CN101655562A - Anti-collision alarming radar system and device for ships - Google Patents
Anti-collision alarming radar system and device for ships Download PDFInfo
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Abstract
The invention discloses an anti-collision alarming radar system for ships, comprising a marine radar, an anti-collision alarming device and a three-port adaptor that connects a transmitter/a receiverof the marine radar with a display terminal and the anti-collision alarming device. The anti-collision alarming device comprises a display, an alarming apparatus, a data collecting board and a computer board, wherein the data collecting board is used for collecting detection signals, echo signals and bow signals from the radar to calculate the target distance and the angle and sending frame data formed by radar scan to a computer board; and the computer board is used for extracting the target point track data from the frame data to predict the future trend of target motion by associating and smoothing process via a track association algorithm and to evaluate and judge the risk level of the target in real time and then controlling the display and the alarming apparatus to display information and send the alarm signal. The invention further discloses an anti-collision alarming radar device for ships. The invention can be realized with low cost and is of great importance to ensure safetyof navigation of the ships.
Description
Technical field
The present invention relates to a kind of radar system, especially relate to a kind of full-automatic intelligent anti-collision alarming radar system that is used for boats and ships.
Background technology
According to statistics, China is engaged in nearly 280,000 of the fishery vessels of inshore fishing at present, add the short sea trader sum reach 40 surplus ten thousand; And two class boats and ships focus mostly on again in merchant ship navigation channel and surrounding waters thereof, cause at the offshore sea waters ship intensively, and ship collision accident takes place frequently.Fishing boat particularly so become maximum victim naturally because tonnage is little in collision accident, often is that ship is ruined the people and died and suffer heavy losses.According to whole nation fishing boat collision accident statistics in 2007,318 of ship collision accidents take place altogether, 210 of shipwrecks, dead 319 people.Although most of fishing boat has all been equipped marine radar equipment, these radars all are that economical marine radar had not both had the target following ability not have the automatic collision alarm function yet, so ship collision accident is still high.
The device product relevant with shipping anti-collision of domestic and international application has two kinds at present.
1, ARPA (Automatic Radar Plotting Aid, automatic radar plotting aid) radar.The ARPA radar is a kind of high-performance marine radar, has the collision prevention alarm function concurrently.Can manually select 20 above tracking targets, set time (TCPA) boundary of this ship and target closest point of approach distance (CPA) and arrival closest point of approach.When the CPA of target and TCPA when setting boundary, can report to the police automatically, remind human pilot to take the measure of dodging.The ARPA radar costs an arm and a leg, and manipulates complexity.Equip on large-scale merchant ship and ocean fishing vessel for general, offshore-fishing boat generally seldom uses this radar.
2, AIS (Automatic Identification System, automatic recognition system).
The AIS system is made up of the land base station of AIS, AIS building berth, boat-carrying GPS, communication system, AIS data chainning, computer network and infosystem.Be a big management system, be mainly used in sea target recognition, traffic information management also can provide some to assist the supplementary of collision prevention to the boats and ships that the AIS building berth is housed.International Maritime Organization (IMO) (IMO) has stipulated be engaged on the large ship of international carriage, the requirement of AIS building berth force to be installed, but to consider that cost is too high, to gross tonnage (GT) less than 500 tons middle-size and small-size fishing boat and short sea trader and do not require equipment.Though it is the effect that provides supplementary to assist collision prevention is provided concurrently AIS, invalid to the ship of not equipping AIS.Though boat-carrying VHF wireless telephone can carry out talking with between ship, understand the information and the state of his ship, the collision prevention of holding consultation, but because the ambiguity and the misunderstanding that exist in operator's language performance and the communication, make speed of information exchange slow and lack of standardization, often the delay time at stop is not played the effect of consulting collision prevention again.
So, more than two kinds of systems all be unsuitable for offshore-fishing boat, main cause is system complex, costs an arm and a leg.At present, can also belong to blank with the supporting professional automatic collision alarm equipment of the economical marine radar that medium and small-scale vessel uses.
Summary of the invention
The objective of the invention is to propose a kind of full-automatic intelligent anti-collision alarming system and equipment that is used for boats and ships, be used for the economical marine radar that present medium and small-scale vessel uses is transformed into have Automatic Target Following, risk object identification, danger classes is judged and and the new radar system of automatic collision alarm.
