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Novel Maritime Communications

User Requirements and

e-Navigation

Fritz Bekkadal, Kay E. Fjørtoft, Ørnulf J. Rødseth

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Nornav ”e-Navigation”, Oslo 16-17.10.2007

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“e-Navigation is the harmonized creation, collection, integration, exchange and presentation of maritime information on board 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.” [IMO’s NAV subcommittee]

…which is judged to be unachievable without an encompassing implementation of highly developed communication means !

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e-Navigation & Communications

e-Navigation = Information + Communication + Presentation

___________________________________Highly developed Digital Communication

At the 1st meeting of the IALA e-Navigation Committee, three fundamental elements were identified that should be in place before e-Navigation could be introduced. These are:1. Electronic Navigation Chart (ENC) coverage of all navigational areas 2. A robust electronic position-fixing system (with redundancy) 3. An agreed infrastructure of communications to link ship and shore

e-Navigation RequirementsAn infrastructure providing authorized seamless information transfer onboard ship, between ships, between ship and shore and between shore authorities and other parties with many related benefits, including a reduction of single person error…

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Present maritime digital communication

NAVTEX HF, MF 300 bps

DSC VHF 1.2 kbps

Loran-C Access via NMEA 0183 4.8 kbps

AIS VHF 9.6 kbps

GPS Access via NMEA 0183 4.8 kbps

LRIT Short messages, Satellite 100 bits/hour

EPIRB Short messages, Satellite 100 bits/hour

SSAS Short messages, Satellite 100 bits/day

SafetyNET NAVTEX over Inmarsat 100 messages /day

Some ships have digital data links via Satellite

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How to implement e-Navigation ?

Use of satellite communications ? Perceived as expensive by owners (LRIT discussions!) Bandwidth limitations

Use of existing maritime infrastructure (DSC and AIS) ? Insufficient bandwidth !

Short messaging over GALILEO (or other similar systems) ? Insufficient bandwidth ! May not be available !

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Use of terrestrial communication systems !

Highest communication requirements near shore and port

Most shipping lanes are near the coast

Relatively easy and low cost to build infrastructure

Relatively low cost user equipment

May also cover some arctic regions, e.g., north-east and/or north-west passage

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Bandwidth requirements - services

Ship clearance, reporting

NAVTEX, notice to mariners, update of charts (Broadcast)

Quality controlled AIS targets from VTS (Broadcast) ?

Remote pilot guidance ?

Remote (equipment) surveillance, diagnostics and (repair) guidance ?

…etc …

Requirements per ship (except Broadcast):Probably in the order of 100 kByte/day !

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Key eNavigation communication requirements

Sufficient bandwidth, i.e. data capacity Sufficient robustness, e.g. signal strength and quality,

resistance to interference… Satisfactory security, e.g. encryption and authentication Scalability and growth potential Autonomous acquisition and mode switching, i.e. minimum

mariner involvement needed Common messaging formats Automated report generation Global coverage,

which could be achieved with more than one technology…

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Possible (terrestrial) solutions WiMAX WiFi/WLAN GSM/EDGE/UMTS 3G/LTE Digital VHF (D-VHF, VDL…) CDMA 450 (ref. ICE) Reclaimed VHF/UHF TV-bands ?

VHF/UHF-WiMAX (?)

Hybrid wireless solutions (with seamless handover and roaming)

Other…

This requires rapid standardization,if it is going to be used in e-Navigation !

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The MarCom Project

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Project information: Duration:

2007-2010 Budget:

Total: 32 MNOK Financial support from

the Norwegian Research Council’s MAROFF program: 15 MNOK

Project Administrator:Mobikom

Project Manager:MARINTEK

28 partners

The MarCom Consortium

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©SAAB Transpondertekonologi

The High North

Communicationsvessel-Land

Service Platform

On-board LAN

Safety at Sea (SAR)

Technical Operations, Reporting

Environment

Broadband at Sea

Short messaging

Long-Range Safety, Surveillance,Aids to Navigation

IO, Safety, SAR,Infortainment, Critical

Operations

Application areas

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Novel Maritime Communications

Technological Opportunities and Challenges

Fritz Bekkadal

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Nornav ”e-Navigation”, Oslo 16-17.10.2007

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Norway's large territory and economic zone makes radio technology crucial to the endurance of our environment, industry and business !

