Norsk rapport
Contents
1. Confidence section in the Configure Ship Detection Tool is shown in Figure 3 16 Confidence estimates are estimated for each polarisation channel and also for the combined polarisation channel The incidence angle of the detected target is taken into account A limit is set at 35 and targets detected below this angle for co polarisation are weighted lower than targets located above 35 For cross polarisation the incidence angle dependence is not so important Which channels and how many channels the targets are detected in are also taken into account These factors are used to increase or decrease the confidence estimates see 2 for more details FFI rapport 2013 01858 21 Confidence measures should be reported in a simple manner thus the confidence estimates are also reported on a scale of 0 3 Here a number 3 indicates certain ship detection or as certain as one possibly can be 2 is quite certain 1 is maybe a ship detection and 0 is probably not a ship detection 3 6 3 Ship detections on screen After the land mask module and ship detection algorithm are run the ship detections are displayed on screen on top of the low resolution image See Figure 3 17 for an example of ship detections on a dual polarised SAR image The ship detections get different colours depending on which channel the vessel is detected in For a dual polarised SAR image the first polarisation gets purple diamonds the second polarisation gets yellow diamonds2. window which appears between each time the program analyses SAR image files 24 FFI rapport 2013 01858 Waiting for 5 minutes Figure 3 20 How to stop Aegir To stop the Aegir Manual program the user can press the Exit button in the image window or choose File Exit in the Status Window see Figure 3 21 If the program is not responding then try to e use the Task Manager e press Ctrl C e press Ctrl Break MT RS2_20091218_165110_0048 SCNA HHHV AEGIR SAR DATA ANALYSIS TOOL File Help Configure Help Ingest and load gt OY 14 17 46 bani Mak 5 egirvman Eh et Exit 12 18116 5 STATUS Pass direction ASCENDING STATUS Number of channels 2 STATUS Image size 12176 Lines 12660 STATUS Processing channel HH STATUS sval N Fila 0 bu Tante Senirhdsra isl war Figure 3 21 How to stop Aegir Manual 4 Summary The SAR automatic ship detection tool Aegir has been developed at the Norwegian Defence Research Establishment Aegir runs ship detection on all polarisation channels separately as well as on a fused polarisation channel There is one fully automatic version of Aegir and one version that allows some user interaction if needed This report explains how Aegir and Aegir Manual can be installed set up and used FFI rapport 2013 01858 25 References 1 C Brekke Automatic Ship Detection Based on Satellite SAR FFI rapport 2008 0084 2008
3. Once the folders have been set up do the following steps e Place the coastline zip file in the coastline data folder and unzip it e Place the etc zip file in the etc data folder and unzip it e Place the Aegir zip file in the Default folder and unzip it FFI rapport 2013 01858 Default folder Work folder Etc folder Products folder Data folder Manual folder Coastline data System Properties Advanced Environment Variables 28 Edit User Variable iS MyTools Aegir System variables Value ComSpec C MWindows system3 lomd exe NO FPPUILang en US NUMBER OF P 8 Figure 2 1 Definition of a system environment variable for Aegir G MyTools Aegir Main folder for program and temporary work files G MyTools Aegir work Holding intermediary files G MyTools Aegir etc Configuration files G MyTools Aegir products Output of analyses end up here G MyTools Aegir unzipped Main input data directory G MyTools Aegir manual_files List over files to be analyzed manually and image data folders of these files G Data coastline Coastline data files for land masking Table 2 1 Folders needed to operate Aegir FFl rapport 2013 01858 9 3 Operation The algorithm is configured to run on RADARSAT 2 data single pol dual pol and quad pol data Figure 3 1 shows the general work flow of AEGIR Ship detection Confidence estimates Alarms on detections Figure 3 1 General work flow for
