CN104977574A - Coast station AIS equipment precision analysis method for marine radar alignment and calibration - Google Patents
Coast station AIS equipment precision analysis method for marine radar alignment and calibration Download PDFInfo
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- CN104977574A CN104977574A CN201510394528.6A CN201510394528A CN104977574A CN 104977574 A CN104977574 A CN 104977574A CN 201510394528 A CN201510394528 A CN 201510394528A CN 104977574 A CN104977574 A CN 104977574A
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- ais equipment
- precision
- error
- ship
- base station
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
- G01S7/40—Means for monitoring or calibrating
Abstract
The invention discloses a coast station AIS equipment precision analysis method for marine radar alignment and calibration and relates to the field of marine radar alignment and calibration. During the conventional AIS equipment-based radar alignment and calibration process, the precision analysis on the AIS equipment is not generally involved. If the precision of the AIS equipment is not right, a major error is easily resulted in alignment and calibration result. A ship provided with A type AIS equipment and high-precision GPS equipment is adopted as a target ship. When the target ship is in the uniform linear motion state or in the state, the highest possible azimuth error and the highest possible range error of the target ship, caused by coast station AIS equipment and ship-mounted AIS equipment, are respectively calculated. Through comparing the above errors with error thresholds, whether the precision of the coast station AIS equipment meets the alignment and calibration requirements of marine radars or not can be judged. Based on the above analysis method, required measured data can be conveniently acquired, and a sufficient quantity of data can be easily acquired. Therefore, stable AIS precision estimation results can be formed. The method is high in credibility and can be used for the alignment and calibration of marine radars of different types.
Description
Technical field
The present invention relates to the base station AIS equipment precision analysis research direction in marine radar error calibration field, be the prerequisite that the real time data utilizing base station AIS equipment to receive carries out the calibration of marine radar error, be applicable to the error calibration of the sea-surface target detection radar such as navigation, search, warning, Target indication under bank base and hip-based platform condition.
Background technology
AIS, i.e. automatic recognition system, it is the one communication answering equipment in order to assist VTS to use, the many equipment such as GPS locating information, VHF communication machine, display that are integrated with are in one, automatically report bit walk facility as a kind of boats and ships, self-organization time division multiple access (TDMA) access way Auto broadcast can be adopted and receive Ship dynamic situation, static state and the data relevant to navigation.Due to the abundant information of AIS, GPS positioning precision and the feature such as round-the-clock, obtain a wide range of applications at navigational field.The boats and ships that International Maritime Organization's mandatory requirement was built after in July, 2000 must install AIS transponder.Along with the widespread use of AIS, researcher is had to propose to utilize base station AIS equipment to receive and the marine ships GPS locator data parsed, as true value position during marine radar calibration, and be directly a kind of GPS Calibration Method by utilizing the radar calibration method of AIS to regard as.When selecting the ship target of radar calibration from sea, generally do not pay close attention to the positioning precision of watercraft AIS, when VHF communication postpones, base station AIS equipment receives whether through base station forwarding etc.If occur, the positioning precision of watercraft AIS is poor, or through problems such as other base station forwardings when base station AIS equipment receives, will the ship target true value of radar calibration be caused to there is comparatively big error, thus still there is comparatively big error after making radar calibration.Therefore, the validity needing to receive data to base station AIS equipment and the precision of target location reflected carry out Analysis &Validation.At present, the research had no towards the base station AIS equipment precision analysis direction of marine radar calibration is reported.
Summary of the invention
The object of the present invention is to provide a kind of base station AIS equipment precision analytical method that can be applied to the calibration of marine radar error.The method receives data as true value using high-precision GPS, and using linear uniform motion ship as object observing, contrast is calculated base station AIS equipment receives the time precision of data; Using static ship as object observing, contrast is calculated base station AIS equipment receives the positional precision of data, on this basis, in conjunction with marine radar erection place latitude and longitude value, under WGS84 coordinate system, calculate and obtain maximum possible azimuthal error and maximum possible distance error respectively by time precision and positional precision, finally the azimuthal error obtained and distance error are compared with the threshold value obtained by Radar Design precision respectively, whether judgement base station AIS equipment precision meets marine radar error calibration requirement.The method can utilize sea motion and motionlessness ship to analyze as target, and data acquisition is convenient and data volume sufficient, and Accuracy extimate is stablized, and thus whether patent of the present invention can meet marine radar calibration requirement to base station AIS equipment and make accurate evaluation.