The present invention adopts following technical scheme to reach above-mentioned purpose: a kind of anti-collision alarming radar system that is used for boats and ships has: the furnished or economical marine radar newly purchased on the boats and ships; Anti-collision alarming equipment; The adapter that emittor/receiver and display terminal, the anti-collision alarming of marine radar are established 3 ports that couple together;
Wherein, anti-collision alarming equipment comprises:
Data acquisition board, be used for gathering radar detection signal, echoed signal, bow signal from marine radar, utilize detectable signal and echoed signal to calculate target range and angle on target, and utilize the bow signal to judge that whether the scanning frame of marine radar finishes, and exports to the computing machine plate with the scanning frame data;
The computing machine plate, be used for from scanning frame extracting data Targets Dots data, the Targets Dots data are passed through association of track association algorithm and smoothing processing, thereby the future trend of target of prediction motion, and the target risk factor is carried out real-time assessment judge, the control display shows judged result, controls warning device simultaneously and sends alerting signal;
Display is with figure and two kinds of form display-objects of data information risk object information particularly.
Warning device sends the risk object alerting signal with sound, light dual mode.
Wherein, described data acquisition board comprises:
Synchronous shaping is carried out the shaping processing to detectable signal and the bow signal of importing;
The signal broadening amplifying circuit is used for the pulse width of broadening radar echo signal, the signal amplitude of amplifying radar echo signal;
Threshold circuit is used for judging according to the thresholding setting value of input and export a counting controling signal to first, second counter that is connected in series when the radar echo signal forward position of signal broadening amplifying circuit output surpasses thresholding and satisfy certain deration of signal;
First counter is used for counting according to counting controling signal, and before counting reached the width limit value, if new counting controling signal input is arranged, then first counter restarted counting, but not to second counter output counting controling signal;
Second counter is used for being counted according to counting controling signal by detectable signal control, obtains the count results of corresponding target range;
Synchronizer is used for the forward position of detectable signal is taken out as apart from start signal, control second counter and begin counting, and with the forward position taking-up of next detectable signal as this detection apart from end signal, and interrupt to the request of computing machine plate as look-at-me;
The 3rd counter, being used for the bow signal is benchmark, and detectable signal is counted, and obtains the count results of the angle information of corresponding each target.
Wherein, the count results of described corresponding respectively target range and angle information is kept at buffer unit, forms the scanning frame data, and by interrupting exporting the scanning frame data to the computing machine plate.
Wherein, the counting reference frequency of described first, second counter is 5MHz.
Wherein, described computing machine plate comprises:
Point mark extraction module is used for from scanning frame extracting data Targets Dots data;
The flight path correlation module is used for carrying out association by the track association algorithm, to the targetpath Continuous Tracking, forms the historical flight path of target;
The Track In Track module is used for the smoothing processing that historical flight path adopts multiple spot to average is formed the Position And Velocity information of target, realizes that the flight path real-time follow-up handles;
The flight path prediction module is used for real-time calculating and extrapolation process according to target location, orientation, relative velocity, and the following movement tendency of target is predicted;
Dangerous real-time assessment module, the flight path calculation of parameter that is used to extract each target goes out the course coefficient of target, radial velocity, crossing point position, arrives the time of crossing point, according to predetermined risk factor parameter threshold and dangerous criterion, the target risk factor is carried out real time comprehensive assessment and logic determines;
The warning information display control module, be used for generating target electronic automatically and mark and draw figure according to the dangerous judged result that dangerous real-time assessment module provides, the control display is controlled warning device simultaneously and is sent sound, visual alarm with figure and two kinds of forms of character display-object information intuitively.
Compared with prior art, the present invention has following beneficial effect:
Core of the present invention is to have proposed one automatically, intelligentized anti-collision alarming equipment.This equipment and economical marine radar peculiar to vessel are used and constitute a new anti-collision alarming radar system, and marine radar both can be furnished on the boats and ships, also can newly purchase.By custom-designed 3 port adapters, anti-collision alarming equipment can be connected with the economical marine radar coupling of any model.Anti-collision alarming equipment is gathered the target raw data from radar, through conversion and secondary information processing, makes new system have Automatic Target Following, risk object is discerned automatically, the target risk factor is flat in real time estimates and intelligent decision the automatic plotting of target information and full-automatic crashproof alarm function.Behaviour ship person receives the report for police service can have time enough independently to take corresponding collision prevention measure to evade risk of collision behind the signal.Therefore, native system is significant to guaranteeing ship's navigation, operation and anchoring safety.
