CN105698800A - Improved navigation method and system for sailing - Google Patents
Improved navigation method and system for sailing Download PDFInfo
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- CN105698800A CN105698800A CN201610256213.XA CN201610256213A CN105698800A CN 105698800 A CN105698800 A CN 105698800A CN 201610256213 A CN201610256213 A CN 201610256213A CN 105698800 A CN105698800 A CN 105698800A
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- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/20—Instruments for performing navigational calculations
- G01C21/203—Specially adapted for sailing ships
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Abstract
The invention discloses an improved navigation method for sailing. The method comprises the following steps that 1, an input sailing target place is received, and a preliminary navigation path is generated according to the current position of a ship and the sailing target place; 2, the position information of the ship is obtained in real time and sent to a cloud platform server through a satellite communication network, and whether an optimal matched leg exists in the cloud platform server or not is judged; 3, according to an automatic ship recognition system and an electronic chart display and information system, a panoramic nautical chart in the area with the ship as the center and the preset distance as the radius is generated; 4, the cloud platform server periodically judges whether the deviation of the ship actual sailing path and the navigation leg in the preliminary navigation path exceeds a preset threshold value or not; if yes, the cloud platform server sends early-warning information to the ship through the satellite communication network, and the early-warning information is displayed in the panoramic nautical chart. The invention further provides an improved navigation system for sailing.
Description
Technical field
The present invention relates to field of navigation technology, particularly to a kind of modified model navigation air navigation aid and system。
Background technology
Navigator, refers to that the mobile objects such as utilizing alignment system is vehicle, boats and ships, airborne vehicle provide the equipment that route instructs。Existing navigator, mainly utilizes alignment system to provide the user navigation Service。Specifically, navigator provides the user navigation map, shows guidance path in navigation map, and the expectation from current location to destination expends duration。
Boats and ships pathfinder, also referred to as marine radar, is reproduced on boats and ships, is measure this ship position and the indispensable device of pre-Anti-knocking。Boats and ships pathfinder by accurately catching the thing target positional informationes such as other ships, land, course beacon, and the mode being shown in display screen realize navigating by water dodge, the effect of ship's fix and pilotage。
But, the function of current marine navigation device is comparatively single, it is impossible to meet integrated navigation functional requirement, and display screen is also generally special equipment, it is impossible to carry out being uniformly processed and showing for various types of marine radar signal。
Summary of the invention
In view of this, the present invention proposes a kind of modified model navigation air navigation aid and system。
A kind of modified model navigation air navigation aid, it comprises the steps:
The navigation destination that S1, reception input, generates preliminary guidance path according to the position at current boats and ships place and navigation destination；
The positional information of S2, in real time acquisition boats and ships, the positional information of boats and ships is sent to cloud platform server by satellite communication network, judge whether cloud platform server has Optimum Matching leg, when there is Optimum Matching leg, obtain Optimum Matching leg, and presently preferred coupling leg is joined in preliminary guidance path；When being absent from Optimum Matching leg, cloud platform service generates navigation leg in real time, is joined Present navigation leg in preliminary guidance path and is sent to boats and ships by satellite communication network；
S3, generate the panorama nautical chart centered by boats and ships, in predeterminable range for radius region according to ship automatic identification system and electronic chart display and infor mation system；
S4, cloud platform server periodically contrast boats and ships real navigation track is with whether the deviation of navigation leg in preliminary guidance path exceeds predetermined threshold value, when exceeding predetermined threshold value, early warning information transmission is displayed to boats and ships and in panorama nautical chart by cloud platform server by satellite communication network。
In modified model navigation air navigation aid of the present invention,
Described step S3 includes:
From ship automatic identification system, read AIS textual information, from radar system, read radar textual information, and AIS textual information and radar textual information are decoded obtaining radar multidate information after decoded AIS multidate information and decoding；Radar multidate information is stored in the radar chained list being main fields with Waterborne movable communication business identification code, AIS multidate information is stored in AIS multidate information chained list；And AIS target and radar target is shown at electronic chart display and infor mation system；
Traversal radar chained list and AIS dynamic link table, contrast time and the distance of radar multidate information and AIS multidate information in radar chained list and AIS dynamic link table；And therefrom search out the radar target that meets the thick Correlation Criteria of time-space and AIS target, the radar meeting the thick Correlation Criteria of time-space is numbered, the Waterborne movable communication business identification code number of times good, thick association of AIS is stored in thick associated data table；
