The Realization of the Performance Estimation
System on AIS SOTDMA Algorithm
H.S. Lee S.M. Lee
Dept. of Electrical Engineering Dept. of Electrical Engineering
Chungnam National University Chungnam National University
Daejeon, Korea Daejeon, Korea
Email: hs3738@cnu.ac.kr Email: zbus@cnu.ac.kr
Abstract— In this paper, an SOTDMA algorithm which is a
core technique of AIS was developed ahead of developing AIS
which is suggested as a measure to solve the problem of frequent
ship collision accident at sea and a performance estimation
simulator based on the AIS technology recommendation, was also
developed to examine the algorithm in the environment which is
similar to the reality. And the verification on the algorithm and
the simulator was conducted by the international standard.
I. INTRODUCTION
Various countermeasures for accident cause analysis and
reoccurrence prevention are being explored against marine
accident. International Maritime Organization (IMO) is also
strengthening legal environments as that SOLAS applicable
ships should install or introduce the equipments such as
GMDSS(Global Maritime Distress and Safety System),
ECDIS(Electronic Chart Display and Information System),
AIS(Automatic Identification System), VDR(Voyage Data
Recorder) and IBS(Integrated Bridge System) revising
SOLAS convention as a part of accident prevention
countermeasures
It is stipulated that AIS system should be obligatorily
equipped on all the ships which are engaging in international
navigation, all the cargo ships in the scale of more than 500G/T
engaging in non-international navigation and all the passenger
ships regardless of scale as legal obligation enforcement for
marine accident prevention, internationally. (IMO SOLAS
Rule, 2002). Accordingly AIS system should be equipped on
the ship which was and would be built newly after July, 2002.
AIS system is recommended to be equipped by 2004 for the
international navigating ships which were built before July,
2002 and stipulated to be equipped obligatorily by July, 2008
for non international navigating ships. Automatic Identification
System (AIS) is one which functions so that navigation
information and the information for harbor report could be
exchanged between ships or between a ship and ground base
stations periodically.
For Automatic Identification System, the technology which
can raise the efficiency for ship collision accident prevention
and for VTS (Vessel Traffic Service) operation and the
creditability for them, is necessary. The international
technology standard for AIS should satisfy ITU-R M.1371-
1(ITU 2001/2002). And it is stipulated that the international
H.H. Lee
Dept. of Electrical Engineering
Chungnam National University
Daejeon, Korea
Email: leehh@cnu.ac.kr
technology standard for AIS should also satisfy the test
standard for AIS of IEC 61993-2(IEC, 2001).
The core technologies of AIS include AIS channel
connection algorithm, GPS time synchronization technique and
VHF transmitting and receiving technology. For AIS, the
development of channel connection algorithm technology is
essential because the main performance of the system depends
on how much ratio of collision at the time of applying channel
allocation algorithm, can be reduced and how efficiently the
frequency channel can be used. For establishing AIS,
SOTDMA (Self-Organized Time Division Multiple Access)
channel connection algorithm should be realized. To develop
AIS equipments efficiently, the development of a simulator
which can verify the performance of algorithm is necessary.
By developing this performance estimation simulator on
SOTDMA algorithm for AIS, the occurrence of trial and error
at the time of realizing the protocol for AIS can be reduced and
the slot allocation for AIS channel connection protocol,
collision number, accommodation capacity and treatment
quantity can be measured. In this paper, an algorithm to fit the
international standard ITU (International Telecommunication
Union) M.1371-1 was developed, and the performance of the
algorithm was verified by a simulator.
This paper provides the formatting guidelines for paper
submissions to the IEEE International Symposium on
Industrial Electronics (ISIE) 2007. Using the templates
provided on the conference web site is highly recommended.
II. MAIN ISSUE
A. AIS System
The composition of AIS is like in Fig. 1.. AIS is largely
composed of the main control processor for telecommunication,
SOTDMA(Self Organized Time Division Multiple Access)
algorithm, VHF transmitting and receiving system, GPS
system, a navigation recording distribution equipment and an
I/O interface module. AIS is the system which help the safe
navigation of ships by exchanging the dynamic information of
ships, static information, navigation related information and
safety related messages through 2 VHF channels for AIS.
AIS can grasp ship location even under the condition that
radar can not observe objects easily in such cases as the object
is invisible as it is screened by islands and a small ship is
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curtained by a large ship, because AIS transmit data through
VHF channels.
and for slot time discrimination for the sake of SOTDMA
channel accessing which is the channel accessing method of
AIS.
AIS also receives data from external sensors and systems
such as the external GPS receiver, the Gyro Compass and the
ROT (Rate Of Turn) sensor to attain navigation information
and ship location information.