Description of drawings
Fig. 1 is crashproof alarm equipment of the present invention and the connection diagram that has economical marine radar now;
Fig. 2 is the circuit module synoptic diagram of crashproof alarm equipment among Fig. 1;
Fig. 3 is the schematic flow sheet that the present invention realizes target;
Fig. 4 is the definition synoptic diagram that the electronics that generates of the present invention is marked and drawed figure;
Fig. 5 is the demonstration synoptic diagram under the display panorama target display mode of the present invention;
Fig. 6 is the demonstration synoptic diagram of display of the present invention under the risk object display mode.
Embodiment
As shown in Figure 1.The present invention proposes a kind of professional boats and ships anti-collision alarming radar system of the full-automatic intelligent based on marine radar.This radar system comprises: Eco-power marine radar 1 peculiar to vessel, comprising radar antenna 11, emittor/receiver 12, display terminal 13; The anti-collision alarming equipment 2 that is connected with marine radar 1, this anti-collision alarming equipment 2 has independently display and warning device, be used for gathering the target raw data from marine radar 1, through the processing of conversion and secondary information, make that system has Automatic Target Following, risk object identification, danger classes is judged and and the automatic collision alarm function; The adapter of one 3 port is connected the emittor/receiver 12 of marine radar 1 with display terminal 13, simultaneously emittor/receiver 12 is connected anti-collision alarming equipment 2.
After behaviour ship person receives the alerting signal that anti-collision alarming equipment 2 sends, can there be time enough independently to take corresponding collision prevention measure to evade risk of collision.
In conjunction with shown in Figure 2, further structure and the principle of work to anti-collision alarming Device Host 2 describes in detail.
The vision signal of input is the radar echo signal without any processing, because the direct impulse width of marine radar 1 emission is 0.8 μ s, the video pulse width of the radar echo signal of realistic objective is (by the pass-band performance and the decision of target depth size of receiver) between 1～2 μ s, for guaranteeing to sample not leakage signal, must by signal broadening amplifying circuit 211 with the vision signal broadening to more than the 2 μ s, the amplitude of incoming video signal also needs by signal broadening amplifying circuit 211 signal to be carried out processing and amplifying (to 3V) about 0.5V simultaneously; Vision signal after will having made broadening and amplify through signal broadening amplifying circuit 211 is delivered to threshold circuit 212, threshold circuit 212 judges that according to the thresholding setting value (default controlled variable) of input the incoming video signal forward position surpasses thresholding and satisfies certain width (1 μ s, default controlled variable) time, export a counting controling signal to first counter 213, first counter 213 outputs to second counter 214 with counting controling signal, first counter 213 begins counting simultaneously, and count frequency is 5MHz.Reach width limit value (default controlled variable) before at first counter, 213 countings, if new counting controling signal input is arranged, then first counter 213 restarts counting, but, its objective is on distance, separating but the individual signals of a close signal leading edge correspondence of a plurality of radar echo signal boil down tos to second counter 214 output counting controling signals.The detectable signal and the bow signal of 215 pairs of inputs of synchronous shaping carry out shaping, make its amplitude, width, the compound back of pulse shape level processing requirements.Synchronizer 216 takes out the forward position of detectable signal as " distance is initial " signal, control second counter 214 and begin counting, simultaneously synchronizer 216 takes out " distance finishes " signal as this detection with the forward position of next detectable signal, and interrupts to 22 requests of computing machine plate as look-at-me.
" distance initial " is exactly the moment of direct impulse emission, and " distance finishes " is this detection relatively, zero hour of Tan Ceing next time, the forward position that promptly next direct impulse is launched." frame beginning flag " is the forward position of bow signal, also is the counting benchmark of angle on target." frame beginning flag " with 218 zero clearings of the 3rd counter, and detectable signal is counted.When each detectable signal arrived, " distance is initial " signal was to 214 zero clearings of second counter, and second counter 214 begins the 5MHZ signal is counted simultaneously, can obtain the range information of target.With the bow signal is benchmark, is counted by 218 pairs of detectable signals of the 3rd counter, can converse the angle of each detectable signal correspondence according to count results, is the angle information of each target.
In conjunction with shown in Figure 3, each software module of moving on computing machine plate 22 is further described.
Step S301: utilize the bow signal to judge whether marine radar 1 scanning frame finishes, obtain the radar return data of target boats and ships from marine radar 1 scanning.