Obtain, according to thick association chained list, the multidate information that radar target is current, and multidate information current for radar target is extrapolated to system time, and be stored in and carefully associate chained list；According to slightly associating chained list, search for the multidate information that the one or more AIS targets that meet thick Correlation Criteria corresponding to radar are current, and current multidate information is extrapolated to system time and is stored in and carefully associates chained list；
Calculate radar according to thin association chained list associate degree of membership and unconnected degree of membership, the association degree of membership of composite factor with factor between factor, course between factor, the speed of a ship or plane between factor, orientation between the distance of AIS target, single factor test collection and do not associate degree of membership, and result of calculation is stored in carefully associates chained list；
Obtaining the association degree of membership of the maximum composite factor of each system time, when maximum association degree of membership is more than thin association the first predetermined threshold value, association quality factor adds up；When associating quality factor more than thin association the second predetermined threshold value, it is judged that for fixed correlation the Waterborne movable communication business identification code of radar numbering and AIS one to one when recording fixed correlation；
The real time information of the radar target Yu AIS target that meet fixed correlation is extrapolated to the radar moment, and itself and radar information are merged；
Electronic chart display and infor mation system shows the AIS target after merging and radar target。
In modified model navigation air navigation aid of the present invention,
The described real time information by the radar target Yu AIS target that meet fixed correlation is extrapolated to the radar moment, and it is merged with radar information include: the real time information of the radar target Yu AIS target that meet fixed correlation is extrapolated to the radar moment, and according to weighting algorithm, itself and radar information is merged。
In modified model navigation air navigation aid of the present invention,
Described step S3 also includes by sonar system, the seabed situation around these boats and ships being detected, and the result of detection is shown on panorama nautical chart。
The present invention also provides for a kind of modified model navigation navigation system, and it coordinates measurement unit including being sequentially connected with, leg determine that unit, nautical chart generate unit, prewarning unit:
Coordinates measurement unit, for receiving the navigation destination of input, generates preliminary guidance path according to the position at current boats and ships place and navigation destination；
Unit is determined in leg, for obtaining the positional information of boats and ships in real time, the positional information of boats and ships is sent to cloud platform server by satellite communication network, judge whether cloud platform server has Optimum Matching leg, when there is Optimum Matching leg, obtain Optimum Matching leg, and presently preferred coupling leg is joined in preliminary guidance path；When being absent from Optimum Matching leg, cloud platform service generates navigation leg in real time, is joined Present navigation leg in preliminary guidance path and is sent to boats and ships by satellite communication network；
Nautical chart generates unit, for generating the panorama nautical chart centered by boats and ships, in predeterminable range for radius region according to ship automatic identification system and electronic chart display and infor mation system。
Prewarning unit, for by whether the deviation of navigation leg in cloud platform server periodically contrast boats and ships real navigation track and preliminary guidance path exceeds predetermined threshold value, when exceeding predetermined threshold value, early warning information transmission is displayed to boats and ships and in panorama nautical chart by cloud platform server by satellite communication network。
In modified model navigation navigation system of the present invention,
Described nautical chart generates information reading sub-unit that unit includes being sequentially connected with, slightly associates subelement, carefully associates subelement, computation subunit, fixed correlation subelement, merges subelement, display subelement:
Information reading sub-unit, for reading AIS textual information from ship automatic identification system, from radar system, read radar textual information, and AIS textual information and radar textual information are decoded obtaining radar multidate information after decoded AIS multidate information and decoding；Radar multidate information is stored in the radar chained list being main fields with Waterborne movable communication business identification code, AIS multidate information is stored in AIS multidate information chained list；And AIS target and radar target is shown at electronic chart display and infor mation system；
Slightly associate subelement, be used for traveling through radar chained list and AIS dynamic link table, contrast time and the distance of radar multidate information and AIS multidate information in radar chained list and AIS dynamic link table；And therefrom search out the radar target that meets the thick Correlation Criteria of time-space and AIS target, the radar meeting the thick Correlation Criteria of time-space is numbered, the Waterborne movable communication business identification code number of times good, thick association of AIS is stored in thick associated data table；