Source: ACIA

Mainland area: (58°N - 71°N, 5°E - 31°E):323 758 km²

EEZ:878 575 km²

Svalbard protection zone:803 993 km²

Jan Mayenprotection zone:296 611 km²

2 mill. km² Straight coast

baseline: 2 532 km

Continental coastline:25 148 km

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MarCom User Communities Commercial

Shipping vessels, cruise ships, high-speed crafts, personal vessels, fishing vessels, offshore installations (incl. search and supply utilities), aquaculture installations (incl. transportation facilities ) …

Scientific Research vessels, unattended buoy platforms

(w/sensors: weather, environment…), autonomous underwater utilities, unattended offshore and onshore observation sites…

Homeland Security Coast Guard cutters, deployable pursuit boats,

possibly Navy and first responders near the coast…

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Norwegian coastal waters

The major part of our coastal traffic takes place within 20 nm (< 40 km)

User Platforms: Maritime/Marine

Boats/ships ranging from small personal watercraft to cruise ship size for all user types:

Shipping vessels, research vessels, yachts, fishing vessels, Coast Guard cutters etc.

Offshore oil/gas production installations, searching rigs/vessels, supply vessels…

Aquaculture installations, supply and service vessels…

Buoys ranging from small (<1 m in diameter) to very large (up to 25 m in diameter), both free-floating and moored…

Land-based Shore-based observation towers and other

facilities, Research centers, Surveillance facilities, First Responder Agency Headquarters, Users of personal communication equipment (laptops, PDAs etc.) near the coast…

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Opportunities

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IO:

”In

teg

rate

d O

per

atio

ns”

Opportunities Offshore:IO within oil (and aquaculture…)

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R&D Focus Areas

A. Communication vessel land

B. Generic scaleable service platform Supplemented by a ”Smart Router”

[”AMCA” (”Agile MarCom Adapter”)]

C. Optimized maritime mobile LAN designs

MarCom will all together address the emerging convergence between Communications, Surveillance and Navigation

(ref. e-Navigation and e-Maritime)

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R&D Arena Framework

GNSS

A

B

C

B

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Communication Challenges Extending coverage and range at sea for both in-use and novel

terrestrial wireless systems/technologies, e.g.: WiMAX WiFi/WLAN GSM/EDGE/UMTS 3G/LTE Digital VHF (D-VHF, VDL…) CDMA 450 (ref. Ice) Reclaimed VHF/UHF TV-bands ?

Finding appropriate SatCom solutions to complement the terrestrial ones, mainly beyond their coverage, e.g.: BGAN (Inmarsat) VSAT; DVD-RCS(/S2) Molniya orbits (?)

Obtaining seamless and continuous handover and roaming within and between the pertinent systems

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Terrestrial Communication Technologies

MarCom contacts with The Norwegian Post and Telecommunications Authority (NPT).

Adapted WiMAXTechnologies (?)

WRAN (IEEE 802.22) (?)

Vast possibilities !Undecided (?)VHF/UHF ”TV-band” (?):174–230 MHz470–862 MHz

55 base stations covering the coastlinefrom Oslo to Kirkenes.Provides roaming functionality.

225 kHz bandwidth per Channel. Total: 9

channels(21 kbps/133 kbps)

Very long range (70 nm 130 km). Excellent coastal coverage. Steady frequency band (156 MHz).

Unique Norwegian solution.Limited bandwidth per baseStation.

