Navigation information reception device, navigation information transmission device, navigation information transmission / reception system, navigation information reception method, navigation information transmission method, navigation information reception program, and navigation information transmission program

Abstract

The present invention addresses the problem of being able to analyze a navigation information message without updating software or a device even when the format of the message is changed. A navigation information receiving device (10) is provided with: a receiving unit (101) for receiving a navigation information message; a determination unit (102) that determines whether the received navigation information message is a format message or a non-format message; a format storage unit (104) that stores format information included in the format message; and an analysis unit (103) that analyzes the content of the non-format message on the basis of the format information stored by the format storage unit (104).

Description

Technical Field

[0001] The present invention relates to the transmission and reception of maritime information, particularly to the format of the transmission and reception of maritime information. Background Art

[0002] In the Automatic Identification System (AIS) (vessel automatic identification device) message, which is one of the messages for transmitting and receiving maritime information, a binary message of this message type is defined, and formats are defined for each region, and each region is also independently used flexibly.

[0003] Prior Art Documents

[0004] Patent Documents

[0005] Non-Patent Document 1: International Electrotechnical Commission (IEC) 61993-2:2012 Standard Marine navigation and radio communication equipment and systems - Part 2 Summary of the Invention

[0006] [Problems to be Solved by the Invention]

[0007] However, for example, in the case of independently using the binary message of the AIS message, if the format of the binary message included in the AIS message is changed, software needs to be updated to cope with the new format. Moreover, the user needs to introduce a machine that can cope with the new format, and before introducing the machine, it is impossible to start using it in the new format.

[0008] Therefore, an object of the present invention is to provide a technology that can analyze a maritime information message without updating software or machines even when the format of the message is changed.

[0009] [Technical Means for Solving the Problems]

[0010] The maritime information receiving device of the present invention includes: a receiving unit that receives a maritime information message; a determination unit that determines whether the received maritime information message is a format message or a non-format message; a format storage unit that stores format information included in the maritime information message when it is determined that the received maritime information message is a format message; and an analysis unit that analyzes the content of the maritime information message based on the stored format information when it is determined that the received maritime information message is a non-format message and the format information is stored.

[0011] In the said structure, if it is a format message, it is saved as a format, and if it is a non-format message, it is parsed as a nautical information message.

[0012] According to the present invention, without updating software or machines, nautical information messages can be parsed even when the format of the messages is changed. Brief Description of the Drawings

[0013] Figure 1 It is a diagram showing an outline of receiving a message from a base station according to a first embodiment of the present invention.

[0014] Figure 2 It is a diagram showing an example of a prototype of a binary message according to a first embodiment of the present invention.

[0015] Figure 3 It is a diagram showing an example of a format according to a first embodiment of the present invention.

[0016] Figure 4 It is a functional block diagram of an AIS receiving device according to a first embodiment of the present invention.

[0017] Figure 5 It is a functional block diagram of an AIS transmitting device according to a first embodiment of the present invention.

[0018] Figure 6 It is a flowchart of receiving an AIS message according to a first embodiment of the present invention.

[0019] Figure 7 It is a flowchart of creating an AIS message according to a first embodiment of the present invention.

[0020] Figure 8 It is a diagram showing an outline of receiving a message from a ship according to a second embodiment of the present invention.

[0021] Figure 9 It is a functional block diagram of an AIS receiving device according to a third embodiment of the present invention. Detailed Description of the Invention

[0022] (First Embodiment)

[0023] The nautical information receiving device, nautical information transmitting device, and nautical information transmission / reception system according to the first embodiment of the present invention will be described with reference to the drawings. Hereinafter, AIS will be described, but it can also be applied to a very high frequency (VHF) data exchange system (VDES).

[0024] As Figure 1As shown, the AIS system (Maritime Information Transmission and Reception System) includes the AIS transmission device (Maritime Information Transmission Device) 30 included in the base station 20 and the AIS reception device (Maritime Information Reception Device) 10 included in the marine mobile unit (ship) 100. The marine mobile unit 100 including the AIS reception device 10 becomes a mobile station of the AIS system.