Carefully associate subelement, for obtaining, according to thick association chained list, the multidate information that radar target is current, and multidate information current for radar target is extrapolated to system time, and be stored in and carefully associate chained list；According to slightly associating chained list, search for the multidate information that the one or more AIS targets that meet thick Correlation Criteria corresponding to radar are current, and current multidate information is extrapolated to system time and is stored in and carefully associates chained list；
Computation subunit, associate degree of membership and unconnected degree of membership, the association degree of membership of composite factor with factor between factor, course between factor, the speed of a ship or plane between factor, orientation between the distance of AIS target, single factor test collection for calculating radar according to thin association chained list and do not associate degree of membership, and result of calculation is stored in carefully associating chained list；
Fixed correlation subelement, for obtaining the association degree of membership of the maximum composite factor of each system time, when maximum association degree of membership is more than thin association the first predetermined threshold value, association quality factor adds up；When associating quality factor more than thin association the second predetermined threshold value, it is judged that for fixed correlation the Waterborne movable communication business identification code of radar numbering and AIS one to one when recording fixed correlation；
Merging subelement, for the real time information of the radar target Yu AIS target that meet fixed correlation being extrapolated to the radar moment, and itself and radar information being merged；
Display subelement, for showing the AIS target after merging and radar target in electronic chart display and infor mation system。
In modified model navigation navigation system of the present invention,
The described real time information by the radar target Yu AIS target that meet fixed correlation is extrapolated to the radar moment, and it is merged with radar information include: the real time information of the radar target Yu AIS target that meet fixed correlation is extrapolated to the radar moment, and according to weighting algorithm, itself and radar information is merged。
In modified model navigation navigation system of the present invention,
Described nautical chart is generated unit and also includes by sonar system, the seabed situation around these boats and ships being detected, and the result of detection is shown on panorama nautical chart。
Implementing that a kind of modified model navigation air navigation aid provided by the invention and system have the advantages that can by being sent to cloud platform server by the positional information of boats and ships by satellite communication network, judge whether cloud platform server has Optimum Matching leg, optimum Optimum Matching leg can be obtained in each leg on preliminary guidance path, can optimum guidance path in whole navigation process, and generated centered by boats and ships by ship automatic identification system and electronic chart display and infor mation system, panorama nautical chart in predeterminable range for radius region, can in conjunction with ship automatic identification system and electronic chart display and infor mation system, achieve the fusion of AIS target information and radar target information, each moment in ship's navigation, panorama nautical chart can be passed through and obtain the real time information of ship's navigation periphery situation, it can be avoided that collide or the generation of stranded event。In addition, by cloud platform server periodically contrast boats and ships real navigation track with the deviation of navigation leg in preliminary guidance path whether beyond predetermined threshold value, when exceeding predetermined threshold value, early warning information transmission is displayed to boats and ships and in panorama nautical chart by cloud platform server by satellite communication network, greatly reduces the off-line danger of boats and ships。
Accompanying drawing explanation
Fig. 1 is the modified model navigation navigation system structured flowchart of the embodiment of the present invention。
Detailed description of the invention
The embodiment of the present invention provides a kind of modified model navigation air navigation aid, and it comprises the steps:
The navigation destination that S1, reception input, generates preliminary guidance path according to the position at current boats and ships place and navigation destination。
In this step, preliminary guidance path is a navigation route figure substantially, and guidance path is made up of multiple legs。
The positional information of S2, in real time acquisition boats and ships, the positional information of boats and ships is sent to cloud platform server by satellite communication network, judge whether cloud platform server has Optimum Matching leg, when there is Optimum Matching leg, obtain Optimum Matching leg, and presently preferred coupling leg is joined in preliminary guidance path。When being absent from Optimum Matching leg, cloud platform service generates navigation leg in real time, is joined Present navigation leg in preliminary guidance path and is sent to boats and ships by satellite communication network。
Optimum Matching leg can be arranged in same place from cloud platform server, the leg in identical course line carries out screening and obtains, and these Optimum Matching legs are all through authenticated, and therefore safety, reliability are high。
Preferably, when there is no satellite communication network, it is sent to cloud platform server by triones navigation system
S3, generate the panorama nautical chart centered by boats and ships, in predeterminable range for radius region according to ship automatic identification system and electronic chart display and infor mation system。Panorama nautical chart, can in conjunction with ship automatic identification system and electronic chart display and infor mation system, achieve the fusion of AIS target information and radar target information, each moment in ship's navigation, panorama nautical chart can be passed through and obtain the real time information of ship's navigation periphery situation, it is possible to avoid colliding or the generation of stranded event。