4. There are two versions of Aegir The first version is fully automatic A status window is presented and the user also gets to see a SAR image where the land mask and the ship detections are added In the end the program produces ship detection reports The second version gives the possibility for the user to actively manage how the program will run and it also has the possibility for the user to make a manual mask for example over sea ice This user manual explains how Aegir can be installed set up and used FFl rapport 2013 01858 3 Sammendrag Det har vert mange sivile Syntetisk Aperture Radar satellitter SAR 1 bane Forsvaret og Kystvakten har brukt SAR satellittene RADARSAT 1 og RADARSAT 2 operativt siden 1998 til fiskerioverv king i nordomr det Ca 1900 SAR bilder blir hvert r bestilt og analysert av Forsvaret For lette overv kingen av Norges store konomiske soner og fiskerisoner i nord er det nyttig ha et automatisk skipsdeteksjonsverkt y gir er et SAR skipsdeteksjonsverkt y som er utviklet ved Forsvarets forskningsinstitutt gir leser og laster data opp p skjermen og analyserer hver polariseringskanal for seg gir kan ogs sl sammen polariseringskanaler for bedre skip til sj kontrasten og dermed detektere flere skip Skipsdeteksjonsalgoritmen kan kj res p denne sammensl tte polariseringskanalen gir finnes i to versjoner Den f rste versjonen er en fullautomatisk versjon der brukeren f
5. Analysis Tool status window shown in Figure 3 14 FFl rapport 2013 01858 19 Mar 14 10 32 01 2013 UTC Land Mask Ships Figure 3 14 How to find the Configure Ship Detection Tool E Configure Ship Detection Tool me Configure Ship Detection Tool Task List Confidence Estimates Minimum separation distance 100 00000 Minimum distance to land 20 000000 Minimum number of target pixels 3 Maximum number of target pixels 500 Max acceptable ship length Min acceptable ship length Target merging window size Sub Image size NX Sub Image size NY Mask value Size of Imagette X Size of Imagette r Figure 3 15 General parameters for the Ship Detection module The Configuration Ship Detection Tool menu contains a general section a section for the K distribution algorithm and a section for confidence estimate The configuration menu also allows the user to enable or disable the confidence estimate procedures Furthermore the operator can specify parameters as follows e Minimum separation distance in meters Targets closer than this are merged into a single target for further analysis e Minimum distance to land meters Buffer zone to prevent small islands and intertidal zone being detected as vessels e Minimum and maximum number of target pixels Targets outside these limits are rejected either as noise or as something too big to be a vessel e
6. BF AEGIR SAR DATA ANALYSIS TOO Configure Help Mask file extension msk EE System EF BL HE Coast data file Nordomraader dat Tools j Land Mask Ships Display Land Mask No Yes Cancel Accept Figure 3 11 Left Where to find the Land Mask Tool Configuration Right Configuration parameters for the Land Mask module 3 4 2 Manual land mask It is possible to define a manual land mask This can be used for example if there is ice in the image so the ice should not be misinterpreted as vessels The manual land mask can be started by pressing the Define mask button red oval in Figure 3 12 Then the manual land mask can be defined by clicking on several points with the left mouse button and when finished clicking the right mouse button Then the land mask generation starts The manual land mask is made together with the land mask made using the coast data file defined under the Land Mask Tool Configuration see Figure 3 11 Figure 3 10 shows how the manual and automatic land mask generation can be combined The manual land mask is shown in black to the left and the automatic land mask is shown in the upper right corner of the figure M RS2_20091218 165110 0048 SCNA_HHHV_SCN_63737_0000_2746006 vw i Mn File Help Land Mask j JEG Er EG gt pr Lv vi Ship Detection Exit Channel Selector HV Figure 3 12 Land Mask produced based on a manual defined mask and a l
7. Maximum and minimum acceptable ship length meters Targets outside these limits are rejected as unreasonable e Size of imagette pixels x and lines y An imagette area around each target is extracted for calculation of target to background contrast ratios 20 FFI rapport 2013 01858 The ship detection algorithm that is used is the K distribution algorithm and it is based on the Probability Density Function PDF A threshold value and model parameters are estimated for each frame The three main parameters are the L Equivalent Number of Looks the order parameter v of the K distribution and the Constant False Alarm Rate CFAR 1 3 6 2 Confidence estimates R Configure Ship Detection Tool eo m Configure Ship Detection Tool Task List V Confidence Estimates Target Removal Gain for background estimate alpha beta gamma Ship Length Weight Ship to 5ea Contrast Weight shape Weight Morphology Dual detection weight Figure 3 16 Configuration parameters for detection confidence estimation in the Ship Detection module Approaches to confidence estimates are discussed in 2 The implemented algorithm uses estimates of ship size ship to sea contrast and target shape to estimate confidence The operator may specify weights for each piece of evidence according to preference and experience The configuration parameters for this module need to be tuned according to the discussion in 2 The