[0025] The AIS transmission device 30 creates an AIS message (Maritime Information Message) and transmits it from the antenna 25 of the base station 20. The AIS reception device 10 receives the AIS message through the antenna 15. Thus, the marine mobile unit 100 receives the AIS message from the base station 20.

[0026] Use Figure 4 To explain the reception of the AIS message. As Figure 4 shown, the AIS reception device 10 includes a reception unit 101, an arithmetic unit 110, a format storage unit 104, and a display unit 106. The arithmetic unit 110 includes a judgment unit 102, an analysis unit 103, and a data processing unit 105. Moreover, the reception unit 101 of the AIS reception device 10 is connected to the antenna 15.

[0027] Figure 2 Shows an example of the prototype of the binary message in the AIS message. The binary message is defined, for example, as AIS message types 6, 8, etc. in ITU-R M.1371. What is illustrated is message type 6. The binary message includes a header and a binary data section. The header predefines the attributes of the data. For example, as Figure 2 such, parameters, number of bits, etc. are defined.

[0028] The content of the binary data section has been determined in various data formats by the International Maritime Organization (IMO) or in each region. However, the attributes of the data can also be appropriately defined to exchange information. The binary data section can be configured as a formatted message or an unformatted message.

[0029] A formatted message is a binary message that includes data (local data format data) that defines the local or specific range of the binary data format.

[0030] Figure 3 Is an example showing a formatted message. Here, the form of binary message type 8 is used. In the case of using data formats divided by region, the inherent identification symbols of the Designated Area Code (DAC) and the Function ID (identification) (FI) can be used. And the local data format is defined for the binary data. In Figure 3In the example, the form of eight data is defined. In the exemplified form, 1 represents the string type and 2 represents the time type.

[0031] A non-format message is a binary message that records information in binary data using the defined local data format forms included in the format message.

[0032] The receiving unit 101 receives the AIS message via the antenna 15. The receiving unit 101 outputs the AIS message to the determination unit 102.

[0033] The determination unit 102 determines whether the received AIS message is a binary message. Whether it is a binary message can be identified using a message identification code (message ID), etc. In the case of an AIS message other than a binary message, normal data processing is performed using the data processing unit 105. In the case of a binary message, it is determined whether it is a format message or a non-format message. The determination can be performed by setting a flag in the header, etc. recorded in the binary data. Moreover, a specific number / symbol of the FI in the header information can be defined as a format message and utilized. In addition, an identification flag indicating whether it is a format message can also be set in the binary data. When the determination unit 102 determines that the AIS message is a format message, the local data format (format information) included in the format message is saved in the format storage unit 104.

[0034] The analysis unit 103 analyzes the content of the non-format message. At this time, the analysis unit 103 uses the local data format saved in the format storage unit 104 for analysis. When the analysis unit 103 can analyze it, the content of the non-format message is displayed on the display unit 106. Moreover, when the analysis unit 103 cannot analyze the non-format message, an error message, etc. can also be displayed.

[0035] Thus, when using binary messages independently in each region, even if the format of the binary data is changed, the binary data can be analyzed in the changed format.

[0036] In addition, only the reception of the AIS message is shown here, but when the marine mobile unit 100 uses AIS for transmission, the binary data of the AIS message is made using the local format.

[0037] Use Figure 5 to explain the transmission of the AIS message. As Figure 5 shown, the AIS transmission device 30 includes an operation unit 201, a message creation unit 210, a transmission control unit 204, a storage unit 205, and a transmission unit 206. The message creation unit 210 includes a format message creation unit 202 and a non-format message creation unit 203. Moreover, the AIS transmission device 30 includes an antenna 25.

[0038] The operation unit 201 receives operation inputs required for AIS message production. The message production unit 210 produces an AIS message along with the operation inputs. The formatted message production unit 202 produces formatted data along with the operation inputs of the operation unit 201. The unformatted message production unit 203 produces unformatted data along with the operation inputs of the operation unit 201.

