CN104535066B - The stacking method and system of naval target and electronic chart in a kind of boat-carrying Infrared video image - Google Patents
The stacking method and system of naval target and electronic chart in a kind of boat-carrying Infrared video image Download PDFInfo
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- CN104535066B CN104535066B CN201410811480.XA CN201410811480A CN104535066B CN 104535066 B CN104535066 B CN 104535066B CN 201410811480 A CN201410811480 A CN 201410811480A CN 104535066 B CN104535066 B CN 104535066B
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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
- G01C21/20—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
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T3/00—Geometric image transformation in the plane of the image
- G06T3/40—Scaling the whole image or part thereof
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/70—Determining position or orientation of objects or cameras
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- 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
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2207/00—Indexing scheme for image analysis or image enhancement
- G06T2207/10—Image acquisition modality
- G06T2207/10048—Infrared image
Abstract
The invention discloses the naval target in a kind of boat-carrying Infrared video image and the stacking method and system of electronic chart, its method includes：1st, gather and read boat-carrying Infrared video image；2nd, it is partitioned into after the naval target in above-mentioned boat-carrying Infrared video image；The naval target is positioned, position of the naval target relative to this ship is obtained；3rd, the corresponding geographical coordinate of the naval target is calculated according to the accommodation of this ship, the real-time course of this ship, the direction of infrared thermography and 2 result；4th, the corresponding target location of the naval target is corrected using corresponding AIS data；5th, the naval target after will be calibrated, which is added in the way of transparence in electronic chart, to be shown.The present invention moves boat-carrying using infrared thermography naval target and electronic chart Overlapping display in Infrared video image, enhances detection and Activity recognition ability of the navigating officer to target in institute's navigation domain, effectively increases the security of ship's navigation.
Description
Technical field
The present invention relates to marine navigation, naval target detection and the multiple fields such as autical instrument is integrated, specifically relate to
And naval target and the stacking method and system of electronic chart in a kind of boat-carrying Infrared video image.
Background technology
With continuing to develop for naval technology, increasing navigation instrument is applied to marine navigation field.Increasingly into
Ripe autical instrument for navigating officer while abundant navigation information is provided, and it is frequently operated also increases with navigation information processing
Their work load is added.Therefore, the information from a variety of autical instruments is subjected to integrated treatment, one is provided to navigating officer
Individual integrated information environment, can promptly go out for drill ship decision-making, improve the security of navigation, have become current sea-freight
The problem of boundary's common concern.At present, some advanced shipping technology development co.s are by electronic chart and compass, GPS, thunder
Reach, the autical instrument such as AIS, sounding instrument is connected, and constitutes so-called comprehensive Bridge System (IBS:Integrated
Bridge System), realize the integrated navigation of ship.
In the navigation procedure of ship, the problem of to the detection of naval target in ship institute's navigation domain be one important.Ship
Upper common target acquisition instrument has two kinds of AIS and radar, and the former can accurately obtain position, course, the speed of a ship or plane of target etc.
Information, but precondition is target while being also equipped with AIS；The latter can obtain distance and bearing of the target relative to this ship,
But poor for small and weak or non-metallic material target acquisition ability, particularly target echo easily floods under the conditions of severe sea condition
Not among sea clutter, and the target detected is presented only in the form of " speck ", it is impossible to obtain the detailed information of target.
The content of the invention
In view of the defect that prior art is present, the invention aims to provide the sea in a kind of boat-carrying Infrared video image
The stacking method and system of upper target and electronic chart, the present invention is using infrared thermography to marine small and weak and non-metallic material
The good detectivity of target, boat-carrying is moved the naval target and electronic chart Overlapping display in Infrared video image, enhancing
Detection and Activity recognition ability of the navigating officer to target in institute's navigation domain, effectively increases the security of ship's navigation.
To achieve these goals, the present invention use technical scheme for：
A kind of stacking method of naval target and electronic chart in boat-carrying Infrared video image, it is characterised in that：
The additive process of naval target and electronic chart in Infrared video image includes：
Step 1, gather and read boat-carrying Infrared video image, and initialize boat-carrying infrared video buffering area；
After step 2, the naval target being partitioned into above-mentioned boat-carrying Infrared video image；The naval target is determined
Position, obtains position of the naval target relative to this ship；
Step 3, the accommodation according to this ship, the real-time course of this ship, the result meter of the direction of infrared thermography and step 2
Calculate the corresponding geographical coordinate of the naval target；
Step 4, using corresponding AIS data the corresponding target location of the naval target is corrected；
Step 5, will be calibrated after naval target be added in electronic chart and shown in the way of transparence.