8. and the fused polarimetric channel gets red diamonds For quad polarised images the ship detections get the colours purple yellow orange and green for the four polarisations HH VV HV and VH and white for the fused polarisation channel jer e202 165110 0048 oa KNEET TET rr ea File Help Polanmetry Land Mask Define Mask Sp Detection ba Pore Value Average Pxel value finear 4950 85 Average Pre value d8 45 1258 Sigma0 41 71dB Incidence Angle 27 07 deg Reference Position 4449 7660 FILENAME RS2 20091218 165110 0048 SCNA_HHHV_SCN_63737_0000_2746006 SENSOR RADARSAT 2 PRODUCTTYPE RADARSAT 2 PROC_FACILITY ASC DESC ASCENDING DATE 2009 12 18T16 51 56 225111Z v BEAM SCNA 9 NLOOKS AZ 2 00000 NLOOKS_RNG 2 00000 id it iN Figure 3 17 Main image display GUI The panel on the left shows an overview of the image being analysed The square cursor shown in the big image low resolution can be moved around with the mouse to examine details in full resolution displayed in the right hand panel 3 7 Ship detection reports 3 7 1 Overview of ship detection reports Results from the ship detection analysis are printed in ASCII formatted files Figure 3 18 shows an example of data from a ship detection report file for one polarisation The last two columns show detection confidence estimates The first column shows confidence estimates that are not 22 FFI
9. the COSMO SkyMed satellites followed The Norwegian Defence and the Norwegian Coast Guard have used the SAR satellites RADARSAT 1 and RADARSAT 2 operatively for fisheries surveillance in the Northern areas since 1998 Aegir is a SAR ship detection tool developed at the Norwegian Defence Research Establishment FFI which can ease the task of monitoring Norway s vast economic and fisheries protection zones in the North Aegir ingests and loads data on screen and analyses each polarisation channel separately Aegir can also combine polarisation channels for better ship to sea contrast to be able to detect more ships and the ship detection algorithm can be run on the fused polarisation channel There are two versions of Aegir The first version is fully automatic A status window is presented and the user also gets to see a SAR image where the land mask and the ship detections are added In the end the program produces ship detection reports The second version gives the possibility for the user to actively manage how the program will run and it also has the possibility for the user to make a manual mask for example over sea ice This user manual describes how to install and run the SAR marine imagery analysis tool Aegir using the IDL virtual machine Aegir is currently a prototype written in the IDL language In order to run Aegir you will need either a full version of IDL or an installation of the IDL Virtual Machine available from Exel
10. 2 T N A Hannevik and R B Olsen Automatic ship detection and confidence estimates FFI Rapport 2013 01859 2013 26 FFI rapport 2013 01858 Acronyms AIS CFAR Co pol Cross pol Dual pol FFI H HH HV IDGUI IDL PDF Quad pol SAR VH VV Automatic Identification System Constant False Alarm Rate Co polarisation Cross polarisation Dual polarisation Forsvarets Forskningsinstitutt Horisontal polarisation Horisontally transmitted Horisontally received polarisation Horisontally transmitted Vertically received polarisation Image Display GUI Interactive Data Language Probability Density Function Quad polarisation Synthetic Aperture Radar Vertical polarisation Vertically transmitted Horisontally received polarisation Vertically transmitted Vertically received polarisation FFI rapport 2013 01858 27
11. AT 2 PRODUCTTYPE RADARSAT_2 PROC_FACILITY ASC_DESC ASCENDING DATE 2009 12 18716 51 56 2251112 BEAM 25 0000 MEAN VAL 4939 9199 VARIANCE 8954190 0 Figure 3 4 Image display showing SAR image land mask and ship detections If manual interactions are needed the user can use the program Aegir Manual to do manual analysis as needed see chapter 3 3 If a user wants to use the analyze_manually dat file and the Aegir program is running the user needs to copy the file to somewhere else so there is no user conflict on the file If no manual interaction is needed ship detection reports are made as described in chapter 3 7 A window showing the SAR image SAR image with land mask and then SAR image with land mask and detections in all polarisation channels are shown while the Aegir program is working see Figure 3 4 Key metadata is shown to the right of the SAR image 3 3 Operating Aegir Manual 3 3 1 Main configuration The main system configuration menu Figure 3 5 is found under the Configure item on the top level menu Figure 3 6 It determines where necessary files go and also controls features of the image display GUI such as the size of the overview display of the whole image see Figure 3 8 This menu should generally only be used in connection with the initial system setup The work directory and products directory are required to be located in the Default directory Likewise the Coastline folders are req
