CN105390029A - Ship collision avoidance assisted decision-making method and system based on track fusion and track prediction - Google Patents
Ship collision avoidance assisted decision-making method and system based on track fusion and track prediction Download PDFInfo
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Abstract
The invention discloses a ship collision avoidance assisted decision-making method and system based on track fusion and track prediction. The method comprises the following steps: S1, ship information transmitted by an automatic identification system of a ship and a radar is obtained and pretreatment is carried out on the ship information to obtain position, speed, and orientation information of the ship; S2, track association and track fusion are carried out on the position, speed, and orientation information of ship; and S3, according to the result of the track fusion, track prediction is carried out on a target ship, and ship collision risk evaluation, avoidance decision making, and target ship posture monitoring are carried out. According to the invention, reliability and stability of the ship navigation data source are improved; safety information during the ship sailing process can be monitored intelligent in real time; and thus the ship collision can be avoided. Intelligence and miniaturization of the ship-borne equipment can be realized well; and the method and system have great practical application values.
Description
Technical field
The present invention relates to ship collision prevention technical field, particularly relate to a kind of ship collision prevention aid decision-making method based on Track Fusion and Trajectory Prediction and system.
Background technology
Ship collision is major accident kind in navigation safety always, and the collision accident of more than 80% is directly or indirectly caused by human factor.At present, most Collision Avoidance of Ships is by operating personnel's empirically subjective decision, and accuracy and the standardization of its operation can not ensure.Visible, in order to reduce the generation of Collision Accidents of Ships, emphasis to reduce the nonstandard or invalid measures to keep clear of operating personnel.Therefore, in the urgent need to a kind of navigation environment that marine navigator can be allowed to understand boats and ships in real time, pellucidly, and the ship collision prevention system of anti-collision warning and avoidingcollis ionscheme can be provided, for reducing the collision accident that human factor causes for it.But also have a lot of not enough in existing ship collision prevention systematic research achievement, show the following aspects:
1, conventional boat-carrying navigational aid has marine radar and ship automatic identification system (AIS), can obtain target information, but both respectively has relative merits, so use triangular web to be difficult to the accuracy of guarantee information and comprehensive.
2, in actual motion, AIS equipment may occur that information sends unsuccessfully, and radar may have blind area, and this all can cause this ship cannot receive up-to-date information in time.On the other hand, realize ship collision prevention warning function, not only will make Risk-Degree of Collision analysis to current, also want to make analysis to position relationship new between subsequent time boats and ships, this could make measures to keep clear to dangerous situation in advance.
3, in ship collision prevention analysis and this technical field of aid decision making, also there is no quantitative model accurately at present, do not have to consider the position relationship detecting target and this ship, and analyze current risk of collision, the system of early warning scheme is provided.
4, embedding assembly and computer calculate develop rapidly at present, and ship collision prevention field does not also have can in conjunction with the system of the intellectuality of these technology, robotization.
Summary of the invention
The technical problem to be solved in the present invention is for boat-carrying navigational aid reliability single in prior art poor, and the defect of ship collision early warning can not be provided automatically, provide a kind of can robotization, the ship collision prevention aid decision-making method based on Track Fusion and Trajectory Prediction of Intelligent Calculation ship navigation state and system.
The technical solution adopted for the present invention to solve the technical problems is:
The invention provides a kind of ship collision prevention aid decision-making method based on Track Fusion and Trajectory Prediction, comprise the following steps:
S1, obtain the ship information of ship automatic identification system and radar transmissions, and pre-service is carried out to it obtain the position of boats and ships, speed and azimuth information;
S2, position to boats and ships, speed and azimuth information carry out track association and Track Fusion, and concrete steps are:
S21, position to boats and ships, speed and azimuth information carry out coordinate conversion and temporal registration, and longitude and latitude form information is converted to polar form information, use piecewise linear interpolation method by nonsynchronous information unification to synchronization;
S22, track association is carried out to the position after process, speed and azimuth information, with object ship ship automatic identification system flight path information for benchmark, first to get rid of compared with ship automatic identification system information time, range difference apart from larger radar track information; Pass through the correlation degree of Ship ' automatic recognition system flight path information and radar track information again, to the radar track information that more options correlation degree is larger, this ship automatic identification system flight path information and radar information are chosen to be the object of object ship Track Fusion;
S23, Track Fusion is carried out to the ship automatic identification system of the larger object ship of selected correlation degree and radar track information, adopt the Weighted estimation method of Corpus--based Method to complete the Track Fusion process of object ship, and store fusion results for Trajectory Prediction data are provided;
S3, according to the result of Track Fusion, Trajectory Prediction is carried out to object ship, and make ship collision Risk Assessments, dodge decision-making and the monitoring of object ship situation.
