CN104535066A - Marine target and electronic chart superposition method and system in on-board infrared video image - Google Patents
Marine target and electronic chart superposition method and system in on-board infrared video image Download PDFInfo
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- G—PHYSICS
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- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/20—Instruments for performing navigational calculations
- G01C21/203—Specially adapted for sailing ships
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/005—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 with correlation of navigation data from several sources, e.g. map or contour matching
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- G06T7/70—Determining position or orientation of objects or cameras
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- G06T2207/00—Indexing scheme for image analysis or image enhancement
- G06T2207/10—Image acquisition modality
- G06T2207/10016—Video; Image sequence
- G06T2207/10021—Stereoscopic video; Stereoscopic image sequence
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Abstract
The invention discloses a marine target and electronic chart superposition method and a marine target and electronic chart superposition system in an on-board infrared video image. The method comprises the following steps: 1, acquiring and reading the on-board infrared video image; 2, segmenting a marine target in the on-board infrared video image, and positioning the marine target to acquire the position of the marine target relative to the ship; 3, calculating the corresponding geographical coordinates of the marine target according to the ship position of the ship, the real-time course of the ship, the orientation of an infrared thermal imager and the result of the step 2; 4, correcting the target position which corresponds to the marine target by utilizing corresponding AIS data; and 5, superposing the corrected marine target into an electronic chart so as to be displayed in a transparent mode. According to the method and system disclosed by the invention, the marine target and electronic chart in the on-board movable infrared video image are superposed and displayed by utilizing the infrared thermal imager, the detection and behavior identification capacities of seafaring personnel on the target in the seafaring sea area are enhanced, and the ship navigation safety is effectively improved.
Description
Technical field
Multiple field such as the present invention relates to marine navigation, naval target detection and autical instrument is integrated, specifically relates to stacking method and the system of naval target in a kind of boat-carrying Infrared video image and electronic chart.
Background technology
Along with the development of naval technology, increasing navigation instrument is applied to marine navigation field.Increasingly mature autical instrument is while providing for navigating officer and enriching navigation information, and it operates the work load too increasing them with navigation information process frequently.Therefore, the information from multiple autical instrument is carried out overall treatment, provide an integrated information environment to navigating officer, ship decision-making of can promptly going out for drill, improve the security of navigation, become the problem of current sea-freight circle's common concern.At present, the autical instruments such as electronic chart and compass, GPS, radar, AIS, sounder couple together by the shipping technology development co. of some advanced person, constitute so-called composite ship bridge system (IBS:Integrated Bridge System), achieve the integrated navigation of boats and ships.
In the navigation procedure of boats and ships, be an important problem to the detection of naval target in boats and ships institute's navigation territory.Target detection instrument common on ship has AIS and radar two kinds, and the former can obtain the information such as position, course, the speed of a ship or plane of target accurately, but is also equipped with AIS while that precondition being target; The latter can obtain the distance and bearing of target relative to this ship, but it is poor for target detection ability that is small and weak or non-metallic material, particularly under severe sea condition condition, target echo is easily submerged among sea clutter, and the target detected only presents with the form of " speck ", the detailed information of target cannot be obtained.
Summary of the invention
In view of the defect that prior art exists, the object of the invention is to provide stacking method and the system of naval target in a kind of boat-carrying Infrared video image and electronic chart, the present invention utilizes the good detectivity of infrared thermography and non-metallic material target small and weak to sea, boat-carrying is moved the naval target in Infrared video image and electronic chart Overlapping display, enhance navigating officer to the detection of institute's navigation territory internal object and Activity recognition ability, effectively improve the security of ship's navigation.
To achieve these goals, technical scheme that the present invention adopts is:
Naval target in boat-carrying Infrared video image and a stacking method for electronic chart, is characterized in that:
Naval target in Infrared video image and the additive process of electronic chart comprise:
Step 1, gather and read boat-carrying Infrared video image, and initialization boat-carrying infrared video buffer zone;
Step 2, be partitioned in above-mentioned boat-carrying Infrared video image naval target after; Described naval target is positioned, obtains the position of described naval target relative to this ship;
Step 3, accommodation according to this ship, the real-time course of this ship, infrared thermography towards and the result of step 2 calculate geographic coordinate corresponding to described naval target;
Step 4, the target location that the AIS data of utilization correspondence are corresponding to described naval target correct;
Step 5, being added in electronic chart in the mode of transparence by the naval target after calibrated shows.