12. Aegir 3 1 Starting Aegir To start the program either double click the Aegir sav file to start the fully automatic version or Aegirmanual sav file to start the version where user intervention is possible see Figure 3 2 Another possibility is to start the IDL Virtual Machine then press Click To Continue and then open the Aegir sav or the Aegirmanual sav file located at the Desktop deg Figure 3 2 To start the programs double click the Aegir icon left to run the fully automatic version and the Aegirmanual icon right on the Desktop to run the version where it is possible with user intervention 10 FFI rapport 2013 01858 3 2 Operating Aegir The program runs automatically if there are one or more new files in the unzipped folder Aegir searches for a ready txt file and if this file exists Aegir starts First an ingest file with meta data is extracted from the original image headers then the image is loaded on screen land mask is displayed ship detection is run confidence estimates are calculated and ship detections are shown on screen as well as written to file see work flow for Aegir in Figure 3 1 While the program is running a window Aegir SAR DATA ANALYSIS TOOL is presented for the user see Figure 3 3 with information about the status of the ship detection algorithm If some manual interaction might be needed for the SAR image that is analysed a report 1s made including the name of these files The repo
13. Average pixel value of the 600 pixels x 600 pixels frame e Average pixel value in dB of the 600 pixels x 600 pixels frame e Sigma0 value of the pixels inside the frame e Incidence angle in the middle of the frame e Reference position which is the pixel and line number of the lower left corner of the square in the big low resolution image 14 FFI rapport 2013 01858 HL RS2_20091218_165110_0048_SCNA_HHHV_SCN_63737_0000_ Pa 2 EE t TH PALE 65 17 11 64 N Lattude P37 413E Pacel 32 Une 15 P l Value 3617 00 Average Prel value finear 2582 72 Average Pel value dB 45 1707 Sigma 42 84 dB incidence Angie 35 79 deg Reference Postion 9979 8154 FILENAME RS2 20091218 165110 0048 SCNA HHHV SCN 63737 0000 2746006 SENSOR RADARSAT 2 L HH PRODUCTTYPE RADARSAT 2 ew 4 Lattude 66 1 58 25 N Longrude 10 37 11 98 E DX 25 0000 Pae 963 Line 414 Pwal vend va A nANNNN Figure 3 8 Main image display GUI The panel on the left shows an overview of the image being analysed The square cursor shown in the big image low resolution can be moved around with the mouse to examine details in full resolution displayed in the right hand panel The pixel values in the full resolution image are the true values of the pixel values which mean amplitude values and not intensity Key metadata is shown in the lower right hand panel Under the full resolution image the following information is provided
14. Tonje Nanette Hannevik and Richard B Olsen EF EN forskningsinstitutt FFl rapport 2013 01858 Aegir installation and user manual Tonje Nanette Hannevik and Richard B Olsen Norwegian Defence Research Establishment FFI 19 November 2013 FFI rapport 2013 01858 1210 P ISBN 978 82 464 23 18 0 E ISBN 978 82 464 23 19 7 Keywords Syntetisk Aperture Radar SAR Automatisk skipsdeteksjon RADARSAT 2 Konfidensestimat Polarimetri Approved by Richard B Olsen Project Manager Johnny Bardal Director 2 FFI rapport 2013 01858 English summary There have been many civilian Synthetic Aperture Radar SAR satellites in orbit The Norwegian Defence and the Norwegian Coast Guard have used the Canadian SAR satellites RADARSAT 1 and RADARSAT 2 operatively for fisheries surveillance in the Northern areas since 1998 Around 1900 SAR images are ordered and analysed by the Norwegian Defence each year To ease the task of monitoring Norway s vast economic and fisheries protection zones in the North it is helpful to have an automatic ship detection tool Aegir is a SAR ship detection tool developed at the Norwegian Defence Research Establishment FFI Aegir ingests and loads data on screen and analyses each polarisation channel separately Aegir can also combine polarisation channels for better ship to sea contrast to be able to detect more ships and the ship detection algorithm can be run on the fused polarisation channel
