CN104977574B - 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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- CN104977574B CN104977574B CN201510394528.6A CN201510394528A CN104977574B CN 104977574 B CN104977574 B CN 104977574B CN 201510394528 A CN201510394528 A CN 201510394528A CN 104977574 B CN104977574 B CN 104977574B
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- ais equipment
- precision
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- 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, is to utilize
The real time data that base station AIS equipment is received carries out the premise of marine radar error calibration, it is adaptable to bank base and hip-based platform condition
Under navigation, search, warning, the error calibration of the sea-surface target detection radar such as Target indication.
Background technology
AIS, i.e. automatic recognition system, be in order to assist VTS and using a kind of communication response set
It is standby, many equipment such as GPS location information, VHF communication machine, display are integrated with one, report automatically position to lead to as a kind of ship
Letter facility, can using self-organizing time division multiple acess access way Auto broadcast and receive Ship dynamic situation, static state and it is related to navigation
Data.Due to the abundant information of AIS, GPS location precision and it is round-the-clock the features such as, obtain in navigational field and widely should
With.The ship that International Maritime Organization is built after Qiang ZhiyaoQiung in July, 2000 must install AIS transponders.It is extensive with AIS
Using the marine ships GPS location data for having researcher proposition to receive and parse through out using base station AIS equipment, as sea thunder
True value position during school up to standard, and directly will regard as being a kind of GPS Calibration Methods using the radar calibration method of AIS.From
It is marine select radar calibration ship target when, be typically not concerned with the positioning precision of watercraft AIS, VHF communication postpone, bank
Whether through base station forwarding etc. when platform AIS equipment is received.If the positioning precision for watercraft AIS occur is poor, or base station AIS equipment
During reception the problems such as other base stations forward, be there is into larger error in the ship target true value for causing radar calibration, so as to
So that larger error is still suffered from after radar calibration.Accordingly, it would be desirable to effectiveness to base station AIS equipment receiving data and reflect
The precision of target location be analyzed and checking.At present, have no the base station AIS equipment precision analysis towards marine radar calibration
The research report in direction.
The content of the invention
It is an object of the invention to provide a kind of base station AIS equipment precision that can apply to marine radar error calibration point
Analysis method.The method, is contrasted using linear uniform motion ship as object observing using high-precision GPS receiving data as true value
Calculate base station AIS equipment receiving data time precision；Object observing is only used as with stationary ship, base station AIS equipment is calculated to obtain in contrast
The positional precision of receiving data, on this basis, sets up place latitude and longitude value with reference to marine radar, under WGS84 coordinate systems, meter
Calculate maximum possible azimuthal error and maximum possible range error are respectively obtained by time precision and positional precision, will finally obtain
Azimuthal error and range error are compared with the threshold value obtained by Radar Design precision respectively, judgement base station AIS equipment essence
Whether degree meets marine radar error calibration requirement.The method can be only used as target with stationary ship using sea motion to be carried out point
Analysis, data acquisition is convenient and data volume is sufficient, and Accuracy extimate is stable, thus whether patent of the present invention can be to base station AIS equipment
Meet marine radar calibration requirement and make accurate evaluation.
Base station AIS equipment precision analytical method towards marine radar calibration of the present invention, comprises the following steps：With
Used as true value, first using linear uniform motion target as object observing, base station is calculated to obtain in contrast to the data that high-precision GPS is received
The time precision of AIS equipment receiving data, then using static target as object observing, the reception of base station AIS equipment is calculated to obtain in contrast
The positional precision of data, on this basis, with reference to marine radar set up place latitude and longitude value, under WGS84 coordinate systems, calculate by
Time precision and positional precision respectively obtain maximum possible azimuthal error and maximum possible range error, finally by the orientation for obtaining
Error and range error are compared with the threshold value obtained by Radar Design precision respectively, if azimuthal error and range error are equal
Less than corresponding thresholding, then it is assumed that base station AIS equipment precision meets marine radar calibration requirement.
The present invention compares background technology and has the following advantages：
(1) measured data needed for the analysis method obtains convenient, and is readily available the data volume of abundance；
(2) analysis method can obtain stable base station AIS equipment estimated accuracy；
(3) the error threshold generation type of the analysis method can be adjusted in good time for different type marine radar；
(4) target computed range and azimuthal error of the analysis method using different motion state, credible result degree are high.
Description of the drawings
Fig. 1 is the implementing procedure figure of the present invention, wherein, 1,2 is starter；3～16,18,20 is computing device；17、
19 is comparator；21 is display device.