Fig. 1. Ship AIS composition illustration

Hence, AIS has the merit that it can help the safety operation
of ships by complementing the functions with radar each other,
due to this feature.

Fig. 3. Photography of Embodied AIS MDK

Fig. 3. shows the photography of an AIS which satisfies the

international standard of ITU-R M.1371-1, manufactured by
using an X-Scale PXA255 processor. In the Figure, AIS is
composed of a transponder system (main telecommunication
control system) which conducts AIS channel connection
algorithm and an MDK(Minimum Display Kit) graphic module
which displays AIS information in graphic.
Particularly, most recently the products which display AIS
information in graphic on the basis of electronic nautical chart
Fig. 2. AIS Operation Environment Concept Map according to the recognition of the importance of MDK, are
being offered in markets.
AIS transmits and receives information through 2 VHF bands
allocated for AIS use. Internationally authenticated VHFs for
AIS are 161.975 MHz (2087, 87B) and 162.025 MHz (2088,
88B) of which the bandwidths are 25 kHz each. Other
frequency can be allocated for AIS in the region where the
relative frequency which is authenticated internationally, can
not be allocated because of some specific reasons such as that
the internationally authenticated frequency was already
allocated to other use.
In the region where other frequencies different from
internationally authenticated frequency are allocated, AIS can
transmit and receive data through the regional frequency.
Hence AIS is composed of two units of VHF receiver of which
the channel frequency is convertible, for the two VHF channels
of internationally authenticated one and local one respectively,
one unit of VHF transmitter and DSC receiver for DSD
receiving each, one unit of internal GPS receiver to obtain ship
location information and visual information, channel
connection algorithm and the main controller for controlling
AIS.
AIS secures exact slot time synchronization using PPS (Pulse
Per Second) signal and UTC (Universal Time Clock) which are
generated in the internal GPS receiver. The secured slot time is
used for the standard time of the entire AIS system movement Fig. 4. Flow Chart of Static Information Transmission

406
 As the main performance of AIS system relies on how much
ratio of collision at the time of algorithm application can be
reduced and how efficiently the frequency channel can be used,
the development for channel connection technique which
dominates these elements is essential to the development of
AIS.
Fig. 4. shows the flow chart of channel slot allocation
algorithm for static information transmission, which allocates
reserve slots in advance using RATDMA and reserves the slots
in advance for static information.
SOTDMA slot allocation algorithm which is the channel
connection algorithm used for dynamic information
transmission in AIS is a mode in which the AISs of respective
ships reserve transmission slot in advance and transmit
information autonomously. And the AISs of respective ships
have the capability to automatically solve the problem when a
transmission collision is occurred between the AISs of
respective ships. The dynamic information transmission in
autonomous mode is composed of the initialization phase, Fig. 6. System Block Diagram
network entering phase, first frame phase, consecutive
movement phase and report rate conversion phase. In Fig. 6., the channel connection protocol execution block
determines the slot used for transmission by SOTDMA
algorithm, and in the slot reading/reading and writing block,
slots are generated by the main timer of the program. In the
channel connection execution block, Message 1 is written on
shared memory for the transmission slot and reading and
calling in external data are performed for the non transmission
slot

Fig. 5. SOTDMA Slot Allocation Algorithm Phase

B. Random Ship Generation

The simulator is composed of AIS graphic display function
based on electronic marine chart and VHF cell, the slot
information display for AIS frequency channel, the display for
slot allocation and collision status and the analyzing graphic
for frequency use, which is used at the time of frequency
collision.
The simulator can verify the performance of a developed AIS
channel connection algorithm. This system declared the
wireless communication channel as the shared memory and
declared a real ship as an object. The ships declared as objects
transmit and receive AIS messages between them.
The performance estimation system on SOTDMA algorithm
for AIS was developed with the objective to verify and
complement the algorithm performance in the aspect of
software ahead of realizing channel connection algorithm as
hardware. The block diagram of the developed SOTDMA
performance estimation system is like in Fig. 6. The random
ship generation block generates ships to be tested and Fig. 7. Layered Protocols
generated ships calls in scenario files. The scenario file is the
text file of which the content has AIS message 1 (Table 2) In the wireless communication channel simulation block,
explained in detail in Chapter 3. The scenario file was VHF band which is the band of AIS system frequency is
randomly made for the verification of the performance. realized on memory. And the memory is declared in the way so