Step S302: by the radar return data that data acquisition board 21 is obtained marine radar 1 sample, conversion and pre-service, form the radar scanning frame data and export to a mark extraction module 221.
Step S303: some mark extraction module 221 extracts Targets Dots information from the radar scanning frame data, finish detection and pre-service to target echo.
Because the influence of clutters such as extra large clutter, precipitation clutter, the echo data of existing target boats and ships in the radar return data, the clutter data are arranged again, therefore, point mark extraction module 221 need be distinguished clutter and target echo by recognizer from radar return, realize extracting from the radar scanning frame data Targets Dots data.
Step S304: after the Targets Dots data in every frame that some mark extraction module 221 extracts are carried out association by flight path correlation module 222 by the track association algorithm, finish Continuous Tracking, form the historical flight path of target to targetpath.
Association algorithm comprises track initiation, some boat relevant (it is relevant promptly to put the mark flight path), flight path filtering and prediction.
Track initiation refers to set up first flight path.Usually can comprise the position and the speed of target from two estimated values of trying to achieve target initial motion state in succession the target echo.Target velocity can be calculated the derivative value of radar scanning time by displacement of targets.If false-alarm or the more situation of clutter residue, this method is just unreliable.Thereby, need to handle long some mark string and carry out those and the corresponding to sequence of re-set target characteristic initial as flight path.
Point boat is relevant be meant set up first flight path after, when scanning, obtain the next one point mark data of same target next time, its mark data and track association are got up.
Flight path filtering is meant hypothetical target with certain speed motion with prediction, and then when scanning next time, the position of target can utilize the estimated value of its current location and speed to predict.
Step S305: targetpath formation stored the historical track of target in a period of time, the smoothing processing that the 223 pairs of flight paths of Track In Track module adopt multiple spot to average forms the Position And Velocity information of target, realizes that the flight path real-time follow-up handles.
Step S306: flight path prediction module 224 is predicted target future trend by to target location, orientation, the isoparametric real-time calculating of relative velocity and extrapolation.
Step S307: the flight path calculation of parameter of dangerous real-time assessment module 225 each target of extraction goes out the parameters such as time (we are defined as it " risk factor parameter ") of the course coefficient of target, radial velocity, crossing point position (distance and bearing), arrival crossing point, according to predetermined risk factor parameter threshold and dangerous criterion, the target risk factor is carried out real time comprehensive assessment and logic determines, identify risk object, and the difference of pressing threaten degree, risk factor automatically is divided into Three Estate from low to high.
Three grades of risk objects: have the collision possibility, the target that need arouse attention;
Secondary risk object: obvious collision trend is arranged, need the target of paying close attention to;
The one-level risk object: collide extremely urgent, the target that need promptly dodge.
Step S308: warning information display control module 226 is controlled the display and the warning device work of crashproof alarm equipment 2 according to the dangerous judged result that dangerous real-time assessment module 225 provides.Because this ship and target ship all are dynamic, when the target risk factor changed or no longer constitutes a threat to, warning information display control module 226 sent instruction automatically, changed danger classes or cancelled alarm.
Step S309: display and warning device are subjected to the control of warning information display control module 226, send control signal corresponding according to warning information display control module 226 according to the danger classes that dangerous real-time assessment module 225 draws, display is with figure and two kinds of forms of character display-object information intuitively, and warning device sends sound, visual alarm provides the sense of hearing and visual alarm.
Target information shows and risk object is reported to the police;
Wherein, the independent display in the anti-collision alarming equipment 2 adopts liquid crystal color plane position indicator, the bow display mode that makes progress, and be provided with operating key, can regulate indication range and display mode by operating key:
(1) indication range gear control
The indication range gear adopts the artificial key control of pressing, and is provided with 3,6,12 nautical miles third gear, can be by the range "+" on crashproof alarm equipment main frame 2 front panels, the control of "-" on ﹠ off switch.
(2) target information shows
With electronics plotting figure and data mode target information is shown, when risk object occurring, show simultaneously on the display screen that the electronics of this target is marked and drawed graphical symbol and correlation parameter.The definition of electronics plotting figure as shown in Figure 4.The risk object data comprise: target current distance, orientation, velocity of approach; The time of the target closest approach distance of prediction, orientation and arrival closest approach etc., adopt the mode of different plotting graphic color and data color control to distinguish threat level.