Specific embodiment
The present invention is described in further detail below in conjunction with Figure of description.With reference to Figure of description, the tool of the present invention
The following step of body embodiment point：
(1) to install the ship P of A classes onboard AIS equipment and high-precision GPS equipment as target, wherein, high-precision GPS
Device location measurement error is less than 0.6 meter, and data updating rate is more than or equal to 20 hertz, kinestate instruction device record P ships
Current motion state, if P ships do linear uniform motion on sea, kinestate instruction device output result is 1, if P ships exist
Sea is static, then kinestate instruction device output result is 0.
(2) starter 1 and starter 2 receive the output result of kinestate instruction device, if receiving motion
The output result of state indicating device is 1, then starter 1 sends execute instruction to computing device 3 and computing device 4, starts
Device 2 sends forbids execute instruction；If the output result for receiving kinestate instruction device is 0, starter 2 is to calculating
Device 5 and computing device 6 send execute instruction, and starter 1 sends forbids execute instruction.
(3) computing device 3 after the execute instruction for receiving device 1 starts to receive the message that base station AIS equipment is received,
And which is parsed, if the message that base station AIS equipment is received meets following 4 features simultaneously：1. message authentication code value is to disappear
The identifier of breath 1；2. indicator value is forwarded to be 0；3. user's identification code value is P ship identification codes；4. accommodation precision value is 1, then
Judge the message for efficient message.
(4) computing device 4 after the execute instruction for receiving device 1 starts to receive onboard AIS equipment receiving data, and
Which is parsed, P ship longitude and latitude (α are obtained1,β1) and correspondence time t1。
(5) computing device 7 receives the base station AIS equipment efficient message of the output of computing device 3, and parsing obtains P ship longitudes and latitudes
(α2,β2) and correspondence time t2, must ensure to meet α1=α2And β1=β2Data points be not less than at 1000 points.
(6) computing device 10 receives 7 output result of computing device 4 and computing device, and calculating is all to meet α1=α2And β1=
β2Data point correspondence the time time difference △ t, △ t using equation below calculating
△ t=t2-t1
Wherein, △ t, t1、t2Unit be second, △ t>0 to show that base station AIS equipment receives P ship position information stagnant
Afterwards；It is no-delay that △ t=0 then show that base station AIS equipment receives P ship position information；△t<0 shows that base station AIS equipment is received
It is advanced to P ship positions information, and the maximum of statistical computation △ t absolute values.
(7) computing device 12 receives the output result of computing device 10, under WGS84 coordinate systems, using marine radar frame
If the latitude and longitude value on ground, the maximum possible distance for causing is calculated from base station AIS equipment time precision to error delta rt；Computing device
13 output results for receiving computing device 10, under WGS84 coordinate systems, set up the latitude and longitude value on ground using marine radar, according to
Trigonometric function relation calculates maximum possible orientation error delta Θ caused by base station AIS equipment time precisiont, △ rtWith △ Θt
Computing formula is as follows
Δrt=vmax (△ t),
Wherein, v represents P ship movement velocitys, and R represents that marine radar sets up the distance between place and P ship actual positions.
(8) computing device 16 is according to treating calibration Radar Design range accuracy computed range to error threshold Tr, wherein, TrFor
Treat the 1/5 of calibration Radar Design range accuracy；Computing device 18 is according to treating calibration Radar Design bearing accuracy computer azimuth to by mistake
Difference thresholding TΘ, wherein, TΘTo treat the 1/5 of calibration Radar Design bearing accuracy.
(9) comparator 17 is by the output result △ r of computing device 12tWith output result T of computing device 16rRelatively, if △
rt＜ Tr, then 17 output result of comparator is 1；If △ is rt＞ Tr, then 17 output result of comparator is 0.
(10) comparator 19 is by the output result △ Θ of computing device 13tWith output result T of computing device 18ΘRelatively,
If △ is Θt＜ TΘ, then 19 output result of comparator is 1；If △ is Θt＞ TΘ, then 19 output result of comparator is 0.
(11) computing device 20 receives the output result of comparator 17 and comparator 19, carries out summation operation, and stores meter
Result is calculated, the wherein initialization value of computing device 20 is 0.
(12), after computing device 5 receives the execute instruction of starter 2, start to receive onboard AIS equipment receiving data,
And which is parsed, obtain P ship longitude and latitude (αA,βA), the P ship positions points that computing device 5 is obtained must be more than at 1000 points.
(13), after computing device 6 receives the execute instruction of starter 2, start to receive high-precision GPS equipment reception number
According to, and which is parsed, obtain P ship longitude and latitude (αG,βG), the P ship positions points that computing device 6 is obtained must be more than at 1000 points.