Further, the collection of the boat-carrying Infrared video image in described step 1 realizes by arranging major-minor two infrared thermographies respectively, described two infrared thermographies carry out acquisition operations to the video image in boats and ships institute's navigation territory simultaneously, and wherein the boat-carrying Infrared video image that collects of main infrared thermography is for superposing with electronic chart; The boat-carrying Infrared video image that auxiliary infrared thermography collects is for having assisted the positioning action of described naval target.
Further, the naval target be partitioned in described step 2 in above-mentioned boat-carrying Infrared video image refers to and splits the naval target that described two infrared thermographies collect in boat-carrying Infrared video image respectively; Described described naval target to be positioned, obtain after described naval target refers to and collect in conjunction with two infrared thermographies the naval target that boat-carrying Infrared video image is partitioned into relative to the method for the position of this ship, utilize binocular visual positioning method to obtain the distance and bearing of described naval target relative to this ship.
Further, the method calculating geographic coordinate corresponding to described naval target in described step 3 refers to and utilizes GPS to obtain this ship real time position i.e. accommodation of this ship, compass is utilized to obtain the real-time course of this ship, and according to infrared thermography install towards and step 2 in obtain the position of described naval target relative to this ship, calculate the geographic coordinate of described naval target, we are referred to as the binocular location geographic coordinate of naval target for convenience.
Further, the method utilizing the position of AIS data to described naval target to correct in described step 4 comprises:
41: obtain all naval targets in AIS system and record geographic coordinate corresponding to described naval target;
42: for the binocular location geographic coordinate of each naval target described in obtaining in step 3, all calculate the distance between all naval target geographic coordinates in it and AIS system, and ask for minor increment;
43: if the binocular obtained in current procedures 3 locates a certain naval target geographic coordinate in geographic coordinate and AIS system
between distance minimum, and be less than threshold value, be then judged to be that above-mentioned two naval targets are same naval target, by this naval target geographic coordinate
the binocular location geographic coordinate of the described naval target obtained in alternative steps 3.
Further, if the current displaying ratio chi of electronic chart and center, viewing area change in described step 5, then the naval target in Infrared video image is repainted according to the geographic coordinate of naval target described in step 4.
Naval target in boat-carrying Infrared video image and an overlapping system for electronic chart, is characterized in that:
Comprise infrared thermography, video frequency collection card, GPS, compass, AIS system and naval target superpositing unit;
Described infrared thermography is for gathering boat-carrying Infrared video image;
Described video frequency collection card is for reading boat-carrying Infrared video image and being sent to described electronic chart display and infor mation system;
Described GPS is for obtaining this ship real time position;
Described compass is for obtaining the real-time course of this ship;
Described naval target superpositing unit comprises: naval target segmentation module, for splitting for the naval target in boat-carrying Infrared video image; Target location locating module, for positioning the above-mentioned naval target be partitioned into, obtains the position of described naval target relative to this ship; Geographic coordinate computing module, for calculating geographic coordinate corresponding to described naval target; Target location correction module, corrects for the position utilizing AIS data corresponding to described naval target; And display module, to be added in electronic chart in the mode of transparence for the naval target after position is calibrated and to show.
Further, described infrared thermography comprises main and auxiliary two infrared thermographies, and wherein the boat-carrying Infrared video image that collects of main infrared thermography is for superposing with electronic chart; The boat-carrying Infrared video image that auxiliary infrared thermography collects is for having assisted the positioning action of described naval target.
Further, described naval target segmentation module is used for splitting the naval target that described two infrared thermographies collect in boat-carrying Infrared video image respectively, be convenient to described target location locating module and collect in conjunction with two infrared thermographies the naval target that boat-carrying Infrared video image is partitioned into, and utilize binocular visual positioning method to obtain the position of described naval target relative to this ship.
Further, this ship real time position that described geographic coordinate computing module obtains for utilizing GPS, the real-time course of this ship of acquisition of compass, infrared thermography towards and described target location locating module obtain the position of described naval target relative to this ship, calculate the geographic coordinate that described naval target is corresponding, be designated as the binocular location geographic coordinate of naval target.