Further, the collection of the boat-carrying Infrared video image in the step 1 be by set respectively major-minor two it is red
What outer thermal imaging system was realized, two infrared thermographies are acquired behaviour to the video image in ship institute's navigation domain simultaneously
Make, wherein the boat-carrying Infrared video image that main infrared thermography is collected is used to be overlapped with electronic chart；Auxiliary infrared heat
The boat-carrying Infrared video image that imager is collected is used for the positioning action for aiding in completing the naval target.
Further, it is right respectively that the naval target being partitioned into the step 2 in above-mentioned boat-carrying Infrared video image refers to
The naval target that two infrared thermographies are collected in boat-carrying Infrared video image is split；It is described to the sea
Target is positioned, and is obtained the naval target and is referred to adopt with reference to two infrared thermographies relative to the method for the position of this ship
Collect after the naval target that boat-carrying Infrared video image is partitioned into, the naval target phase is obtained using binocular visual positioning method
For the distance and bearing of this ship.
Further, the method that the corresponding geographical coordinate of the naval target is calculated in the step 3 refers to obtain using GPS
This ship real time position i.e. accommodation of this ship is taken, the real-time course of this ship is obtained using compass, and installed according to infrared thermography
Position of the naval target relative to this ship is obtained in direction and step 2, the geographical coordinate of the naval target is calculated,
For convenience geographical coordinate is positioned we term it the binocular of naval target.
Further, the method bag being corrected in the step 4 using AIS data to the position of the naval target
Include：
41：Obtain all naval targets in AIS systems and record the corresponding geographical coordinate of the naval target；
42：Position geographical coordinate for the binocular of each naval target described in being obtained in step 3, calculate it with
The distance between all naval target geographical coordinates in AIS systems, and ask for minimum range；
43：If the binocular positioning geographical coordinate and a certain naval target geographical coordinate in AIS systems that are obtained in current procedures 3The distance between minimum, and less than threshold value, then it is same naval target to be determined as above-mentioned two naval target, by this
Naval target geographical coordinateThe binocular positioning geographical coordinate of the naval target obtained in alternative steps 3.
Further, if the currently displaying engineer's scale of electronic chart and viewing area center become in the step 5
Change, then the geographical coordinate of the naval target according to step 4 repaints the naval target in Infrared video image.
A kind of overlapping system of naval target and electronic chart in boat-carrying Infrared video image, it is characterised in that：
Including infrared thermography, video frequency collection card, GPS, compass, AIS systems and naval target superpositing unit；
The infrared thermography is used to gather boat-carrying Infrared video image；
The video frequency collection card is used to read boat-carrying Infrared video image and sent to the electronic Chart Display and information
System；
The GPS is used to obtain this ship real time position；
The compass is used to obtain the real-time course of this ship；
The naval target superpositing unit includes：Naval target splits module, for in boat-carrying Infrared video image
Naval target split；Target location locating module, for being positioned to the above-mentioned naval target being partitioned into, obtains institute
State position of the naval target relative to this ship；Geographical coordinate computing module, for calculating the corresponding geographical seat of the naval target
Mark；Target location correction module, for being corrected using AIS data to the corresponding position of the naval target；And display
Module, is shown for naval target of the position after calibrated to be added in the way of transparence in electronic chart.
Further, the infrared thermography includes main and auxiliary two infrared thermographies, wherein main infrared thermography
The boat-carrying Infrared video image collected is used to be overlapped with electronic chart；The boat-carrying that auxiliary infrared thermography is collected is infrared
Video image is used for the positioning action for aiding in completing the naval target.
Further, the naval target segmentation module is used to collect boat-carrying to two infrared thermographies respectively
Naval target in Infrared video image is split, and is easy to the target location locating module to combine two infrared thermographies
The naval target that boat-carrying Infrared video image is partitioned into is collected, and the naval target is obtained using binocular visual positioning method
Relative to the position of this ship.
Further, the geographical coordinate computing module is used for this ship real time position obtained using GPS, the acquisition of compass
The real-time course of this ship, infrared thermography direction and the target location locating module obtain the naval target relative to this
The position of ship, calculates the corresponding geographical coordinate of the naval target, is designated as the binocular positioning geographical coordinate of naval target.
Further, the target location correction module includes：
AIS acquisition submodules：For obtaining all naval targets in AIS systems and to record the naval target corresponding
Geographical coordinate；
Apart from calculating sub module：The naval target obtained for calculating in the geographical coordinate computing module is corresponding
The distance between all naval target geographical coordinates in the AIS systems that geographical coordinate is obtained with AIS acquisition submodules；
Correction module：For finding that calculating the geographical coordinate calculates in calculating process is carried out apart from calculating sub module
The geographical coordinate obtained in module and the naval target geographical coordinate in all naval target geographical coordinates in AIS systemsBetween minimum range, and when the minimum range be less than threshold value when, judge above-mentioned two naval target as same sea
Upper target, and by the naval target geographical coordinateSubstitute the sea obtained in the geographical coordinate computing module
The corresponding geographical coordinate of target.