Carry out pretreated method to ship information in step S1 to be specially:
Resolve according to ship automatic identification system and radar message format respectively, and extract effective information and be stored in database.
In step S2, the ship automatic identification system flight path information of object ship and the computing method of radar track information association degree are specially:
By the membership function of normal distribution obtain distance, orientation, the speed of a ship or plane, these 4 factors of course Euclidean distance association with do not associate degree of membership value, then be weighted with each factor weight size and on average can obtain composite factor and associate and do not associate degree of membership;
Finally carry out double threshold carefully to associate, namely judge composite factor association degree of membership maximal value and meet the whether satisfied threshold value set of thin degree of incidence, if all meet, association is stopped to judge, store and bind ship automatic identification system and the radar label of the object ship judging thin association, as the object of the larger object ship Track Fusion of correlation degree.
In step S3, the method for ship collision Risk Assessments is specially:
Consider least meeting distance, minimum can meet the time, two ships distances, object ship and this angle, bearing, this ship and object ship speed than these 5 as factor of evaluation, obtain composite factor Risk-Degree of Collision with its respective weights value weighting after obtaining respective degree of membership.
The method dodging decision-making in step S3 is specially:
First Anti-collision Actions opportunity is determined, the method of risk of collision topology degree is adopted to calculate Risk-Degree of Collision, and itself and the risk factor threshold value set are compared, if be greater than this threshold value, meet situation according to this ship with the meeting of object ship to judge to dodge mode, determine that this ship is stand-on vessel or dodges ship, and still dodge to the right left; Finally determine turning avoidance amplitude.
In step S3, the method for object ship situation monitoring is specially:
With this ship for rectangular coordinate system center origin, real-time rendering also shows monitoring objective position around this ship within the scope of 8 nautical miles, course information and flight path, and intuitively can reflect different risk of collision level state by different colours drafting target, click corresponding target and can show corresponding information and dodge suggestion.
The invention provides a kind of ship collision prevention aid decision-making system based on Track Fusion and Trajectory Prediction, comprise serial ports receiver module and database, and all with the message processing module of described DataBase combining, algoritic module and human-computer interaction module, described serial ports receiver module is connected with described message processing module;
Described message processing module, comprise ship automatic identification system message processing module, radar information processing module and other message processing modules, for receiving the shipping information sent from serial ports receiver module, and pre-service is carried out to it obtain the position of boats and ships, speed, azimuth information, finally result is saved in database;
Described algoritic module, comprise data anastomosing algorithm module, Trajectory Prediction algoritic module, dodge decision making algorithm module, risk of collision algoritic module and other algoritic modules, for reading the position of boats and ships, speed, azimuth information from data memory module, and Track Fusion and Trajectory Prediction are carried out to it, carry out anti-collision warning according to result of calculation and dodge decision-making;
Described human-computer interaction module, comprises target situation monitoring module, information inquiry module, anti-collision warning module, system configuration module and other functional modules, for the sail information of real-time display boats and ships, and various early warning information.
This system adopts linux embedded system to be development platform, and database adopts SQLite3, and IDK adopts QT, hardware ARM plate to adopt S3C6410 chip as processor.
This system also comprises GPRS communication module, and is communicated with Surveillance center by described GPRS communication module.
Described human-computer interaction module adopts touch-screen to carry out man-machine interaction.