Further, described target location correction module comprises:
AIS obtains submodule: record geographic coordinate corresponding to described naval target for all naval targets of obtaining in AIS system;
Distance calculating sub module: for calculating the distance between all naval target geographic coordinates that geographic coordinate corresponding to the described naval target that obtains in described geographic coordinate computing module and AIS obtain in the AIS system that submodule obtains;
Syndrome module: for the naval target geographic coordinate in all naval target geographic coordinates in the geographic coordinate carrying out apart from calculating sub module finding in computation process to obtain in the described geographic coordinate computing module of calculating and AIS system
between minor increment, and when this minor increment is less than threshold value, judge that above-mentioned two naval targets are as same naval target, and by this naval target geographic coordinate
the geographic coordinate that the described naval target obtained in alternative described geographic coordinate computing module is corresponding.
Compared with prior art, beneficial effect of the present invention:
(1) naval target not being equipped with AIS can be detected, as nobby, pirate's ships and light boats and other floating marine things;
(2) detailed information of target can be obtained, as the size of target, the shape of target, if target is boats and ships, can also according to the shape of target determine its towards;
(3) naval target in Infrared video image is superposed with electronic chart, can from the behavioural characteristic of Infrared video image evaluating objects, and analyzing sailing situation in conjunction with sea chart element information, auxiliary navigating officer carries out sailing decision-making, drastically increases the security of ship's navigation.
Accompanying drawing explanation
Fig. 1 is the structured flowchart of overlapping system of the present invention;
Fig. 2 is the process flow diagram of stacking method specific embodiment of the present invention;
Fig. 3 is the arrangenent diagram of system hardware equipment of the present invention;
Fig. 4 is the functional block diagram of illustrated overlapping system.
In figure: 1, No. 1 infrared thermography, 2, No. 2 infrared thermographies, 3, gps antenna, 4, bow to, 5, binocular setting base, 6, infrared thermography towards.
Embodiment
In order to make object of the present invention, technical scheme and advantage clearly understand, below in conjunction with accompanying drawing, the present invention is further elaborated.
Infrared thermography not only has good detectivity to the target of non-metallic material, and can obtain more target detail information, as the shape, size etc. of target.In addition, electronic chart is as the core of marine navigator, most important to navigation safety, and it can not only show clear waters and foul water intuitively, but also is the basic display platform of IBS nucleus equipment.Therefore, each independently autical instrument and electronic chart are carried out integrated, is not only the subjective wishes of navigating officer, and is a kind of objective trend of marine navigation technical development.For meeting the requirement of naval target detection and integrative display, naval target in boat-carrying Infrared video image superposes with electronic chart by the present invention, this can not only realize detecting naval target that is small and weak and non-metallic material, obtain the detailed information of target, and by electronic chart, it can be shown intuitively, ensure the safe navigation of boats and ships to the utmost.
Based on above-mentioned purpose, the present invention devises the stacking method of naval target in a kind of boat-carrying Infrared video image and electronic chart, and key step comprises: gather boat-carrying Infrared video image and also split from video image by the naval target in boat-carrying Infrared video image; Adopt the distance and bearing of binocular visual positioning technology determination naval target this ship relative; The information obtained according to GPS and compass etc. calculates the geographic coordinate of this naval target; Then utilize the geographic coordinate of corresponding target in AIS data to correct the geographic coordinate of naval target in infrared image, finally the naval target split from Infrared video image is shown with the mode of the transparence electronic chart that is added to according to geographic coordinate.
Specifically, as Fig. 1---shown in Fig. 3, the present invention carries out the step that in infrared image, naval target and electronic chart carry out superposing and comprises:
Step 1, gather and read boat-carrying Infrared video image, and initialization boat-carrying infrared video buffer zone;
Step 2, be partitioned in above-mentioned boat-carrying Infrared video image naval target after; Described naval target is positioned, obtains the distance and bearing of described naval target relative to this ship;
Step 3, calculate geographic coordinate corresponding to described naval target;
Step 4, the target location utilizing AIS data corresponding to described naval target correct;
Step 5, being added in electronic chart in the mode of transparence by the naval target after calibrated shows.
The collection of the boat-carrying Infrared video image in described step 1 realizes by arranging major-minor two infrared thermographies respectively, described two infrared thermographies carry out acquisition operations to Infrared video image simultaneously, wherein an infrared thermography is main infrared thermography, and the boat-carrying Infrared video image that it collects is for superposing with electronic chart; Another infrared thermography is auxiliary infrared thermography, and the boat-carrying Infrared video image that it collects completes the positioning action of described naval target for auxiliary main infrared thermography.