Compared with prior art, beneficial effects of the present invention：
(1) naval target for being not equipped with AIS, such as nobby, pirate's ships and light boats and other floating marines can be detected
Thing；
(2) detailed information of target, the size of such as target, the shape of target can be obtained, if target is ship, moreover it is possible to
Its direction is determined according to the shape of target；
(3) naval target in Infrared video image and electronic chart are overlapped, can be from Infrared video image point
The behavioural characteristic of target is analysed, and combines sea chart element information analysis sailing situation, auxiliary navigating officer carries out sailing decision-making, greatly
Ground improves the security of ship's navigation.
Brief description of the drawings
Fig. 1 is the structured flowchart of overlapping system of the present invention；
Fig. 2 is the flow chart of stacking method specific embodiment of the present invention；
Fig. 3 is the layout drawing of system hardware equipment of the present invention；
The functional block diagram of Fig. 4 overlapping systems shown in the present invention.
In figure：1st, No. 1 infrared thermography, 2, No. 2 infrared thermographies, 3, gps antenna, 4, bow to, 5, binocular it is fixed
Position basic point, 6, infrared thermography direction.
Embodiment
In order to make the purpose , technical scheme and advantage of the present invention be clearer, below in conjunction with accompanying drawing, the present invention is entered
Row is further described.
Infrared thermography not only has good detectivity to the target of non-metallic material, and results in more
Target detail information, the shape of such as target, size.In addition, core of the electronic chart as marine navigator, to navigation
Safety is most important, and it can not only intuitively show clear waters and foul water, but also be the basis of IBS nucleus equipments
Display platform.Therefore, it is each independent autical instrument and electronic chart progress is integrated, the subjective wishes of navigating officer is not only,
And be a kind of objective trend of marine navigation technology development.To meet naval target detection and the requirement of integrative display, this hair
Naval target in the bright Infrared video image by boat-carrying is overlapped with electronic chart, and this can not only be realized to small and weak and non-gold
The naval target of category material is detected, and obtains the detailed information of target, and can intuitively be opened up it by electronic chart
Reveal and, the safe navigation of ship has been ensured to the utmost.
Based on above-mentioned purpose, the naval target devised in a kind of boat-carrying Infrared video image and electronic chart of the invention
Stacking method, key step includes：Gather boat-carrying Infrared video image and by the naval target in boat-carrying Infrared video image from
Split in video image；Distance and bearing of the naval target with respect to this ship is determined using binocular visual positioning technology；According to
The information that GPS and compass etc. are obtained calculates the geographical coordinate of the naval target；Then the ground of correspondence target in AIS data is utilized
In reason coordinate pair infrared image the geographical coordinate of naval target is corrected, and will finally be split from Infrared video image
Naval target is added in the way of transparence on electronic chart according to geographical coordinate and shown.
Specifically, such as Fig. 1 --- shown in Fig. 3, the present invention carries out naval target in infrared image and carried out with electronic chart
The step of superposition, includes：
Step 1, gather and read boat-carrying Infrared video image, and initialize boat-carrying infrared video buffering area；
After step 2, the naval target being partitioned into above-mentioned boat-carrying Infrared video image；The naval target is determined
Position, obtains distance and bearing of the naval target relative to this ship；
Step 3, the corresponding geographical coordinate of the calculating naval target,；
Step 4, using AIS data the corresponding target location of the naval target is corrected；
Step 5, will be calibrated after naval target be added in electronic chart and shown in the way of transparence.
The collection of boat-carrying Infrared video image in the step 1 is by setting major-minor two infrared thermographies respectively
Realize, two infrared thermographies are acquired operation to Infrared video image simultaneously, wherein an infrared thermal imaging
Instrument is main infrared thermography, and its boat-carrying Infrared video image collected is used to be overlapped with electronic chart；Another red
Infrared thermography supplemented by outer thermal imaging system, its boat-carrying Infrared video image collected is used to aid in main infrared thermography complete
Into the positioning action of the naval target.