Base station AIS equipment precision analytical method towards marine radar calibration of the present invention, comprise the following steps: using the data of high-precision GPS reception as true value, first using linear uniform motion target as object observing, contrast is calculated base station AIS equipment receives the time precision of data, then using static target as object observing, contrast is calculated base station AIS equipment receives the positional precision of data, on this basis, in conjunction with marine radar erection place latitude and longitude value, under WGS84 coordinate system, calculate and obtain maximum possible azimuthal error and maximum possible distance error respectively by time precision and positional precision, finally the azimuthal error obtained and distance error are compared with the threshold value obtained by Radar Design precision respectively, if azimuthal error and distance error are all less than corresponding thresholding, then think that base station AIS equipment precision meets marine radar calibration requirement.
The present invention compares background technology and has following advantage:
(1) needed for this analytical approach, measured data acquisition is convenient, and easily obtains sufficient data volume;
(2) this analytical approach can obtain stable base station AIS equipment estimated accuracy;
(3) the error threshold generation type of this analytical approach can adjust for dissimilar marine radar in good time;
(4) this analytical approach adopts the target of different motion state to calculate range-azimuth error, and credible result degree is high.
Accompanying drawing explanation
Fig. 1 is implementing procedure figure of the present invention, and wherein, 1,2 is starter gear; 3 ~ 16,18,20 is calculation element; 17,19 is comparer; 21 is display device.
Embodiment
Below in conjunction with Figure of description, the present invention is described in further detail.With reference to Figure of description, the specific embodiment of the present invention divides following step:
(1) to install the ship P of category-A onboard AIS equipment and high-precision GPS equipment as target, wherein, high-precision GPS device location measuring error is less than 0.6 meter, data updating rate is more than or equal to 20 hertz, the current motion state of motion state indicating device record P ship, if P ship does linear uniform motion on sea, then motion state indicating device Output rusults is 1, if P ship is static on sea, then motion state indicating device Output rusults is 0.
(2) starter gear 1 and starter gear 2 all receive the Output rusults of motion state indicating device, if the Output rusults receiving motion state indicating device is 1, then starter gear 1 sends execution instruction to calculation element 3 and calculation element 4, and starter gear 2 sends to be forbidden performing instruction; If the Output rusults receiving motion state indicating device is 0, then starter gear 2 sends execution instruction to calculation element 5 and calculation element 6, and starter gear 1 sends to be forbidden performing instruction.
(3) calculation element 3 is after the execution instruction receiving device 1, start the message receiving the reception of base station AIS equipment, and it is resolved, if the message that base station AIS equipment receives meets following 4 features simultaneously: 1. message authentication code value is the identifier of message 1; 2. forwarding indicator value is 0; 3. user identification code value is P ship identification code; 4. accommodation precision value is 1, then judge that this message is efficient message.
(4) calculation element 4 is after the execution instruction receiving device 1, starts to receive onboard AIS equipment and receives data, and resolve it, obtain P ship longitude and latitude (α
1, β
1) and corresponding time t
1.
(5) calculation element 7 receives the base station AIS equipment efficient message that calculation element 3 exports, and resolves and obtains P ship longitude and latitude (α
2, β
2) and corresponding time t
2, must ensure to meet α
1=α
2and β
1=β
2number of data points be not less than 1000 points.
(6) calculation element 10 receives calculation element 4 and calculation element 7 Output rusults, calculates allly to meet α
1=α
2and β
1=β
2the mistiming △ t of data point corresponding time, △ t adopts following formulae discovery
△t＝t
2-t
1
Wherein, △ t, t
1, t
2unit be second, △ t>0 then shows that base station AIS equipment receives P ship position information delay; △ t=0 then shows that base station AIS equipment receives P ship position information without time delay; It is advanced that △ t<0 then shows that base station AIS equipment receives P ship position information, and the maximal value of statistical computation △ t absolute value.
(7) calculation element 12 receives the Output rusults of calculation element 10, under WGS84 coordinate system, utilizes marine radar to set up the latitude and longitude value on ground, calculates the maximum possible distance that caused by base station AIS equipment time precision to error delta r
t; Calculation element 13 receives the Output rusults of calculation element 10, under WGS84 coordinate system, utilizes marine radar to set up the latitude and longitude value on ground, calculates the maximum possible orientation that caused by base station AIS equipment time precision to error delta Θ according to trigonometric function relation
t, △ r
twith △ Θ
tcomputing formula is as follows
Δr
t＝v·max(△t)，
Wherein, v represents P ship movement velocity, and R represents the distance between marine radar erection place and P ship actual position.
