CN109709589B - Sea and air area three-dimensional perception prevention and control system - Google Patents
Sea and air area three-dimensional perception prevention and control system Download PDFInfo
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Abstract
The invention provides a three-dimensional perception prevention and control system for a sea and air area, which comprises an ad hoc network unmanned target recognition reconnaissance monitoring system, a sea and air area intelligent command scheduling system and a sea and air area management and control platform structure based on mass data fusion analysis, and solves the technical problems that in the prior art, in night, high sea conditions, severe weather conditions in rain or fog and other environmental factors, the cooperative targets and the non-cooperative targets of the monitored sea and air area are automatically screened, the non-cooperative abnormal targets are intelligently detected, tracked and early-warned, and larger blind areas exist for the severe application scenes of sea, sea and air, underwater, islands and land environments, so that the technical difficulty that the data fusion and information research and judgment are carried out on the target situation generated on one sea chart in real time, the real-time monitoring and early warning of the detection targets are carried out, and the three-dimensional early warning detection network is jointly constructed with a shore-based system, the air system and the space system, and the monitoring blind points are completely eradicated.
Description
Technical Field
The invention relates to the field of prevention and control, in particular to a stereoscopic perception prevention and control system for an air-sea area.
Background
The method solves the problem of low-altitude threat of low-altitude targets in land, sea and air areas, and seriously affects the safety and stability of the border and even the inner land due to cross-border illegal criminal activities such as surging, smuggling, vending guns, vending toxins and the like in border coastal areas. The threat mainly comprises the following aspects:
1, in high sea conditions, at night, in rain or in large foggy days, lawless persons drive high-speed ships by using bad weather to perform illegal activities such as smuggling, surmounting, illegal fishing, offshore pollution discharge, waste dumping pollution and the like;
2, the fire attack is carried out by utilizing the tactics such as 'machine sea tactics', stealth and outburst prevention and the like. The low-speed small target has low manufacturing cost and low use and guarantee cost, so that the large-batch use of the low-speed small target can be realized, and serious fire threat is formed to important ground targets and an air defense system;
3 threat of low-altitude reconnaissance and monitoring of the equipment in complex sea condition environments and important areas and parts. The low-speed small target can be used for low-altitude and ultra-low-altitude reconnaissance, and the extremely high concealment and mobility are favorable conditions for reconnaissance, so that the national information security is threatened greatly;
4, under the complex weather condition, the accident occurs during sailing and safety production of the marine ship in high sea conditions, at night, in rain or in large foggy days;
low 5 slow small target unauthorized flights can cause interference with the air course. In recent years, more and more individuals and groups have low-speed and small-size aircrafts, and as the aircrafts have low flying height, low speed and small targets, once the aircrafts fly in an unauthorized way, the aviation management department is difficult to timely and effectively provide airspace guarantee for the aircrafts, and the aircrafts are extremely easy to have events of mistakenly running, mistakenly entering military and civil aviation flying areas, so that the airspace safety is endangered;
6. the jurisdiction of the border area is complex and continuously changed, coastline growth and land and sea area change are caused along with continuous sea filling engineering, and the prior art means can not use electronic fence to carry out jurisdiction division and electronic early warning; personnel, ships, marine floaters, low-speed and small-flying objects in the air, airport facilities and customs clearance ports in the side sea air defense area are numerous, and the movement and direction change are frequent and various, so that the prior art means cannot realize early warning recognition and real-time tracking analysis;
how to build a space area three-dimensional perception prevention and control system, realize the automatic screening of the cooperative target and the non-cooperative target of the monitored sea area, and the intelligent detection, tracking and early warning of the non-cooperative abnormal target are a big problem in the prior art.
Disclosure of Invention
The invention provides a stereoscopic perception prevention and control system for an air area, which adopts an unattended target recognition reconnaissance monitoring system, and consists of a sensing device, a GPS (global positioning system), a Beidou, an AIS (automatic identification system), an ADS-B (automatic identification system), a multi-beam detector, signal processing, display control processing and communication equipment, wherein targets such as ships, floaters and low-altitude aircrafts in the ground, the sea surface and the low-altitude area are quickly searched, recognized and comprehensively range-located in real time, a target situation is generated in real time, and data exchange is carried out with a command center and other systems through an external data interface; the sea and air area intelligent command scheduling system comprises a GIS chart, a monitoring radar, a target detection tracking system, a comprehensive data processing system, an AIS, direction finding positioning, meteorological equipment, VHF communication equipment and photoelectric equipment, wherein radar, AIS, VHF, CCTV and meteorological hydrologic information are processed through a full digital technology, and ships in sailing and in-out ports are monitored all the time, so that safe sailing information is provided for the ships; the sea-air area management and control platform based on mass data fusion analysis adopts a software mode to complete radar signal processing, data processing, display control and storage functions, performs data fusion and information research and judgment through the Internet of things and artificial intelligence perception technology, realizes real-time monitoring and early warning of detection targets, and combines with border, shore-based, air and space systems to construct a three-dimensional early warning detection network, controls other systems, and simultaneously adopts LTE ad hoc network coverage, public network backhaul or target viewpoint visualization trans-regional backhaul to return real-time data and images to a command center, thereby solving the technical problems of automatic screening of monitoring sea-air cooperative targets and non-cooperative targets, intelligent detection, tracking and early warning of the non-cooperative abnormal targets in the prior art.