Display provides two kinds of display modes:
Panorama target display mode: show that all are hunted down and the target of following the tracks of comprises Security Target and risk object as shown in Figure 5, be suitable for the occasion of overview; The risk object display mode: the shielding Security Target only shows risk object as shown in Figure 6, the occasion that is suitable for paying close attention to risk object and implements autonomous collision prevention.Can control two kinds of switchings between the display mode by the screen-refresh control button that is provided with on anti-collision alarming equipment 2 panels.
Warning device of the present invention is by the built-in hummer of crashproof alarm equipment, and Huang, orange, red trichromatism stand by lamp and external loudspeaker, high brightness red light are formed.After dangerous real-time assessment module 225 automatically identified risk object and judges its threaten degree, warning information display control module 226 automatically divided three risk of collision grades to send sound, light alarm control signal immediately.
Three grades of risk object alarms: amber light is glittering;
The alarm of secondary risk object: hummer is rung, and orange lamp is glittering;
The alarm of one-level risk object: loudspeaker is rung, the high brightness red lamp flass.
By the Alarming control switch that is provided with on the main frame front panel, can allow/forbid the information output of external warning, simultaneously, the shutoff of this switch be open at the information that corresponding " on of external audible and visual alarm device " and " external audible and visual alarm device cuts out " arranged on the display screen.
Claims (9)
1, a kind of anti-collision alarming radar system that is used for boats and ships is characterized in that, comprising: marine radar; Anti-collision alarming equipment; 3 port adapters that emittor/receiver, display terminal and the anti-collision alarming equipment of marine radar is coupled together;
Wherein, anti-collision alarming equipment comprises:
Display;
Warning device;
Data acquisition board, be used for gathering radar detection signal, echoed signal, bow signal from marine radar, utilize detectable signal and echoed signal to calculate target range and angle on target, utilize the bow signal to judge that whether the scanning frame of marine radar finishes, and exports to the computing machine plate with the scanning frame data;
The computing machine plate, be used for from scanning frame extracting data Targets Dots data, the Targets Dots data are passed through association of track association algorithm and smoothing processing, thereby the future trend of target of prediction motion, the target risk factor is carried out real-time assessment to be judged, control is shown in display with target information with figure and character dual mode, and the control warning device sends sound, visual alarm.
2, the anti-collision alarming radar system that is used for boats and ships according to claim 1 is characterized in that, described data acquisition board comprises:
Synchronous shaping is carried out the shaping processing to detectable signal and the bow signal of importing;
The signal broadening amplifying circuit is used for the pulse width of broadening radar echo signal, the signal amplitude of amplifying radar echo signal;
Threshold circuit is used for judging according to the thresholding setting value of input and export a counting controling signal to first, second counter that is connected in series when the radar echo signal forward position of signal broadening amplifying circuit output surpasses thresholding and satisfy certain deration of signal;
First counter is used for counting according to counting controling signal, and before counting reached the width limit value, if new counting controling signal input is arranged, then first counter restarted counting, but not to second counter output counting controling signal;
Second counter is used for being counted according to counting controling signal by detectable signal control, obtains the count results of corresponding target range;
Synchronizer is used for the forward position of detectable signal is taken out as apart from start signal, control second counter and begin counting, and with the forward position taking-up of next detectable signal as this detection apart from end signal, and interrupt to the request of computing machine plate as look-at-me;
The 3rd counter, being used for the bow signal is benchmark, and detectable signal is counted, and obtains the count results of the angle information of corresponding each target.
3, the anti-collision alarming radar system that is used for boats and ships according to claim 2, it is characterized in that, the count results of described corresponding respectively target range and angle information is kept at buffer unit, forms the scanning frame data, and by interrupting exporting the scanning frame data to the computing machine plate.
4, the anti-collision alarming radar system that is used for boats and ships according to claim 2 is characterized in that, the counting reference frequency of described first, second counter is 5MHz.