(8) calculation element 16 is according to treating that calibration Radar Design range accuracy calculates distance to error threshold T
r, wherein, T
rfor treating 1/5 of calibration Radar Design range accuracy; Calculation element 18 is according to treating that the computer azimuth of calibration Radar Design bearing accuracy is to error threshold T
Θ, wherein, T
Θfor treating 1/5 of calibration Radar Design bearing accuracy.
(9) comparer 17 is by the Output rusults △ r of calculation element 12
twith the Output rusults T of calculation element 16
rrelatively, if △ is r
t< T
r, then comparer 17 Output rusults is 1; If △ is r
t> T
r, then comparer 17 Output rusults is 0.
(10) comparer 19 is by the Output rusults △ Θ of calculation element 13
twith the Output rusults T of calculation element 18
Θrelatively, if △ is Θ
t< T
Θ, then comparer 19 Output rusults is 1; If △ is Θ
t> T
Θ, then comparer 19 Output rusults is 0.
(11) calculation element 20 receives the Output rusults of comparer 17 and comparer 19, carries out summation operation, and stores result of calculation, and wherein the initialization value of calculation element 20 is 0.
(12), after calculation element 5 receives the execution instruction of starter gear 2, start to receive onboard AIS equipment and receive data, and it is resolved, obtain P ship longitude and latitude (α
a, β
a), the P ship position that calculation element 5 obtains is counted and must be greater than 1000 points.
(13) after calculation element 6 receives the execution instruction of starter gear 2, start to receive high-precision GPS equipment receiving data, and it is resolved, obtain P ship longitude and latitude (α
g, β
g), the P ship position that calculation element 6 obtains is counted and must be greater than 1000 points.
(14) calculation element 8 receives the Output rusults of calculation element 5, calculates all (α
a, β
a) average (m that puts
α A, m
β A) and standard deviation (σ
α A, σ
β A), and with average and 3 times of standard deviation formative dynamics scopes, then its dynamic range forms rectangular area Z
athe calculation of longitude & latitude formula on four summits is as follows
(m
αA+3σ
αA,m
βA+3σ
βA)，(m
αA+3σ
αA,m
βA-3σ
βA)，
(m
αA-3σ
αA,m
βA+3σ
βA)，(m
αA-3σ
αA,m
βA-3σ
βA)。
(15) calculation element 9 receives the Output rusults of calculation element 6, calculates all (α
g, β
g) average (m that puts
α G, m
β G) and standard deviation (σ
α G, σ
β G), and with average and 3 times of standard deviation formative dynamics scopes, then its dynamic range forms rectangular area Z
gthe calculation of longitude & latitude formula on four summits is as follows
(m
αG+3σ
αG,m
βG+3σ
βG)，(m
αG+3σ
αG,m
βG-3σ
βG)，
(m
αG-3σ
αG,m
βG+3σ
βG)，(m
αG-3σ
αG,m
βG-3σ
βG)。
(16) calculation element 11 receives the Output rusults of calculation element 8 and calculation element 9, under WGS84 coordinate system, calculates Z
gfour summits and Z
afour summit distances between any two, get wherein maximal value, are designated as △ r
m.
(17) calculation element 14 receives the Output rusults of calculation element 11, under WGS84 coordinate system, utilizes marine radar to set up the latitude and longitude value on ground, calculates the maximum possible distance that caused by onboard AIS equipment positional precision to error delta r
a; Calculation element 15 receives the Output rusults of calculation element 11, under WGS84 coordinate system, utilizes marine radar to set up the latitude and longitude value on ground, calculates the maximum possible orientation that caused by onboard AIS equipment positional precision to error delta Θ according to trigonometric function relation
a, △ r
awith △ Θ
acomputing formula as follows
Δr
A＝Δr
m，
Wherein, R represents the distance between marine radar erection place and P ship actual position.
(18) comparer 17 is by the Output rusults △ r of calculation element 14
awith the Output rusults T of calculation element 16
rrelatively, if △ is r
a< T
r, then comparer 17 Output rusults is 1; If △ is r
a> T
r, then comparer 17 Output rusults is 0.
(19) comparer 19 is by the Output rusults △ Θ of calculation element 15
awith the Output rusults T of calculation element 18
Θrelatively, if △ is Θ
a< T
Θ, then comparer 19 Output rusults is 1; If △ is Θ
a> T
Θ, then comparer 19 Output rusults is 0.
(20) calculation element 20 receives the Output rusults of comparer 17 and comparer 19, and the Output rusults of cumulative comparer 17 and comparer 19 on the basis having event memory at calculation element 20, obtain summed result.