The invention provides a stereoscopic perception prevention and control system for a sea area, which aims to solve the technical problems, and comprises an unattended target recognition reconnaissance monitoring system, wherein the unattended target recognition reconnaissance monitoring system consists of a perception device, an AIS, a GPS, a Beidou, an ADS-B, a multi-beam detector, signal processing, display control processing and communication equipment, and is used for quickly searching, recognizing and comprehensively ranging and positioning targets such as ships, floaters and low-altitude aircrafts in the ground, sea and low-altitude areas in real time, generating target situations in real time and exchanging data with a command center and other systems through an external data interface; the sea and air area intelligent command scheduling system comprises a GIS chart, a monitoring radar, a target detection tracking system, a comprehensive data processing system, an AIS, direction finding positioning, meteorological equipment, VHF communication equipment and photoelectric equipment, wherein radar, AIS, VHF, CCTV and meteorological hydrologic information are processed through a full digital technology, and ships in sailing and in-out ports are monitored all the time, so that safe sailing information is provided for the ships; the sea-air area management and control platform based on mass data fusion analysis adopts a software mode to complete radar signal processing, data processing, display control and storage functions, performs data fusion and information research and judgment through the Internet of things and artificial intelligent perception technology, realizes real-time monitoring and early warning of a detection target, and combines with border, shore-based, air and space systems to construct a three-dimensional early warning detection network, controls other systems, and simultaneously adopts LTE ad hoc network coverage, public network backhaul or target viewpoint visualization trans-regional backhaul to transmit real-time data and images back to a command center.
The unmanned target recognition reconnaissance monitoring system further comprises an integrated chassis, wherein a communication router, a switch, a power supply module capable of being remotely controlled by a network, a power supply, a power distribution/lightning protection assembly, an electric shock protector, an AIS receiver, a cooling fan, a radar signal acquisition module and a radar target comprehensive processor are arranged in the integrated chassis.
The sensing equipment comprises radar, photoelectric equipment, GIS sea chart, AIS, ADS-B, satellite positioning equipment and communication equipment,
the radar adopts an X-band radar to search and detect an omnibearing target in an observed sea area, a radar signal is sent to the radar signal acquisition module through the radar interface module, and target detection and tracking are completed through radar video signal processing, small target calculation and display control;
the radar signal acquisition module comprises a signal matching unit, a 14bit/120MSPS sampling unit, a programmable device Virtex-5FPGA and a gigabit Ethernet interface, wherein the signal acquisition module adopts an AD converter to acquire video echoes of a radar, packages acquisition results and azimuth information, and outputs data through the gigabit Ethernet;
the photoelectric device is day and night type photoelectric device integrating functions of daytime color visible light, fog penetration, laser illumination, night vision day and night multiplexing imaging and infrared thermal imaging, and obtains target image information through a visible light imaging technology, a laser illumination imaging technology, an infrared thermal imaging technology and an image processing technology, and the photoelectric device has a controlled working mode and an independent working mode.
The radar and the surveillance radar are controlled by a radar target integrated processor, the radar target integrated processor comprises a radar video processing module, a radar target detection tracking module, a radar integrated data processing module, a system integration fusion target management module, an AIS data processing module, an optical guidance control module, a display control module and an ADS-B,
the radar video processing module is used for receiving the digital signal of the radar signal processing module, performing anti-interference processing, performing adaptive threshold detection and performing adaptive intelligent clutter suppression processing;
the radar target detection tracking module performs fine correlation identification processing, performs point trace aggregation processing based on target echo fine characteristic analysis, performs joint probability association processing of point traces and tracks, performs maneuvering target self-adaptive tracking processing, and sends processing results to other software;
the radar comprehensive data processing module receives the original video and the trace point target data output by each software, screens the abnormal data, compresses the data and sends the processing result to other software;
the system integrates a fusion target management module, fuses the target data acquired by the sensing unit, manages target batch numbers and is responsible for interfaces of display control software of the terminal;
The AIS data processing module is used for receiving message data of AIS equipment, decoding and analyzing the message data, deleting abnormal data, and sending the processed data to subsequent processing;
the ADS-B data processing module receives message data of ADS-B equipment, decodes and analyzes the message data, deletes abnormal data, and sends the processed data to subsequent processing.
The optical guiding control module is used for guiding and controlling the optical equipment by utilizing radar signals;
and the display control module is used for carrying out video conversion on the signals processed by the modules and sending the signals to a display, and planning and managing the display content.
The intelligent commanding and dispatching system for the sea and air areas comprises radar equipment, a traffic display and operation control unit, an environment monitoring unit, a VHF communication unit, a ship data management unit, a VHF-DF unit, a radar data processing unit, an AIS unit, an ADS-B unit, a CCTV unit, an information transmission unit, an information recording and reproducing unit and a power supply unit, wherein the radar equipment comprises a local radar and a foreign radar, the information transmission unit is in data intercommunication with the VHF communication unit, the radar data processing unit and the AIS unit, and the radar data processing unit is in data intercommunication with the radar equipment, the traffic display and operation control unit, the environment monitoring unit, the ship data management unit, the AIS unit, the ADS-B unit and the information recording and reproducing unit.
The intelligent command and dispatch system for the sea and air area further comprises a command and dispatch platform and an individual hand-held terminal device, wherein the command and dispatch platform comprises a user management main control unit, an audio and video communication media unit, a location service communication unit and a file storage management unit,
user management master control unit: providing signaling control, multiple switching nodes, user account number, role and authority allocation management, department and group allocation management, user side monitoring and control;
a location service communication unit: and (5) positioning in real time. Implementing track, history track, electronic fence, alarm management, label management, circle selection scheduling and time. Carrying out course statistics;
a location service communication unit: point-to-point, point-to-multipoint instant messaging, text, picture delivery, offline message reception, message archiving record;
file storage management unit: supporting local video and downloading video; the storage server is connected with the disk array storage and used for storing mass data information;
the audio recording and video recording service module: archiving, retrieving and reviewing all audio, video, track files.
The sea and air area management and control platform based on mass data fusion analysis comprises a self-defining module, wherein a administrative area dividing line and a jurisdiction line can be self-defined;
The target grading module is used for setting a focus mark according to color grading for targets needing long-time focus when multiple targets are controlled;
the target filtering module is used for rapidly filtering and screening out targets according to the types, navigational speeds and sizes of the targets, classifying, tracking and monitoring;
the situation information module can measure the relative distance and direction between any two points, can display and cancel one-key full-target tracks, can highlight red display of tracking target tracks, can automatically count the total number and classification composition of targets in a self-defined rectangular area, and can automatically track radar targets in a photoelectric mode for linkage monitoring;
the automatic monitoring alarm module is provided with a plurality of alarm areas, and the photoelectric automatic time-sharing monitoring alarm targets automatically alarm when the targets intrude into the alarm areas.