5, the anti-collision alarming radar system that is used for boats and ships according to claim 1 is characterized in that, described computing machine plate comprises:
Point mark extraction module is used for from scanning frame extracting data Targets Dots data;
The flight path correlation module is used for carrying out association by the track association algorithm, to the targetpath Continuous Tracking, forms the historical flight path of target;
The Track In Track module is used for the smoothing processing that historical flight path adopts multiple spot to average is formed the Position And Velocity information of target, realizes that the flight path real-time follow-up handles;
The flight path prediction module is used for real-time calculating and extrapolation process according to target location, orientation, relative velocity, and the following movement tendency of target is predicted;
Dangerous real-time assessment module, the flight path calculation of parameter that is used to extract each target goes out the course coefficient of target, radial velocity, crossing point position, arrives the time of crossing point, according to predetermined risk factor parameter threshold and dangerous criterion, the target risk factor is carried out real time comprehensive assessment and logic determines;
The warning information display control module, be used for generating automatically the electronics plotting figure of target according to the dangerous judged result that dangerous real-time assessment module provides, and the control display is controlled warning device simultaneously and is sent sound, visual alarm with figure and two kinds of forms of character display-object information intuitively.
6, a kind of anti-collision alarming radar equipment that is used for boats and ships is used with marine radar, it is characterized in that, comprising:
Display;
Warning device;
Data acquisition board, be used for gathering radar detection signal, echoed signal, bow signal from marine radar, utilize detectable signal and echoed signal to calculate target range and angle on target, utilize the bow signal to judge that whether the scanning frame of marine radar finishes, and exports to the computing machine plate with the scanning frame data;
The computing machine plate, be used for from scanning frame extracting data Targets Dots data, the Targets Dots data are passed through association of track association algorithm and smoothing processing, thereby the future trend of target of prediction motion, the target risk factor is carried out real-time assessment to be judged, control is shown in display with target information with figure and character dual mode, and the control warning device sends sound, visual alarm.
7, the anti-collision alarming radar equipment that is used for boats and ships according to claim 6 is characterized in that described data acquisition board comprises:
Synchronous shaping is carried out the shaping processing to detectable signal and the bow signal of importing;
The signal broadening amplifying circuit is used for the pulse width of broadening radar echo signal, the signal amplitude of amplifying radar echo signal;
Threshold circuit is used for judging according to the thresholding setting value of input and export a counting controling signal to first, second counter that is connected in series when the radar echo signal forward position of signal broadening amplifying circuit output surpasses thresholding and satisfy certain deration of signal;
First counter is used for counting according to counting controling signal, and before counting reached the width limit value, if new counting controling signal input is arranged, then first counter restarted counting, but not to second counter output counting controling signal;
Second counter is used for being counted according to counting controling signal by detectable signal control, obtains the count results of corresponding target range;
Synchronizer is used for the forward position of detectable signal is taken out as apart from start signal, control second counter and begin counting, and with the forward position taking-up of next detectable signal as this detection apart from end signal, and interrupt to the request of computing machine plate as look-at-me;
The 3rd counter, being used for the bow signal is benchmark, and detectable signal is counted, and obtains the count results of the angle information of corresponding each target.
8, the anti-collision alarming radar equipment that is used for boats and ships according to claim 7, it is characterized in that, the count results of described corresponding respectively target range and angle information is kept at buffer unit, forms the scanning frame data, and by interrupting exporting the scanning frame data to the computing machine plate.
9, the anti-collision alarming radar equipment that is used for boats and ships according to claim 6 is characterized in that, described computing machine plate comprises:
Point mark extraction module is used for from scanning frame extracting data Targets Dots data;
The flight path correlation module is used for carrying out association by the track association algorithm, to the targetpath Continuous Tracking, forms the historical flight path of target;
The Track In Track module is used for the smoothing processing that historical flight path adopts multiple spot to average is formed the Position And Velocity information of target, realizes that the flight path real-time follow-up handles;
The flight path prediction module is used for real-time calculating and extrapolation process according to target location, orientation, relative velocity, and the following movement tendency of target is predicted;
Dangerous real-time assessment module, the flight path calculation of parameter that is used to extract each target goes out the course coefficient of target, radial velocity, crossing point position, arrives the time of crossing point, according to predetermined risk factor parameter threshold and dangerous criterion, the target risk factor is carried out real time comprehensive assessment and logic determines;
The warning information display control module, be used for generating automatically the electronics plotting figure of target according to the dangerous judged result that dangerous real-time assessment module provides, and the control display is controlled warning device simultaneously and is sent sound, visual alarm with figure and two kinds of forms of character display-object information intuitively.
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| CN101221240B (en) * | 2007-01-11 | 2012-07-04 | 黄金富 | Vessel anti-collision system and corresponding method for actively transmitting sail information |
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| CN201532463U (en) * | 2009-09-11 | 2010-07-21 | 深圳市高伦技术有限公司 | Anti-collision alarm radar system and equipment used for ship |
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