CN101937081A - Ship navigation radar system and ship navigation method - Google Patents
Ship navigation radar system and ship navigation method Download PDFInfo
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- CN101937081A CN101937081A CN2010102539136A CN201010253913A CN101937081A CN 101937081 A CN101937081 A CN 101937081A CN 2010102539136 A CN2010102539136 A CN 2010102539136A CN 201010253913 A CN201010253913 A CN 201010253913A CN 101937081 A CN101937081 A CN 101937081A
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Abstract
The invention discloses a ship navigation radar system and a ship navigation method, which solve the problem of unfavorable navigation effect of a radar in the prior art. The ship navigation radar system comprises an analog-to-digital conversion module, a coordinate transformation module and a superposition output module, wherein the analog-to-digital conversion module is used for converting an analog-quantity video signal collected by a radar into a digital-quantity radar image signal; the coordinate transformation module is used for carrying out the coordinate transformation of the digital-quantity radar image signal to obtain a signal of a radar image in a plane rectangular coordinate system; and the superposition output module is used for superposing and outputting the signal of the radar image in the plane rectangular coordinate system and information of an electronic chart.
Description
Technical field
The present invention relates to the marine radar technology, relate to the method for a kind of marine navigation radar system and navigation peculiar to vessel especially.
Background technology
China's marine navigation radar general technical level is low, a little less than the independent research and development capacity.For a long time, because government and enterprise drop into wretched insufficiency and discontinuous in scientific research and development, technology introduction, the technological transformation of marine navigation radar apparatus field, the technology that most enterprises do not introduce the reform and opening-up initial stage is digested and assimilated and is innovated or do not carry out tracking technique and introduce, manufacturing enterprise becomes the main body of navigator technological innovation peculiar to vessel far away, the scientific research of military project scientific research institutions and the reason of producing all many-sides such as disconnection, China's marine navigation radar device product general technical level lags far behind international most advanced level.The marine navigation radar system can not be independent, and the basis that directly has influence on China's shipping industry is firm.Under world's shipborne equipment technology develop rapidly situation, the gap of China's marine navigation radar equipment and technology and international most advanced level also can widen, and the follow-up of technological leapfrogging formula becomes the key of China's marine navigation radar development.
In the prior art, do not comprise the sea chart essential information in the vision signal of radar collection, for example water front, obstruction, buoy and thing mark waterborne etc., the navigation effect of radar is not ideal enough like this.
Summary of the invention
Fundamental purpose of the present invention is the method that proposes a kind of marine navigation radar system and navigation peculiar to vessel, to solve the dissatisfactory problem of navigation effect of radar in the prior art.
For achieving the above object, according to an aspect of the present invention, a kind of marine navigation radar system has been proposed.
Marine navigation radar of the present invention system comprises: analog-to-digital conversion module is used for the vision signal of the analog quantity of radar collection is converted to the radar image signal of digital quantity; Coordinate transformation module is used for the radar image signal of described digital quantity is carried out the signal that coordinate transform obtains the radar image of plane right-angle coordinate; The stack output module is used for the signal of the radar image of described plane right-angle coordinate is exported then with the information stack of electronic chart.
Further, described analog-to-digital conversion module comprises: sampling unit is used for the vision signal of described analog quantity is sampled; Buffer unit is used for buffer memory sampling signal afterwards and exports then; Converting unit is used for the signal of buffer unit output is carried out analog to digital conversion.
Further, described sampling unit is analog to digital converter (ADC).
Further, described buffer unit is field programmable gate array (FPGA).
Further, described converting unit is digital signal processor (DSP).
Further, also comprise decoder module, be used for digital signal decoding automatic radar plotting aid (ARPA) output; Described coordinate transformation module also is used for the signal that described decoder module decoding obtains is carried out the vision signal that coordinate transform obtains plane right-angle coordinate; Described stack output module also is used for the output then that superposes of information with the signal of the radar image of described plane right-angle coordinate, vision signal in the described plane right-angle coordinate and electronic chart.
Further, described stack output module also is used for the output then on the electronic chart that is added to of radar cursor and electronic distance position line.
