Global Congress on Intelligent Systems
A Data Fusion Algorithm for Marine Radar Tracking
Ying Shijun, Chen Jinbiao, Shi Chaojian
Merchant Marine College, Shanghai Maritime University
Pudong Dadao 1550,200135, Shanghai, China
Abstract
Automatic Radar Plotting Aids (ARPA) and
Automatic Identification System (AIS) are the most
important navigational systems on board. ARPA is
considered as the primary anti-collision system, but its
detecting ability, tracking accuracy and reliability are
affected badly under the rough environmental weather
condition. AIS provide steady and continuous
navigation data come from GPS or DGPS with higher
precision. In this paper, a data fusion algorithm has
been developed for ARPA with AIS position data to
improve its tracking accuracy and reliability. The
proposed algorithm was experimented on a
navigational radar simulator and a pc based platform
programmed with VC++. The simulating results show
that this method can effectively improve the accuracy
and reliability of tracking.
1. General information
International Maritime Organization (IMO) has
worked out the timetable of the installation of the
Automatic Radar Plotting Aids (ARPA) on the ships
built from 1984[1]. The ships over 10,000 gross tones
must be equipped with specialized radar anti-collision
systems, ARPA, which facilitate considerably the
navigator’s work. Functions executed by the ARPA
automate the activities with tracking the objects and
provide with presentation of the navigational situation.
The ARPA systems allow navigators to select
reasonable decisions about the maneuver to take
because of their ability of data processing and display
capabilities of the navigational situation on the radar
screen. But the tracking delay, sensor’s error and
tracking algorithms have great influence on the
performance of ARPA systems, and the detecting
ability, tracking precision and reliability are depressed
badly under the rough environmental weather
condition.
Automatic Identification System (AIS) is other
navigation equipment on board. It is designed to be
978-0-7695-3571-5/09 $25.00 © 2009 IEEE
DOI 10.1109/GCIS.2009.238
capable of providing information about the ship to
other ships and to coastal authorities automatically.
From December 2004, all ships over 300 tons must
carry an AIS system which broadcasts information
about the ship to any suitably equipped receiver. AIS
uses very short bursts of high speed data on two VHF
channels in the marine band. Ships broadcast their
identity, position, course, speed and destination so that
other ships can take account of their movements [1].
AIS have the advantage of high reliability and anti-
shading ability.
The information provided by AIS and ARPA can be
complementary for each other [2]. Synthesis of
position data of AIS and ARPA can offer higher
precision and reliability of tracking object. In this
paper, a data fusion algorithm has been developed for
ARPA to improve its accuracy and efficiency.
Mathematics model was established, the proposed
algorithm includes coordinates conversion, time
proofreading and data correlation. This method was
experimented finally on a navigational radar simulator,
and the platform is programmed with VC++. The
simulation results show that this algorithm can
effectively advance the precision of ARPA tracking
position and reduce the probability of target lost and
target swap.
2. AIS data processing
Navigators use ARPA to observe the targets based
on polar coordinates. ARPA display the target echoes
with bearing and range on the radar screen, and the
scan center is the own-ship’s position. AIS position
provided by GPS is based upon the geographic
coordinates. It is necessary to use the common
reference system to combine the tracking data [3].
2.1. AIS coordinates conversion
According to marine radar system, north up polar
coordinates is used for common reference coordinates.
Figure 1 shows the coordinates and the target sliding
window.
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 the fusion time tF, the expectation of position is
y
calculated as:
△A
ARPA Position ⎧ xF = x A + s x (t F − t A )
⎨ (3)
RA AIS Position
⎩ y F = y A + s y (t F − t A )
BA RR Where, sx and sy are the AIS target speed over x-
△R coordinate and y-coordinate, (xA, yA) is the last
BR
broadcasted position and tA is the time.

O x
3. Correlation processing and data fusion

Figure 1 – Data Fusion Coordinates
Where RR and BR are the ARPA position’s range and
bearing, RA and BA are the AIS position’s range and
bearing. The sector window is the ARPA target
tracking window. Gauss-Kruger projection is used for
AIS data conversion, the transforming functions are
follows:
⎧ 2 ⎡1 1 (1)
⎪ x = X + Ntg ϕ cos ϕλ ⎢ 2 + 24 cos ϕ ( 5 − tg ϕ + 9η + 4η ） λ
2 2 2 2
According to the functional hierarchy of fusion and
mode of data process flows, the function models of
data fusion are classified into five levels, i.e., detection,
tracking, attribute, situation and threat
levels[4,5].Among these five levels, tracking levels is
the most important, which is also the key of data fusion.
There are four types architecture model of data fusion,
i.e., centralized, distributed, hybrid and multiple stage
systems. Distributed system is adopted in this paper,
4 4