The beneficial effect that the present invention produces is: the ship collision prevention aid decision-making method based on Track Fusion and Trajectory Prediction of the present invention, by shipborne radar and AIS system are combined, still can analyze Collision Risk Index when ensure that triangular web lost efficacy, improve the reliability and stability of Data Source; On the other hand, by Track Fusion and Trajectory Prediction algorithm, risk of collision during ship's navigation is analyzed, and make dodge decision-making and target situation monitoring, can be real-time, intelligence monitoring ship's navigation time security information, avoid boats and ships to collide; And in conjunction with embedded technology and computer technology, improve the reliability of system, extensibility, and contribute to intellectuality and the miniaturization of ship-borne equipment, there is good actual application value.
Accompanying drawing explanation
Below in conjunction with drawings and Examples, the invention will be further described, in accompanying drawing:
Fig. 1 is the process flow diagram of the ship collision prevention aid decision-making method based on Track Fusion and Trajectory Prediction of the embodiment of the present invention;
Fig. 2 is the workflow diagram of the ship collision prevention aid decision-making method based on Track Fusion and Trajectory Prediction of the embodiment of the present invention;
Fig. 3 is the structured flowchart of the ship collision prevention aid decision-making system based on Track Fusion and Trajectory Prediction of the embodiment of the present invention;
Fig. 4 is the hardware configuration schematic diagram of the ship collision prevention aid decision-making system based on Track Fusion and Trajectory Prediction of the embodiment of the present invention;
Fig. 5 be the embodiment of the present invention based on prediction algorithm process flow diagram in the ship collision prevention aid decision-making method of Track Fusion and Trajectory Prediction;
Fig. 6 is the ship motion polar plot of the ship collision prevention aid decision-making method based on Track Fusion and Trajectory Prediction of the embodiment of the present invention.
Embodiment
In order to make object of the present invention, technical scheme and advantage clearly understand, below in conjunction with drawings and Examples, the present invention is further elaborated.Should be appreciated that specific embodiment described herein only in order to explain the present invention, be not intended to limit the present invention.
As shown in Figure 1, the ship collision prevention aid decision-making method based on Track Fusion and Trajectory Prediction of the embodiment of the present invention, comprises the following steps:
S1, obtain the ship information of ship automatic identification system and radar transmissions, and pre-service is carried out to it obtain the position of boats and ships, speed and azimuth information; Resolve according to ship automatic identification system and radar message format respectively, and extract effective information and be stored in database.
S2, position to boats and ships, speed and azimuth information carry out track association and Track Fusion, and concrete steps are:
S21, position to boats and ships, speed and azimuth information carry out coordinate conversion and temporal registration, and longitude and latitude form information is converted to polar form information, use piecewise linear interpolation method by nonsynchronous information unification to synchronization;
S22, track association is carried out to the position after process, speed and azimuth information, with object ship ship automatic identification system flight path information for benchmark, first to get rid of compared with ship automatic identification system information time, range difference apart from larger radar track information; Pass through the correlation degree of Ship ' automatic recognition system flight path information and radar track information again, to the radar track information that more options correlation degree is larger, this ship automatic identification system flight path information and radar information are chosen to be the object of object ship Track Fusion;
The computing method of correlation degree are specially:
By the membership function of normal distribution obtain distance, orientation, the speed of a ship or plane, these 4 factors of course Euclidean distance association with do not associate degree of membership value, then be weighted with each factor weight size and on average can obtain composite factor and associate and do not associate degree of membership;
Finally carry out double threshold carefully to associate, namely judge composite factor association degree of membership maximal value and meet the whether satisfied threshold value set of thin degree of incidence, if all meet, association is stopped to judge, store and bind ship automatic identification system and the radar label of the object ship judging thin association, as the object of the larger object ship Track Fusion of correlation degree.
S23, Track Fusion is carried out to the ship automatic identification system of the larger object ship of selected correlation degree and radar track information, adopt the Weighted estimation method of Corpus--based Method to complete the Track Fusion process of object ship, and store fusion results for Trajectory Prediction data are provided;
S3, according to the result of Track Fusion, Trajectory Prediction is carried out to object ship, and make ship collision Risk Assessments, dodge decision-making and the monitoring of object ship situation.