S4, cloud platform server periodically contrast boats and ships real navigation track is with whether the deviation of navigation leg in preliminary guidance path exceeds predetermined threshold value, when exceeding predetermined threshold value, early warning information transmission is displayed to boats and ships and in panorama nautical chart by cloud platform server by satellite communication network。
In modified model navigation air navigation aid of the present invention,
Described step S3 includes:
From ship automatic identification system, read AIS textual information, from radar system, read radar textual information, and AIS textual information and radar textual information are decoded obtaining radar multidate information after decoded AIS multidate information and decoding；Radar multidate information is stored in the radar chained list being main fields with Waterborne movable communication business identification code, AIS multidate information is stored in AIS multidate information chained list；And AIS target and radar target is shown at electronic chart display and infor mation system；
Traversal radar chained list and AIS dynamic link table, contrast time and the distance of radar multidate information and AIS multidate information in radar chained list and AIS dynamic link table；And therefrom search out the radar target that meets the thick Correlation Criteria of time-space and AIS target, the radar meeting the thick Correlation Criteria of time-space is numbered, the Waterborne movable communication business identification code number of times good, thick association of AIS is stored in thick associated data table；
Obtain, according to thick association chained list, the multidate information that radar target is current, and multidate information current for radar target is extrapolated to system time, and be stored in and carefully associate chained list；According to slightly associating chained list, search for the multidate information that the one or more AIS targets that meet thick Correlation Criteria corresponding to radar are current, and current multidate information is extrapolated to system time and is stored in and carefully associates chained list；
Calculate radar according to thin association chained list associate degree of membership and unconnected degree of membership, the association degree of membership of composite factor with factor between factor, course between factor, the speed of a ship or plane between factor, orientation between the distance of AIS target, single factor test collection and do not associate degree of membership, and result of calculation is stored in carefully associates chained list；
Obtaining the association degree of membership of the maximum composite factor of each system time, when maximum association degree of membership is more than thin association the first predetermined threshold value, association quality factor adds up；When associating quality factor more than thin association the second predetermined threshold value, it is judged that for fixed correlation the Waterborne movable communication business identification code of radar numbering and AIS one to one when recording fixed correlation；
The real time information of the radar target Yu AIS target that meet fixed correlation is extrapolated to the radar moment, and itself and radar information are merged；
Electronic chart display and infor mation system shows the AIS target after merging and radar target。
In modified model navigation air navigation aid of the present invention,
The described real time information by the radar target Yu AIS target that meet fixed correlation is extrapolated to the radar moment, and it is merged with radar information include: the real time information of the radar target Yu AIS target that meet fixed correlation is extrapolated to the radar moment, and according to weighting algorithm, itself and radar information is merged。
In modified model navigation air navigation aid of the present invention,
Described step S3 also includes by sonar system, the seabed situation around these boats and ships being detected, and the result of detection is shown on panorama nautical chart。
The present embodiment, panorama sea chart can show the path of navigation, boats and ships around or other fix, mobile target and seabed situation。
The present invention also provides for a kind of modified model navigation navigation system, and it coordinates measurement unit including being sequentially connected with, leg determine that unit, nautical chart generate unit, prewarning unit:
Coordinates measurement unit, for receiving the navigation destination of input, generates preliminary guidance path according to the position at current boats and ships place and navigation destination；
Unit is determined in leg, for obtaining the positional information of boats and ships in real time, the positional information of boats and ships is sent to cloud platform server by satellite communication network, judge whether cloud platform server has Optimum Matching leg, when there is Optimum Matching leg, obtain Optimum Matching leg, and presently preferred coupling leg is joined in preliminary guidance path；When being absent from Optimum Matching leg, cloud platform service generates navigation leg in real time, is joined Present navigation leg in preliminary guidance path and is sent to boats and ships by satellite communication network；
Nautical chart generates unit, for generating the panorama nautical chart centered by boats and ships, in predeterminable range for radius region according to ship automatic identification system and electronic chart display and infor mation system。
Prewarning unit, for by whether the deviation of navigation leg in cloud platform server periodically contrast boats and ships real navigation track and preliminary guidance path exceeds predetermined threshold value, when exceeding predetermined threshold value, early warning information transmission is displayed to boats and ships and in panorama nautical chart by cloud platform server by satellite communication network。