Digital VHF (VHF Digital Data)

Robust wireless communication system.Utilizes both licensed and unlicensed frequency bands.

10 Mbps per 3.5 MHz channel.

High bandwidth and long range.International standard (IEEE 802.16).Robust modulation methods.

Novel system under roll-out byseveral operators in differentareas.

WiMAX(IEEE 802.16)

May be interesting for broadcasting general

info., e.g. electronic maps and meteorological data.

1.7 MbpsInexpensive receivers.Reasonable bandwidth.

Unidirectional broadcast operation

only.

DAB (”Digital Audio

Broadcast”)

Used ao. by the taxi business. Hardly relevant for the maritime market.

1 200 bpsStandard and readily available equipment. Long range.

Very limited capacity.VHF/BIIS

Utilizes ”old” NMT 450 frequencies (453-457,5 / 463-467,5 MHz)

< 2 MbpsReasonable number of base stationsbeing deployed. Reasonable range.

Relatively small total bandwidth per base station. Unproven signalquality in difficult environments.

CDMA 450(Ref.”ICE”)

3rd generation (3G) mobile system. Hardlysuited for the maritime market, especially due to limited coverage and range.

< 2 MbpsReasonable bandwidth ”Standard” mobile phone technology

Limited centralized coverage. Expensive to obtain nationwideCoverage.

UMTS

”2. - 2.5” generation mobilecommunications systems (2G – 2.5G)

GSM: 9.6 kbpsGPRS: 56-172 kbpsEDGE: 56-172 kbps

Existing GSM technology.Reasonable range.

Limited range, Comparatively high costGSM/GPRS/

EDGE

Wireless Ethernet for PCs, PDAs etc.Used somewhat in ports, especially for leisure boats

1-50 MbpsWireless Ethernet for PCs, PDAs etc.Limited range (20-200 m)WiFi/WLAN(IEEE802.11)

CommentsBandwidth/Capacity

StrengthsWeaknessesTechnology/System

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Evolution of the technologies- Convergence

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Radio engineering challenges

Radio propagation over sea Antennas and transceivers Interference; EMC/EMI Repeaters Mobile Multi-hop relay (MMR) Multi-system switching Novel communication platforms ! New/reclaimed frequency resources !

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Radio propagation over sea

Low elevation angles (LOS/nLOS/NLOS) Reflections, scattering, refraction and diffraction

of radio waves Multipath interference Over-the-horizon (OTH) coverage (NLOS)Radio channel modeling/-estimation:

Deterministic vs. statistical models

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Example – WiMAX on ferry

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Horizon distance

0

5

10

15

20

25

30

35

40

h1 [m]

Rh

1 [k

m]

h1

Rh1

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Over-the-horizon ?

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Over-the-horizon propagation (OTH)

We know signals do propagate beyond the horizon, and the major mechanisms are: Refraction - bending of signals towards ground/sea Scattering - from eddies in the air, rain, reflecting surfaces and

objects Diffraction - from terrain, objects (floating and fixed), and from

sea waves

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Received signal:

where a0 (ŕ,t) is the amplitude of the signal transmitted directly along astraight line between TX and RX, being separated by a distance r0 ,

while the signals following other paths are cause by (space- and time-dependent) effects, like:• Reflection (specular and diffuse)• Refraction• Diffraction• ”Ducting”• ….etc…

Radio channel modeling

2

0

( , ) ( , )irN j

r ii

S r t a r t e

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Antennas and transceivers (1)

Base station antennas Standard antennas: One fixed beam Electronic steerable antennas, e.g. DBF (”Digital beamforming”):

SW-controlled antennas with adaptive radiation patterns which can be tailored to the electromagnetic environment (several beams)

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Antennas and transceivers (2) Repeater antennas

DBF/MIMO (?)

Vessel antennas Omnidirectional/Sectorial coverage (?) Fixed electronic steerable (?)

DBF/MIMO (?)

