region and their possible trajectories was also discussed.
Concurrent Efforts A script for projecting vessel trajectories was written which interpolates AIS range vs. time plots for each vessel and then compares it to HF radar data.
A script that classifies clusters of data points in range vs. time plots was written.
A script was written that along with plotting HF Radar and AIS data it assigns each datum a color which denotes its time stamp.
Future Work Test and improve algorithms that classifies clusters of data points in range vs. time plots.
Implement scripts written on MATLAB on an open source software.
Test algorithms on more data sets and make any adjustments necessary from results.