Shipping companies consider most of the ship turnaround time as a critical factor when selecting a rolling port for reducing costs. So, many researchers have been studying for the optimization of preplanning and high~performance of the Gantry Cranes (GCs) in container terminals for faster loading and unloading. Therefore, in this paper, we propose an RFID (Radio Frequency Identification) based RTLS (Real-Time Location System) for reducing the ship turnaround time in ubiquitous port environment. In addition, pre-planning based on ubiquitous computing environment will support the GC and Yard Tractors (YTs), and reduce ship turnaround time more effectively. Especially, the proposed method enormously enhances the productivity of loading for the twin-lift system It will reduce the whole lead-time in the process of port logistics.