⎪ ⎣ the reason is that the distributed system is more

⎪
⎪ +
1 ⎤
cos 4 ϕ ( 61 − 58 tg 2 ϕ + tg 4ϕ ) λ 4 ⎥ reliable and more feasible with less invest, and less
⎪ 720 ⎦
⎨ requirement on communication and computation,
⎪ y = N λ cos ϕ ⎡1 + 1 cos 2 ϕ (1 − tg 2ϕ + η 2 ) λ 2
⎪ ⎢⎣ 6
moreover, in a distributed system, even if one sensor
⎪ breaks down, the whole system remains normally. The
⎪ 1 ⎤
+ cos ϕ ( 5 − 18 tg 2ϕ + tg 4 ϕ + 14 η 2 − 58 tg 2ϕη 2 ) λ 4 ⎥
4
⎪⎩ 120 ⎦ data fusion of ARPA and AIS is a tracking position
⎧R = ( x − x ) 2 + ( y − y ) 2 synthesis, the ARPA and AIS used to be two sensors in
⎪ T O T O
synthetic system, which correlate and combine the
⎪⎪ ⎧π yT − yO (2) target track position of ARPA detection with AIS
⎨ ⎪⎪ 2 − arctg x − x ( xT − xO > 0)
broadcasting track position. In a distributed system, the
⎪ B = ⎨ 3π T
y − yO
O

⎪ ⎪ − arctg T ( xT − xO < 0) key of data fusion are track correlation and hierarchical
⎪⎩ ⎪⎩ 2 xT − xO estimations. To solve the problem, Singer and
Where, R and B are the relative range and bearing of Kanyuch proposed weight distance examination firstly,
AIS targets. latter Kosaka proposed NN algorithm. Bowman
2.2. AIS position estimate described the correlation of tracks with maximum
likelihood principle. Chang and Youens translated the
Under the different voyage condition, AIS problem of track correlation into CA of operational
broadcasts ship’s static and dynamic information in research, and give the solution by the famous
different time interval [1]. Table 1 shows the AIS Hungarian/Munkre approaches. Likelihood ratio
broadcast interval: testing method in detection theory, K-NN method
based on nearest neighbor approach in statistical
Table 1– AIS broadcast interval pattern identification and fuzzy synthetic methods were
Voyage Anchoring 0- 14- 0-14 >23 >14
speed 14 23 and and
also used to solute the problem of track correlation. In
condition altering altering this paper, the weight statistics method is used to
Broadcast 180 12 6 4 3 2 implement the track data fusion, and it is fit for marine
interval radar system and simplifies the system structure.
(s)
The rotating speed of marine radar antenna is about
3.1. Tracking position correlation
15-30 rounds per minutes, so the ARPA sampling
periods is about 3 seconds. AIS information
Supposing RRk and BRk are the range and bearing of
broadcasting time varies in different navigation
ARPA detection object at time k, RAk and BAk are the
situation. For ensuring the coherence of space-time of
estimated range and bearing according to the AIS
track position, ARPA sampling time tR is used for the
data fusion time tF. Supposed AIS target voyage with broadcasting position. △A and △R are the breadth
invariable speed and course in the broadcast interval, at and depth of ARPA sliding window, ΔR is usually the

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8.5‰ of radar range and ΔA is 10 quantization units of The variances are:
bearing. There are two cases in ARPA tracking data
, D( BF ) = δ BA ⋅ δ BR
2 2
δ RA
2
⋅ δ RR
2
fusion system. One case is that there is one target echo D ( RF ) =
in a sliding window, and the other case is more than δ RR
2
+ δ RA
2
δ BR
2
+ δ BA
2

two targets in a sliding window.