The data fusion is to use an advanced multi-source target fusion algorithm to collect other sensor data for comprehensive analysis and processing while the radar displays target echoes, so as to realize synchronous fusion and display of radar target information, AIS target information, ADS-B target information, multi-beam detector target information, multi-point positioning information, weather information and video image/face recognition information, and cluster target measurement data by a cluster analysis method to distinguish data of different sources and the same targets, thereby realizing accurate fusion and display of targets.
The sea and air area management and control platform based on mass data fusion analysis comprises a data acquisition and cleaning module: data are collected in real time, data are collected/converted/cleaned, data are exchanged, and data are cleaned;
and the data storage and processing module is used for: data quality assessment, data storage, data difference analysis, data processing and data service;
and a data visualization module: data visual monitoring and data visual reporting;
and (3) an application supporting module: the control platform interacts, and a palm supporting system is applied;
and the data resource management and control and operation module is as follows: the management and control platform performs omnibearing supervision and data operation, report support and unified identity authentication and authority management;
the system comprises an information data management module, a basic information resource library module, a public database and a geographic information system;
hardware equipment: the system comprises a large display screen, a data server, a GPU, a tera-network card, a switch, a router, a firewall, a disk array, a comprehensive cabinet, other printers and a high-speed camera which are mutually communicated through a data interface.
The command center adopts a three-level dispatching command center structure, the command center comprises a first-level command center, a second-level command center and a third-level command center, and the first-level command center comprehensively monitors and monitors all data in real time; the secondary command center schedules and checks field data in real time, can cooperatively interact with the primary command center and the tertiary command center, and the tertiary command center collects and processes the data on site and transmits the data back to the primary command center and the secondary command center.
The invention has the beneficial effects that: the system for controlling the stereoscopic perception of the sea and air area realizes real-time monitoring and early warning of the detected target, and constructs a stereoscopic early warning detection network in combination with border, shore-based, air and space systems, thereby avoiding monitoring blind spots.
Drawings
Fig. 1 is a schematic diagram of a stereoscopic perception prevention and control system for an empty area in the sea.
Fig. 2 is a frame diagram of the stereoscopic perception prevention and control system for the sea and air area.
Fig. 3 is a diagram of a control service framework of the stereoscopic perception control system for the sea and air area.
Fig. 4 is a service structure diagram of the spatial perception prevention and control system for the sea and air area.
Fig. 5 is a network topology diagram of the stereoscopic perception prevention and control system for the sea and air area.
Fig. 6 is a working schematic diagram of the stereoscopic perception prevention and control system for the sea and air area.
Fig. 7 is a schematic diagram of the intelligent command and dispatch system for the sea and air area.
Fig. 8 is a schematic diagram of a command center according to the present invention.
Fig. 9 is a structural view of a radar apparatus according to the present invention.
Fig. 10 is a schematic view of an integrated chassis according to the present invention.
Detailed Description
Specific embodiments of the present invention are described with reference to the above drawings.
As shown in fig. 1 and 2, the invention provides a stereoscopic perception prevention and control system for an air area, which comprises an unattended target recognition reconnaissance monitoring system, wherein the unattended target recognition reconnaissance monitoring system consists of a perception device, a GPS (global positioning system), a Beidou, an AIS (automatic identification system), an ADS-B (automatic identification system), a multi-beam detector, signal processing, display control processing and communication equipment, and is used for quickly searching, recognizing and comprehensively ranging and positioning targets such as ships, floaters and low-altitude aircrafts in the ground, the sea surface and the low-altitude area in real time, generating a target situation in real time and carrying out data exchange with a command center and other systems through an external data interface; the intelligent command scheduling system for the sea and air area comprises a monitoring radar, a target detection tracking system, a comprehensive data processing system, an AIS, direction finding positioning, meteorological equipment, VHF communication equipment and photoelectric equipment, wherein radar, AIS, VHF, CCTV and meteorological hydrologic information are processed through a full digital technology, and ships in sailing and entering and exiting ports are monitored all the time, so that safe sailing information is provided for the ships; the sea-air area management and control platform based on mass data fusion analysis adopts a software mode to complete radar signal processing, data processing, display control and storage functions, performs data fusion and information research and judgment through the Internet of things and artificial intelligent perception technology, realizes real-time monitoring and early warning of a detection target, and combines with border, shore-based, air and space systems to construct a three-dimensional early warning detection network, controls other systems, and simultaneously adopts LTE ad hoc network coverage, public network backhaul or target viewpoint visualization trans-regional backhaul to transmit real-time data and images back to a command center.
As shown in fig. 3, the service architecture of the stereoscopic perception prevention and control system in the sea and air area is divided into six layers of basic data, platform exchange, application service, system function and display interaction.
As shown in fig. 4, the service structure of the stereoscopic perception prevention and control system in the sea and air area is divided into a perception and network layer, an operation management layer, an application service layer and an external docking system. Perception and network layer: the sensing layer comprises a high-definition video monitoring network, an intelligent sensing network, a photoelectric and radar monitoring network and an unmanned intelligent patrol prevention and control network, and belongs to an infrastructure in a system. The network layer is a comprehensive information receiving and service platform of the system, and is convenient for all systems to communicate. Operation management layer: the operation management layer is a distributed service platform and provides a required platform for the system to support the operation of the system. Including network management, service support platforms, service management, decision analysis, etc. Application service layer: the application service layer comprises a command communication network, a multidimensional data model, instant messaging, data sharing and the like. The system is the most critical part of a three-dimensional prevention and control system in the sea and air area, is a professional system, refines application management and provides service for users. Unifying the data and realizing the integration of the data and the mechanism. External docking system: other systems that can interface with the present system are primarily government systems and other intelligent systems.
As shown in fig. 10, the unattended target recognition reconnaissance monitoring system further comprises a wall-mounted integrated chassis, wherein a communication router, a switch, a power supply module capable of being remotely controlled by a network, a power supply, a power distribution/lightning protection assembly, an electric shock protector, an AIS receiver, a cooling fan, a radar signal acquisition module and a radar target comprehensive processor are arranged in the integrated chassis.