MIMO (”Multiple-In Multiple-Out”); Channel estimation based on a combination of signals from M transmitters (M-In) and N receivers (N-Out) in order to: Increase the fading resistance Increase the combined radio channels spectral efficiency

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Repeaters (Relay Stations)

Regenerating repeaters Active/passive retransmitting repeaters

BS

RS1

RS2

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Mobile Multi-hop Relay (MMR)- e.g WiMAX A system enabling mobile stations to communicate with a base station through intermediate relay stations

MMR-base station (MMR-BS):A base station compliant with amendment IEEE 802.16j to IEEE Standard 802.16e

Relay station (RS) Type: Fixed relay station (FRS):

RS permanently installed at a fixed location

Nomadic relay station (NRS):RS operating from a location fixed for periods of time comparable to a user session

Mobile relay station (MRS):RS operating while in motion…

Relay: Dedicated carrier owned infrastructure Tree based topology One end of the path is the base station

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Mesh Networking A mixture of fixed and mobile

nodes interconnected via wireless links to form a multi-hop ad-hoc network

A wireless multi-hop ad hoc network amongst ships, marine beacons and buoys

Static and dynamic nodes Connected to the terrestrial

networks via land stations at shore

A kind of VANET/MANET (“Vehicular/Mobile Ad Hoc Network”), with: mobility pattern unlike

terrestrial VANET, and time-varying received signal

quality and wave occlusions due to sea surface movements

Mesh: Routing by subscriber equipment Multiple connections Mesh topology

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Mesh versus Relay

• “Infrastructure” means that an operator provides dedicated equipment providing Mesh or Relay function.• “Client” means that a user terminal has Mesh or Relay function.• SS: Subscriber Station, MS: Mobile Station, RS: Relay Station

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The MarCom WiCAN© Concept(Wireless Coastal Area Network)

Internet

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Pertinent SatCom Technologies

BGAN (Inmarsat) VSAT; DVD-RCS(/S2) Molniya orbits (?)

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BGAN BGAN (”Broadband Global Area Network”)

Inmarsat GEO satellites Capacity:

”BGAN offers background internet speeds (up to) 492 kbps”Uplink: 300-400 kbps

Packet and line-switched data ”UMTS roaming” “User cost competitive to UMTS

international roaming”

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”Novel” VSAT: DVB-RCS(/S2) DVB-S (”Digital Video Broadcast – Satellite”):

The most widely used standard for digital broadcasting by satellite Downlink: 50 Mbps

DVD-S2 is the 2nd generation of DVB-S Claimed performance gain over DVB-S is around 30% (Downlink: 80 Mbps)

DVB-RCS (”DVB-Return Channel Satellite”): Standard for return channel which facilitate bidirectional communications via satellite Broadband communications with high capacity towards user:

Downlink: < 40 Mbps

and with more moderate capacity from user: Uplink: < 2 Mbps

Over 100 DVB-RCS systems worldwide - many updated with DVB-S2 Going mobile with handover from satellite to satellite.

Trials including train, aircraft and vessel-mounted terminals Revision end of 2007 !

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Maritim DVB-RCS

Ku-band: 12.5 -18 GHz

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Multisystem switching

Terrestrial: WiMAX, WiFi, GSM, 3G/4G, D-VHF… SatCom

Seamless and continuous transfer: ”Handover” (switching between different base stations

within the same network) ”Media Independent Handover” (MIH) [IEEE 802.21 4G]

”Roaming” (switching between different networks) [IEEE 802.16g…]

QoS LCR switching

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Ocean areas outside Norway

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Satellite orbits

LEO: Low Elliptical Orbit (Height: 200 - 2000 km)

MEO: Midium Elliptical Orbit (Height: 2.000-GEO, normally 10.000-20.000

km) GEO: Geostationary Orbit (Height: 35.786 km)

LEO

MEO

GEO

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Theoretical limit for GEO satellite

(0o elevation)

5o elevation (El)with optimum satellite

Covering the High North

Practical problems with standard SatCom beyond 70o N (< 8o El.)