(21) display device 21 receiving/storing device 20 Output rusults and show, if display result is 4, then judge that base station AIS equipment precision meets marine radar calibration requirement; If display result is less than 4, then judge that base station AIS equipment precision can not meet marine radar calibration requirement.
Claims (5)
1., towards the base station AIS equipment precision analytical method of marine radar calibration, it is characterized in that, comprise the following steps:
(1) to install the ship P of category-A onboard AIS equipment and high-precision GPS equipment as target, utilize message authentication code, user identification code, forwarding designator and accommodation degree of accuracy to carry out associating judgement, from the message that base station AIS equipment receives, judge efficient message;
(2) P ship is made to do linear uniform motion on sea, contrast and receive from onboard AIS equipment the P ship longitude and latitude and time that parse data and base station AIS equipment receipt message, search the time that identical latitude and longitude value is corresponding respectively, computing time is poor, statistics obtains base station AIS equipment time precision, marine radar is utilized to set up the latitude and longitude value on ground on this basis, under WGS84 coordinate system, calculate the maximum possible distance that caused by base station AIS equipment time precision according to trigonometric function relation to error and maximum possible orientation to error;
(3) P ship is made to remain static, calculating high-precision GPS equipment and onboard AIS equipment provide average and the standard deviation of longitude and latitude data respectively, and with average and 3 times of standard deviation formative dynamics scopes, high-precision GPS equipment is recorded position as true value, under WGS84 coordinate system, in conjunction with the latitude and longitude value on marine radar erection ground, calculate the maximum possible distance that caused by onboard AIS equipment positional precision according to trigonometric function relation to error and maximum possible orientation to error;
(4) distance step (2) and step (3) obtained is to error and orientation to error, compare with setting thresholding respectively, when all error amounts are all lower than thresholding, then base station AIS equipment precision meets marine radar calibration requirement.
2. as claimed in claim 1 towards the base station AIS equipment precision analytical method of marine radar calibration, it is characterized in that, described step (1) is specially: to install the ship P of category-A onboard AIS equipment and high-precision GPS equipment as target, wherein, high-precision GPS device location measuring error is less than 0.6 meter, data updating rate is more than or equal to 20 hertz, when base station AIS equipment receipt message meets following 4 features simultaneously: 1. message authentication code value is the identifier of message 1; 2. forwarding indicator value is 0; 3. user identification code value is P ship identification code; 4. accommodation precision value is 1, then judge that this message is efficient message.
3. as claimed in claim 1 towards the base station AIS equipment precision analytical method of marine radar calibration, it is characterized in that, described step (2) is specially: suppose that receiving from onboard AIS equipment the P ship longitude and latitude parsed data is (α
1, β
1), the corresponding time is t
1, the P ship longitude and latitude parsed from step (1) efficient message is (α
2, β
2), the corresponding time is t
2, must ensure to meet α
1=α
2and β
1=β
2number of data points be not less than 1000 points, calculate and allly meet α
1=α
2and β
1=β
2the mistiming △ t of data point corresponding time, △ t adopts following formulae discovery
△t＝t
2-t
1
Wherein, △ t, t
1, t
2unit be second, △ t>0 then shows that base station AIS equipment receives P ship position information delay; △ t=0 then shows that base station AIS equipment receives P ship position information without time delay; It is advanced that △ t<0 then shows that base station AIS equipment receives P ship position information, the maximal value of statistical computation △ t absolute value, on this basis, under WGS84 coordinate system, utilize marine radar to set up the latitude and longitude value on ground, calculate the maximum possible distance that caused by base station AIS equipment time precision to error delta r according to trigonometric function relation
twith maximum possible orientation to error delta Θ
t, namely
Δr
t＝v·max(△t)，
Wherein, v represents P ship movement velocity, and R represents the distance between marine radar erection place and P ship actual position.