[0039] The transmission control unit 204 controls the transmission of the AIS message including the binary message and transfers it to the transmission unit 206 in a periodic or real-time transmission manner. The transmission unit 206 transmits the AIS message via the antenna 25.

[0040] With the above structure, the AIS transmission device 30 transmits the produced AIS message including the formatted message or the unformatted message.

[0041] In the case of producing the local data format, the user performs an operation for local format production from the operation unit 201. The formatted message production unit 202 receives an instruction for format production and retrieves, for example, the binary data of the AIS message as Figure 3 such. The user defines the local data format for the binary data using the prototype of the binary data through the operation unit 201. The formatted message production unit 202 saves the local data format defined for the binary data in the storage unit 205.

[0042] In the case of producing unformatted data, the user performs the following operation from the operation unit 201, that is, an operation for producing unformatted data. The unformatted message production unit 203 receives an instruction for unformatted production and retrieves the prototype of the binary data.

[0043] The user makes entries corresponding to the local data format using the prototype of the binary data through the operation unit 201. The unformatted message production unit 203 saves the recorded binary data in the storage unit 205. In addition, the production of unformatted data is not limited to this and can be produced from the beginning or automatically generated.

[0044] When transmitting the AIS message, the transmission control unit 204 retrieves the formatted message or the unformatted message from the storage unit 205 according to the transmission timing.

[0045] At the transmission timing of the formatted message, the transmission control unit 204 selects the formatted message from the storage unit 205, sets a flag indicating the formatted message in the header, and transfers it to the transmission unit 206. The transmission unit 206 generates an AIS message including the formatted message and transmits it from the antenna 25.

[0046] In addition, the AIS message including the formatted message is repeatedly transmitted at a prescribed time interval. Thus, even if the reception fails once, the marine mobile object 100 can acquire the formatted message and communication using the local data format can be realized.

[0047] When sending a non-formatted message, the transmission control unit 204 selects a non-formatted message from the storage unit 205, sets a flag indicating the non-formatted message in the header, and transfers it to the transmission unit 206. The transmission unit 206 generates an AIS message containing the non-formatted message and transmits it from the antenna 25. In addition, without being limited thereto, the message can also be directly transmitted.

[0048] In addition, in the above description, a form in which an AIS message is received, analyzed, and transmitted by a plurality of functional units is shown, but the processing can also be programmed and stored, and the program can be read and executed by an arithmetic processing device such as a computer.

[0049] Figure 6 It is a flowchart of the case of receiving an AIS message according to the first embodiment of the present invention.

[0050] The AIS receiving device 10 receives an AIS message (S101). The AIS receiving device 10 determines whether the received AIS message is a binary message (S102). If the received AIS message is not a binary message (S102: No), normal message parsing processing is performed and the result is displayed. If the received AIS message is a binary message (S102: Yes), it is determined whether the binary data of the received binary message is a formatted message (S103). If the binary data of the binary message is a non-formatted message, that is, if it is not a formatted message (S103: No), it is retrieved whether there is a matching local data format (S104).

[0051] The AIS receiving device 10 parses the non-formatted message using the retrieved local data format and determines whether it can be parsed normally (S105). If the AIS receiving device 10 can parse the non-formatted message (S105: Yes), the parsing result is displayed (S106).

[0052] Moreover, if the AIS receiving device 10 cannot parse the non-formatted message (S105: No), the process ends. At this time, the AIS receiving device 10 can also notify that it cannot be parsed.

[0053] On the other hand, if the binary message is a formatted message, that is, if it is not a non-formatted message (S103: Yes), the AIS receiving device 10 retrieves the local data format (S110).

[0054] The AIS receiving device 10 determines whether the local data format included in the received formatted message is saved (S111). If the local data format is not saved (S111: No), the AIS receiving device 10 saves the local data format (S112).