The naval target be partitioned in described step 2 in above-mentioned boat-carrying Infrared video image refers to and utilizes adaptive threshold method to split in Sea background described two infrared thermography naval targets collected in boat-carrying Infrared video image respectively, in view of above-mentioned naval target quantity may be multiple, be assumed to be M, the position that therefore can occur in boat-carrying Infrared video image according to it each naval target above-mentioned is numbered (can self-defining, as according to from left to right, number consecutively etc. from top to bottom), described described naval target to be positioned, obtain described naval target to refer to relative to the method for the position of this ship and collect in conjunction with auxiliary infrared thermography the current naval target that boat-carrying Infrared video image is partitioned into successively according to number order, binocular visual positioning method is utilized to position the current naval target that the boat-carrying Infrared video image that main infrared thermography collects is partitioned into, obtain main infrared thermography and collect current naval target that boat-carrying Infrared video image the is partitioned into position relative to binocular setting base, the position of current naval target relative to this ship can be obtained.
The method calculating geographic coordinate corresponding to naval target in described step 3 refers to and utilizes GPS to obtain this ship real time GPS position (position of this ship), is designated as by geographic coordinate
compass is utilized to obtain the real-time course of this ship, be designated as C, and the position of installing according to infrared thermography and install towards, gps antenna position (due to infrared thermography installation site and gps antenna installation site comparatively closely, can think the coordinate of binocular setting base
with read GPS location identical) and step 2 in obtain the position of described naval target relative to this ship, calculate the geographic coordinate of current naval target.
Namely utilize formula (1) and formula (2) that the geographic coordinate of i-th (1≤i≤M) individual naval target can be calculated
λ
iT＝λ
O+Rcos(C+θ+α)/1852(′) (2)
Wherein: R be in described step 2 target relative to the distance of this ship;
θ be infrared thermography towards with bow to angle, if infrared thermography is towards the larboard of boats and ships, then θ <0; If infrared thermography is towards the starboard of boats and ships, then θ >0; If when infrared thermography is identical towards boats and ships direction, then θ=0;
α be naval target to binocular setting base line and thermal imaging system towards the angle of line, if binocular setting base to naval target line at the left side of thermal imaging system towards line, then α <0; If binocular setting base to naval target line at the right side of thermal imaging system towards line, then α >0; Binocular setting base is identical towards the direction of line with thermal imaging system to naval target line, then α=0.
The method that the target location utilizing AIS data corresponding to described naval target in described step 4 corrects comprises:
41: obtain all naval targets in AIS system and record geographic coordinate corresponding to all described naval targets, same described naval target quantity may be multiple, therefore suppose that its quantity is N, the geographic coordinate of jth (1≤j≤N) individual target is designated as
42: the distance between geographic coordinate corresponding to each naval target described obtained in calculation procedure 3 and all naval target geographic coordinates obtaining in AIS system, and be designated as D
ij, and make D
i=min{D
i1, D
i2... D
iN;
43: if the geographic coordinate obtained in current procedures 3 and a certain naval target geographic coordinate in all naval target geographic coordinates obtained in AIS system
between distance minimum, and be less than threshold value, be then judged to be that they are same naval target, by this naval target geographic coordinate
the geographic coordinate that the described naval target obtained in alternative steps 3 is corresponding.
Preferably, if the current displaying ratio chi of electronic chart and center, viewing area change in described step 5, then the naval target in Infrared video image is repainted according to the geographic coordinate of naval target described in step 4.