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Satellite orbits +

LEO: Low Elliptical Orbit (Height: 200 - 2000 km) MEO: Medium Elliptical Orbit (Height: 2.000-GEO, normally: 10.000-20.000 km) GEO: Geostationary Orbit (Height: 35.786 km) HEO: High Elliptical Orbit (Height: 500-50.000 km)

LEO

MEO

GEO

HEO

Molniya

Tundra

Apogeum

Perigeum

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Molniya orbits During the early 1960's Soviet Union aerospace engineers

devised a very clever and practical type of orbit that would simulate the convenience of a GEO orbit, while at the same time servicing the extreme northern regions

The orbit’s inclination is (ideally) 63.45° with respect to the equatorial plane, and it’s orbital period equals ½ a sidereal day

During the orbital period of 12 hours the Earth will make ½ a turn, and thus the apogeum will be at the very same position relative to earth twice a day

The Molniya orbits inclinations are such that the effects of apsidal (perihelion) precession are virtually negligible, thus providing natural orbit preservation in that respect

Seen from the Earth a Molniya orbit satellite will thus apparently be in zenit about 40 000 km above these two positions (at latitude 63.45°) during about 8 hours each day, the perigeum height being only about 1000 km

2 satellites might consequently provide continuous coverage of the northern hemisphere, but 3 would be preferred

Molniya satellite orbits have been used for European communications

partnerships, and at one time was even used for the Moscow-Washington "Hot Line" between the Soviet Union and the United States.

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Molniya orbit (HEO)

Russian: молния = “lightening”

Ground track of Molniya satellite 3-47 over 6 orbits

Trondheim

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Ground tracks of the 8 operational Molniya satellites (2006)

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Wireless Broadband - Technical Challenges: Crowded radio spectrum

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Released VHF/UHF TV-bands ”The spectral sirloin”

The frequencies below 1 GHz, and especially the range 200 MHz-1 GHz, is deemed the most valuable we possess

St.meld. nr. 44 (2002-2003)-Om digitalt bakkenett for fjernsyn(National assembly white paper on Digital Terrestrial Television - DTT ) Memo from NPT dated 15.01.2003 to the Ministry of Transport and

Communications: ”Future use of the frequency bands 174–230 MHz and 470–862 MHz”

Alternative to DTT for these frequency bands ?

”A suggestion supported by some is to use these bands for radio access (Fixed Wireless Access), a technology so far being offered mostly to the professional market. Roughly speaking it is a point-to-multipoint system, where one transmitter is servicing several receivers, the actual frequency range being planned for bidirectional communications”

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USA: Key Pieces of Licensed and Unlicensed Spectrum

UHF 0.75 - 0.8 Channels 60-69, called the upper 700 MHz, are by congressional statute to be reclaimed for new services (broadband wireless).

ISM 0.9 - 0.93 Industrial, Scientific & Medical Band – License exempt band

UPCS 1.91 - 1.93 License exempt Personal Communications Services

WCS 2.3 Wireless Communications Service

ISM 2.4 - 2.48 Industrial, Scientific and Medical Band

MMDS 2.5 - 2.7 Multi-channel Multipoint Distribution Service.

Int’l 3.4 - 3.7

4.8 – 5.0

Licensed Bands- Europe, Latin America, Asia

Licensed Bands-Japan

UNII 5.15 - 5.35

5.725 - 5.85

License exempt National Information Infrastructure band

New Spectrum 5.470- 5.725 FCC NPRM 03-110 Part 15

Licensed

Upper UNII

and ISM

GHz32 4 5

Low/Mid UNII ISM WCS MMDS Int’l Int’l

New Spectrum

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IEEE 802.22Wireless Regional Area Networks

“Wireless Regional Area Network” (“WRAN”) - a network for operation over large, potentially sparsely populated areas (e.g. rural areas), taking advantage of the favorable propagation characteristics in the VHF and low UHF TV bands.