[0055] In the case where the local data format has already been saved (S111: Yes), the AIS receiving device 10 confirms whether the local data formats are the same (S120). If they are the same (S120: Yes), the process ends.

[0056] If the local data formats are not the same (S120: No), the AIS receiving device 10 overwrites the save format. Moreover, instead of overwriting the format, the format may be saved again. In such a case, management can be performed using a time stamp or version information. Thus, the AIS receiving device can save the required local data format, and in the case where the local data format is updated, the latest local data format can also be saved by saving again, and the binary message can be parsed based on the local data format.

[0057] Figure 7 It is a flowchart of the case of creating and transmitting a binary message in the AIS message in the first embodiment of the present invention.

[0058] The AIS transmitting device 30 starts creating a binary message (S201). Next, by the operation of the user, it is determined whether the created message is a formatted message or an unformatted message (S202). In the case of creating a formatted message (S202: Yes), the AIS transmitting device 30 determines whether a new local data format is to be created (S203). In the case of creating a new local data format (S203: Yes), a format is created (S204), and the created format is saved (S205). The AIS transmitting device 30 transmits an AIS message as a binary message including the saved local data format (S206).

[0059] In the case of updating and using an existing local data format to create a formatted message without creating a new format (S203: No), the AIS transmitting device 30 retrieves a matching existing local data format (S211). The AIS transmitting device 30 acquires the existing local data format (S212). The AIS transmitting device 30 updates the created local data format by updating a part of the existing local data format (S213). Then, the created format is saved (S205). The AIS transmitting device 30 transmits an AIS message as a binary message including the saved local data format (S206).

[0060] On the other hand, in the case where the created message is an unformatted message (S202: No), the AIS transmitting device 30 creates an unformatted message based on the local data format (S221). The AIS transmitting device 30 transmits an AIS message as the created unformatted message (S206).

[0061] By using the above-described structure and processing, the AIS receiving device 10 included in the marine vehicle 100 and the AIS transmitting device 30 included in the base station 20 can transmit and receive AIS messages corresponding to the local data format. Furthermore, the AIS receiving device 10 can utilize the new local data format without introducing a machine corresponding to the new local data format.

[0062] (Second Embodiment)

[0063] The marine information transmission / reception system according to the second embodiment of the present invention will be described with reference to the drawings. Figure 8 FIG. is a diagram showing an outline of transmitting and receiving messages using the marine information transmission / reception device included in the marine vehicle according to the second embodiment of the present invention. Hereinafter, AIS will be described, but it can also be applied to VDES (VHF Data Exchange System).

[0064] The marine vehicle 100A includes an AIS transmission / reception device 10A. The AIS transmission / reception device 10A has the functions of the AIS receiving device 10 and the AIS transmitting device 30 of the first embodiment, that is, it has both transmitting and receiving functions.

[0065] As Figure 8 shown, the AIS transmission / reception device 10A of the marine vehicle 100A transmits a format message in which the local data format is described in the binary data of the AIS message, and the AIS transmission / reception device 10A of the marine vehicle 150A receives the format message. Then, the AIS transmission / reception device 10A of the marine vehicle 100A transmits a non-format message, and the AIS transmission / reception device 10A of the marine vehicle 150A receives the non-format message.

[0066] By using the above-described structure, it is also possible to transmit and receive binary messages based on the local data format using the binary data of the AIS message.

[0067] Moreover, the form of transmitting the AIS message by the AIS transmission / reception device 10A of the marine vehicle 100A has been described, but the AIS message can also be transmitted by the AIS transmission / reception device 10A of the marine vehicle 150A. Moreover, the reception of the AIS message is the same. Moreover, the marine vehicles 150A can also transmit and receive AIS messages to and from each other.

[0068] (Third Embodiment)

[0069] The marine information receiving device according to the third embodiment of the present invention will be described with reference to the drawings. Figure 9This is a functional block diagram of the AIS receiving device according to the third embodiment of the present invention. Hereinafter, AIS will be described, but it can also be applied to VDES (VHF Data Exchange System).