As shown in fig. 9, the sensing device comprises a radar, a photoelectric device, a GIS chart, AIS, ADS-B, a satellite positioning device and a communication device, wherein the radar device adopts an X-band surveillance radar to perform omnibearing target search and detection on an observed sea area, sends radar signals to the radar signal acquisition module through a radar interface module, and completes target detection and tracking through radar video signal processing, small target calculation and display control; the radar equipment effectively suppresses clutter, has rich menu panels and complete auxiliary functions, can display 2000 batches of AIS targets at most, tracks not less than 2000 batches of targets at most, and has track point display. The radar specifications are tabulated below,
the radar signal acquisition module comprises a signal matching unit, a 14bit/120MSPS sampling unit, a programmable device Virtex-5FPGA and a gigabit Ethernet interface, wherein the signal acquisition module adopts an AD converter to acquire video echoes of the radar, packages acquisition results and azimuth information, outputs data through the gigabit Ethernet, transmits the data to a computer, and then utilizes software to complete subsequent various processing. The main functions include: performing high-speed and high-precision AD sampling on the video signal of the radar at 14bit/120 MSPS; receiving a triggering signal, a bow signal and an azimuth signal given by the radar, and carrying out azimuth subdivision processing; the AD result is divided into two acquisition modes of short distance and long distance, and data caching is carried out; packaging the cache result, azimuth and other information, and transmitting the cache result and azimuth and other information to a computer in real time through the gigabit Ethernet; the interior has the functions of signal simulation and self-checking of trigger pulse, azimuth, bow and the like. The technical indexes are as follows: the A/D conversion resolution value is 14bit; the A/D sampling value is 120MSPS; the video input range value is-5V to +5V; the signal to noise ratio value is >65dB; the dynamic range value is >80dB.
The photoelectric device is day and night type photoelectric device integrating functions of day color, fog penetration, laser illumination night and night multiplexing imaging and infrared thermal imaging, and target image information is obtained through a visible light imaging technology, a laser illumination imaging technology, an infrared thermal imaging technology and an image processing technology.
The photoelectric equipment performs water surface target observation, tracking and identification and has a controlled working mode and an independent working mode; performing target imaging on an observation area day and night, and performing video processing on target image information; performing regional scanning, imaging an offshore target at night, detecting the offshore target, and performing image recognition and automatic tracking; under the guidance of radar, rapid imaging, recognition and tracking of targets are performed; automatically tracking a target, intercepting a target image, and mainly receiving target indication information sent by a radar by using photoelectric equipment to track, reconnaissance, monitor, measure and evidence the target; the target can be found through manual searching, the target is captured, tracked and monitored, stable and clear infrared and visible light video images of the target are provided for operators, the device can detect, monitor and track various targets on the sea, on the people, on the land and in the air all the day, and the device can guide a fire control system to attack the target.
The technical parameters of the cradle head of the photoelectric equipment are shown in the following table,
the technical parameters of the visible light lens and the camera of the photoelectric equipment are shown in the following table,
the infrared technical parameters of the optoelectronic device are as follows,
the radar target comprehensive processor comprises a radar video processing module, a radar target detection tracking module, a radar comprehensive data processing module, a system integration fusion target management module, an AIS data processing module, an optical guiding control module and a display control module. The radar video processing module is used for receiving the digital signal of the radar signal processing module, performing anti-interference processing, performing adaptive threshold detection and performing adaptive intelligent clutter suppression processing; the radar target detection tracking module performs fine correlation identification processing, performs point trace aggregation processing based on target echo fine characteristic analysis, performs joint probability association processing of point traces and tracks, performs maneuvering target self-adaptive tracking processing, and sends processing results to other software; the radar comprehensive data processing module receives the original video and the trace point target data output by each software, screens the abnormal data, compresses the data and sends the processing result to other software; the system integrates a fusion target management module, fuses the target data acquired by the sensing unit, manages target batch numbers and is responsible for interfaces of display control software of the terminal; the AIS data processing module is used for receiving message data of AIS equipment, decoding and analyzing the message data, deleting abnormal data, and sending the processed data to subsequent processing; the optical guiding control module is used for guiding and controlling the optical equipment by utilizing radar signals; and the display control module is used for carrying out video conversion on the signals processed by the modules and sending the signals to a display, and planning and managing the display content.
The AIS is matched with a global positioning system and an electric compass to broadcast navigation related dynamic information such as ship position, course, ship speed, track direction and the like, ship static information such as ship name, identification code, ship type, call sign and the like, and safety related course information such as ship draft, destination port, loaded cargo type and the like to ships and banks in nearby areas through very high frequency channels, so that the adjacent ships and banks can timely master the dynamic and static information of all ships using AIS equipment on the nearby sea surfaces, can immediately communicate and coordinate with each other, take necessary avoidance actions, and greatly help the safety of the ships.
The AIS receiver is a complete high-performance double-channel hardware circuit, and can receive all AIS information sent by the AIS system. The receiver of the AIS is connected with a VHF antenna, an RS232 interface of the AIS is connected with a computer, and corresponding computer display software is matched, so that the information of all ships provided with AIS radio stations in the VHF communication range can be displayed, wherein the ship information comprises ship name, calling number, sailing speed, course, position, destination, size and tonnage of the ship, and the main functions comprise double-channel receiving: AIS channels 87B and 88B may be received simultaneously; 2 format data output: RS-232C and RS-422; the built-in antenna signal distributor can share one antenna with very high frequency, so that the installation is simpler; GPS data combination output: the location information of the GPS, such as RMC, GGA, GNS and GLL sentences, and the AIS data VDM sentences, can be combined and output to other devices, and the technical parameters include the receiving frequency: 161.975mhz,162.025mhz; operating voltage: 10.8-15.6V direct current; operating temperature: -20 ℃ to +60 ℃; size value: 132mm×34mm×155mm; weight: 400 g; power consumption: 0.25A; sensitivity: -116dBm; intermodulation interference suppression: 65dB; NMEA input/output: there are.