(14) computing device 8 receives the output result of computing device 5, calculates all (αA,βA) average (m that putsαA,mβA) and
Standard deviation (σαA,σβA), and forming dynamic range with average and 3 times of standard deviations, then its dynamic range forms rectangular area ZAFour
The calculation of longitude ＆ latitude formula on summit is as follows
(mαA+3σαA,mβA+3σβA), (mαA+3σαA,mβA-3σβA),
(mαA-3σαA,mβA+3σβA), (mαA-3σαA,mβA-3σβA)。
(15) computing device 9 receives the output result of computing device 6, calculates all (αG,βG) average (m that putsαG,mβG) and
Standard deviation (σαG,σβG), and forming dynamic range with average and 3 times of standard deviations, then its dynamic range forms rectangular area ZGFour
The calculation of longitude ＆ latitude formula on summit is as follows
(mαG+3σαG,mβG+3σβG), (mαG+3σαG,mβG-3σβG),
(mαG-3σαG,mβG+3σβG), (mαG-3σαG,mβG-3σβG)。
(16) computing device 11 receives the output result of computing device 8 and computing device 9, under WGS84 coordinate systems, calculates
ZGFour summits and ZAFour summits distance between any two, takes wherein maximum, is designated as △ rm。
(17) computing device 14 receives the output result of computing device 11, under WGS84 coordinate systems, using marine radar frame
If the latitude and longitude value on ground, the maximum possible distance for causing is calculated from onboard AIS equipment positional precision to error delta rA；Computing device
15 output results for receiving computing device 11, under WGS84 coordinate systems, set up the latitude and longitude value on ground using marine radar, according to
Trigonometric function relation calculates maximum possible orientation error delta Θ caused by onboard AIS equipment positional precisionA, △ rAWith △ ΘA
Computing formula it is as follows
ΔrA=Δ rm,
Wherein, R represents that marine radar sets up the distance between place and P ship actual positions.
(18) comparator 17 is by the output result △ r of computing device 14AWith output result T of computing device 16rCompare, if
△rA＜ Tr, then 17 output result of comparator is 1；If △ is rA＞ Tr, then 17 output result of comparator is 0.
(19) comparator 19 is by the output result △ Θ of computing device 15AWith output result T of computing device 18ΘRelatively,
If △ is ΘA＜ TΘ, then 19 output result of comparator is 1；If △ is ΘA＞ TΘ, then 19 output result of comparator is 0.
(20) computing device 20 receives the output result of comparator 17 and comparator 19, and has stored in computing device 20
As a result on the basis of, the output result of cumulative comparator 17 and comparator 19, obtains summed result.
(21) output result of 21 receiving/storing device 20 of display device shown, if showing, result is 4, is judged
Base station AIS equipment precision meets marine radar calibration requirement；If showing, result is less than 4, judges that base station AIS equipment precision can not
Meet marine radar calibration requirement.
Claims (4)
1. towards the base station AIS equipment precision analytical method of marine radar calibration, it is characterised in that comprise the following steps：
(1) to install the ship P of A classes onboard AIS equipment and high-precision GPS equipment as target, using message authentication code, user
Identification code, forwarding designator and accommodation degree of accuracy carry out joint judgement, judge effectively to disappear in the message received from base station AIS equipment
Breath；
(2) make P ships linear uniform motion be done on sea, contrast from onboard AIS equipment receiving data and the reception of base station AIS equipment and disappear
The P ships longitude and latitude parsed in breath and time, search identical latitude and longitude value and distinguish the corresponding time, calculate time difference, count
To base station AIS equipment time precision, the latitude and longitude value on ground is set up on this basis using marine radar, under WGS84 coordinate systems,
The maximum possible distance for causing is calculated from base station AIS equipment time precision according to trigonometric function relation can to error and maximum
Energy orientation error, specially：The P ships longitude and latitude that hypothesis is parsed from onboard AIS equipment receiving data is (α1,β1), correspondence
Time is t1, the P ships longitude and latitude parsed from step (1) efficient message is (α2,β2), the correspondence time is t2, must ensure to meet
α1=α2And β1=β2Data points be not less than at 1000 points, calculate and all meet α1=α2And β1=β2Data point correspondence the time
Time difference Δ t, Δ t using equation below calculate
Δ t=t2-t1,
Wherein, Δ t, t1、t2Unit be the second, Δ t ＞ 0 then show that base station AIS equipment receives P ship position information delays；Δ
It is no-delay that t=0 then shows that base station AIS equipment receives P ship position information；Δ t ＜ 0 then show that base station AIS equipment receives P ships
Positional information is advanced, the maximum of statistical computation Δ t absolute values, on this basis, under WGS84 coordinate systems, using sea thunder