[0070] As Figure 9 shown, the AIS receiving device 10B according to the third embodiment is different from the AIS receiving device 10 according to the first embodiment in that it includes a delegation message sending unit 107. The other structures of the AIS receiving device 10B are the same as those of the first embodiment, and the description of the same parts is omitted.

[0071] As Figure 9 shown, the AIS receiving device 10B includes a receiving unit 101, an arithmetic unit 110, a format storage unit 104, and a delegation message sending unit 107. The arithmetic unit 110 includes a determination unit 102 and an analysis unit 103. Moreover, the AIS receiving device 10B is connected to an antenna 15B.

[0072] The delegation message sending unit 107 creates and sends a message for delegation of transmission in the local format.

[0073] When retrieving and analyzing the format message, if no matching local data format is found, the arithmetic unit 110 instructs the delegation message sending unit 107 to send a delegation for the format message of the AIS message. The delegation message sending unit 107 sends the delegation for the format message via the antenna 15B. After receiving the delegation message, the AIS sending device 30 sends the AIS message as the format message.

[0074] In the above structure, the AIS receiving device 10B can receive the required format message in a timely manner regardless of the format message sending timing of the AIS sending device 30 by sending and receiving delegations for the format message.

[0075] Terminology

[0076] It is not necessarily possible to achieve all the purposes, effects, or advantages according to any specific embodiment described in this specification. Therefore, for example, those skilled in the art may think that a specific embodiment can be configured as follows: It may not achieve other purposes, effects, or advantages taught or suggested in this specification, but rather operate in a manner that achieves or optimizes one or more effects or advantages taught in this specification.

[0077] All the processes described in this specification can be implemented by software code modules executed by a computing system including one or more computers or processors, and are fully automated. The code modules can be stored in any type of non-transitory computer-readable medium or other computer storage devices. Part or all of the methods can be implemented by dedicated computer hardware.

[0078] According to the present disclosure, in addition to the embodiments described in this specification, there are many other variations. For example, according to the embodiments, any specific action, event, or function of the algorithms described in this specification can be executed in a different sequence, can be added, combined, or completely excluded (for example, not all of the described actions or events are necessary for the execution of the algorithm). Further, in a specific embodiment, an action or event can be executed simultaneously rather than sequentially via multi-threaded processing, interrupt processing, or multiple processors or processor cores, or on other parallel architectures. Further, different tasks or processes can also be executed by different machines and / or computing systems that can function together.

[0079] The various illustrative logical blocks and modules described in connection with the embodiments disclosed in this specification can be implemented or executed by a machine such as a processor. The processor can be a microprocessor, or alternatively, the processor can be a controller, microcontroller, or state machine, or a combination thereof, etc. The processor can include circuitry configured to process computer-executable instructions. In other embodiments, the processor includes an Application Specific Integrated Circuits (ASIC), a Field Programmable Gate Array (FPGA), or other programmable devices that do not process computer-executable instructions but perform logical operations. Moreover, the processor can be installed as a combination of computing devices, such as a combination of a digital signal processor (digital signal processing device) and a microprocessor, multiple microprocessors, one or more microprocessors combined with a Digital Signal Processor (DSP) core, or any other such configuration. In this specification, digital technologies are mainly described, but the processor can also mainly include analog components. For example, a part or all of the signal processing algorithms described in this specification can be installed by an analog circuit or an analog-digital hybrid circuit. The computing environment includes a microprocessor, a mainframe computer, a digital signal processor, a portable computing device, a device controller, or a computer system based on a computing engine within the device, but is not limited to these and can include any type of computer system.

[0080] Unless otherwise expressly recited, conditional language such as "can", "configured to", "may", or "is capable of" is understood in the context in which it is typically used to convey that a particular embodiment includes a particular feature, element, and / or step but that other embodiments do not. Thus, such conditional language is not generally intended to mean that a feature, element, and / or step is required in any way for more than one embodiment; or that more than one embodiment necessarily includes logic for determining whether such feature, element, and / or step is included in any particular embodiment, or for performing it.