The unattended target identification reconnaissance monitoring system has all-weather detection capability on a water surface target under severe sea conditions; the detection and tracking capability of a small target under strong clutter is high; the tracking stability is strong, the average life of the track is long, and the small-sized ship is continuously tracked; the method has the rapid elimination technology of strong sea clutter and rain clutter, and can rapidly complete detection and tracking of small targets; the anti-interference capability is strong, the target and the interference can be distinguished in the interference environment of 25%, and the detection and tracking probability of the small target is more than 80%; the optical device has high definition, fog penetration, night vision, infrared, laser and other channels, and has high photoelectric detection efficiency and good image quality.
As shown in fig. 7, the marine space intelligent command and dispatch system comprises a radar device, a traffic display and operation control unit, an environment monitoring unit, a VHF communication unit, a ship data management unit, a VHF-DF unit, a radar data processing unit, an AIS unit, an ADS-B unit, a CCTV unit, an information transmission unit, an information recording and reproducing unit and a power supply unit, wherein the radar device comprises a local radar and a remote radar, the information transmission unit is in data communication with the VHF communication unit, the radar data processing unit and the AIS unit, and the radar data processing unit is in data communication with the radar device, the traffic display and operation control unit, the environment monitoring unit, the ship data management unit, the AIS unit, the ADS-B unit and the information recording and reproducing unit; the system also comprises a command scheduling platform and an individual hand-held terminal device, wherein the command scheduling platform comprises a user management main control unit, an audio and video communication media unit, a location service communication unit and a file storage management unit, and the user management main control unit: providing signaling control, multiple switching nodes, user account number, role and authority allocation management, department and group allocation management, user side monitoring and control; a location service communication unit: and (5) positioning in real time. Implementing track, history track, electronic fence, alarm management, label management, circle selection scheduling, time and process statistics;
A location service communication unit: point-to-point, point-to-multipoint instant messaging, text, picture delivery, offline message reception, message archiving record;
file storage management unit: supporting local video and downloading video; the storage server is connected with the disk array storage and used for storing mass data information;
the audio recording and video recording service module: archiving, retrieving and reviewing all audio, video, track files. The system is used for traffic supervision of ships in ports, channels and specific water areas. The system processes the information of radars, AIS, VHF, CCTV, weather hydrology and the like through a full digital technology, and realizes all-weather monitoring of ships on the air and entering and exiting ports. And provides safe sailing information for the ship. The system has the functions of supervision management, information service, navigation guidance, traffic organization and the like. For small marine maneuvering fishing vessels with the distance of more than 11km and the continuous stable detection and tracking time of the radar of more than 2 hours and 17 minutes, the loss times are 0; can simultaneously perform optical fog penetration recognition and evidence obtaining. The individual command scheduling terminal: operating system Android 6.0; MSM8953 core 2.0GHz; memory: 2GB+16GB;4GB+64GB (optional); full network LTE, resolution: 480x800, screen size: 3.5inch, leading 5MP; the back 1200 ten thousand automatic focusing supports the flashlight function, the 4K double recording function and the front 1080P video recording. Lithium electricity, 5400mAh capacity; support GPS/Beidou, and contain DMR.
The target detection tracking system adopts a self-adaptive clutter suppression method to suppress clutter under the condition of actual use environment and adopts a refined correlation recognition algorithm to detect and track small targets under the condition of low signal-clutter ratio, wherein the self-adaptive clutter suppression method comprises an inter-frame correlation method, a self-adaptive threshold method, an echo refined measurement feature matching method and a multi-hypothesis tracking method, and the refined correlation recognition algorithm comprises a target characteristic fine decomposition algorithm, a point trace condensation algorithm and a maneuvering target self-adaptive tracking algorithm.
The sea and air area management and control platform based on mass data fusion analysis comprises a self-defining module, wherein a administrative area dividing line and a jurisdiction line can be self-defined;
the target grading module is used for setting a focus mark according to color grading for targets needing long-time focus when multiple targets are controlled;
the target filtering module is used for rapidly filtering and screening out targets according to the types, navigational speeds and sizes of the targets, classifying, tracking and monitoring;
the situation information module can measure the relative distance and direction between any two points, can display and cancel one-key full-target tracks, can highlight red display of tracking target tracks, can automatically count the total number and classification composition of targets in a self-defined rectangular area, and can automatically track radar targets in a photoelectric mode for linkage monitoring;
The automatic monitoring alarm module is provided with a plurality of alarm areas, and the photoelectric automatic time-sharing monitoring alarm targets automatically alarm when the targets intrude into the alarm areas.
The sea and air area management and control platform based on mass data fusion analysis comprises a data acquisition and cleaning module: data are collected in real time, data are collected/converted/cleaned, data are exchanged, and data are cleaned;
and the data storage and processing module is used for: data quality assessment, data storage, data difference analysis, data processing and data service;
and a data visualization module: data visual monitoring and data visual reporting;
and (3) an application supporting module: the control platform interacts, and a palm supporting system is applied;
and the data resource management and control and operation module is as follows: the management and control platform performs omnibearing supervision and data operation, report support and unified identity authentication and authority management;
the system comprises an information data management module, a basic information resource library module, a public database and a geographic information system;
hardware equipment: the system comprises a large display screen, a data server, a GPU, a tera-network card, a switch, a router, a firewall, a disk array, a comprehensive cabinet, other printers and a high-speed camera which are mutually communicated through a data interface.