For achieving the above object, according to a further aspect in the invention, a kind of method of navigation peculiar to vessel has been proposed.
The method of navigation peculiar to vessel of the present invention comprises: the radar image signal that the vision signal of the analog quantity of radar collection is converted to digital quantity; The radar image signal of described digital quantity is carried out the signal that coordinate transform obtains the radar image in the plane right-angle coordinate; The signal of the radar image in the described plane right-angle coordinate and the information stack of electronic chart are exported then.
Further, the radar image signal that the vision signal of the analog quantity of radar collection is converted to digital quantity comprises: the vision signal to the analog quantity of radar collection is sampled; Signal after the buffer memory sampling is exported then; The signal of exporting behind the buffer memory is carried out analog to digital conversion.
According to technical scheme of the present invention,, help to judge rapidly target type and, help to improve " the position sense " of human pilot, thereby improved the navigation effect of radar its location with radar signal and other signals and electronic chart stack output.
Description of drawings
Accompanying drawing described herein is used to provide further understanding of the present invention, constitutes the application's a part, and illustrative examples of the present invention and explanation thereof are used to explain the present invention, do not constitute improper qualification of the present invention.In the accompanying drawings:
Fig. 1 is the synoptic diagram according to the basic structure of the marine navigation radar system of the embodiment of the invention;
Fig. 2 is the synoptic diagram according to the method for the navigation peculiar to vessel in the embodiment of the invention; And
Fig. 3 is the synoptic diagram according to the formation of the radar system of the embodiment of the invention.
Embodiment
Below with reference to the accompanying drawings and in conjunction with the embodiments, describe the present invention in detail.
Fig. 1 is the synoptic diagram according to the basic structure of the marine navigation radar system of the embodiment of the invention.As shown in Figure 1, the marine navigation radar system 10 of the embodiment of the invention comprises:
Analog-to-digital conversion module 11 is used for the vision signal of the analog quantity of radar collection is converted to the radar image signal of digital quantity; Coordinate transformation module 12 is used for the radar image signal of described digital quantity is carried out the signal that coordinate transform obtains the radar image of plane right-angle coordinate; Stack output module 13 is used for the signal of the radar image of described plane right-angle coordinate is exported then with the information stack of electronic chart.
Particularly, the basic structure of analog-to-digital conversion module can be to comprise sampling unit, buffer unit and converting unit.Wherein sampling unit is used for the vision signal of described analog quantity is sampled, and can adopt analog to digital converter (ADC) to realize.The signal that buffer unit is used for after the buffer memory sampling is exported then, can adopt field programmable gate array (FPGA) to realize.Converting unit is used for the signal of buffer unit output is carried out analog to digital conversion, can adopt digital signal processor (DSP) to realize.
Marine navigation radar system 10 shown in Figure 1 can also comprise the decoder module (not shown), and decoder module is used for the digital signal decoding with automatic radar plotting aid (ARPA) output.Coordinate transformation module 12 can be used for that also the signal that decoder module decoding obtains is carried out coordinate transform and obtains vision signal in the plane right-angle coordinate like this; Stack output module 13 also can be used for the output then that superposes of information with the signal of the radar image in the described plane right-angle coordinate, vision signal in the described plane right-angle coordinate and electronic chart.In addition, stack output module 13 also can be used for the output then on the electronic chart that is added to of radar cursor and electronic distance position line.
Fig. 2 is the synoptic diagram according to the method for the navigation peculiar to vessel in the embodiment of the invention.As shown in Figure 2, the method for the navigation peculiar to vessel in the embodiment of the invention mainly comprises the steps:
Step S21: the radar image signal that the vision signal of the analog quantity of radar collection is converted to digital quantity.
Step S22: the radar image signal of described digital quantity is carried out the signal that coordinate transform obtains the radar image in the plane right-angle coordinate.
Step S23: the signal of the radar image in the described plane right-angle coordinate and the information stack of electronic chart are exported then.