The naval target being partitioned into the step 2 in above-mentioned boat-carrying Infrared video image refers to red by described two respectively
The naval target that outer thermal imaging system is collected in boat-carrying Infrared video image is divided using adaptive threshold method from Sea background
Cut out, in view of above-mentioned naval target quantity may be multiple, it is assumed that for M, therefore can be to each above-mentioned naval target foundation
Its position occurred in boat-carrying Infrared video image be numbered (can self-defining, such as according to from left to right, from top to bottom according to
Secondary numbering etc.)；Described that the naval target is positioned, obtain the naval target is relative to the method for the position of this ship
Refer to and collect the current marine mesh that boat-carrying Infrared video image is partitioned into reference to auxiliary infrared thermography successively according to number order
Mark, the current sea being partitioned into using binocular visual positioning method to the boat-carrying Infrared video image that main infrared thermography is collected
Upper target is positioned, and is obtained main infrared thermography and is collected the current naval target phase that boat-carrying Infrared video image is partitioned into
For the position of binocular setting base, you can obtain position of the current naval target relative to this ship.
The method that the corresponding geographical coordinate of naval target is calculated in the step 3 refers to obtain this ship real time GPS using GPS
Position (position of this ship), geographical coordinate is designated asThe real-time course of this ship is obtained using compass, C is designated as, and according to
The position that the position and orientation of infrared thermography installation, gps antenna are installed is (due to infrared thermography installation site and GPS
Antenna mounting locations are nearer, it is believed that the coordinate of binocular setting baseIt is identical with the GPS location of reading) and step 2
It is middle to obtain the naval target relative to the position of this ship, calculate the geographical coordinate of current naval target.
The geographical coordinate for obtaining i-th (1≤i≤M) individual naval target can be calculated using formula (1) and formula (2)
λiT=λO+Rcos(C+θ+α)/1852(′) (2)
Wherein：Distances of the R for target in the step 2 relative to this ship；
θ be infrared thermography towards with bow to angle, if infrared thermography is towards the larboard of ship, θ<0；
If infrared thermography is towards the starboard of ship, θ>0；If infrared thermography towards ship direction it is identical when, θ=0；
α is angle of the naval target to binocular setting base line and thermal imaging system towards line, if binocular setting base is arrived
Naval target line in thermal imaging system towards the left side of line, then α<0；If binocular setting base is to naval target line in thermal imaging
Instrument is towards the right side of line, then α>0；Binocular setting base is identical with the direction of thermal imaging system towards line to naval target line, then α
=0.
The method being corrected in the step 4 using AIS data to the corresponding target location of the naval target is included：
41：Obtain all naval targets in AIS systems and record the corresponding geographical coordinate of all naval targets, together
The naval target quantity of sample may be multiple, it is therefore assumed that its quantity is N, the geographical coordinate of jth (1≤j≤N) individual target
It is designated as
42：The corresponding geographical coordinate of each naval target obtained in calculation procedure 3 is with obtaining the institute in AIS systems
There is the distance between naval target geographical coordinate, and be designated as Dij, and make Di=min { Di1,Di2,…DiN}；
43：If the geographical coordinate obtained in current procedures 3 is with obtaining in all naval target geographical coordinates in AIS systems
A certain naval target geographical coordinateThe distance between minimum, and less than threshold value, then it is same sea to be determined as them
Upper target, by the naval target geographical coordinateThe corresponding geographical seat of the naval target obtained in alternative steps 3
Mark.
It is preferred that, if the currently displaying engineer's scale of electronic chart and viewing area center change in the step 5,
Then the geographical coordinate of the naval target according to step 4 repaints the naval target in Infrared video image.
Embodiment is accordingly：A kind of superposition side of naval target in the boat-carrying Infrared video image and electronic chart
Method, as shown in Fig. 2 including
1：The video image of No. 1 infrared thermography and No. 2 infrared thermographies is read, initialization boat-carrying infrared video delays
Rush area；
2：Detect the naval target in video image captured by No. 1 infrared thermography；
3：Naval target in video image captured by No. 1 infrared thermography is split from background image, and
Target in image is numbered, it is assumed that destination number is M, therefore the position occurred in the picture according to target will be described
Target designation is：Tgt1-1, Tgt1-2 ... Tgt1-M；
4：Repeat step 2 and step 3, the naval target in video image captured by 2 infrared thermographies is split,
And take same method that target is numbered, the numbering of target is respectively：Tgt2-1, Tgt2-2 ... Tgt2-M；
5：8 directional chain-codes are respectively adopted to express the target in No. 1 and No. 2 infrared thermography video images, obtain
To Tgt-Chain1-1, Tgt-Chain1-2 ... Tgt-Chain1-N and Tgt-Chain2-1, Tgt-Chain2-2 ... Tgt-
Chain2-N；
6：Using dynamic time warping algorithm in No. 1 infrared thermography and No. 2 infrared thermography video images
Target is matched；
7：The target is positioned using binocular visual positioning method, position of the target relative to this ship is obtained, its
Including distance and bearing；
8：The real time position of this ship is read from GPS, this ship's head is obtained from compass, and according to gps antenna and red
What outer thermal imaging system was installed is positioned against, and calculates the geographical position of naval target in No. 1 infrared thermography video image；
9：Obtain the positional information of each target in AIS；
10：To each target in No. 1 infrared thermography video image, calculate respectively with each target in AIS most
Small distance, if the minimum range is less than threshold value 5%R (R is distance of the target to this ship), then it is assumed that the mesh in infrared image
Mark and the object matching success in AIS, mesh in AIS is replaced with by the positional information of the target in infrared thermography video image
Target position；If being both greater than threshold value 5%R with the minimum range of all targets in AIS, illustrate that the target is fitted without AIS,
It is the positional information after correction directly by the position information confirming of the target in infrared thermography video image, all after correction
Naval target be designated as Tgt1-1 ', Tgt1-2 ' ... Tgt1-M '；
11：By all naval target Tgt1-1 ', Tgt1-2 ' ... Tgt1-M ' after correction, according to its geographical position with saturating
The mode of brightization is superimposed upon on electronic chart and shown.