The following purposes are achieved: comprehensively early warning: the system detects, searches and tracks all sea surfaces, islands and air targets in the monitoring area, particularly 'low-slow small' targets in the sea, pushes relevant information to each monitoring point, a command center and a handheld terminal at the first time, realizes comprehensive early warning, and achieves that the user moves and knows himself or herself without moving and knows first; and (3) intelligent monitoring: the system adopts an unattended mode to carry out all-weather, full-coverage and full-automatic sea-air three-dimensional visual monitoring on a target area, and the system has rapid response; and (5) linkage: the system rear end integrates basic information data such as 'people, objects, fields, stations, networks, cases, organizations' and the like of all units, intelligent opposite port dispatch is realized on the analyzed information products by the system through front-end multi-sensor information fusion sensing and background big data operation analysis, a target area situation and a law enforcement disposal scheme are actively generated, relevant border coastal defense business responds to disposal according to the system requirements, and other assistance units cooperate to dispose according to the system requirements, so that a 'one-call-for-one' function is realized; setting a warning area or a warning period: the system can divide a certain key area of the monitoring area into a warning area at any time or divide a certain time period into a warning period; track analysis: the system stores the original data records of all targets in the monitoring area, such as the occurrence times, the monitoring videos, the motion tracks, the number of targets, the dynamic and non-dynamic targets, illegal behaviors and the like, and can automatically analyze, study and judge.
The sea-air area management and control platform based on mass data fusion analysis adopts LTE ad hoc network coverage, public network backhaul and target viewpoint visual cross-regional backhaul to transmit real-time data and images back to a command center.
As shown in fig. 8, the command center adopts a three-level dispatching command center structure, the command center comprises a first-level command center, a second-level command center and a third-level command center, and the first-level command center comprehensively monitors and monitors all data in real time; the secondary command center schedules and checks field data in real time, can cooperatively interact with the primary command center and the tertiary command center, and the tertiary command center collects and processes the data on site and transmits the data back to the primary command center and the secondary command center.
As shown in fig. 6, the sea and air area three-dimensional perception prevention and control system provided by the invention is a set of search and tracking integrated sea and air area three-dimensional perception prevention and control system. The system mainly comprises radar, video images, ADS-B, AIS, GPS, beidou, photoelectric detection, sonar, signal processing, display control processing, transmission and comprehensive security and communication equipment, can perform omnibearing, large-scale and multi-target quick search, identification and comprehensive ranging positioning on ground, sea surface and low-altitude targets in real time, generate target situation in real time, automatically alarm suspicious targets, continuously track and position appointed targets, and form real-time video and situation information. The system can effectively solve the difficulties and challenges of the related departments of the coastal defense in the actions of strike smuggling, stealing, marine environmental pollution and the like, and can independently work or perform networking joint work, so that the targets of related areas can be accurately detected, tracked and identified under various complex environmental conditions; sensing abnormal conditions of the related areas in real time, and giving an alarm in time; providing target indication and guidance for wharf area security monitoring, marine law enforcement and other disposal actions; the system can monitor offshore and low-altitude targets, can also be used as a navigation guidance radar, an ARPA and a small target monitoring radar, and realizes visual sea area safety control and performing monitoring evidence collection. Meanwhile, the system is compatible with the coast reconnaissance of unmanned aerial vehicles and unmanned boats, and realizes the night patrol monitoring and the emergency monitoring of the unmanned aerial vehicles for the air waypoint patrol monitoring. Unmanned aerial vehicle removes video monitoring, and the multichannel monitors the picture, and all can a platform display, does not receive the influence of region, traffic environment, and unmanned aerial vehicle can be around accident scene mobile monitoring, and the angle is diversified, reduces blind area and dead angle scope, combines unmanned aerial vehicle and fixed point detector's monitoring picture simultaneous display, is favorable to the global situation of information, improves work efficiency.
As shown in fig. 5, the system for controlling the three-dimensional perception of the sea and air area provided by the invention utilizes the mature technology of modern radars, improves signal detection and data processing on the basis of radar detection, establishes a mathematical model for extracting and tracking targets under the background of strong sea clutter, and aims to solve the problems of target detection and tracking under the complex sea conditions and improve the target extraction capacity; utilizing optical visual characteristics to identify targets by matching with a radar; the characteristics of high radar data rate and large detection range are utilized to guide the optical equipment to track and identify key directions and key targets. The photoelectric equipment images the target by utilizing an infrared thermal imaging technology and a laser illumination technology, and can observe the target in detail at night and master the action details of the target; the fog penetrating technology is utilized to improve the environmental adaptability of the optical equipment under severe weather conditions, so that the target can be observed day and night, and a color image or a black-and-white image of the target can be captured; through integrated designs of a radar, a video image, an AIS and the like, the system performs centralized display on target information, so that the radar, the photoelectricity, the AIS and the like form an organic whole, and powerful information support is provided for marine law enforcement security and evidence collection.
The method is characterized in that upgrading and reconstruction are carried out on the existing normal-working radar and reusable photoelectric equipment, a radar low-speed small-target detection technology, a radar guiding multi-photoelectric equipment technology and a single-photoelectric multi-target monitoring technology are utilized, a whistle is used as a basis to monitor a display control unit, a multi-stage monitoring control dispatching center is formed in a grading mode, and the following functions are successfully achieved: the attendant can know the general type, longitude and latitude position, relative position, course and speed of all cooperative and non-cooperative ships in the supervision sea area in a whole way in the attendant room, and especially special targets such as small wooden ships, glass fiber reinforced plastic yachts and the like which are difficult to detect by general radars at a long distance; all-weather 24-hour monitoring is realized for sea area monitoring; monitoring the sea area to realize non-blind area monitoring; setting multi-latitude and multi-level guard lines for key areas, and automatically reminding operators on duty once a target crosses the guard lines; the whole-course visual tracking of key targets is realized; remote video evidence collection can be carried out on key targets; the method comprises the steps of guiding and commanding a law enforcement ship to perform law enforcement in a targeted manner; selectively labeling and classifying special targets in the monitoring area; recording all target navigation tracks in the monitoring area in real time and reproducing and playing back the target navigation tracks at any time; a multi-stage monitoring and supervision center is built to form a monitoring and supervision information network: a primary base layer monitoring and supervising unit; secondary monitoring, supervision and command branch centers; three levels of monitoring, supervision, command and dispatch centers.