Up to the latitude and longitude value for setting up ground, calculated according to trigonometric function relation the maximum possible that caused by base station AIS equipment time precision away from
Descriscent error delta rtWith maximum possible orientation error delta Θt, i.e.,
Δrt=vmax (Δ t),
Wherein, v represents P ship movement velocitys, and R represents that marine radar sets up the distance between place and P ship actual positions；
(3) make P ships remain static, calculate high-precision GPS equipment respectively and onboard AIS equipment provides the equal of longitude and latitude degrees of data
Value and standard deviation, and form dynamic ranges with average and 3 times of standard deviations, high-precision GPS equipment is measured position as true value,
Under WGS84 coordinate systems, the latitude and longitude value on ground is set up with reference to marine radar, calculated by onboard AIS equipment according to trigonometric function relation
The maximum possible distance that positional precision causes is to error and maximum possible orientation error；
(4) distance for obtaining step (2) and step (3) is compared with setting thresholding respectively to error and orientation error,
When all error amounts are below 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 characterised in that
The step (1) is specially：To install the ship P of A classes onboard AIS equipment and high-precision GPS equipment as target, wherein, it is high
Precision GPS device position measurement error is less than 0.6 meter, and data updating rate is more than or equal to 20 hertz, disappears when base station AIS equipment is received
Breath meets following 4 features simultaneously：1. message authentication code value is the identifier of message 1；2. indicator value is forwarded to be 0；3. user
Identity value is P ship identification codes；4. accommodation precision value is 1, then judge the message for efficient message.
3. as claimed in claim 1 towards the base station AIS equipment precision analytical method of marine radar calibration, it is characterised in that
The step (3) is specially：To exclude impact of the time error to position error measurement, target P is placed in into resting state, it is assumed that
The P ships longitude and latitude parsed from high-precision GPS equipment receiving data is (αG,βG), solve from onboard AIS equipment receiving data
The P ships longitude and latitude of precipitation is (αA,βA), the P ship positions points that two equipment are obtained must be more than at 1000 points, calculate all (αG,βG)
Average (the m of pointαG,mβG) and standard deviation (σαG,σβG), then its dynamic range forms rectangular area ZGThe longitude and latitude meter on four summits
Calculate formula as follows
(mαG+3σαG,mβG+3σβG), (mαG+3σαG,mβG-3σβG),
(mαG-3σαG,mβG+3σβG), (mαG-3σαG,mβG-3σβG)；
Calculate all (αA,βA) average (m that putsαA,mβA) and standard deviation (σαA,σβA), then its dynamic range forms rectangular area ZA
The calculation of longitude ＆ latitude formula on four summits is as follows
(mαA+3σαA,mβA+3σβA), (mαA+3σαA,mβA-3σβA),
(mαA-3σαA,mβA+3σβA), (mαA-3σαA,mβA-3σβA),
Under WGS84 coordinate systems, Z is calculatedGFour summits and ZAFour summits distance between any two, takes wherein maximum, is designated as
Δrm, recycle marine radar to set up the latitude and longitude value on ground, calculated by onboard AIS equipment positional precision according to trigonometric function relation
The maximum possible distance for causing is to error delta rAWith maximum possible orientation error delta ΘA, i.e.,
ΔrA=Δ rm,
Wherein, R represents that marine radar sets up the distance between place and P ship actual positions.
4. as claimed in claim 1 towards the base station AIS equipment precision analytical method of marine radar calibration, it is characterised in that
The step (4) is specially：The distance that step (2) and step (3) are obtained is to error delta rt、ΔrARespectively with distance to error
Thresholding TrRelatively, orientation error delta Θ that step (2) and step (3) are obtainedt、ΔΘARespectively with orientation error threshold TΘ
Compare, wherein, TrTo treat the 1/5, T of calibration Radar Design range accuracyΘTo treat the 1/5 of calibration Radar Design bearing accuracy, when
When all error amounts are below respective threshold, then base station AIS equipment precision meets marine radar calibration requirement.
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Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| 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 |
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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 |
| US6121919A (en) * | 1999-07-23 | 2000-09-19 | 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 |
| CN104184990B (en) * | 2014-06-03 | 2017-11-17 | 南通航运职业技术学院 | A kind of intelligent video monitoring system of pathfinder or AIS tracking parameter guiding |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| 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 |
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