The method of ship collision Risk Assessments is specially:
Consider least meeting distance, minimum can meet the time, two ships distances, object ship and this angle, bearing, this ship and object ship speed than these 5 as factor of evaluation, obtain composite factor Risk-Degree of Collision with its respective weights value weighting after obtaining respective degree of membership.
The method dodging decision-making is specially:
First Anti-collision Actions opportunity is determined, the method of risk of collision topology degree is adopted to calculate Risk-Degree of Collision, and itself and the risk factor threshold value set are compared, if be greater than this threshold value, meet situation according to this ship with the meeting of object ship to judge to dodge mode, determine that this ship is stand-on vessel or dodges ship, and still dodge to the right left; Finally determine turning avoidance amplitude.
The method of object ship situation monitoring is specially:
With this ship for rectangular coordinate system center origin, real-time rendering also shows monitoring objective position around this ship within the scope of 8 nautical miles, course information and flight path, and intuitively can reflect different risk of collision level state by different colours drafting target, click corresponding target and can show corresponding information and dodge suggestion.
As shown in Figure 2, in an alternative embodiment of the invention, for once complete auxiliary collision prevention process, according to data processing and pass order, its workflow is specially:
(1) received the message of AIS module, radar module transmission by serial ports, obtain target information;
(2) according to the message information format analysis of AIS and radar, extract information needed and be also stored in database;
(3) from static, dynamically several data, take out and merge desired location, speed and azimuth information, carry out data fusion, flight path is merged in display, is in order to ensure the correctness in quantitative analysis source and comprehensive like this;
(4) according to fusion flight path, predict next step target location, speed and azimuth information, the Data Source of collision prevention analysis and anti-collision warning is provided, and ensure that the promptness that subsequent analysis judges;
(5) according to information of forecasting, judgement can meet situation, and is presented at all targets in the certain limit centered by this ship, allows operating personnel intuitively grasp navigation environment integral status around;
(6) whether assessment has risk of collision, and this is the core of ship collision prevention system, and evaluation method should have validity and rapidity;
(7) if judge dangerous, then anti-collision warning is provided;
(8) according to situation can be met, the scheme of dodging is provided.
As shown in Figure 3, the ship collision prevention aid decision-making system based on Track Fusion and Trajectory Prediction of the embodiment of the present invention is for realizing the ship collision prevention aid decision-making method based on Track Fusion and Trajectory Prediction of the embodiment of the present invention, comprise serial ports receiver module and database, and all with the message processing module of described DataBase combining, algoritic module and human-computer interaction module, described serial ports receiver module is connected with described message processing module;
Described message processing module, comprise ship automatic identification system message processing module, radar information processing module and other message processing modules, for receiving the shipping information sent from serial ports receiver module, and pre-service is carried out to it obtain the position of boats and ships, speed and azimuth information, finally result is saved in database;
Described algoritic module, comprise data anastomosing algorithm module, Trajectory Prediction algoritic module, dodge decision making algorithm module, risk of collision algoritic module and other algoritic modules, for reading the position of boats and ships, speed and azimuth information from data memory module, and Track Fusion and Trajectory Prediction are carried out to it, carry out anti-collision warning according to result of calculation and dodge decision-making;
Described human-computer interaction module, comprises target situation monitoring module, information inquiry module, anti-collision warning module, system configuration module and other functional modules, for the sail information of real-time display boats and ships, and various early warning information.
In an alternative embodiment of the invention, the ship collision prevention aid decision-making system based on Track Fusion and Trajectory Prediction provided by the invention, specifically comprises:
1. serial ports receiver module
The device that the present invention's correspondence realizes is connected with radar module with AIS by serial ports, and its hardware configuration schematic diagram as shown in Figure 4, obtains the message information of AIS and radar transmissions by serial ports receiver module program loop.
2. message processing module
Comprise AIS and radar information processing module, namely to the information that serial ports receiver module obtains, resolve according to AIS and radar message format respectively, and extract effective information and be stored in database.
4. data anastomosing algorithm module
Data fusion is carried out to the position of AIS and radar target, speed and azimuth information, specifically comprises:
(1) coordinate conversion: because radar target position is the distance and bearing form of polar coordinate system, AIS is longitude and latitude form information.In order to unified coordinate system is convenient to follow-up data process, be used as circle to process positional information approximate for earth ellipsoid face, AIS latitude and longitude information is converted to polar coordinates.