The sea area test and verification conditions of the sea area three-dimensional perception prevention and control system provided by the invention are 3-10 m for 2 Under the environmental conditions that the probability of the small fishing boat and the interference is 20-39 percent, the detection and tracking probability is as follows: the temperature is increased from 63 to 68 percent to 91 to 99 percent; probability of interference resistance: the content is improved from 57 to 59 percent to 80 to 96 percent; number of successful anti-interference times: the improvement is 106 to 207 percent; accumulating tracking time: the improvement is 42 to 45 percent; average tracking time: the improvement is 85-524 percent; when the radar is larger than 20 meters, the maximum acting distance is larger than 18km. In an environment with 50% interference probability and 1m 2 Under the condition that the lightning meets the standard, detecting and tracking probability: from 11% to 66%; probability of interference resistance: from 56% to 88%; number of successful anti-interference times: the improvement is 67-360%; accumulating tracking time: the improvement is 16 to 501 percent; average tracking time: the improvement is 131 to 505 percent; the radar stand is higher than 20 meters, and the maximum acting distance is greater than 14km. In the environment with the interference probability of 19-25% and 0.1m 2 Under the condition that the lightning meets the standard: detecting tracking probability: 73-85%; probability of interference resistance: 71-81%; when the radar stand is higher than 20 meters, the maximum acting distance is larger than 9km.
Designing and tracking target batches with the number of more than or equal to 10000, and enabling the test to reach 2329 batches; the designed tracking target speed is more than or equal to 170kn, and the test reaches 224.2kn.
The test results show that: the target detection tracking capability and the anti-interference capability of the sensing system are obviously improved compared with those of the conventional detection tracking system, and the sensing system has the outstanding advantages that the target detection tracking capability and the anti-interference capability are strong, various targets on the sea can be detected and tracked automatically in the whole domain at the same time under the condition of complex target environment and meteorological conditions, various small fishing boats and radar targets can be detected and tracked well, and the detection and tracking of single birds, bird groups, sea surface floaters and other very small targets can be also carried out.
The foregoing is a further detailed description of the invention in connection with the preferred embodiments, and it is not intended that the invention be limited to the specific embodiments described. It will be apparent to those skilled in the art that several simple deductions or substitutions may be made without departing from the spirit of the invention, and these should be considered to be within the scope of the invention.
Claims (10)
1. A stereoscopic perception prevention and control system for a sea and air area is characterized in that: comprising
The unmanned target recognition reconnaissance monitoring system comprises sensing equipment, GPS (global positioning system), beidou, ADS-B (automatic dependent surveillance-broadcast), a multi-beam detector, signal processing, display control processing and communication equipment, and is used for quickly searching, recognizing and comprehensively ranging and positioning targets of ships, floaters and low-altitude aircrafts in ground, sea and low-altitude areas in real time, generating target situations, and exchanging data with a command center and other systems through an external data interface;
The intelligent command scheduling system for the sea and air area comprises a monitoring radar, a target detection tracking system, a comprehensive data processing system, an AIS, a direction finding positioning system, meteorological equipment, a VHF communication unit, a CCTV unit and photoelectric equipment, wherein radar, AIS, VHF, CCTV and meteorological hydrologic information are processed through a full digital technology, a ship in a voyage and a port is monitored, safe voyage information is provided for the ship, intelligent cooperative command unmanned plane or unmanned ship emergency command scheduling is performed, monitoring tasks are executed on a monitoring target, information and receiving instructions can be transmitted in real time, and unified cluster scheduling command is executed;
the method comprises the steps of completing radar signal processing, data processing, display control and storage functions in a software mode based on a sea-air area management and control platform for mass data fusion analysis, performing data fusion and information research through an Internet of things and artificial intelligence perception technology, wherein the data fusion is to collect other sensor data for comprehensive analysis and processing while radar displays target echoes by using an advanced multi-source target fusion algorithm, so that radar target information, AIS target information, ADS-B target information, multi-beam detector target information, multi-point positioning information, weather information and video image/face recognition information are synchronously fused and displayed at the same time, and clustering target measurement data is performed by a clustering analysis method to distinguish different and same target data, so that accurate fusion and display of targets are realized;
Generating a target situation on a chart, carrying out data fusion and information research and judgment, carrying out real-time monitoring and early warning on a detected target, constructing a three-dimensional early warning detection network in combination with border, shore-based, air and space systems, controlling other systems, and simultaneously adopting LTE ad hoc network coverage, public network backhaul or target viewpoint visualization trans-regional backhaul to transmit real-time data and images back to a command center.
2. The marine space stereoscopic perception control system according to claim 1, wherein: the unmanned target recognition reconnaissance monitoring system further comprises an integrated chassis, wherein a communication router, a switch, a power supply module capable of being remotely controlled by a network, a power supply, a power distribution/lightning protection assembly, an electric shock protector, an AIS receiver, a cooling fan, a radar signal acquisition module and a radar target comprehensive processor are arranged in the integrated chassis.
3. The marine space stereoscopic perception prevention and control system of claim 2, wherein: the sensing equipment comprises a monitoring radar, photoelectric equipment, a GIS chart, AIS, ADS-B, satellite positioning equipment and communication equipment,
the monitoring radar adopts an X-band radar to search and detect all-round targets in the observed sea area, radar signals are sent to the radar signal acquisition module through the radar interface module, and target detection and tracking are completed through radar video signal processing, small target calculation and display control;
The radar signal acquisition module comprises a signal matching unit, a 14bit/120MSPS sampling unit, a programmable device Virtex-5FPGA and a gigabit Ethernet interface, wherein the signal acquisition module adopts an AD converter to acquire video echoes of a radar, packages acquisition results and azimuth information, and outputs data through the gigabit Ethernet;
the photoelectric device is day and night type photoelectric device integrating functions of daytime color visible light, fog penetration, laser illumination, night vision day and night multiplexing imaging and infrared thermal imaging, and obtains target image information through a visible light imaging technology, a laser illumination imaging technology, an infrared thermal imaging technology and an image processing technology, and the photoelectric device has a controlled working mode and an independent working mode.