[0081] Unless otherwise noted, disjunctive language such as the phrase "at least one of X, Y, and Z" is understood in the context in which it is typically used to mean that any one or any combination of items, terms, etc. may be X, Y, or Z (e.g., X, Y, Z). Thus, such disjunctive language is not generally intended to mean that a particular embodiment requires each of at least one of X, at least one of Y, or at least one of Z to be present separately.

[0082] Any process description, element, or block in a flowchart described in this specification and / or illustrated by the figures should be understood to potentially represent a module, segment, or portion of code that includes one or more executable instructions for implementing a particular logical function or element in the process. Alternative embodiments are within the scope of the embodiments described in this specification, where, as would be understood by one of ordinary skill in the art, an element or function may be deleted from the illustrated or described embodiment, or performed in a different order, based on associated functionality, substantially simultaneously or in reverse order.

[0083] Unless otherwise expressly stated, a numeral such as "a" is generally to be construed to include more than one of the recited items. Thus, a statement such as "a device configured to" is intended to include more than one of the recited devices. Such one or more of the recited devices may also be configured to perform the recited acts collectively. For example, a "processor configured to perform the following A, B, and C" may include a first processor configured to perform A and a second processor configured to perform B and C. Further, even if a specific number of examples of an introduced embodiment are expressly recited, one of ordinary skill in the art should construe such recitation as typically meaning at least the recited number (e.g., a simple recitation of "two examples" without using other modifiers generally means at least two examples, or two or more examples).

[0084] Generally, those skilled in the art can judge that the terms used in this specification are usually intended as "non-limiting" terms (for example, the term "comprising" should be interpreted as "not only, but at least comprising", the term "holding" should be interpreted as "at least holding", the term "including" should be interpreted as "including the following, but not limited to these", etc.).

[0085] For the purpose of illustration, the term "horizontal" used in this specification is defined as the plane of the floor of the area where the described system is used or a plane parallel to the surface, or the plane where the described method is implemented, regardless of its direction. The term "floor" can be replaced with the term "ground" or "water surface". The term "vertical" refers to the direction perpendicular / vertical to the defined horizontal line. Terms such as "upper side", "lower side", "lower", "upper", "side", "higher", "lower", "above", "more than ~", "lowered" are defined relative to the horizontal plane.

[0086] Unless otherwise noted, the terms "attached", "connected", "paired" and other related terms used in this specification should be interpreted as detachable, movable, fixed, adjustable, and / or detachable connections or linkages. Connections / linkages include direct connections and / or connections having an intermediate structure between the two described components.

[0087] Unless otherwise expressly stated, the quantities preceded by terms such as "substantially", "about", and "essentially" in this specification include the recited quantities, and represent quantities that further perform the required functions, or achieve the required results, and are close to the recited amounts. For example, unless otherwise expressly stated, "substantially", "about", and "essentially" refer to values less than 10% of the recited value. As used in this specification, terms such as "substantially", "about", and "essentially" preceding the features of the disclosed embodiments represent some variable features that further perform the required functions or achieve the required results for the said features.

[0088] Multiple variations and modifications can be applied to the said embodiments, and these elements should be understood to exist in other allowable examples. All such modifications and variations are intended to be included within the scope of this disclosure and are protected by the scope of the following claims.