It should be noted that the result obtained in 7 according to binocular visual positioning is a relative position information, it is current sea
Upper target, relative to the position of No. 1 infrared thermography and No. 2 infrared thermography binocular setting bases, is not the target
Geographical coordinate.
It should be noted that 8 be the position etc. that the position and orientation installed according to infrared thermography, gps antenna are installed
(because infrared thermography installation site and gps antenna installation site are nearer, it is believed that the coordinate of binocular setting base and reading
GPS this ship position it is identical) geographical coordinate that target is calculated apart from azimuth information with the target in 7 relative to this ship.
Present invention also offers the naval target in a kind of boat-carrying Infrared video image and the overlapping system of electronic chart, its
Including infrared thermography, video frequency collection card, GPS, compass, AIS systems and naval target superpositing unit, it lays such as Fig. 3
Shown, GPS, compass, AIS systems can be connected by RS232 or RS485 interfaces with naval target superpositing unit, while according to double
No. 1 infrared thermography is combined by the requirement of mesh positioning with No. 2 infrared thermographies, is arranged in close on compass deck
The position of gps antenna, and measure infrared thermography towards with bow to angle theta, if it be negative towards larboard θ, direction the right side
Side of a ship θ is just.In addition, No. 1 infrared thermography is identical with No. 2 infrared thermography resolution ratio, pass through video frequency collection card and sea
Upper target superpositing unit (PC systems) is connected.
The infrared thermography is used to gather boat-carrying Infrared video image in real time；The infrared thermography include it is main,
Auxiliary two infrared thermographies, wherein the boat-carrying Infrared video image that main infrared thermography (No. 1) is collected is used for and electronics
Sea chart is overlapped；The boat-carrying Infrared video image that auxiliary infrared thermography (No. 2) collects is used to aid in main infrared thermal imaging
The positioning action that instrument (No. 1) completes the naval target.
The video frequency collection card is used to read boat-carrying Infrared video image and sent to naval target superpositing unit；It is described
GPS is used to obtain this ship real time position；The compass is used to obtain the real-time course of this ship；
Such as Fig. 4, naval target superpositing unit includes：Naval target splits module, for respectively to the two infrared heat
The naval target that imager is collected in boat-carrying Infrared video image is split, and is easy to the target location locating module to combine
Two infrared thermographies collect the naval target that boat-carrying Infrared video image is partitioned into, and are obtained using binocular visual positioning method
The naval target is taken relative to the position of this ship.
Target location locating module, for according to the above-mentioned naval target being partitioned into above-mentioned boat-carrying Infrared video image,
Corresponding naval target is positioned, position of the naval target relative to this ship is obtained.
Its detailed process is：It is infrared that two infrared thermographies are collected boat-carrying by naval target segmentation module respectively
Naval target in video image is split using adaptive threshold method from Sea background, in view of above-mentioned naval target number
Amount may be multiple, it is assumed that individual for M, therefore can occur to each above-mentioned naval target according to it in boat-carrying Infrared video image
Position (can self-defining, such as according to from left to right, number consecutively etc. from top to bottom) be numbered；Target location locating module
The current naval target that boat-carrying Infrared video image is partitioned into is collected with reference to auxiliary infrared thermography successively according to number order,
The current marine mesh that boat-carrying Infrared video image is partitioned into is collected to main infrared thermography using binocular visual positioning method
Mark is positioned, obtain main infrared thermography collect current naval target that boat-carrying Infrared video image is partitioned into relative to
The position of binocular setting base is that can obtain position of the current naval target relative to this ship.