For above-mentioned step S21, specifically can be that elder generation samples to the vision signal of the analog quantity of radar collection; Signal after the buffer memory sampling is exported then then; Again the signal of exporting behind the buffer memory is carried out analog to digital conversion.
The formation of the radar system of the embodiment of the invention as shown in Figure 3.Fig. 3 is the synoptic diagram according to the formation of the radar system of the embodiment of the invention.In Fig. 3,31 expression antenna houses, 32 expression waveguide leaky antennas, 33 expression polarisation filters, 34 expression receiving front-ends, 35 expression intermediate-freuqncy signals, 36 expression magnetrons, 37 expression circulators.
Radar mainly is made up of antenna and Transmit-Receive Unit, digital signal processing unit and display unit, below is elaborated.
The radar transmit-receive unit comprises the transmitter and receiver two large divisions.The task of radar transmitter is the high-power RF signal that provides a carrier wave to be modulated for radar, delivers to aerial radiation through transmit-receive switch and feeder line and goes out.The task of radar receiver is that the faint high frequency echoed signal that antenna is received is chosen from noise and interference electric wave, after amplification and demodulation, transfers to terminal devices such as display or computer data processing.
Control and display unit comprise signal processing unit, control circuit, computing machine, color monitor, communication interface, keyboard etc., finish the control of transmitter and receiver, the digitizing of video echo signal, and signal anti-interference process and target detection and identification, thereby display graphics, numeral and other boat-carrying electronic equipments are communicated by letter etc.
The purpose of signal Processing is to eliminate unwanted signal, as clutter and interference (sleet disturbs, with radar jamming frequently etc.), and strengthens the echoed signal that produced by target.Signal Processing was finished before making the detection judgement, and it generally includes the Doppler filter in moving-target demonstration and the pulse Doppler radar, also comprised the process of pulse-compression of sophisticated signal.Main data processing comprises from motion tracking, Target Recognition etc.Radar pruned in signal Processing unwanted clutter and interference are handled detected target echo from motion tracking.
Sleet suppresses: when snowing, produce the high-lightness spot of bulk from the electromagnetic wave of sleet reflection at video screen, easily the weak target image in the speckle regions is flooded, need take to suppress the measure of sleet interference.Its principle is that vision signal is carried out differential, and broad pulse is through becoming burst pulse behind the differential, and thing mark echo attenuates and brightens on video screen like this, and sleet disturbs and alleviates behind differential or disappear.
Because of many than the signal difference of target echo of the correlativity of undesired signal, vision signal is carried out related operation, then can eliminate or weaken co-channel interference and noise jamming.
Adopt the system architecture of ADC+FPGA+DSP to finish in the embodiment of the invention to the Analog signals'digital processing.Echo that the Transmit-Receive Unit antenna collects carries out being sampled by ADC after medium-frequency transformation is vision signal through receiving element, carries out signal Processing among the DSP through being input to behind the FPGA buffer memory then.
The gain control that tuning, the pulse modulated width of the rotation of control module control motor, antenna receiving-sending conversion, magnetron and repetition frequency, intermediate frequency amplify etc.Control module mainly contains compositions such as D/A converter, single-chip microcomputer, FPGA, amplifying circuit.Adopt embedded scm and FPGA to finish the control function of this part circuit jointly, and do not take time and the resource of DSP.
The major control signal has modulating pulse, modulate emission frequency, tuning voltage, tuning feedback signal and code-disc zero signal, gain control, wave inhibition, code-disc angle pulse, power supply control, width modulation, AGC switch etc.
PC is selected the computer standard integrated circuit board of high reliability for use, and operating system is selected Windows operating system for use, and upper level applications adopts C language etc.Computing machine have the multiple standards communication interface that is connected with other electronic equipments peculiar to vessel (AIS ARPA GPS ECDIS etc.) and computer network interface, adopt high-resolution color CRT display or color liquid crystal (LCD) display.
After using the computing machine and high-resolution color monitor of band multiple interfaces, can make the mode of demonstration and content parameters more, that measure more accurate and more, it is more clear to show, and more convenient operation and easy.