In modified model navigation navigation system of the present invention,
Described nautical chart generates information reading sub-unit that unit includes being sequentially connected with, slightly associates subelement, carefully associates subelement, computation subunit, fixed correlation subelement, merges subelement, display subelement:
Information reading sub-unit, for reading AIS textual information from ship automatic identification system, from radar system, read radar textual information, and AIS textual information and radar textual information are decoded obtaining radar multidate information after decoded AIS multidate information and decoding；Radar multidate information is stored in the radar chained list being main fields with Waterborne movable communication business identification code, AIS multidate information is stored in AIS multidate information chained list；And AIS target and radar target is shown at electronic chart display and infor mation system；
Slightly associate subelement, be used for traveling through radar chained list and AIS dynamic link table, contrast time and the distance of radar multidate information and AIS multidate information in radar chained list and AIS dynamic link table；And therefrom search out the radar target that meets the thick Correlation Criteria of time-space and AIS target, the radar meeting the thick Correlation Criteria of time-space is numbered, the Waterborne movable communication business identification code number of times good, thick association of AIS is stored in thick associated data table；
Carefully associate subelement, for obtaining, according to thick association chained list, the multidate information that radar target is current, and multidate information current for radar target is extrapolated to system time, and be stored in and carefully associate chained list；According to slightly associating chained list, search for the multidate information that the one or more AIS targets that meet thick Correlation Criteria corresponding to radar are current, and current multidate information is extrapolated to system time and is stored in and carefully associates chained list；
Computation subunit, associate degree of membership and unconnected degree of membership, the association degree of membership of composite factor with factor between factor, course between factor, the speed of a ship or plane between factor, orientation between the distance of AIS target, single factor test collection for calculating radar according to thin association chained list and do not associate degree of membership, and result of calculation is stored in carefully associating chained list；
Fixed correlation subelement, for obtaining the association degree of membership of the maximum composite factor of each system time, when maximum association degree of membership is more than thin association the first predetermined threshold value, association quality factor adds up；When associating quality factor more than thin association the second predetermined threshold value, it is judged that for fixed correlation the Waterborne movable communication business identification code of radar numbering and AIS one to one when recording fixed correlation；
Merging subelement, for the real time information of the radar target Yu AIS target that meet fixed correlation being extrapolated to the radar moment, and itself and radar information being merged；
Display subelement, for showing the AIS target after merging and radar target in electronic chart display and infor mation system。
In modified model navigation navigation system of the present invention,
The described real time information by the radar target Yu AIS target that meet fixed correlation is extrapolated to the radar moment, and it is merged with radar information include: the real time information of the radar target Yu AIS target that meet fixed correlation is extrapolated to the radar moment, and according to weighting algorithm, itself and radar information is merged。
In modified model navigation navigation system of the present invention,
Described nautical chart is generated unit and also includes by sonar system, the seabed situation around these boats and ships being detected, and the result of detection is shown on panorama nautical chart。
Implementing that a kind of modified model navigation air navigation aid provided by the invention and system have the advantages that can by being sent to cloud platform server by the positional information of boats and ships by satellite communication network, judge whether cloud platform server has Optimum Matching leg, optimum Optimum Matching leg can be obtained in each leg on preliminary guidance path, can optimum guidance path in whole navigation process, and generated centered by boats and ships by ship automatic identification system and electronic chart display and infor mation system, panorama nautical chart in predeterminable range for radius region, can in conjunction with ship automatic identification system and electronic chart display and infor mation system, achieve the fusion of AIS target information and radar target information, each moment in ship's navigation, panorama nautical chart can be passed through and obtain the real time information of ship's navigation periphery situation, it can be avoided that collide or the generation of stranded event。In addition, by cloud platform server periodically contrast boats and ships real navigation track with the deviation of navigation leg in preliminary guidance path whether beyond predetermined threshold value, when exceeding predetermined threshold value, early warning information transmission is displayed to boats and ships and in panorama nautical chart by cloud platform server by satellite communication network, greatly reduces the off-line danger of boats and ships。
Said method embodiment and system embodiment are one to one, and therefore, the extension of embodiment of the method is equally applicable to said system embodiment。