Geographical coordinate computing module, for calculating this ship reality that the geographical coordinate of the naval target is obtained using GPS
When the position and real-time course of this ship of the acquisition of compass, the position and orientation installed according to infrared thermography, gps antenna are installed
Position and the target location locating module obtain the naval target relative to the position of this ship, calculate the sea
The geographical coordinate of target.It is specially to obtain this ship real time GPS position using GPS, and geographical coordinate is designated asUtilize
Compass obtains the real-time course of this ship, is designated as C, and the position that the position and orientation installed according to infrared thermography, gps antenna are installed
Put (because infrared thermography installation site and gps antenna installation site are nearer, it is believed that the coordinate of binocular setting baseIt is identical with the GPS location of reading) and target location locating module in obtain the naval target relative to this ship
Position, calculates the geographical coordinate of the naval target.
The geographical coordinate of i-th of naval target is obtained using formula (1) and formula (2 can) calculating
λiT=λO+Rcos(C+θ+α)/1852(′) (2)
Wherein：Distances of the R for target in the step 2 relative to this ship；
θ be infrared thermography towards with bow to angle, if infrared thermography is towards the larboard of ship, θ<0；
If infrared thermography is towards the starboard of ship, θ>0；If infrared thermography towards ship direction it is identical when, θ=0；
α is angle of the naval target to binocular setting base line and thermal imaging system towards line, if binocular setting base is arrived
Naval target line in thermal imaging system towards the left side of line, then α<0；If binocular setting base is to naval target line in thermal imaging
Instrument is towards the right side of line, then α>0；Binocular setting base is identical with the direction of thermal imaging system towards line to naval target line, then α
=0.
And target location correction module, for being carried out using AIS data to the corresponding target location of the naval target
Correction；And display module, it is added in electronic chart and is carried out in the way of transparence for the naval target after will be calibrated
Display.
Further, the target location correction module includes：
AIS acquisition submodules：For obtaining all naval targets in AIS systems and recording all naval targets pair
The geographical coordinate answered, the same naval target quantity may be multiple, it is therefore assumed that its quantity is N, jth (1≤j≤N)
The geographical coordinate of individual target is designated as
Apart from calculating sub module：Geography for calculating the naval target obtained in the geographical coordinate computing module
The distance between all naval target geographical coordinates in the AIS systems that coordinate is obtained with AIS acquisition submodules, and it is designated as Dij,
And make Di=min { Di1,Di2,…DiN}；
Correction module：For finding that calculating the geographical coordinate calculates in calculating process is carried out apart from calculating sub module
The geographical coordinate obtained in module is geographical with obtaining a certain naval target in all naval target geographical coordinates in AIS systems
CoordinateBetween minimum range be less than threshold value when, judges above-mentioned two naval target as same naval target, and general
The naval target geographical coordinateSubstitute the naval target obtained in the geographical coordinate computing module corresponding
Geographical coordinate is as corresponding correction data, if while not occurring the geographical coordinate for meeting above-mentioned decision condition, directly by ground
The corresponding geographical coordinate of the naval target that reason coordinate calculation module is calculated is used as corresponding correction data.
As shown in Figure 1, Figure 3, the specific workflow of the system is：
First, the video image of No. 1 infrared thermography is obtained by video frequency collection card, will using adaptive threshold method
Naval target is split from Sea background, and the position occurred in the picture according to target is numbered to it and (set here
It is set to from left to right, from top to bottom number consecutively), it is assumed that the sum of target is M.As a rule, due to the gray scale of naval target
Value and the gray value of Sea background have obvious difference, it is however generally that the gray value of target is higher than the gray value of Sea background, ship
The characteristics of grey level histogram of load Infrared video image will show bimodal hangover, setting of this point for Target Segmentation threshold value
It is extremely advantageous.
Secondly, target location locating module combines the video image of No. 2 infrared thermographies, utilizes binocular location technology pair
The M target extracted in No. 1 infrared thermography video image is positioned, and obtains all targets relative to binocular setting base
Position.Wherein, the i-th (1≤i≤M) individual target and the distance of binocular setting base are designated as Ri(unit is：m).Target and binocular
The angle of setting base line and thermal imaging system towards line is αi, wherein target infrared thermography towards be on the left of line it is negative,
Right side is just.
Then, geographical coordinate computing module reads the GPS location of this ship, and geographical coordinate is designated asRead this ship
Direction, C is designated as, because infrared thermography installation site and gps antenna installation site are nearer, it is believed that binocular setting base
CoordinateIt is identical with the GPS location of reading.Calculated using formula (1) and formula (2) and obtain i-th naval target
Geographical coordinate
λiT=λO+Rcos(C+θ+α)/1852(′) (2)
Wherein：Distances of the R for target in the step 2 relative to this ship；
θ be infrared thermography towards with bow to angle, if infrared thermography is towards the larboard of ship, θ<0；
If infrared thermography is towards the starboard of ship, θ>0；If infrared thermography towards ship direction it is identical when, θ=0；
α is angle of the naval target to binocular setting base line and thermal imaging system towards line, if binocular setting base is arrived
Naval target line in thermal imaging system towards the left side of line, then α<0；If binocular setting base is to naval target line in thermal imaging
Instrument is towards the right side of line, then α>0；Binocular setting base is identical with the direction of thermal imaging system towards line to naval target line, then α
=0.