15. and mask made based on territorial sea borders 18 FFI rapport 2013 01858 3 5 Fusing polarimetric channels Two different polarimetric fusions for enhancing vessels have been implemented in Aegir one for dual polarimetric SAR images and one for quad polarimetric SAR images When dual polarised images are available Aegir combines the two polarimetric channels by multiplying the amplitude of the two channels co polarisation and cross polarisation and dividing by a constant average sea background in the image co pol I cross pol I 3 1 const When quad polarised data are available the amplitude values of the V V channel are subtracted from the amplitude values in the HH channel double bounce and the result is multiplied by the volume scattering HV HH VV I HV I 3 2 Combining the polarimetric channels is done automatically when starting the ship detection It is possible to view the additional polarimetric channel see Figure 3 13 Ship detection is run on the fused polarimetric channel in addition to the other polarimetric channels F Rs2 20091218 165110 0048 SCNA HHHV SEN 63737 0000 274600 Figure 3 13 The location where it is possible to choose the fused polarimetric channel see red circle to the left 3 6 Ship detection 3 6 1 Target detection The Ship Detection module has a large configuration menu found by choosing Configure Tools and Ships in the Aegir SAR Data
16. der FFl rapport 2013 01858 13 AEGIR SAR DATA ANALYSIS TOOL Configure Help Ingest and load RADARSAT 2 Figure 3 7 How to start the ship detection lt filename gt ing Ingest file with meta data extracted from original image headers lt filename gt XX Image data file for each polarisation where XX can be HR VV VE or HV according to transmitted and received polarisation lt filename gt XX tif Tiff file for each polarisation in the data set at reduced resolution used in the overview panel of the Image Display GUI Table 3 1 The set of files produced after the ingest process After the ingest process is finished the file is loaded to screen and can be viewed at the end of the ship detection process The Image Display GUI IDGUI shows an overview of the image to the left in low resolution with the ship detections done and allows the user to move a square cursor around to examine details in the image see Figure 3 8 displayed to the right in full resolution The square is 600 pixels x 600 pixels Under the full resolution image information about the pixels in the image is shown It is possible to move the cursor around in the small image and the following information is shown below the image e Longitude and latitude of the cursor e Pixel and line value of the cursor The lower left corner has the value 0 0 and the upper right part has the value 600 600 e Pixel value e
17. e Filename FILENAME e Name of satellite SENSOR e Polarisation of the image that is showing POL e Product type for example AP mode for ENVISAT images PRODUCTTYPE e Processing facility PROC FACILTY e If the image is ascending or descending ASC_DESC e Date and time DATE e Sub swath BEAM e Number of looks in azimuth direction NLOOKS_AZ e Number of looks in range direction NLOOKS_RNG e Number of pixels in entire image NLINES e Number of lines in entire image NPIXELS e Length of one pixel in meters DX e Length of one line in meters DY e Mean value of pixels in image MEAN_VAL e Variance of pixels in image VARIANCE FFl rapport 2013 01858 15 3 4 Land mask generation 3 4 1 Automatic land mask After ingesting and loading the SAR image data a land mask must be produced and applied to the image files before the ship detection can be done The land mask can be produced by either 1 different coastline polygons of different accuracy or 2 a baseline along the Norwegian coast grunnlinjen Spitsbergen Bear Island Novaya Zemlya Franz Josef Land Kola Jan Mayen and Greenland In the first method the standard coastline data files are adapted from an open data set from the U S Geological Survey available on the Internet The data are available in 5 different resolutions with the best being about 100 m resolution and an absolute accuracy of about 500 m For many parts of the world this method is good enoug
18. h to produce a land mask that is sufficient even for ship detection Figure 3 9 shows an example from the Norwegian coast which shows that many small islands are not contained in the database We can also see a small offset which is to be expected given the accuracy of the coastline data the geo referencing data based on predicted orbits and the algorithm used to project the coastline data onto the image In the second method territorial sea borders have been used to make a boundary that covers all small islands in the northern areas This method is used to be sure that small islands and part of land are not misinterpreted as vessels using the first method The land mask is shown in Figure 3 10 Geo referencing information from the image metadata is used to calculate the presence and location of coastline polygons in the image Polygons are subsequently filled with a user specified mask value beside Coast data file on the Land Mask Tool Configuration menu Figure 3 11 and subsequently applied to the image data to create a masked file The Land Mask Module produces two files located in the work folder see Table 3 2 Once the land mask step is done the program starts to apply the geophysical analysis algorithms Each of the major steps is carried out by corresponding modules The behaviour and performance of each module is controlled through a configuration menu The configuration parameters are stored in separate files that are automatically l