The method described in conjunction with the embodiments described herein or the step of algorithm can directly use the software module that hardware, processor perform, or the combination of the two is implemented。Software module can be placed in the storage medium of other forms any known in random access memory, internal memory, read only memory, electrically programmable ROM, electrically erasable ROM, depositor, hard disk, moveable magnetic disc, CD-ROM or technical field。It is understood that for the person of ordinary skill of the art, it is possible to conceive according to the technology of the present invention and make other various corresponding changes and deformation, and all these change and deform the protection domain that all should belong to the claims in the present invention。
Claims (8)
1. a modified model navigation air navigation aid, it is characterised in that it comprises the steps:
The navigation destination that S1, reception input, generates preliminary guidance path according to the position at current boats and ships place and navigation destination；
The positional information of S2, in real time acquisition boats and ships, the positional information of boats and ships is sent to cloud platform server by satellite communication network, judge whether cloud platform server has Optimum Matching leg, when there is Optimum Matching leg, obtain Optimum Matching leg, and presently preferred coupling leg is joined in preliminary guidance path；When being absent from Optimum Matching leg, cloud platform service generates navigation leg in real time, is joined Present navigation leg in preliminary guidance path and is sent to boats and ships by satellite communication network；
S3, generate the panorama nautical chart centered by boats and ships, in predeterminable range for radius region according to ship automatic identification system and electronic chart display and infor mation system；
S4, cloud platform server periodically contrast boats and ships real navigation track is with whether the deviation of navigation leg in preliminary guidance path exceeds predetermined threshold value, when exceeding predetermined threshold value, early warning information transmission is displayed to boats and ships and in panorama nautical chart by cloud platform server by satellite communication network。
2. modified model navigation air navigation aid as claimed in claim 1, it is characterised in that
Described step S3 includes:
From ship automatic identification system, read AIS textual information, from radar system, read radar textual information, and AIS textual information and radar textual information are decoded obtaining radar multidate information after decoded AIS multidate information and decoding；Radar multidate information is stored in the radar chained list being main fields with Waterborne movable communication business identification code, AIS multidate information is stored in AIS multidate information chained list；And AIS target and radar target is shown at electronic chart display and infor mation system；
Traversal radar chained list and AIS dynamic link table, contrast time and the distance of radar multidate information and AIS multidate information in radar chained list and AIS dynamic link table；And therefrom search out the radar target that meets the thick Correlation Criteria of time-space and AIS target, the radar meeting the thick Correlation Criteria of time-space is numbered, the Waterborne movable communication business identification code number of times good, thick association of AIS is stored in thick associated data table；
Obtain, according to thick association chained list, the multidate information that radar target is current, and multidate information current for radar target is extrapolated to system time, and be stored in and carefully associate chained list；According to slightly associating chained list, search for the multidate information that the one or more AIS targets that meet thick Correlation Criteria corresponding to radar are current, and current multidate information is extrapolated to system time and is stored in and carefully associates chained list；
Calculate radar according to thin association chained list associate degree of membership and unconnected degree of membership, the association degree of membership of composite factor with factor between factor, course between factor, the speed of a ship or plane between factor, orientation between the distance of AIS target, single factor test collection and do not associate degree of membership, and result of calculation is stored in carefully associates chained list；
Obtaining the association degree of membership of the maximum composite factor of each system time, when maximum association degree of membership is more than thin association the first predetermined threshold value, association quality factor adds up；When associating quality factor more than thin association the second predetermined threshold value, it is judged that for fixed correlation the Waterborne movable communication business identification code of radar numbering and AIS one to one when recording fixed correlation；
The real time information of the radar target Yu AIS target that meet fixed correlation is extrapolated to the radar moment, and itself and radar information are merged；
Electronic chart display and infor mation system shows the AIS target after merging and radar target。
3. modified model navigation air navigation aid as claimed in claim 2, it is characterised in that
The described real time information by the radar target Yu AIS target that meet fixed correlation is extrapolated to the radar moment, and it is merged with radar information include: the real time information of the radar target Yu AIS target that meet fixed correlation is extrapolated to the radar moment, and according to weighting algorithm, itself and radar information is merged。
4. modified model navigation air navigation aid as claimed in claim 3, it is characterised in that
Described step S3 also includes by sonar system, the seabed situation around these boats and ships being detected, and the result of detection is shown on panorama nautical chart。