Subsequently, AIS acquisition submodules obtain all targets that AIS is recognized, and target is numbered, it is assumed that mesh
Target sum is N.The geographical coordinate of all targets is recorded, the geographical coordinate of jth (1≤j≤N) individual target is designated as
Apart from calculating sub module to each target in boat-carrying Infrared video image, the geographical coordinate of binocular positioning is calculated
With the geographical coordinate of all targets obtained from AISThe distance between, and it is designated as Dij, and make Di=min { Di1,
Di2,…DiN}.If Di<5%Ri, correction module judges i-th target in boat-carrying Infrared video image and the jth in AIS
Individual target is same target, replaces the coordinate that the boat-carrying infrared image binocular of target is positioned with target AIS geographical coordinates, such as formula
(3) shown in.
Finally, display module sets up blank memory bitmap, according to currently displaying engineer's scale, display area size and viewing area
Electronic chart data is drawn in the geographical position at domain center, and the naval target split in boat-carrying infrared video figure is carried out
Vitrification management, and then geographical coordinate according to target is overlapped display with electronic chart.
The foregoing is intended to be a preferred embodiment of the present invention, but protection scope of the present invention is not limited thereto,
Any one skilled in the art the invention discloses technical scope in, technique according to the invention scheme and its
Inventive concept is subject to equivalent or change, should all be included within the scope of the present invention.
Claims (6)
1. the stacking method of the naval target and electronic chart in a kind of boat-carrying Infrared video image, it is characterised in that：
The additive process of naval target and electronic chart in Infrared video image includes：
Step 1, gather and read boat-carrying Infrared video image, and initialize boat-carrying infrared video buffering area；
After step 2, the naval target being partitioned into above-mentioned boat-carrying Infrared video image；The naval target is positioned, obtained
The naval target is taken relative to the position of this ship；
Step 3, the accommodation according to this ship, the real-time course of this ship, the result of the direction of infrared thermography and step 2 calculate institute
State the corresponding geographical coordinate of naval target；The method that the corresponding geographical coordinate of the naval target is calculated in the step 3 refers to
This ship real time position i.e. accommodation of this ship is obtained using GPS, the real-time course of this ship is obtained using compass, and according to infrared thermal imaging
Position of the naval target relative to this ship is obtained in direction and step 2 that instrument is installed, the naval target is calculated
Geographical coordinate, is designated as the binocular positioning geographical coordinate of naval target；
Step 4, using corresponding AIS data the corresponding target location of the naval target is corrected；It is sharp in the step 4
The method being corrected with AIS data to the position of the naval target includes：
41：Obtain all naval targets in AIS systems and record the corresponding geographical coordinate of the naval target；
42：Geographical coordinate is positioned for the binocular of each naval target described in being obtained in step 3, it and AIS systems is calculated
The distance between all naval target geographical coordinates in system, and ask for minimum range；
43：If the binocular positioning geographical coordinate and a certain naval target geographical coordinate in AIS systems that are obtained in current procedures 3The distance between minimum, and less than threshold value, then it is same naval target to be determined as above-mentioned two naval target, by this
Naval target geographical coordinateThe binocular positioning geographical coordinate of the naval target obtained in alternative steps 3；
Step 5, will be calibrated after naval target be added in electronic chart and shown in the way of transparence.
2. the stacking method of the naval target and electronic chart in boat-carrying Infrared video image according to claim 1, its
It is characterised by：
The collection of boat-carrying Infrared video image in the step 1 is realized by setting major-minor two infrared thermographies respectively
, two infrared thermographies are acquired operation to the video image in ship institute's navigation domain simultaneously, wherein leading infrared heat
The boat-carrying Infrared video image that imager is collected is used to be overlapped with electronic chart；The ship that auxiliary infrared thermography is collected
Carry the positioning action that Infrared video image is used to aid in completing the naval target.
3. the stacking method of the naval target and electronic chart in boat-carrying Infrared video image according to claim 2, its
It is characterised by：
The naval target being partitioned into the step 2 in above-mentioned boat-carrying Infrared video image refers to respectively to the two infrared heat
The naval target that imager is collected in boat-carrying Infrared video image is split；It is described that the naval target is positioned,
Obtain the naval target refer to collect boat-carrying with reference to two infrared thermographies relative to the method for the position of this ship it is infrared
After the naval target that Video Image Segmentation goes out, using binocular visual positioning method obtain the naval target relative to this ship away from
From and orientation.