19. ing STATUS Found 70 targets STATUS Found 64 targets after merging STATUS Started analysis of each target STATUS Finished target analysis TATUS Starting Confidence Estimates TATUS Finished Confidence Estimates TATUS Finished Ship Detection Analysis Eating Target Module TATUS Finished Target HH TATUS Total number of reported targets 32 TATUS Writing results to file C My Tools vAegiryproducts yRS2 20091218 165110 0048 SCNA HHHV SCN 63737 0000 2746006 HH ships TATUS Writing results to kml file C MyToolsvAegirproducts AS 20091218 165110 0048 SCNA HHHV SCN 63737 0000 2746006 HH ships kml TATUS Writing results to xml file My Tools Aegir producta R52 20091218 165110 0048 SCNA HHHV SCN 63737 0000 2746006 HH ships xml TATUS Writing results to xml file C MyTools Aegirsproducts RS2_ 20091218 165110 0048 SCNA HHHV SCN 63737 0000 2746006 HH ships maria xml TATUS Calling Target HV TATUS Calling K dist algorthm for ship detection TATUS Finished K dist algorthm TATUS Finished Thresholding TATUS Starting Clustering TATUS Found 85 targets TATUS Finished Clustering TUS Found 85 targets gt Ho Figure 3 3 Window presented for the user with status of the ship detection algorithm FFI rapport 2013 01858 11 MT RS2_20091218 165110 0048 SCNA HHHV sCN 63737 0000 2746006 To Tey ye Data information FILENAME RS2_20091218_165110_0048_SCNA_HHHV_SCN_63737_0000_2746006 SENSOR RADARS
20. is www exelisvis com idlvm Two versions are available Aegir and Aegir Manual 1 1 Aegir The first version Aegir is a fully automatic ship detector that searches for new files in a folder and runs automatically throughout the whole algorithm The outputs are different ship detection reports Aegir is used on all incoming SAR images Aegir produces a text file with file names of SAR image files that should be analysed manually by Aegir Manual 1 2 Aegir Manual The second version Aegir Manual is also an automatic ship detector but here the user can interact more throughout the algorithm The outputs are different ship detection reports The program displays the different SAR images in the available polarisations on screen When the Aegir is the god of the sea in Norse mythology He was both worshipped and feared by sailors They believed that Aegir would occasionally appear on the surface to take ships men and cargo alike with him to his hall at the bottom of the ocean Sacrifices were made to appease him particularly prisoners before setting sail FFI rapport 2013 01858 7 ship detection algorithm is run the user can look at the ship detections displayed on the SAR image on screen 2 Installation This section describes how to install and set up Aegir If you already have IDL or the IDL Virtual Machine you can proceed to Section 2 2 2 1 IDL Virtual Machine The IDL Virtual Machine is a runtime version of IDL
21. isation that can be opened in Google Earth HH ships_maria xml One xml report for each polarisation that can be opened in Maria HH IncConf ships One text report for each polarisation with increased confidence estimates after using the incidence angle and detection information from all polarisation channels Table 3 3 The set of reports produced after ship detection is done Table 3 3 shows the set of reports produced after ship detection is run common ship detection report ships is written where the polarisations available are combined in one report In addition four ship detection reports are made for each polarisation 1 text report 2 kml report that can be opened in Google Earth 3 xml report that can be opened in Maria and 4 text report with increased confidence estimates after using incidence angle and detection results from all polarisation channels All of the reports except ships_maria xml report have two numbers for heading where one is the estimated heading and the other is the estimated heading 180 The ships_maria xml report only reports course which is heading1 because this is what maria supports The heading course can be the reported number or the reported number 180 3 7 2 kml report for Google Earth If Google Earth is installed on the computer the kml file can be opened in Google Earth An icon is shown at the coordinates of each of the detected targets When an icon is selected using the FFI ra