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that all the generated ships can access to it and store Message 1. content of the variables in Table 2 previously. The prepared
The ship status monitoring block executes the function of scenario file is called in whenever a ship for test is generated.
monitoring the location of the ship which transmits a message,
among the generated ships. In Message 1, the information of Table 2.
the latitude and longitude of the ship exists. In the slot status Content of AIS Message1
monitoring block, the status information of the channel Parameter Description
connection protocol used at the time of data transmission is Message ID Identifier for this message 1, 2 or 3
displayed and this information becomes to be included in DTE Data terminal ready (0=available 1=not available)
Message 1. Indicates data available to transmit (0 = not available 1
The layered protocol architecture of AIS system is like in Data indicator
= available)
Fig. 7. and the virtual simulation for SOTDMA performance User ID MMSI number
estimation can be expressed like in the Figure.
0=under way, 1=at anchor, 2=not under command,
The random ship generation block and the monitoring block Navigation status
3=restricted maneuverability
on ship status and slot status correspond to the application 　127 degrees/min (–128 indicates not available).
layer. The slot generation and channel connection protocol ROT
External sensor
execution block corresponds to DLS(data link service) of the SOG Speed over ground in 1/10 knot steps (0-102.4 knots)
data link layer and the reading and writing block corresponds
Position Accuracy 1=high (< 10 m) 0=low (> 10 m)
to MAC(media access control) of the data link layer. The
wireless communication channel simulation block corresponds Longitude in 1/10,000 min (180　, East=positive,
Longitude
West=negative)
to the physical layer.
Latitude in 1/10,000 min ( 90　, North=positive,
Latitude
South=negative)
III. PERFORMANCE ESTIMATION SYSTEM REALIZATION COG Course over ground in 1/10　 (0-3599)
METHOD
Degrees (0-359) (511 indicates not available). External
True Heading
A. Random Ship Generation sensor
In SOTDMA channel connection algorithm performance UTC second when the report was generated (0-59, or
Time Stamp
estimation system for AIS, the ship generation block generates 63 if the positioning system is inoperative)
random ships for test. For this, the block generates C class and Repeat Indicator Not used
declares the variables like in Table 1.
Reserved See below
For the generation of a ship, such variables as ID for
Spare Not used
identifying the generated ship, the location of the ship,
Communication
transmission message, receiving message, transmission slot State
Communication State
number and report rate is needed.

Table 1. C. Wireless Communication Channel Simulation

Variables in Ship Generation Class In reality the wireless communication for AIS system
Variables Description
transmits and receives ship information through VHF mobile
ShipID Generated Ship Identification band. In the performance estimation system of this paper the
memory is simulated as VHF frequency so that all the ship
x,y Latitude and Longitude of Ships objects can access and read and write the scenario file.
TxMessage Transmitted Message Accordingly specific memory addresses which are simulated as
VHF band are used for the allocated slots in which AIS
RxMessage Received Message systems transmit and receive information. The slots exist in the
TxSlotNumber Used Transmission Slot Number virtual band of VHF, which is in the mode that slot allocated
ships access to, use and quit the authority to use.
ReportRate Report Rate

D. Slot Generation and Reading and Writing Decision

In real AIS, 1 frame is composed of 2550 slots and
B. Scenario File Generation
equivalent to 1 minute. AIS has the structure of which the
The scenario file generation block provides the data for
frame is synchronized to UTC. However in this SOTDMA
transmitting and receiving between ships. The content of the
channel connection algorithm estimation system for AIS, the
scenario file is like AIS message1 suggested in Table 2.
slots are generated as the main timer is set to generate an event
The variables shown in the Table was created, being based
every specific time.
on the AIS message registered on the international standard
Whenever events are generated by the main timer, slot
ITU-R M.1371. The variables express the content of a real AIS
numbers increase and the ships which are generated every slot,
message. Every ship generated as a class has the message
write transmission messages on shared memory when the

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transmission slot through channel connection protocol Table 4.
ISOTDMA Telecommunication Status Information
execution block and the present slot are the same by comparing
Parameter Description
the two slots. And the ships which do not write data in the
present transmission slot number, call in the data in the present 0 - UTC direct
slot by reading the data on shared memory unconditionally. Sync State
1 - UTC indirect
2 - Base station
3 - Number of received stations
E. Cannel Connection Protocol Execution
Channel Connection Protocol Execution Block takes the role Remaining Frame Quantity Number till New
Sl ot time-out
of deciding the transmission slot through various AIS channel Slot Is Selected
connection protocols. For this, the frame map by which the Sub message Deciding According to Time-Out Value
present slot status can be grasped, is necessary and which
protocol will be used should be decided.
The sub message in SOTDMA telecommunication status
Fig. 8. shows the procedure to execute the channel
information is described like in Table 5.
connection protocol and the role of the individual procedure.
Table 5.
Sub Message
time-
Parameter Description
out