(2) temporal registration: unified to synchronization to nonsynchronous metric data of same target, these are normally different due to multiple sensor sample cycle, and the moment that system acceptance arrives is also different.Adopt the subsection linearity inser value method of comparatively simple possible, its principle is coupled together by interpolation point broken line, thus more approach original function.
3) track association: first carry out time gap and slightly associate, can get rid of time, range difference apart from larger target, as several hours or tens nautical miles, drastically reduce the area like this and need follow-up judgement affiliated partner, improve counting yield; Then fuzzy comprehensive evoluation plot-track Association Algorithm is carried out, by the membership function of normal distribution obtain distance, orientation, the speed of a ship or plane, these 4 factors of course Euclidean distance association with do not associate degree of membership value, then be weighted with each factor weight size and on average can obtain composite factor and associate and do not associate degree of membership; Finally carry out double threshold carefully to associate, namely judge composite factor association degree of membership maximal value and meet the whether satisfied threshold value set of thin degree of incidence, if all meet, stop association judging, store and bind the AIS and radar target label that judge thin association, determining the boats and ships object of Track Fusion.
(4) Track Fusion: adopt the Weighted estimation method of Corpus--based Method to complete targetpath fusion process, when total mean square error is minimum, determine optimal weighted factor, thus ensure that the estimated value after merging reaches the most accurate, the method is simple and easy to realize.Last fusion results stored in database, for Trajectory Prediction provides fusion track data.
5. Trajectory Prediction algoritic module
Adopt the Sage-Husa Adaptive Kalman Filtering Algorithm improved, the basis of Kalman filter adds the statistical property of measurement noise is estimated, and adopt the filtering convergence criterion based on covariances-matching techniques to prevent filtering divergence, according to information use order, the time can be divided into upgrade (estimating process) and measure and upgrade (trimming process), the interleaved computation of these two processes, then complete recursive filtering process.Specific algorithm process as shown in Figure 5, predicts the outcome as calculating state vector in Fig. 5
, by it stored in database.
6. risk of collision algoritic module
Comprise motion vector analysis, can meet that situation divides, ship collision Risk Assessments algorithm, detailed process: goal in research is used as particle, that in rectangular coordinate system, analyzes this ship and target specifically can meet situation, as shown in Figure 6.
Ship collision Risk Assessments model, chooses least meeting distance DCPA, the minimum velocity ratio K (K=V that can meet time TCPA, two ship distance D, object ship and this angle, bearing Δ B, this ship and object ship
t/ V
o) these 5 as factor of evaluation.The parameter that subsequent analysis needs can be obtained, wherein:
DCPA＝D×sin(C
OT-B
T)
Then according to B
oTwith Δ C, can meet that situation is quantitatively divided into end-on, starboard intersect meet, larboard intersects and meets, overtakes, overtaken this 5 kinds of situation; Eventually through the value specifically being quantized Risk-Degree of Collision of ship collision Risk Assessments model, and by it stored in database.
And pass through
obtain final composite factor Risk-Degree of Collision.A
dCPA, a
tCPA, a
d, a
Δ B, a
kfor the respective weights of object ship parameter, all belong to [0,1], whole sum is 1, and corresponding membership function is:
Wherein, d
1represent the minor increment that two ships cross safely, d
2represent that safety can meet scope, r
1represent ship collision distance; r
2represent that boats and ships note distance, t
1represent the ship collision time, t
2represent that the time noted by boats and ships, C is for touching angle, and W is constant, and native system gets 2.0.
7. dodge decision making algorithm module
First determining Anti-collision Actions opportunity, is the method adopting risk of collision topology degree, the risk factor threshold value namely set.If Risk-Degree of Collision CRI is greater than this value, start to dodge; Then judge to dodge mode according to current situation of meeting, determine that this ship is stand-on vessel or dodges ship, and still dodge to the right left; Finally determine turning avoidance amplitude, adopt increasing step length to ask for steering angle θ
c, be progressively increased to satisfied | DCPA ' |>=SDA ', now θ
cbeing steering angle size, considering that ship turning has certain delay in actual conditions, and take Anti-collision Actions should " early ", for making result safer, reasonable, can the distance D in DCPA calculating formula suitably be reduced.