Corresponding embodiment is: the naval target in described a kind of boat-carrying Infrared video image and the stacking method of electronic chart, as shown in Figure 2, comprise
1: the video image reading No. 1 infrared thermography and No. 2 infrared thermographies, initialization boat-carrying infrared video buffer zone;
2: detect the naval target in video image captured by No. 1 infrared thermography;
3: the naval target in video image captured by No. 1 infrared thermography is split from background image, and the target in image is numbered, hypothetical target quantity is M, described target designation is by the position therefore occurred in the picture according to target: Tgt1-1, Tgt1-2 ... Tgt1-M;
4: repeat step 2 and step 3, split by the naval target in video image captured by 2 infrared thermographies, and take same method to be numbered target, the numbering of target is respectively: Tgt2-1, Tgt2-2 ... Tgt2-M;
5: adopt 8 directional chain-code to express the target in No. 1 and No. 2 infrared thermography video images respectively, obtain Tgt-Chain1-1, Tgt-Chain1-2 ... Tgt-Chain1-N and Tgt-Chain2-1, Tgt-Chain2-2 ... Tgt-Chain2-N;
6: adopt dynamic time warping algorithm to mate the target in No. 1 infrared thermography and No. 2 infrared thermography video images;
7: utilize binocular visual positioning method to position this target, obtain the position of this target relative to this ship, it comprises distance and bearing;
8: the real time position reading this ship from GPS, from compass, obtain this ship's head, and the position of installing according to gps antenna and infrared thermography towards etc., calculate the geographic position of naval target in No. 1 infrared thermography video image;
9: the positional information obtaining each target in AIS;
10: to each target in No. 1 infrared thermography video image, calculate the minor increment with each target in AIS respectively, if this minor increment is less than threshold value 5%R (R is the distance that target arrives this ship), then think and this target in infrared image and the success of the object matching in AIS the positional information of the target in infrared thermography video image is replaced with the position of target in AIS; If be all greater than threshold value 5%R with the minor increment of targets all in AIS, then illustrate that this target does not install AIS, it is directly the positional information after correcting by the position information confirming of the target in infrared thermography video image, naval target after whole correction is designated as Tgt1-1 ', Tgt1-2 ' ... Tgt1-M ';
11: by all naval target Tgt1-1 ', Tgt1-2 ' after correction ... Tgt1-M ', to be superimposed upon on electronic chart in the mode of transparence according to its geographic position and to show.
It should be noted that the result obtained according to binocular visual positioning in 7 is a relative position information, being current naval target relative to the position of No. 1 infrared thermography and No. 2 infrared thermography binocular setting bases, is not the geographic coordinate of this target.
It should be noted that 8 is the position of installing according to infrared thermography and the geographic coordinate calculating target towards the target in (because infrared thermography installation site and gps antenna installation site are comparatively near, can think that the coordinate of binocular setting base is identical with this ship position of GPS of reading) and 7 such as the positions that, gps antenna is installed relative to the distance azimuth information of this ship.
Present invention also offers the overlapping system of naval target in a kind of boat-carrying Infrared video image and electronic chart, it comprises infrared thermography, video frequency collection card, GPS, compass, AIS system and naval target superpositing unit, it is laid as shown in Figure 3, GPS, compass, AIS system is connected with naval target superpositing unit by RS232 or RS485 interface, according to the requirement of binocular location, No. 1 infrared thermography and No. 2 infrared thermographies are combined simultaneously, be arranged in the position near gps antenna on compass deck, and measure infrared thermography towards with bow to angle theta, if it is negative towards larboard θ, just be towards starboard θ.In addition, No. 1 infrared thermography is identical with No. 2 infrared thermography resolution, is all connected with naval target superpositing unit (PC system) by video frequency collection card.
Described infrared thermography is used for Real-time Collection boat-carrying Infrared video image; Described infrared thermography comprises main and auxiliary two infrared thermographies, and wherein the boat-carrying Infrared video image that collects of main infrared thermography (No. 1) is for superposing with electronic chart; The boat-carrying Infrared video image that auxiliary infrared thermography (No. 2) collects completes the positioning action of described naval target for auxiliary main infrared thermography (No. 1).
Described video frequency collection card is for reading boat-carrying Infrared video image and being sent to naval target superpositing unit; Described GPS is for obtaining this ship real time position; Described compass is for obtaining the real-time course of this ship;
As Fig. 4, naval target superpositing unit comprises: naval target segmentation module, for splitting the naval target that described two infrared thermographies collect in boat-carrying Infrared video image respectively, be convenient to described target location locating module and collect in conjunction with two infrared thermographies the naval target that boat-carrying Infrared video image is partitioned into, utilize binocular visual positioning method to obtain the position of described naval target relative to this ship.
Target location locating module, for according to the above-mentioned naval target be partitioned in above-mentioned boat-carrying Infrared video image, positions the naval target of correspondence, obtains the position of described naval target relative to this ship.
Its detailed process is: described two infrared thermography naval targets collected in boat-carrying Infrared video image utilize adaptive threshold method to split in Sea background by naval target segmentation module respectively, in view of above-mentioned naval target quantity may be multiple, be assumed to be M, the position that therefore can occur in boat-carrying Infrared video image according to it each naval target above-mentioned is numbered (can self-defining, as according to from left to right, number consecutively etc. from top to bottom); Target location locating module collects in conjunction with auxiliary infrared thermography the current naval target that boat-carrying Infrared video image is partitioned into successively according to number order, utilize binocular visual positioning method to collect to main infrared thermography the current naval target that boat-carrying Infrared video image is partitioned into position, obtain main infrared thermography and collect the current naval target that boat-carrying Infrared video image is partitioned into and can obtain the position of current naval target relative to this ship relative to the position of binocular setting base.