Development along with infotech and airmanship, after sea chart and the radar information digitizing, data transmission between the two becomes possibility, the stack of electronic chart and radar image/automatic radar plotting aid (ARPA) data message show become may and inevitable, either party " image " can be added on the opposing party's the image.
Navar is to measure background information in two-dimentional polar coordinate system, and the background information amount of measuring is position angle and distance, and major part is analog quantity, and the orientation can be a digital quantity, and distance is analog quantity-broad pulse; And electronic Chart Display is used is plane right-angle coordinate, and needs digital quantity, and this just must carry out analog/digital conversion and coordinate transform.The radar raw video signal is given ECDIS with the rectangular coordinate information after the conversion then through the high speed acquisition and the coordinate transform of Radar Interface Unit realization radar signal, shows with the electronic chart stack again; The digital signal decoding of ARPA output is sent into ECDIS, be presented on the electronic chart by coordinate transform.Make the information overlap of radar image, ARPA data and GPS accommodation and electronic chart show that all data stacks of radar image and electronic chart show, help safe navigation.The sharpest edges of image overlay are the essential informations with sea chart, as water front, obstruction, buoy and thing mark waterborne etc., with actual radar return reference, for judging that target echo is very convenient.The demonstration of buoy figure can make human pilot distinguish buoy echo and target echo easily, for example when the fog-navigation of the Changjiang river, use the radar contact buoy light, radar return by the ARPA data that show on the electronic chart and stack and nautical chart information are relatively, can differentiate buoy light and location rapidly, effect is very obvious.If the water front of electronic Chart Display and the picture registration of radar water front can be judged the relative position of this ship and other all targets, " the position sense " that helps to improve human pilot rapidly.The demonstration of prohibited area and isolated danger can make the driver consider to avoid when working out the course line, prevents navigation accident.Accident such as hit a submerged reef in a large number or stranded is because the operator on duty depends on radar unduly carries out can not showing sea chart key elements such as submerged reef, shoal, prohibited area due to the collision prevention navigation on radar; And can show hazardous locations such as submerged reef, shoal, prohibited area, shunting cruising ground, anchor district, area of fishing, mariculture zone on the electronic chart simultaneously, will be beneficial to and reduce owing to another accident of avoiding collision accident to cause.
Stack shows that the ARPA data help ship collision prevention on electronic chart: if the clutter of radar image is too many, the demonstration of one-tenth nautical chart information is covered or is difficult to and distinguished, and can superimposed image be lightened or close, and only stack shows the ARPA data on electronic chart.Through all target ship echoed signals of ARPA radar admission and target ship vector is stackable is shown on the electronic chart, can judge moving target, buoy and other resting mark at once.When on electronic chart, seeing a moving target, it further dynamically can quite calculate to a nicety and judge, when for example certain moving target navigates by water near the traffic seperation turning point in the traffic separation schemes zone, or drive towards the pilot when going on board zone or anchorage, or drive towards obstruction need turn to the time etc.These radar images are presented on the electronic chart, human pilot just quite exactly target of prediction dynamically.The combination of both information makes boats and ships can in time grasp navigable waters on every side when collision prevention or narrow channel navigation, and the course line is evaded in decision rapidly, is unlikely to make boats and ships to drive towards obstruction or shoal because of collision prevention.
Other radar information shows in stack on the electronic chart and helps navigator fix: radar cursor and electronic distance position line can be chosen in stack demonstration on the electronic chart, when the mark of candidate on radar carries out the azran location, radar electric can be determined the thing mark simultaneously apart from position line on electronic chart, the numbering or the thing target attribute of buoy light distinguished in help, the thing that prevents to admit one's mistake mark.When boats and ships drive towards the anchorage and cast anchor, pre-determine vessel's position in the anchorage with radar, the longitude and latitude of the anchored vessel that use radar cursor is read, on paper chart, locate then, can find that in practice positioning error is bigger, vessel's position in can not the accurate response anchorage, reason are that the big and radar image of range is polar coordinates.This situation can be used the radar cursor that is presented on the electronic chart, and location or reading of data on electronic chart are eliminated error.