4. as claimed in claim 1 towards the base station AIS equipment precision analytical method of marine radar calibration, it is characterized in that, described step (3) is specially: for getting rid of time error to the impact of position error measurement, target P is placed in stationary state, supposes that the P ship longitude and latitude parsed from high-precision GPS equipment receiving data is (α
g, β
g), receiving from onboard AIS equipment the P ship longitude and latitude parsed data is (α
a, β
a), the P ship position that two equipment obtain is counted and must be greater than 1000 points, calculates all (α
g, β
g) average (m that puts
α G, m
β G) and standard deviation (σ
α G, σ
β G), then its dynamic range forms rectangular area Z
gthe calculation of longitude & latitude formula on four summits is as follows
(m
αG+3σ
αG,m
βG+3σ
βG)，(m
αG+3σ
αG,m
βG-3σ
βG)，
(m
αG-3σ
αG,m
βG+3σ
βG)，(m
αG-3σ
αG,m
βG-3σ
βG)；
Calculate all (α
a, β
a) average (m that puts
α A, m
β A) and standard deviation (σ
α A, σ
β A), then its dynamic range forms rectangular area Z
athe calculation of longitude & latitude formula on four summits is as follows
(m
αA+3σ
αA,m
βA+3σ
βA)，(m
αA+3σ
αA,m
βA-3σ
βA)，
(m
αA-3σ
αA,m
βA+3σ
βA)，(m
αA-3σ
αA,m
βA-3σ
βA)，
Under WGS84 coordinate system, calculate Z
gfour summits and Z
afour summit distances between any two, get wherein maximal value, are designated as △ r
m, the latitude and longitude value on recycling marine radar erection ground, calculates the maximum possible distance that caused by onboard AIS equipment positional precision to error delta r according to trigonometric function relation
awith maximum possible orientation to error delta Θ
a, namely
Δr
A＝Δr
m，
Wherein, R represents the distance between marine radar erection place and P ship actual position.
5., as claimed in claim 1 towards the base station AIS equipment precision analytical method of marine radar calibration, it is characterized in that, described step (4) is specially: distance step (2) and step (3) obtained is to error delta r
t, Δ r
arespectively with distance to error threshold T
rrelatively, orientation step (2) and step (3) obtained is to error delta Θ
t, △ Θ
arespectively with orientation to error threshold T
Θrelatively, wherein, T
rfor treating 1/5, T of calibration Radar Design range accuracy
Θfor treating 1/5 of calibration Radar Design bearing accuracy, when all error amounts are all lower than respective threshold, then base station AIS equipment precision meets marine radar calibration requirement.
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|---|---|---|---|
| CN201510394528.6A CN104977574B (en) | 2015-07-07 | 2015-07-07 | Coast station AIS equipment precision analysis method for marine radar alignment and calibration |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510394528.6A CN104977574B (en) | 2015-07-07 | 2015-07-07 | Coast station AIS equipment precision analysis method for marine radar alignment and calibration |
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|---|---|
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| CN104977574B CN104977574B (en) | 2017-05-03 |
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ID=54274254
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Citations (6)
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|---|---|---|---|---|
| GB1085071A (en) * | 1963-11-15 | 1967-09-27 | Elliott Brothers London Ltd | Radar target simulators |
| US5977906A (en) * | 1998-09-24 | 1999-11-02 | Eaton Vorad Technologies, L.L.C. | Method and apparatus for calibrating azimuth boresight in a radar system |
| WO2001007931A1 (en) * | 1999-07-23 | 2001-02-01 | Eaton-Vorad Technologies L.L.C. | Method and apparatus for range correction in a radar system |
| JP2009025042A (en) * | 2007-07-17 | 2009-02-05 | Japan Radio Co Ltd | Marine apparatus for tracking target |
| CN104035080A (en) * | 2014-04-15 | 2014-09-10 | 中国人民解放军海军大连舰艇学院 | Frequency storage and transmission type ship-borne radar active calibration device |
| CN104184990A (en) * | 2014-06-03 | 2014-12-03 | 南通航运职业技术学院 | Navigation radar or AIS tracking parameter booted intelligent video monitoring system |
-
2015
- 2015-07-07 CN CN201510394528.6A patent/CN104977574B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB1085071A (en) * | 1963-11-15 | 1967-09-27 | Elliott Brothers London Ltd | Radar target simulators |
| US5977906A (en) * | 1998-09-24 | 1999-11-02 | Eaton Vorad Technologies, L.L.C. | Method and apparatus for calibrating azimuth boresight in a radar system |
| WO2001007931A1 (en) * | 1999-07-23 | 2001-02-01 | Eaton-Vorad Technologies L.L.C. | Method and apparatus for range correction in a radar system |
| JP2009025042A (en) * | 2007-07-17 | 2009-02-05 | Japan Radio Co Ltd | Marine apparatus for tracking target |
| CN104035080A (en) * | 2014-04-15 | 2014-09-10 | 中国人民解放军海军大连舰艇学院 | Frequency storage and transmission type ship-borne radar active calibration device |
| CN104184990A (en) * | 2014-06-03 | 2014-12-03 | 南通航运职业技术学院 | Navigation radar or AIS tracking parameter booted intelligent video monitoring system |
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|---|---|
| CN104977574B (en) | 2017-05-03 |
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