8. target situation monitoring modular
With this ship for rectangular coordinate system center origin, real-time rendering also shows monitoring objective position around this ship within the scope of 8 nautical miles, course information and flight path, and intuitively can reflect different risk of collision level state by different colours drafting target, native system represents that Risk-Degree of Collision higher (CRI >=0.5) suggestion is dodged at once by redness, yellow indicates that potential risk of collision (0≤CRI≤0.5) should pay close attention to target, green represent be safe from danger (CRI=0, two ships do not meet or through closest point of approach).
9. information inquiry module
Comprising the inquiry to this ship and target Ship dynamic situation, static information, and inquire about other historical datas at any time, after especially having an accident, can understand culprit like this, such as, is that after the not in place or monitoring, alarming of monitoring, human users is not in place.To finding out who is responsible for an accident, also whether correctly effectively can produce evidence to each operation of analysis like this.
10. anti-collision warning module
Risk of collision degree is divided into multiple warning level, the Risk-Degree of Collision obtained according to intellectual analysis and the threshold range made, can meet the different hazard types of boats and ships, carry out early warning to driver with different colours display, when it is very high that risk factor can be met, report to the police with sound.
11. system configuration module.
Ship information configures, the mainly static essential information such as name of vessel, ship launching time; Report to the police and to configure with threshold value of warning, be exactly according to the actual requirements (difference as goods) required warning value is set; Algorithm parameter configures, and can regulate according to real navigation environment.
Further, based on Track Fusion and Trajectory Prediction embedded ship collision prevention aid decision-making system with embedded system Linux, IDK QT, database SQLite 3 for Software Development Platform, using the S3C6410 chip ARM plate that is processor as hardware development platform, realize corresponding intrument.This device comprises embedded platform, AIS module, radar module, GPRS communication module and touch-screen, embedded platform is connected with radar information module, AIS information module, GPRS communication module, touch-screen, and this device is by GPRS communication module access Internet, thus communicates with Surveillance center.
Should be understood that, for those of ordinary skills, can be improved according to the above description or convert, and all these improve and convert the protection domain that all should belong to claims of the present invention.
Claims (10)
1., based on a ship collision prevention aid decision-making method for Track Fusion and Trajectory Prediction, it is characterized in that, comprise the following steps:
S1, obtain the ship information of ship automatic identification system and radar transmissions, and pre-service is carried out to it obtain the position of boats and ships, speed and azimuth information;
S2, position to boats and ships, speed and azimuth information carry out track association and Track Fusion, and concrete steps are:
S21, position to boats and ships, speed and azimuth information carry out coordinate conversion and temporal registration, and longitude and latitude form information is converted to polar form information, use piecewise linear interpolation method by nonsynchronous information unification to synchronization;
S22, track association is carried out to the position after process, speed and azimuth information, with object ship ship automatic identification system flight path information for benchmark, first to get rid of compared with ship automatic identification system information time, range difference apart from larger radar track information; Pass through the correlation degree of Ship ' automatic recognition system flight path information and radar track information again, to the radar track information that more options correlation degree is larger, this ship automatic identification system flight path information and radar information are chosen to be the object of object ship Track Fusion;
S23, Track Fusion is carried out to the ship automatic identification system of the larger object ship of selected correlation degree and radar track information, adopt the Weighted estimation method of Corpus--based Method to complete the Track Fusion process of object ship, and store fusion results for Trajectory Prediction data are provided;
S3, according to the result of Track Fusion, Trajectory Prediction is carried out to object ship, and make ship collision Risk Assessments, dodge decision-making and the monitoring of object ship situation.
2. the ship collision prevention aid decision-making method based on Track Fusion and Trajectory Prediction according to claim 1, is characterized in that, carry out pretreated method be specially in step S1 to ship information:
Resolve according to ship automatic identification system and radar message format respectively, and extract effective information and be stored in database.