Geographic coordinate computing module, the real-time course of this ship of acquisition of this ship real time position that namely geographic coordinate for calculating described naval target utilizes GPS to obtain and compass, the position of installing according to infrared thermography and obtain the position of described naval target relative to this ship towards the position that, gps antenna is installed and described target location locating module, calculates the geographic coordinate of described naval target.It is specially and utilizes GPS to obtain this ship real time GPS position, is designated as by geographic coordinate
compass is utilized to obtain the real-time course of this ship, be designated as C, and the position of installing according to infrared thermography and install towards, gps antenna position (due to infrared thermography installation site and gps antenna installation site comparatively closely, can think the coordinate of binocular setting base
with read GPS location identical) and target location locating module in obtain the position of described naval target relative to this ship, calculate the geographic coordinate of described naval target.
Namely formula (1) and formula (2 can) be utilized to calculate the geographic coordinate of i-th naval target
λ
iT＝λ
O+Rcos(C+θ+α)/1852(′) (2)
Wherein: R be in described step 2 target relative to the distance of this ship;
θ be infrared thermography towards with bow to angle, if infrared thermography is towards the larboard of boats and ships, then θ <0; If infrared thermography is towards the starboard of boats and ships, then θ >0; If when infrared thermography is identical towards boats and ships direction, then θ=0;
α be naval target to binocular setting base line and thermal imaging system towards the angle of line, if binocular setting base to naval target line at the left side of thermal imaging system towards line, then α <0; If binocular setting base to naval target line at the right side of thermal imaging system towards line, then α >0; Binocular setting base is identical towards the direction of line with thermal imaging system to naval target line, then α=0.
And target location correction module, correct for the target location utilizing AIS data corresponding to described naval target; And display module, show for the naval target after calibrated is added in electronic chart in the mode of transparence.
Further, described target location correction module comprises:
AIS obtains submodule: record geographic coordinate corresponding to all described naval targets for all naval targets of obtaining in AIS system, same described naval target quantity may be multiple, therefore suppose that its quantity is N, the geographic coordinate of jth (1≤j≤N) individual target is designated as
Distance calculating sub module: geographic coordinate and AIS for calculating the described naval target obtained in described geographic coordinate computing module obtain the distance between all naval target geographic coordinates in the AIS system that submodule obtains, and are designated as D
ij, and make D
i=min{D
i1, D
i2... D
iN;
Syndrome module: calculate the geographic coordinate and a certain naval target geographic coordinate in all naval target geographic coordinates obtained in AIS system that obtain in described geographic coordinate computing module for carrying out discovery in computation process in distance calculating sub module
between minor increment when being less than threshold value, judge that above-mentioned two naval targets are as same naval target, and by this naval target geographic coordinate
substitute in described geographic coordinate computing module the correction data of geographic coordinate corresponding to the described naval target that obtains as correspondence, if there is not the geographic coordinate meeting above-mentioned decision condition simultaneously, then the geographic coordinate that the direct described naval target calculated by geographic coordinate computing module is corresponding is as the correction data of correspondence.
As shown in Figure 1, Figure 3, the specific works flow process of native system is:
First, the video image of No. 1 infrared thermography is obtained by video frequency collection card, adaptive threshold method is utilized to be split from Sea background by naval target, and the position occurred in the picture according to target is numbered it and (is set as from left to right here, number consecutively from top to bottom), hypothetical target add up to M.As a rule, because the gray-scale value of naval target and the gray-scale value of Sea background have obvious difference, generally speaking the gray-scale value of target is higher than the gray-scale value of Sea background, the grey level histogram of boat-carrying Infrared video image will present the feature of bimodal hangover, and this point is very favourable for the setting of Target Segmentation threshold value.
Secondly, target location locating module, in conjunction with the video image of No. 2 infrared thermographies, utilizes binocular location technology to position M the target extracted in No. 1 infrared thermography video image, obtains the position of all targets relative to binocular setting base.Wherein, the distance of the i-th (1≤i≤M) individual target and binocular setting base is designated as R
i(unit is: m).Target and binocular setting base line and thermal imaging system are α towards the angle of line
i, wherein target is negative at infrared thermography on the left of line, and right side is just.