5. a modified model navigation navigation system, it is characterised in that it coordinates measurement unit including being sequentially connected with, leg determine that unit, nautical chart generate unit, prewarning unit:
Coordinates measurement unit, for receiving the navigation destination of input, generates preliminary guidance path according to the position at current boats and ships place and navigation destination；
Unit is determined in leg, for obtaining the positional information of boats and ships in real time, the positional information of boats and ships is sent to cloud platform server by satellite communication network, judge whether cloud platform server has Optimum Matching leg, when there is Optimum Matching leg, obtain Optimum Matching leg, and presently preferred coupling leg is joined in preliminary guidance path；When being absent from Optimum Matching leg, cloud platform service generates navigation leg in real time, is joined Present navigation leg in preliminary guidance path and is sent to boats and ships by satellite communication network；
Nautical chart generates unit, for generating the panorama nautical chart centered by boats and ships, in predeterminable range for radius region according to ship automatic identification system and electronic chart display and infor mation system；
Prewarning unit, for by whether the deviation of navigation leg in cloud platform server periodically contrast boats and ships real navigation track and preliminary guidance path exceeds predetermined threshold value, when exceeding predetermined threshold value, early warning information transmission is displayed to boats and ships and in panorama nautical chart by cloud platform server by satellite communication network。
6. modified model navigation navigation system as claimed in claim 5, it is characterised in that
Described nautical chart generates information reading sub-unit that unit includes being sequentially connected with, slightly associates subelement, carefully associates subelement, computation subunit, fixed correlation subelement, merges subelement, display subelement:
Information reading sub-unit, for reading AIS textual information from ship automatic identification system, from radar system, read radar textual information, and AIS textual information and radar textual information are decoded obtaining radar multidate information after decoded AIS multidate information and decoding；Radar multidate information is stored in the radar chained list being main fields with Waterborne movable communication business identification code, AIS multidate information is stored in AIS multidate information chained list；And AIS target and radar target is shown at electronic chart display and infor mation system；
Slightly associate subelement, be used for traveling through radar chained list and AIS dynamic link table, contrast time and the distance of radar multidate information and AIS multidate information in radar chained list and AIS dynamic link table；And therefrom search out the radar target that meets the thick Correlation Criteria of time-space and AIS target, the radar meeting the thick Correlation Criteria of time-space is numbered, the Waterborne movable communication business identification code number of times good, thick association of AIS is stored in thick associated data table；
Carefully associate subelement, for obtaining, according to thick association chained list, the multidate information that radar target is current, and multidate information current for radar target is extrapolated to system time, and be stored in and carefully associate chained list；According to slightly associating chained list, search for the multidate information that the one or more AIS targets that meet thick Correlation Criteria corresponding to radar are current, and current multidate information is extrapolated to system time and is stored in and carefully associates chained list；
Computation subunit, associate degree of membership and unconnected degree of membership, the association degree of membership of composite factor with factor between factor, course between factor, the speed of a ship or plane between factor, orientation between the distance of AIS target, single factor test collection for calculating radar according to thin association chained list and do not associate degree of membership, and result of calculation is stored in carefully associating chained list；
Fixed correlation subelement, for obtaining the association degree of membership of the maximum composite factor of each system time, when maximum association degree of membership is more than thin association the first predetermined threshold value, association quality factor adds up；When associating quality factor more than thin association the second predetermined threshold value, it is judged that for fixed correlation the Waterborne movable communication business identification code of radar numbering and AIS one to one when recording fixed correlation；
Merging subelement, for the real time information of the radar target Yu AIS target that meet fixed correlation being extrapolated to the radar moment, and itself and radar information being merged；
Display subelement, for showing the AIS target after merging and radar target in electronic chart display and infor mation system。
7. modified model navigation navigation system as claimed in claim 6, it is characterised in that
The described real time information by the radar target Yu AIS target that meet fixed correlation is extrapolated to the radar moment, and it is merged with radar information include: the real time information of the radar target Yu AIS target that meet fixed correlation is extrapolated to the radar moment, and according to weighting algorithm, itself and radar information is merged。
8. modified model navigation navigation system as claimed in claim 7, it is characterised in that
Described nautical chart is generated unit and also includes by sonar system, the seabed situation around these boats and ships being detected, and the result of detection is shown on panorama nautical chart。
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