22. oaded when a given module is activated lt filename gt msk XX Masked image data file for each polarisation where XX can be HR VV VE or HV according to transmitted and received polarisation lt filename gt msk XX tif Tiff file for each polarisation in the data set at reduced resolution used in the overview panel of the IDGUI Table 3 2 The land mask module produces two files 16 FFI rapport 2013 01858 VVVH_SCN_78025_0000_3357106 AV 060127 0048 SCN Heip Tools M RS2 20100419 06 File 75 9546 68 0000 _ file p Average Poos lt 57 IA uo VW N VVVH SCN 79 8 SC 799 51162 5807 580 Vids Une AT 2 10419 OG S G he land mask high dat It is shown that all land and small islands are not covered by this method a g y h r g e 8 F eo x x ole u a amp u n Va wv 3 5S re w gt r gt o E ek p p S ea ODO 5 pR iw SEQYQ a Q Sa tA JE 20 durra eg r zn Q pe ma md o P D Ww 3 pe 2 amp 5 x gt 3 2WO E 2 A 2O2EE2 image us r Q D amp s Ts E 0 000000 9 Example of land mask generated for an example Poel value p P ag 5 V E x I 3 ag F 3 10 Land Mask produced based on territorial sea borders 17 igure F FFI rapport 2013 01858 Land Mask Tool Configuration Sm Land Mask Tool Settings
23. pport 2013 01858 23 mouse a label containing information about the target appears see Figure 3 19 This functionality can be used to compare targets detected in SAR images with AIS Automatic Identification System messages from vessels in the same area since these also can be viewed in Google Earth Sensor RADARSAT 2 Pol chann Latitude Longitude No of pix Peak val CmassX CmassY LOA Beam Hdg1 HV 2009 11 29T06 14 13 717859Z 3 66 026470 8 0940248 112 2658065 0 1302 90 1410 11 217 31832 15 423478 356 20206 Hdg2 176 20206 Confidence 523 Veibeskrivelse Hit Herfra Figure 3 19 Targets shown as green diamonds in Google Earth Clicking one green diamond a white label with information about the detected target is shown 3 7 3 Manual reports Aegir does some tests throughout running the program If manual user intervention is needed due to for example ice in the SAR image a report analyze_manually dat is produced under G MyTools Aegir manual_files Then the user can open this report and see which SAR image files that need manual user intervention under the analysis The user can press the Aegirmanual sav file on the Desktop and run Aegir with user intervention 3 8 Stopping Aegir When Aegir is started by the user it will keep running until stopped by the user The user can stop the program by pressing the Cancel button see Figure 3 20 on the Waiting for 5 minutes
24. r presentert et statusvindu under analysen og i tillegg f r se et SAR bilde der landmasken og skipsdeteksjonene blir lagt p Til slutt lager programmet skipsdeteksjonsrapporter Den andre versjonen gir mulighet for brukeren til aktivt v re med og styre hva programmet skal gj re og manuelt lage en maske for eksempel over is Denne brukermanualen forklarer hvordan gir kan installeres settes opp og brukes FFI rapport 2013 01858 Contents 2 1 2 2 3 1 3 2 3 3 3 3 1 3 3 2 3 4 3 4 1 3 4 2 3 5 3 6 3 6 1 3 6 2 3 6 3 3 3 7 1 3 7 2 3 7 3 3 8 FFI rapport 2013 01858 Contents Introduction Aegir Aegir Manual Installation IDL Virtual Machine Setting up Aegir Operation Starting Aegir Operating Aegir Operating Aegir Manual Main configuration Image ingest and display Land mask generation Automatic land mask Manual land mask Fusing polarimetric channels Ship detection Target detection Confidence estimates Ship detections on screen Ship detection reports Overview of ship detection reports kml report for Google Earth Manual reports Stopping Aegir Summary References 10 10 11 12 12 13 16 16 18 19 19 19 21 22 22 22 23 24 24 25 26 FFl rapport 2013 01858 1 Introduction There have been many civilian Synthetic Aperture Radar SAR satellites since ERS 1 and ERS 2 were launched in 1991 and 1995 Then RADARSAT 1 ENVISAT RADARSAT 2 ALOS TerraSAR X TanDEM X and
25. rapport 2013 01858 normalized while the second column shows confidence estimates that are normalized See report number 2 for more information about confidence estimates The higher the confidence numbers are the more confident we are that the target is a ship reed ie dd korn li Hdg2 1 8868385e 009 1294 49 985 013 8 1030310 66 044412 122 941567 84004502 0698947 182 06989738 15 1 1631063e 009 1377 88 1236 95 8 1262675 66 030652 14 2253902 5995044356 05120 176 0512026 112 2658065 0 1302 90 1410 11 8 0940248 66 026470217 31832 15 423478 356 20206 176 20206523 27 1 3825874e 009 1233 71 1810 06 8 0575033 66 012689112 1742163 581889359 75828 179 75828 17 30 3 1711562e 008 1183 16 2394 01 8 0225994 65 990521 164 6250497 278747 1 2817049 181 2817018 98 1 3056598e 009 1114 24 2472 31 7 9953512 65 990065 124 8566 1 44 630403 0 48380694 180 4838 1 92 Nn BW NY WN NY W DR Figure 3 18 Example of ship detection output CmassX and CmassY are weighted average locations in image coordinates pixel and line LOA means estimated length of target Hdg 1 means heading estimate I and Hdg2 Hdg1 180 degrees Ships Common ship detection report where the results from all detections in all polarisation channels available are combined into one report XX ships One text report for each polarisation where XX can be HER VV VR or HV according to transmitted and received polarisation XX ships kml One report for each polar