Then, geographic coordinate computing module reads the GPS location of this ship, is designated as by geographic coordinate
read this ship towards, be designated as C, because infrared thermography installation site and gps antenna installation site are comparatively near, the coordinate of binocular setting base can be thought
identical with the GPS location read.Formula (1) and formula (2) is utilized to calculate the geographic coordinate of i-th naval target
λ
iT＝λ
O+Rcos(C+θ+α)/1852(′) (2)
Wherein: R be in described step 2 target relative to the distance of this ship;
θ be infrared thermography towards with bow to angle, if infrared thermography is towards the larboard of boats and ships, then θ <0; If infrared thermography is towards the starboard of boats and ships, then θ >0; If when infrared thermography is identical towards boats and ships direction, then θ=0;
α be naval target to binocular setting base line and thermal imaging system towards the angle of line, if binocular setting base to naval target line at the left side of thermal imaging system towards line, then α <0; If binocular setting base to naval target line at the right side of thermal imaging system towards line, then α >0; Binocular setting base is identical towards the direction of line with thermal imaging system to naval target line, then α=0.
Subsequently, AIS obtains submodule and obtains all targets of recognizing of AIS, and is numbered target, hypothetical target add up to N.Record the geographic coordinate of all targets, the geographic coordinate of jth (1≤j≤N) individual target is designated as
distance calculating sub module, to each target in boat-carrying Infrared video image, calculates the geographic coordinate of binocular location
with the geographic coordinate of all targets obtained from AIS
between distance, and be designated as D
ij, and make D
i=min{D
i1, D
i2... D
iN.If D
i<5%R
i, syndrome module judges that i-th target in boat-carrying Infrared video image and the jth target in AIS are as same target, replaces the coordinate of the boat-carrying infrared image binocular location of target, with target AIS geographic coordinate shown in (3).
Finally, display module sets up blank memory bitmap, electronic chart data is drawn in geographic position according to current displaying ratio chi, display area size and center, viewing area, and Vitrification management is carried out to the naval target split in boat-carrying infrared video figure, and then carry out Overlapping display according to the geographic coordinate of target and electronic chart.
The above; be only the present invention's preferably embodiment; but protection scope of the present invention is not limited thereto; anyly be familiar with those skilled in the art in the technical scope that the present invention discloses; be equal to according to technical scheme of the present invention and inventive concept thereof and replace or change, all should be encompassed within protection scope of the present invention.
Claims (10)
1. the naval target in boat-carrying Infrared video image and a stacking method for electronic chart, is characterized in that:
Naval target in Infrared video image and the additive process of electronic chart comprise:
Step 1, gather and read boat-carrying Infrared video image, and initialization boat-carrying infrared video buffer zone;
Step 2, be partitioned in above-mentioned boat-carrying Infrared video image naval target after; Described naval target is positioned, obtains the position of described naval target relative to this ship;
Step 3, accommodation according to this ship, the real-time course of this ship, infrared thermography towards and the result of step 2 calculate geographic coordinate corresponding to described naval target;
Step 4, the target location that the AIS data of utilization correspondence are corresponding to described naval target correct;
Step 5, being added in electronic chart in the mode of transparence by the naval target after calibrated shows.
2. the naval target in boat-carrying Infrared video image according to claim 1 and the stacking method of electronic chart, is characterized in that:
The collection of the boat-carrying Infrared video image in described step 1 realizes by arranging major-minor two infrared thermographies respectively, described two infrared thermographies carry out acquisition operations to the video image in boats and ships institute's navigation territory simultaneously, and wherein the boat-carrying Infrared video image that collects of main infrared thermography is for superposing with electronic chart; The boat-carrying Infrared video image that auxiliary infrared thermography collects is for having assisted the positioning action of described naval target.
3. the naval target in boat-carrying Infrared video image according to claim 1 and the stacking method of electronic chart, is characterized in that:
The naval target be partitioned in described step 2 in above-mentioned boat-carrying Infrared video image refers to be split the naval target that described two infrared thermographies collect in boat-carrying Infrared video image respectively; Described described naval target to be positioned, obtain after described naval target refers to and collect in conjunction with two infrared thermographies the naval target that boat-carrying Infrared video image is partitioned into relative to the method for the position of this ship, utilize binocular visual positioning method to obtain the distance and bearing of described naval target relative to this ship.