[0089] Explanation of reference numerals

[0090] 10: AIS receiving device

[0091] 10A: AIS transceiver

[0092] 10B: AIS receiving device

[0093] 15, 15B: Antenna

[0094] 20: Base station

[0095] 25: Antenna

[0096] 30: AIS transmission device

[0097] 100, 100A, 150A: Marine mobile

[0098] 101: Receiving unit

[0099] 102: Judgment unit

[0100] 103: Analysis unit

[0101] 104: Format storage unit

[0102] 105: Data processing unit

[0103] 106: Display unit

[0104] 107: Entrusted message sending unit

[0105] 110: Arithmetic unit

[0106] 201: Operation unit

[0107] 202: Format message production unit

[0108] 203: Unformatted message production unit

[0109] 204: Transmission control unit

[0110] 205: Storage unit

[0111] 206: Sending unit

[0112] 210: Message production unit

Claims

1. A navigation information receiving device, comprising: A receiving unit, receiving navigation information messages; A judging unit, for judging whether the received navigation information message is a formatted message or an unformatted message; a format storage unit, which, when determining that the received navigation information message is a format message, stores format information included in the navigation information message; as well as The analyzing unit analyzes the content of the navigation information message based on the stored format information when it is determined that the received navigation information message is a non-formatted message and the format information is stored.

2. The navigation information receiving device according to claim 1, wherein The format information is a local data format agreed upon for exchanging information within a specific region.

3. The navigation information receiving device according to claim 1 or 2, wherein When the format information stored in the format storage unit is different from the format information included in the newly received navigation information message, the format storage unit stores the new format information.

4. The navigation information receiving device according to claim 1 or 2, further comprising: The request message sending unit sends a sending request message of the corresponding format message when the format information corresponding to the received non-format message is not stored in the format storage unit.

5. The navigation information receiving device according to claim 1 or 2, further comprising: A display unit displays the unformatted message parsed by the parsing unit.

6. The navigation information receiving device according to claim 1 or 2, wherein The navigation information message is a binary message of the automatic identification system message.

7. The navigation information receiving device according to claim 6, wherein The determination unit makes a determination based on a message identification code included in the binary message.

8. The AIS receiving device according to claim 6, wherein The determination unit makes a determination based on an identification code included in a binary data portion of the binary message.

9. A navigation information sending device, comprising: A format storage unit, storing format information contained in the format message; a message creating unit that creates a navigation information message including a format message including the format information and a navigation information message including a non-format message described based on the format information; and The sending unit sends the navigation information message including the formatted message and the navigation information message including the unformatted message. 10 . The navigation information transmitting device according to claim 9 , wherein the transmitting unit periodically transmits the navigation information message including the format message.

11. A navigation information sending and receiving system, comprising: The navigation information receiving device according to claim 1; as well as According to the navigation information transmitting device of claim 9, The navigation information receiving device receives the navigation information message sent by the navigation information sending device.

12. The navigation information transmission and reception system according to claim 11, wherein The navigation information receiving device is installed on a ship.

13. The navigation information sending and receiving system according to claim 11, wherein The navigation information sending device is installed on a base station on land or on a ship.

14. A method for receiving navigation information, wherein Receive navigation information messages, determining whether the received navigation information message is a formatted message or an unformatted message, When it is determined that the received navigation information message is a format message, storing format information included in the navigation information message, When it is determined that the received navigation information message is an unformatted message and the format information is stored, the content of the unformatted message is analyzed based on the format information.

15. A method for sending navigation information, wherein Save the format information contained in the format message. creating a navigation information message including a format message containing the format information, and a navigation information message including a non-format message containing the format information, The navigation information message including the formatted message and the navigation information message including the unformatted message are sent respectively.

16. A navigation information receiving program, which causes a processing device to perform the following processing: Processing of received navigation information messages; Processing of judging whether the received navigation information message is a formatted message or an unformatted message; When it is determined that the received navigation information message is a format message, a process of saving format information included in the navigation information message; as well as When it is determined that the received navigation information message is an unformatted message and the format information is stored, a process is performed to analyze the content of the unformatted message based on the format information.

17. A navigation information transmission program, which causes a processing device to execute the following processing: Processing of format information contained in the save format message; a process of creating a navigation information message including a format message containing the format information and a navigation information message including a non-format message described based on the format information; and The process of sending the navigation information message including the format message and the navigation information message including the non-format message respectively.

Images