Obviously, those skilled in the art should be understood that, above-mentioned each module of the present invention or each step can realize with the general calculation device, they can concentrate on the single calculation element, perhaps be distributed on the network that a plurality of calculation element forms, alternatively, they can be realized with the executable program code of calculation element, carry out by calculation element thereby they can be stored in the memory storage, and in some cases, can carry out step shown or that describe with the order that is different from herein, perhaps they are made into each integrated circuit modules respectively, perhaps a plurality of modules in them or step are made into the single integrated circuit module and realize.Like this, the present invention is not restricted to any specific hardware and software combination.
The above is the preferred embodiments of the present invention only, is not limited to the present invention, and for a person skilled in the art, the present invention can have various changes and variation.Within the spirit and principles in the present invention all, any modification of being done, be equal to replacement, improvement etc., all should be included within protection scope of the present invention.
Claims (9)
1. a marine navigation radar system is characterized in that, comprising:
Analog-to-digital conversion module is used for the vision signal of the analog quantity of radar collection is converted to the radar image signal of digital quantity;
Coordinate transformation module is used for the radar image signal of described digital quantity is carried out the signal that coordinate transform obtains the radar image of plane right-angle coordinate;
The stack output module is used for the signal of the radar image of described plane right-angle coordinate is exported then with the information stack of electronic chart.
2. marine navigation radar according to claim 1 system is characterized in that described analog-to-digital conversion module comprises:
Sampling unit is used for the vision signal of described analog quantity is sampled;
Buffer unit is used for buffer memory sampling signal afterwards and exports then;
Converting unit is used for the signal of buffer unit output is carried out analog to digital conversion.
3. marine navigation radar according to claim 2 system is characterized in that described sampling unit is analog to digital converter (ADC).
4. marine navigation radar according to claim 2 system is characterized in that described buffer unit is field programmable gate array (FPGA).
5. marine navigation radar according to claim 2 system is characterized in that described converting unit is digital signal processor (DSP).
6. marine navigation radar according to claim 1 system is characterized in that,
Also comprise decoder module, be used for digital signal decoding automatic radar plotting aid (ARPA) output;
Described coordinate transformation module also is used for the signal that described decoder module decoding obtains is carried out the vision signal that coordinate transform obtains plane right-angle coordinate;
Described stack output module also is used for the output then that superposes of information with the signal of the radar image of described plane right-angle coordinate, vision signal in the described plane right-angle coordinate and electronic chart.
7. marine navigation radar according to claim 1 system is characterized in that, described stack output module also is used for the output then on the electronic chart that is added to of radar cursor and electronic distance position line.
8. the method for a navigation peculiar to vessel is characterized in that, comprising:
The vision signal of the analog quantity of radar collection is converted to the radar image signal of digital quantity;
The radar image signal of described digital quantity is carried out the signal that coordinate transform obtains the radar image in the plane right-angle coordinate;
The signal of the radar image in the described plane right-angle coordinate and the information stack of electronic chart are exported then.
9. the method for navigation peculiar to vessel according to claim 8 is characterized in that, the radar image signal that the vision signal of the analog quantity of radar collection is converted to digital quantity comprises:
Vision signal to the analog quantity of radar collection is sampled;
Signal after the buffer memory sampling is exported then;
The signal of exporting behind the buffer memory is carried out analog to digital conversion.