4. A marine space stereoscopic perception prevention and control system according to claim 3, wherein: the monitoring radar is controlled by a radar target comprehensive processor, the radar target comprehensive processor comprises a radar video processing module, a radar target detection tracking module, a radar comprehensive data processing module, a system integration fusion target management module, an AIS data processing module, an optical guidance control module, a display control module and an ADS-B,
The radar video processing module is used for receiving the digital signal of the radar signal processing module, performing anti-interference processing, performing adaptive threshold detection and performing adaptive intelligent clutter suppression processing;
the radar target detection tracking module performs fine correlation identification processing, performs point trace aggregation processing based on target echo fine characteristic analysis, performs joint probability association processing of point traces and tracks, performs maneuvering target self-adaptive tracking processing, and sends processing results to other software;
the radar comprehensive data processing module receives the original video and the trace point target data output by each software, screens the abnormal data, compresses the data and sends the processing result to other software;
the system integrates a fusion target management module, fuses target data acquired by the sensing equipment, manages target batch numbers and is responsible for interfaces of display control software of the terminal;
the AIS data processing module is used for receiving message data of AIS equipment, decoding and analyzing the message data, deleting abnormal data, and sending the processed data to subsequent processing;
the ADS-B data processing module is used for receiving message data of ADS-B equipment, decoding and analyzing the message data, deleting abnormal data, and sending the processed data to subsequent processing;
The optical guiding control module is used for guiding and controlling the optical equipment by utilizing radar signals;
and the display control module is used for carrying out video conversion on the signals processed by the modules and sending the signals to a display, and planning and managing the display content.
5. The marine space stereoscopic perception control system according to claim 1, wherein: the intelligent commanding and dispatching system for the sea and air areas comprises a monitoring radar, a traffic display and operation control unit, an environment monitoring unit, a VHF communication unit, a ship data management unit, a VHF-DF unit, a radar data processing unit, an AIS unit, an ADS-B unit, a CCTV unit, an information transmission unit, an information recording and reproducing unit and a power supply unit, wherein the monitoring radar comprises a local radar and a foreign radar, the information transmission unit is in data intercommunication with the VHF communication unit, the radar data processing unit and the AIS unit, and the radar data processing unit is in data intercommunication with the monitoring radar, the traffic display and operation control unit, the environment monitoring unit, the ship data management unit, the AIS unit, the ADS-B unit and the information recording and reproducing unit.
6. The marine space stereoscopic perception control system according to claim 1, wherein: the intelligent command and dispatch system for the sea and air area further comprises a command and dispatch platform and an individual hand-held terminal device, wherein the command and dispatch platform comprises a user management main control unit, an audio and video communication media unit, a location service communication unit and a file storage management unit,
User management master control unit: providing signaling control, multiple switching nodes, user account number, role and authority allocation management, department and group allocation management, user side monitoring and control;
a location service communication unit: positioning in real time;
real-time track, history track, electronic fence, alarm management, label management, circle selection scheduling, time and course statistics;
a location service communication unit: point-to-point, point-to-multipoint instant messaging, text, picture delivery, offline message reception, message archiving record;
file storage management unit: supporting local video and downloading video; the storage server is connected with the disk array storage and used for storing mass data information;
the audio recording and video recording service module: archiving, retrieving and reviewing all audio, video, track files.
7. The marine space stereoscopic perception control system according to claim 1, wherein: the target detection tracking system adopts a self-adaptive clutter suppression method to suppress clutter under the condition of actual use environment and adopts a refined correlation recognition algorithm to detect and track small targets under the condition of low signal-clutter ratio, wherein the self-adaptive clutter suppression method comprises an inter-frame correlation method, a self-adaptive threshold method, an echo refined measurement feature matching method and a multi-hypothesis tracking method, and the refined correlation recognition algorithm comprises a target characteristic fine decomposition algorithm, a point trace condensation algorithm and a maneuvering target self-adaptive tracking algorithm.
8. The marine space stereoscopic perception control system according to claim 1, wherein: the sea-air area management and control platform based on mass data fusion analysis comprises
The custom module can custom set administrative area demarcation lines and jurisdiction lines;
the target grading module is used for setting a focus mark according to color grading for targets needing long-time focus when multiple targets are controlled;
the target filtering module is used for rapidly filtering and screening out targets according to the types, navigational speeds and sizes of the targets, classifying, tracking and monitoring;
the situation information module can measure the relative distance and direction between any two points, can display and cancel one-key full-target tracks, can highlight red display of tracking target tracks, can automatically count the total number and classification composition of targets in a self-defined rectangular area, and can automatically track radar targets in a photoelectric mode for linkage monitoring;
the automatic monitoring alarm module is provided with a plurality of alarm areas, and the photoelectric automatic time-sharing monitoring alarm targets automatically alarm when the targets intrude into the alarm areas.
9. The marine space stereoscopic perception control system according to claim 1, wherein: the sea-air area management and control platform based on mass data fusion analysis comprises
And a data acquisition and cleaning module: data are collected in real time, data are collected/converted/cleaned, data are exchanged, and data are cleaned;
And the data storage and processing module is used for: data quality assessment, data storage, data difference analysis, data processing and data service;
and a data visualization module: data visual monitoring and data visual reporting;
and (3) an application supporting module: the control platform interacts, and a palm supporting system is applied;
and the data resource management and control and operation module is as follows: the management and control platform performs omnibearing supervision and data operation, report support and unified identity authentication and authority management;
the system comprises an information data management module, a basic information resource library module, a public database and a geographic information system;
hardware equipment: the system comprises a large display screen, a data server, a GPU, a tera-network card, a switch, a router, a firewall, a disk array, a comprehensive cabinet, other printers and a high-speed camera which are mutually communicated through a data interface.
10. The marine space stereoscopic perception control system according to claim 1, wherein: the command center adopts a three-level dispatching command center structure, and comprises a first-level command center, a second-level command center and a third-level command center, wherein the first-level command center comprehensively monitors and monitors all data in real time; the secondary command center schedules and checks field data in real time, can cooperatively interact with the primary command center and the tertiary command center, and the tertiary command center collects and processes the data on site and transmits the data back to the primary command center and the secondary command center.
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