The unique requirements of operating on a strict non-interference basis in spectrum assigned to, but unused by, the incumbent licensed services requires a new approach using purpose-designed cognitive radio techniques that will permeate both the PHY and MAC layers.

The IEEE 802.18 Study Group chartered to develop this PAR does not believe that any existing IEEE 802 PHY/MAC combination can meet these requirements without extensive modifications. The Study Group has therefore concluded that placing the project in a new Working Group is the most efficient approach.

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”Area Network” characteristics

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Telenor has decided to build a VHF Data radio system on 50 base stations, covering the coastline from Oslo to Kirkenes

The system will be in full commercial operation by 1st quarter 2007

The project includes a new customer service platform as well as other system improvements: IP speed up on 25 kHz

BW channel [21 kbps] Crypto Automatic Web and e-mail

compression Web broadcast New VHF Data radio using

225 kHz BW [133 kbps]

Digital VHF – ”VHF Data”

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Digital VHF – ”VHF Data”

Low spectral efficiency ! Narrowband radio: 0.84 bps/Hz Broadband radio: 0.59 bps/Hz (?)

Range: 70 nm ( 130 km) from closest base station Power: 25 W Interfaces: Ethernet, RS232 Data rate:

Narrowband radio: 21 kbps (1 x 25 kHz channel) Broadband radio: 133 kbps (9 x 25 kHz channels = 225

kHz)

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”VHF/UHF WiMAX” ? Robust modulation and access methods

OFDM (”Orthogonal Frequency Division Multiplexing”) High spectral efficiency ( 5 bps/Hz,

nominally 10 Mbps/3.5 MHz channel) High fading/multipath resistance

[WiMAX is nominally designed to tolerate multipath delay spread (signal reflections) up to 5/10.0 μs (1.5/3 km)]

Scalability Supports flexible radio frequency (RF) channel bandwidths MAC-layer control enables dynamic capacity assignment

Coverage Supports mesh networking and mobile multi-hop relay (MMR) applications Optimized for outdoor NLOS performance Supports advanced antenna techniques (AAS)

MAC-layer QoS-support Robust security environment

Supports two quality encryptions standards: DES3 and AES All traffic on a WiMAX network must be encrypted using CCMP, which uses

AES for transmission security and data integrity authentication End-to-end authentication with PKM-EAP methodology, which relies on the

TLS standard for public key encryption

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On-board LAN Network solutions satisfying the vessels needs for local

infrastructure and services (WiFi/WLAN, WiMAX, GSM+, 3G…) Advanced middleware enabling a.o. (IP-based):

Interactive multimedia communications (IP-phone, Internet…) Sensor networks implementation Seamless and continuous handover and roaming

which is also adapted for integration with the generic scalable service platform

An architecture reflecting different security levels (?): Intranet for internal communications Extranet for cargo control etc. Sensor networks for data collection, handling and control

Ex safety issues/challenges Interference issues/challenges

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On-board LAN

Real-timelogistics

ShipOperations

End-to-End Service Layer & Enablers

Maritime Communication Solutions

Sensor Networks& Services

Safety, Security, Privacy & Trust

Service

Integration

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On-board wireless users

Crew at vessels and offshore installations Wireless at Sea (Phone, PDA, PC…) Wireless Offshore (Phone, PDA, PC…) Safe activities in perilous environments:

Handsfree at Sea (Ref. PARAT ++) Handsfree Offshore (Ref. PARAT++, Helmet-mounted head-up

display etc…)

Passengers (Phone, PDA, PC…) Cargo elements Equipment, things….(“An Internet of Things”)

PARAT: ”Personal Audio/Radio Terminal” -

”Communications in Rough Environments” , SINTEF

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“Earplug passes the message”

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Thank you !

fritz.bekkadal@marintek.sintef.no