3. the ship collision prevention aid decision-making method based on Track Fusion and Trajectory Prediction according to claim 1, it is characterized in that, in step S2, the ship automatic identification system flight path information of object ship and the computing method of radar track information association degree are specially:
By the membership function of normal distribution obtain distance, orientation, the speed of a ship or plane, these 4 factors of course Euclidean distance association with do not associate degree of membership value, then be weighted with each factor weight size and on average can obtain composite factor and associate and do not associate degree of membership;
Finally carry out double threshold carefully to associate, namely judge composite factor association degree of membership maximal value and meet the whether satisfied threshold value set of thin degree of incidence, if all meet, association is stopped to judge, store and bind ship automatic identification system and the radar label of the object ship judging thin association, as the object of the larger object ship Track Fusion of correlation degree.
4. the ship collision prevention aid decision-making method based on Track Fusion and Trajectory Prediction according to claim 1, it is characterized in that, in step S3, the method for ship collision Risk Assessments is specially:
Consider least meeting distance, minimum can meet the time, two ships distances, object ship and this angle, bearing, this ship and object ship speed than these 5 as factor of evaluation, obtain composite factor Risk-Degree of Collision with its respective weights value weighting after obtaining respective degree of membership.
5. the ship collision prevention aid decision-making method based on Track Fusion and Trajectory Prediction according to claim 1, it is characterized in that, the method dodging decision-making in step S3 is specially:
First Anti-collision Actions opportunity is determined, the method of risk of collision topology degree is adopted to calculate Risk-Degree of Collision, and itself and the risk factor threshold value set are compared, if be greater than this threshold value, meet situation according to this ship with the meeting of object ship to judge to dodge mode, determine that this ship is stand-on vessel or dodges ship, and still dodge to the right left; Finally determine turning avoidance amplitude.
6. the ship collision prevention aid decision-making method based on Track Fusion and Trajectory Prediction according to claim 1, is characterized in that, in step S3, the method for object ship situation monitoring is specially:
With this ship for rectangular coordinate system center origin, real-time rendering also shows monitoring objective position around this ship within the scope of 8 nautical miles, course information and flight path, and intuitively can reflect different risk of collision level state by different colours drafting target, click corresponding target and can show corresponding information and dodge suggestion.
7. the ship collision prevention aid decision-making system based on Track Fusion and Trajectory Prediction, it is characterized in that, comprise serial ports receiver module and database, and all with the message processing module of described DataBase combining, algoritic module and human-computer interaction module, described serial ports receiver module is connected with described message processing module;
Described message processing module, comprise ship automatic identification system message processing module, radar information processing module and other message processing modules, for receiving the shipping information sent from serial ports receiver module, and pre-service is carried out to it obtain the position of boats and ships, speed, azimuth information, finally result is saved in database;
Described algoritic module, comprise data anastomosing algorithm module, Trajectory Prediction algoritic module, dodge decision making algorithm module, risk of collision algoritic module and other algoritic modules, for reading the position of boats and ships, speed, azimuth information from data memory module, and Track Fusion and Trajectory Prediction are carried out to it, carry out anti-collision warning according to result of calculation and dodge decision-making;
Described human-computer interaction module, comprises target situation monitoring module, information inquiry module, anti-collision warning module, system configuration module and other functional modules, for the sail information of real-time display boats and ships, and various early warning information.
8. the ship collision prevention aid decision-making system based on Track Fusion and Trajectory Prediction according to claim 7, it is characterized in that, this system adopts linux embedded system to be development platform, database adopts SQLite3, IDK adopts QT, hardware ARM plate to adopt S3C6410 chip as processor.
9. the ship collision prevention aid decision-making system based on Track Fusion and Trajectory Prediction according to claim 7, it is characterized in that, this system also comprises GPRS communication module, and is communicated with Surveillance center by described GPRS communication module.
10. the ship collision prevention aid decision-making system based on Track Fusion and Trajectory Prediction according to claim 7, is characterized in that, described human-computer interaction module adopts touch-screen to carry out man-machine interaction.
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| Publication number | Priority date | Publication date | Assignee | Title |
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