Quantity Number of Ships from

3 Received stations Which Station Receives
Telecommunication Signal
2 Slot number Slot Number Which Is Used
Presently
1 UTC hour & minute UTC hour & minute
Fig. 8. Channel Connection Protocol Execution 0 Slot offset Slot offset

F. Slot Status Monitoring

The communication status information among the content of
AIS message 1 includes the information related to the case
when channel connection protocol ITMA and SOTDMA are
used each. The slot status monitoring block shows whether the
realized channel connection protocol works correctly by
displaying telecommunication status information. For this, it is
necessary to analyze what the individual telecommunication
status information of ITDMA and SOTDMA means.
The telecommunication status information of ITDMA is like
in Table 3.
Table 3.
ITDMA Telecommunication Status Information
Parameter Description
G. Ship Status Monitoring
Ship location information is indicated by latitude and
longitude information in AIS message 1.
The longitude information in AIS message 1 is indicated in
the unit of 1/10000 and the plus number in AIS message 1
indicates the east longitude and the minus number, the west
longitude. The latitude information in AIS message 1 is
indicated by in the unit of 1/10000 and the plus number in AIS
message 1 indicates the north latitude and the minus number,
the south latitude.
The ship Status monitoring block displays the location of the
ship which transmitted data through the channel connection
protocol among the generated ships.

0 - UTC direct
IV. PERFORMANCE ESTIMATION SYSTEM REALIZATION
1 - UTC indirect
Sync State RESULT
2 - Base station
3 - Number of received stations The performance estimation system realization result on
Distance between Present Transmission Slot and Next SOTDMA algorithm for AIS is like in Fig. 9.
Slot Allocation
Transmission Slot The simulation screen shows the situation in which the
Number of slots Quantity Number of Slots Used for Transmission
transmission slots according to report rate are allocated, for 10
respective ships. The simulation screen also shows the VHF
Keep Flag
0 - Used Only in Present Frame cell modeling which judge the transmission ship and allocates
1 - Used in Even Next Frames As Well As Present Frame the slot by analyzing receiving signal power spectrum in case
that the ships tries to allocate the same transmission slot in the
The telecommunication status information on SOTDMA is VHF frequency transmission band.
like in Table 4. It is identified that there is no problem in the function of the
algorithm on the items according to the content of IEC

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(International Electro-technical commission) 61993-2 in the Fig. 10. Data Analysis Use Chart
experiment for verification using a simulator. However they were within the range which satisfies IEC
In the experiment, the ships are generated by applying 61993-2 standard in the result of the experiment by the
supplementary hardware and random virtual scenarios and the performance estimation simulator. However it is necessary to
examination items including the location and movement of improve the SOTDMA algorithm as frequent slot collision will
ships are identified by the performance estimation simulator. It cause hindrance for ship navigation.
is identified that the application of ship location, ship speed,
report rate by ship algorithm is done correctly in the result of V. CONCLUSION
examining those items for the ships generated by inputting and
driving of the scenario. In this paper, an SOTDMA algorithm which is a core
technique of AIS was developed ahead of developing AIS
which is suggested as a measure to solve the problem of
frequent ship collision accident at sea and a performance
estimation simulator based on the AIS technology
recommendation, was also developed to examine the algorithm
in the environment which is similar to the reality.
And the verification on the algorithm and the simulator was
conducted by the international standard. To realize the
performance estimation system on SOTDMA algorithm for
AIS, the wireless communication channels were simulated as
shared memory and the random ships for test were declared as
objects. The signal transmission and receiving between ships
through pseudo SOTDMA algorithm code by generated
scenario file according to respective ships, was examined and
the telecommunication status information of the used protocol
Fig. 9. Performance Estimation System Realization Result was analyzed.
The simulation to allocate the transmission slot by providing
It is also identified that VHF CELL AND ECDIS of ships are innate IDs to ships corresponding to the irregular report rate of
in exact position according to the scenario. Some collisions the ships and the simulation to remove the intervention which
occurred rarely in the SOTDMA algorithm, which was realized can occur at the time of slot allocation in VHF frequency
by integrating the conditions of IEC 61993-2 standard due to transmission band were conducted.
the influence of the slot occupation, slot reservation, report rate, As a plan in the future, SOTDMA environment and ordinary
location, speed according to the respective ships, though no TDMA environment will be compared in the performance by
collision should be occurred to be an ideal slot movement in realizing SOTDMA algorithm in hardware and examining and
the identification screen for slot allocation status and collision comparing the realized hardware environment and the software
occurrence. simulation environment.

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