26. rt is called analyze_manually dat and is located under G MyTools Aegir manual_files B AEGIR SAR DATA ANALYSIS TOOL a STATUS Level 0 tif file C My Tools Aegirwork RS2_200912718_165110_0048 SCNA_HHHV_SCN_63737_0000_2746006 HV tif STATUS Ingest file C MyTools Aegirnwork RS2_ 20091218 165110 0048 SCNA HHHV SCN 63737 0000_2746006 ing STATUS Nechannels 2 STATUS Finished ingest of C AMyToolsvAegirvunzippediARS2 20091218 165110 0048 SCNA HHHV SCN 63737 0000 27746006 product xml STATUS Starting landmasking TATUS Using coastline data file C DatatcoastlineNordomraader dat TATUS Loading coastline polygons TATUS Found 1 polygons TATUS Defining Mask Function LandMask TATUS Found 1 polygons to fill with mask values TATUS Generating mask file C My Tools Aegirwwork RS2_20091218_165110_0048 SCNA HHHV SCN 63737 0000 2746006 HH mask TATUS Generating mask file C MyToolsvAegirvworkiRS2 20091218 165110 0048 SCNA HHHV SCN 63737 0000 2746006 HH L Ib msk TATUS Generating mask file C MyToolsvAegirvwork R5 20091218 165110 0048 SCNA HHHV SCN 63737 0000 2746006 HV msk TATUS Generating mask file C MyToolsvAegirvwork RS 20091218 165110 0048 SCNA HHHV SCN 63737 0000 2746006 HV Llbmsk TATUS Finished landmasking TATUS Calling Target HH TATUS Calling K dist algorithm for ship detection TATUS Finished K dist algonthm TATUS Finished Thresholding TATUS Starting Clustering TATUS Found 70 targets STATUS Finished Cluster
27. that can execute IDL sav files without an IDL license It is designed to provide IDL users with a simple no cost method for distributing IDL applications It runs on all IDL supported platforms and does not require a license to run The IDL Virtual Machine can be installed either from an IDL distribution CD ROM or from the Exelisvis IDL web site www exelisvis com idlvm Installations of IDL 6 0 and later include the IDL Virtual Machine but the Virtual Machine can also be installed by itself To install the IDL Virtual Machine from the IDL installer on the IDL 8 1 CD ROM or from the EXELIS Download Web site Windows users click the IDL Virtual Machine button at the IDL Selection screen UNIX users if you have the IDL CD ROM select IDL Virtual Machine from the Product menu on the Product Information screen If you have downloaded the IDL Virtual Machine from the RSI web site simply follow the on screen instructions Mac OS X users select IDL Virtual Machine from the Choose Install Set screen 2 2 Setting up Aegir The operation of Aegir requires access to the following folders shown in Table 2 1 The Default folder needs to be set up as a system environment variable named AegirDIR This can be done by entering Control Panel selecting System and Security System Advanced System Settings and in the end clicking on the Advanced tab Figure 2 1 shows how to define a system environmental variable for the fully automatic program Aegir
28. uired to be located in the data directory The help tab shown at the top of Figure 3 7 displays the Aegir Configuration information shown in Figure 3 5 and it is possible to save this information in text format 12 FFI rapport 2013 01858 ST AEGIR Configuration les DATA DIRECTORY G Data WORK DIRECTORY GA My ToolsvAegirManualiwork TEMPLATES G MyTools AegirManual temple PRODUCTS GAMy Tools AegirManualiprodu RADARSAT 2 G Data RADARSAT 2 COASTLINE Gl Data coastline DEFAULT_DISPLAY_XSIZE 500 DEFAULT DISPLAY YSIZE 500 MAX DISPLAY YSIZE 1000 ZOOMOUTFAC 8 MAXBLOCKSIZE 100000000 MAXCHANNELS 5 LOGINGEST 0 DEBUG 0 LANDMASKCONFIG FILE landmask ctg CMODCONFIGFILE shipdetect ctg SHIPCONFIGFILE shipdetect cfg Figure 3 6 Top level menu illustrating where the main configuration menus are found 3 3 2 Image ingest and display Using the Aegir Manual program the user can do interactions and see the SAR images on screen To run the program the user needs to choose a RADARSAT 2 file by selecting File Ingest and load and RADARSAT 2 see Figure 3 7 The image data set chosen is ingested before further analyses This enables handling of different formats and metadata during the original file input and produces consistent data sets for further analyses The image ingest process results in a set of files for further use see Table 3 1 The resulting files are stored in the work fol
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