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| CN102967309A (en) * | 2012-12-12 | 2013-03-13 | 中国船舶重工集团公司第七〇七研究所 | Radar video image addition method based on electronic chart |
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| CN103175525A (en) * | 2013-03-01 | 2013-06-26 | 无锡挪瑞电子技术有限公司 | Radar image simulation system and method based on electronic chart and navigation data |
| CN104535066A (en) * | 2014-12-19 | 2015-04-22 | 大连海事大学 | Marine target and electronic chart superposition method and system in on-board infrared video image |
| CN105137397A (en) * | 2015-08-06 | 2015-12-09 | 中国电子科技集团公司第三十八研究所 | Navigation radar echo high resolution display equipment, device and method |
| CN105204005A (en) * | 2015-10-19 | 2015-12-30 | 中国电子科技集团公司第二十八研究所 | VTS system radar return video display method based on geographic coordinate system |
| CN108241147A (en) * | 2018-02-06 | 2018-07-03 | 上海圆舟电子科技有限公司 | A kind of palm intelligent maritime affairs radar and its surface surveillance method |
| CN110196444A (en) * | 2019-05-14 | 2019-09-03 | 武汉理工大学 | Ship automatic positioning method and device based on marine radar |
| CN111025284A (en) * | 2019-11-19 | 2020-04-17 | 宁波盛域海洋电子科技有限公司 | Collision prevention system combining marine radar system and infrared photoelectric scanning |
| CN111323757A (en) * | 2019-12-30 | 2020-06-23 | 北京海兰信数据科技股份有限公司 | Target detection method and device for marine radar |
| CN113376596A (en) * | 2021-05-31 | 2021-09-10 | 深圳市中科海信科技有限公司 | Automatic tuning technology for pulse navigation radar |
| CN115829893A (en) * | 2022-11-23 | 2023-03-21 | 长江三峡集团福建能源投资有限公司 | Method, system and device for superposition display of vector radar images |
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| CN102967309B (en) * | 2012-12-12 | 2015-08-12 | 中国船舶重工集团公司第七0七研究所 | Based on the radar video image addition method of electronic chart |
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| CN103175525A (en) * | 2013-03-01 | 2013-06-26 | 无锡挪瑞电子技术有限公司 | Radar image simulation system and method based on electronic chart and navigation data |
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| CN104535066A (en) * | 2014-12-19 | 2015-04-22 | 大连海事大学 | Marine target and electronic chart superposition method and system in on-board infrared video image |
| CN104535066B (en) * | 2014-12-19 | 2017-07-11 | 大连海事大学 | The stacking method and system of naval target and electronic chart in a kind of boat-carrying Infrared video image |
| CN105137397B (en) * | 2015-08-06 | 2018-06-12 | 中电科技（合肥）博微信息发展有限责任公司 | One kind is based on ARM platform marine navigation radar echo high-resolution display methods |
| CN105137397A (en) * | 2015-08-06 | 2015-12-09 | 中国电子科技集团公司第三十八研究所 | Navigation radar echo high resolution display equipment, device and method |
| CN105204005A (en) * | 2015-10-19 | 2015-12-30 | 中国电子科技集团公司第二十八研究所 | VTS system radar return video display method based on geographic coordinate system |
| CN108241147A (en) * | 2018-02-06 | 2018-07-03 | 上海圆舟电子科技有限公司 | A kind of palm intelligent maritime affairs radar and its surface surveillance method |
| CN110196444A (en) * | 2019-05-14 | 2019-09-03 | 武汉理工大学 | Ship automatic positioning method and device based on marine radar |
| CN110196444B (en) * | 2019-05-14 | 2021-03-16 | 武汉理工大学 | Ship automatic positioning method and device based on ship radar |
| CN111025284A (en) * | 2019-11-19 | 2020-04-17 | 宁波盛域海洋电子科技有限公司 | Collision prevention system combining marine radar system and infrared photoelectric scanning |
| CN111323757A (en) * | 2019-12-30 | 2020-06-23 | 北京海兰信数据科技股份有限公司 | Target detection method and device for marine radar |
| CN111323757B (en) * | 2019-12-30 | 2022-04-05 | 北京海兰信数据科技股份有限公司 | Target detection method and device for marine radar |
| CN113376596A (en) * | 2021-05-31 | 2021-09-10 | 深圳市中科海信科技有限公司 | Automatic tuning technology for pulse navigation radar |
| CN113376596B (en) * | 2021-05-31 | 2024-01-02 | 深圳市中科海信科技有限公司 | Pulse navigation radar automatic tuning method |
| CN115829893A (en) * | 2022-11-23 | 2023-03-21 | 长江三峡集团福建能源投资有限公司 | Method, system and device for superposition display of vector radar images |
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Application publication date: 20110105 |