3.1.1. Single-target in a sliding window 4. Algorithm simulation
If exists:
⎧ R Ak − RRk ≤ ΔR In computer simulation experiments, three scenarios
⎨ (4) are simulated according to the appendix 2 of IMO
⎩ B Ak − BRk ≤ ΔA standards for ARPA performance.
Scenario 1: own-ship course is 000°, speed is 10
Then the tracking target position correlates to the knots; target A range is 8 n-miles, and bearing is 000°;
AIS position. relative course is 180°, relative speed is 20 knots.
3.1.3. multi-target in a sliding window Target A’s movement equation is:
To improve the quality of data fusion, it is need to t
detect target m times. Distance function dij is defined RA = 8 − + n R (t )
180
between the samples. RRjn means the nth ARPA
detecting range data in the jth group, and RAin means B A = n B (t )
the nth estimating range data in the ith group. Where, i Scenario 2: own-ship course is 000°, speed is 10
and j are independent and unrelated. The function dij is knots; target B range is 1n-miles, and bearing is 000°;
defined as: relative course is 90°, relative speed is 10 knots. Target
⎛ m 1 m 1
⎞ B’s movement equation is:
⎜ (∑ ( RRjn − R Ain ) 2 ) 2 (∑ ( BRjn − B Ain ) 2 ) 2 ⎟
1⎜ ⎟ (5) 2
d ij = ⎜ n =1 + n =1 ⎟ ⎛ t ⎞
2
⎜⎜
m m
⎟⎟ RB = 1＋⎜ ⎟ + n R (t )
⎝ ⎠ ⎝ 360 ⎠
For certain ith AIS position data, to find out the 180 t
BB = arctg + n B (t )
same object data of ARPA detecting position, it is just π 360
to search the j and make the distance dij minimum. Scenario 3: own-ship course is 000°, speed is 5
3.2. Tracking position fusion knots; target C range is 8 n-miles, and bearing is 045°;
At the central synthesis position, ARPA and AIS relative course is 225°, relative speed is 20 knots.
data are proofread to uniform sampling periods. The Target C’s movement equation is:
independent 2-dimension estimating positions
t
X̂ R and X̂ A are calculated from ARPA and AIS data. RC = 8 − + nR (t )
180
Supposing X̂ R and X̂ A are unbiased estimates, and BC = 45 + nB (t )
their variances are D(XR) and D(XA). Supposing nR(t) is a Gauss white noise, its mean is
According to least variance rule, using weight zero n-mile and variance is 0.2 n-mile2. nB(t) is also a
average method, the weight of ARPA and AIS are Gauss white noise, its mean is zero degree and
evaluated on their errors. Here optimizing fusion variance is 1.2 deg2. AIS position is provided by GPS,
estimate is defined as: its variance of range error is 0.01 n-mile2 and variance
~ ˆ +W X ˆ of bearing error is 0.6 deg2.
X F = WR X B A A (6)
If ARPA tracking range is 12 n-miles, sliding
There WR + WA = I window width △A is 0.088°, sliding window depth △
If RR, RB, AR and AB are the errors of ARPA R is 0.102 n-mile. The periods of antenna rotation is 3
target range, ARPA target bearing, AIS target range seconds, the 3 targets observations and fusion data
and AIS target bearing. For 2-dimension system, the show in figures below.
estimate is:
⎧~ ˆ ˆ δ RA
2
δ2
⎪ RF = WRR RR + WRA R A = 2 Rˆ R + 2 RR 2 Rˆ A (7)
⎪ δ RR + δ RA
2
δ RR + δ RA
⎨
~
⎪ BF = WBR Bˆ R + WBA Bˆ A = δ 2
δ2
BA
Bˆ R + 2 BR 2 Bˆ A
⎪⎩ δ BR + δ BA
2 2
δ BR + δ BA

236
Figure 2 scenario 1, target A’s range
Figure 6 scenario 3, target C’s range

Figure 3 scenario 1, target A’s bearing Figure 7 –scenario 3, target C’s bearing

Figure 2-7 show that the fusion data more approach

to the true data, it makes clear that the proposed
algorithm is feasible and effectively improved the
tracking accuracy. Table 2 shows the difference of
variances.

Table2 – difference of variances

Item ARPA AIS position FUSION
position data
Range 0.2 0.01 0.008
variance(m2)
Bearing 1.2 0.6 0.42
variance(deg2)
Figure 4 –scenario 2, target B’s range

5. Conclusion
AIS can provide abundant precise object’s
information. It can exactly complement the
shortcoming of ARPA tracking system. This paper
presents a method on how to correlate the object track
of Marine Radar and AIS. As a real-time tracking
system on board, the processing time of track
correlation and fusion should not be too long. The
simulation results show that the proposed algorithm is
easy to implement in engineering for no much need for
computation, storage and communication.
Figure 5 scenario 2, target B’s bearing

6. Acknowledgement
This research was partially supported by the

237
National High Technology Research and Development
Program of China (863 Program, No. 2007AA11Z249)
and Natural Science Foundation of Shanghai (No.
08ZR1409300).
7. References
[1] Automatic Identification System (AIS) [S], IMO NAV45,
1999.
[2] Luo Suyun, TanJian, "Object Track Correlation
Algorithm of AIS and Radar,'' Journal of Whuhan University
of Technology, vol. 27, pp. 112–115, Feb. 2003.
238
[3] Jin Hong-bin, Xu Yu, and Dong Feng, "Research on
Coordinate Transformation Under Radar Information
Processing Systems,'' Journal of Air Force Radar Academy,
vol. 17, pp. 54–55, Sep. 2003.
[4] He You, Guan Xin, and Wang Guo-hong, "Survey on the
Progress and Prospect of Multi-sensor Information Fusion,''
Journal of Astronautics, vol. 26, pp. 524–529, July. 2005.
[5] David L Hall, "An Introduction to Multi-sensor Fusion,''
International workshop on data fusion in 2002, Beijing,
China, 2002.