4. the overlapping system of the naval target and electronic chart in a kind of boat-carrying Infrared video image, it is characterised in that：
Including infrared thermography, video frequency collection card, GPS, compass, AIS systems and naval target superpositing unit；
The infrared thermography is used to gather boat-carrying Infrared video image；
The video frequency collection card is used to read boat-carrying Infrared video image and sent to the electronic chart display and infor mation system；
The GPS is used to obtain this ship real time position；
The compass is used to obtain the real-time course of this ship；
The naval target superpositing unit includes：Naval target splits module, for for the sea in boat-carrying Infrared video image
Upper target is split；Target location locating module, for being positioned to the above-mentioned naval target being partitioned into, obtains the sea
Position of the upper target relative to this ship；Geographical coordinate computing module, for calculating the corresponding geographical coordinate of the naval target；Mesh
Cursor position correction module, for being corrected using AIS data to the corresponding position of the naval target；And display module,
Shown for naval target of the position after calibrated to be added in the way of transparence in electronic chart；The geographical seat
Mark this ship real time position that computing module is used to obtain using GPS, the real-time course of this ship of the acquisition of compass, infrared thermography court
To and the target location locating module obtain the naval target relative to the position of this ship, calculate the naval target
Corresponding geographical coordinate is designated as the binocular positioning geographical coordinate of naval target；The target location correction module includes：AIS is obtained
Submodule：For obtaining all naval targets in AIS systems and recording the corresponding geographical coordinate of the naval target；Distance meter
Operator module：The corresponding geographical coordinate of the naval target and AIS obtained for calculating in the geographical coordinate computing module
The distance between all naval target geographical coordinates in the AIS systems that acquisition submodule is obtained；Correction module：For away from
Carry out finding to calculate the geographical coordinate obtained in the geographical coordinate computing module and AIS systems in calculating process from calculating sub module
The naval target geographical coordinate in all naval target geographical coordinates in systemBetween minimum range, and when this most
When small distance is less than threshold value, above-mentioned two naval target is judged as same naval target, and by the naval target geographical coordinateSubstitute the corresponding geographical coordinate of the naval target obtained in the geographical coordinate computing module.
5. the overlapping system of the naval target and electronic chart in boat-carrying Infrared video image according to claim 4, its
It is characterised by：The infrared thermography includes main and auxiliary two infrared thermographies, wherein what main infrared thermography was collected
Boat-carrying Infrared video image is used to be overlapped with electronic chart；The boat-carrying Infrared video image that auxiliary infrared thermography is collected
Positioning action for aiding in completing the naval target.
6. the overlapping system of the naval target and electronic chart in boat-carrying Infrared video image according to claim 5, its
It is characterised by：The naval target segmentation module is used to collect boat-carrying infrared video to two infrared thermographies respectively
Naval target in image is split, and is easy to the target location locating module to collect ship with reference to two infrared thermographies
The naval target that Infrared video image is partitioned into is carried, and the naval target is obtained relative to this using binocular visual positioning method
The position of ship.
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| CN106485747A (en) * | 2015-08-31 | 2017-03-08 | 中国航天科工集团第四研究院指挥自动化技术研发与应用中心 | A kind of target location determines method and apparatus |
| CN105352512A (en) * | 2015-12-18 | 2016-02-24 | 上海华测导航技术股份有限公司 | Navigation and positioning terminal system for ships |
| CN107295292A (en) * | 2016-04-11 | 2017-10-24 | 中兴通讯股份有限公司 | Ship conference apparatus and design method, ship conference system and control method |
| CN108279402B (en) * | 2017-12-18 | 2020-09-08 | 中国电子科技集团公司第二十八研究所 | WMTS-based browser-side radar video display method |
| CN109405850A (en) * | 2018-10-31 | 2019-03-01 | 张维玲 | A kind of the inertial navigation positioning calibration method and its system of view-based access control model and priori knowledge |
| KR102187963B1 (en) * | 2018-11-02 | 2020-12-07 | 한국항공우주연구원 | Method and device of correcting image sensor misalignment using ship identification information |
| CN110780327B (en) * | 2019-10-29 | 2022-04-08 | 中国人民解放军军事科学院国防科技创新研究院 | Marine target cooperative positioning method based on satellite-borne AIS and infrared camera |
| CN111241948B (en) * | 2020-01-02 | 2023-10-31 | 武汉船舶通信研究所（中国船舶重工集团公司第七二二研究所） | Method and system for all-weather ship identification |
| CN111260676B (en) * | 2020-01-10 | 2023-10-17 | 大连海事大学 | Sharing method of marine target space data of shipborne radar image |
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