4. the naval target in boat-carrying Infrared video image according to claim 1 and the stacking method of electronic chart, is characterized in that:
The method calculating geographic coordinate corresponding to described naval target in described step 3 refers to and utilizes GPS to obtain this ship real time position i.e. accommodation of this ship, compass is utilized to obtain the real-time course of this ship, and according to infrared thermography install towards and step 2 in obtain the position of described naval target relative to this ship, calculate the geographic coordinate of described naval target, be designated as the binocular location geographic coordinate of naval target.
5. the naval target in boat-carrying Infrared video image according to claim 4 and the stacking method of electronic chart, is characterized in that:
The method utilizing the position of AIS data to described naval target to correct in described step 4 comprises:
41: obtain all naval targets in AIS system and record geographic coordinate corresponding to described naval target;
42: for the binocular location geographic coordinate of each naval target described in obtaining in step 3, all calculate the distance between all naval target geographic coordinates in it and AIS system, and ask for minor increment;
43: if the binocular obtained in current procedures 3 locates a certain naval target geographic coordinate in geographic coordinate and AIS system
between distance minimum, and be less than threshold value, be then judged to be that above-mentioned two naval targets are same naval target, by this naval target geographic coordinate
the binocular location geographic coordinate of the described naval target obtained in alternative steps 3.
6. the naval target in boat-carrying Infrared video image and an overlapping system for electronic chart, is characterized in that:
Comprise infrared thermography, video frequency collection card, GPS, compass, AIS system and naval target superpositing unit;
Described infrared thermography is for gathering boat-carrying Infrared video image;
Described video frequency collection card is for reading boat-carrying Infrared video image and being sent to described electronic chart display and infor mation system;
Described GPS is for obtaining this ship real time position;
Described compass is for obtaining the real-time course of this ship;
Described naval target superpositing unit comprises: naval target segmentation module, for splitting for the naval target in boat-carrying Infrared video image; Target location locating module, for positioning the above-mentioned naval target be partitioned into, obtains the position of described naval target relative to this ship; Geographic coordinate computing module, for calculating geographic coordinate corresponding to described naval target; Target location correction module, corrects for the position utilizing AIS data corresponding to described naval target; And display module, to be added in electronic chart in the mode of transparence for the naval target after position is calibrated and to show.
7. the naval target in boat-carrying Infrared video image according to claim 6 and the overlapping system of electronic chart, it is characterized in that: described infrared thermography comprises main and auxiliary two infrared thermographies, wherein the boat-carrying Infrared video image that collects of main infrared thermography is for superposing with electronic chart; The boat-carrying Infrared video image that auxiliary infrared thermography collects is for having assisted the positioning action of described naval target.
8. the naval target in boat-carrying Infrared video image according to claim 6 and the overlapping system of electronic chart, it is characterized in that: described naval target segmentation module is used for splitting the naval target that described two infrared thermographies collect in boat-carrying Infrared video image respectively, be convenient to described target location locating module and collect in conjunction with two infrared thermographies the naval target that boat-carrying Infrared video image is partitioned into, and utilize binocular visual positioning method to obtain the position of described naval target relative to this ship.
9. the naval target in boat-carrying Infrared video image according to claim 6 and the overlapping system of electronic chart, it is characterized in that: this ship real time position that described geographic coordinate computing module obtains for utilizing GPS, the real-time course of this ship of acquisition of compass, infrared thermography towards and described target location locating module obtain the position of described naval target relative to this ship, calculate geographic coordinate corresponding to described naval target be designated as naval target binocular location geographic coordinate.
10. the naval target in boat-carrying Infrared video image according to claim 6 and the overlapping system of electronic chart, is characterized in that:
Described target location correction module comprises:
AIS obtains submodule: record geographic coordinate corresponding to described naval target for all naval targets of obtaining in AIS system;
Distance calculating sub module: for calculating the distance between all naval target geographic coordinates that geographic coordinate corresponding to the described naval target that obtains in described geographic coordinate computing module and AIS obtain in the AIS system that submodule obtains;
Syndrome module: for the naval target geographic coordinate in all naval target geographic coordinates in the geographic coordinate carrying out apart from calculating sub module finding in computation process to obtain in the described geographic coordinate computing module of calculating and AIS system
between minor increment, and when this minor increment is less than threshold value, judge that above-mentioned two naval targets are as same naval target, and by this naval target geographic coordinate
the geographic coordinate that the described naval target obtained in alternative described geographic coordinate computing module is corresponding.
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