CN106446519A - Ocean electronic data association method - Google Patents
Ocean electronic data association method Download PDFInfo
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- CN106446519A CN106446519A CN201610790910.3A CN201610790910A CN106446519A CN 106446519 A CN106446519 A CN 106446519A CN 201610790910 A CN201610790910 A CN 201610790910A CN 106446519 A CN106446519 A CN 106446519A
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Abstract
The invention provides an ocean electronic data association method mainly based on common ship automatic identification system (AIS) and radar subsystem in an ocean electronic application system. By analyzing time latitude and space latitude of data collected by the AIS and the radar system, a first-time occurrence time association matrix of perceptive objects is constructed in time dimension, and the perceptive object with high similarity in time latitude is calculated according to a model; and by taking the position of an object obtained by radar direction finding as a reference in space latitude, a grid is divided based on a latitude and longitude coordinate system, an AIS ship object closest to the object obtained by radar direction finding according to latitude and longitude in AIS dynamic data, a space closest distance matrix is constructed, the closest distance matrix is updated through continuous iteration, the perceptive object with high similarity in space latitude is extracted, and finally data of the AIS ship object and the radar perceptive object which are highly similar is combined together to realize data association of the AIS ship object and the radar perceptive object.
Description
Technical field
The present invention relates to data association software, more particularly to a kind of Marine Electronics data correlation method.
Background technology
Current in Marine Electronics system, sensor device is widely used, and substantial amounts of perception data is by passing
Sensor has carried out collecting, store, analyze and converting.The data collected by same perceptive object, different types of sensor
Type is also not quite similar, and the multiple data associations for belonging to same perceptive object are had to the behavioral pattern for analyzing the object together
There is good help.
At present in Marine Electronics application system, the data association of multiple sensors mainly enters according to the numbering of destination object
OK, the numbering due to sensor is not quite similar, and some sensors do not have detected object to number, and therefore cause the number that can associate
According to extremely limited, less to the available sample of the BMAT of detected object.
Content of the invention
The present invention solves the technical problem of providing one kind, can solve the problem that in Marine Electronics application system, AIS
The official number problem that cause data cannot associate inconsistent with radar lot number, by both analyses in time dimension and space
Dependency on latitude, so as to realize the association of data；The present invention relies on line computation model, with real time data as base
Plinth, is dynamically updated linked list, and similarity is also constantly to change with the motion of perceptive object, possesses good
Motility, overcomes the shortcoming that calculated off line model is unable to real-time update.
For solving above-mentioned technical problem, one aspect of the present invention is：A kind of Marine Electronics data pass is provided
Linked method, it is characterised in that comprise the steps：
1) installation and deployment AIS base station equipment, AIS mobile device and radar equipment, wherein to AIS base station and radar
Deployed position and sweep limitss are adapted to, it is ensured that both are deployed in same place, and both effective coverage range identical or
Difference is less；
2) after step 1 is completed, time of occurrence incidence matrix first is constructed, the wherein line index of matrix is AIS ship oceangoing ship
Object information, including the numbering of ship object, and the time that base station receives first；Matrix column index is believed for radar object
Breath, the time that detects including batch number and first；
3) radar scanning and AIS base station receiving data is opened, and the data of the perceptive object for occurring first is inserted pass
In connection matrix, if wherein AIS base station receives ships data first, a line index is just set up, be stored in numbering and the head of ship
The secondary time for receiving, and which is calculated with each column index, obtain corresponding string matrix element matrix element；If radar
Receive scan data first, a column index is just set up, batch number and the time for receiving first is stored in, and by which with each row
Index is calculated；
4) according to longitude and latitude and the radar direction finding value of radar itself, object longitude and latitude conduct that radar scanning goes out are calculated
The center of circle, the precision of radar and AIS positioning precision sum do round domain for radius, divide longitude and latitude grid in units of 0.01 degree, and
Calculate whether the grid falls in circle domain, the grid for falling in circle domain is retained；
5) minimum distance matrix is constructed, and wherein matrix line index is AIS ship oceangoing ship object information, including official number, newest
Latitude and longitude value, updates the time；Column matrix index is newest longitude and latitude radar scanning object information, including radar object batch number,
Renewal time, and its neighbouring grid longitude and latitude two-dimensional array；
6) when radar scanning and AIS base station receiving data is opened, if receiving a new radar scanning object, most
Closely a column index being generated in matrix, is stored in the batch number of the object, the longitude and latitude of existing object, receive object data
Time, and according to step 4 calculate near grid and be stored in grid longitude and latitude two-dimensional array；If receiving same radar scanning
The data of object, then find corresponding column index, updates the longitude and latitude in column index, updates the time for receiving data, and according to
Step 4 calculates the grid longitude and latitude two-dimensional array after updating longitude and latitude；If receiving a new AIS ship oceangoing ship object, in most low coverage
A line index is generated in matrix, be stored in the numbering of the ship, the longitude and latitude of current ship, receive the time of ships data；
If the data of same AIS ship oceangoing ship object are received, corresponding line index is found, the longitude and latitude of ship is updated, update and receive number
According to time；
7) in step 6, whenever increasing or update line index, the line index needs to be counted with all column indexes
Calculate, and corresponding same row matrix element is updated, when increasing in the same manner or updating column index, it is also desirable to enter which with all line index
Row is calculated and updates corresponding same row matrix element；
8) parallel with step 6, opening detection process process, during to the renewal time in each line index with system
Between contrast, if a certain line index updated the time difference of time and system time more than 6 minutes, by the row rope in minimum distance matrix
Draw the deletion of a corresponding row element；The renewal time in each column index is contrasted with system time, if a certain column index is more
The time difference of new time and system time more than two radar scanning cycles, then by the column index corresponding one in minimum distance matrix
Column element is deleted；
9) parallel with step 6, with the radar scanning cycle as fusion cycle T, every a cycle, construction Similarity Measure row
Table, wherein list first is classified as AIS ship oceangoing ship object number, and second is classified as the batch number of radar scanning object, and the 3rd is classified as the time
Similarity, the 4th is classified as Distance conformability degree, and the 5th is classified as comprehensive similarity；
10), after the completion of step 9, comprehensive similarity is calculated to every a line of Similarity Measure list, according to equation below meter
Calculate：
It is wherein time similarity, is Distance conformability degree.α and β is comprehensive scale factor, can be according to multiple fusion results
Accuracy rate being adjusted, the factor is relevant with environment during actual motion, in the present invention,. and the result of calculating is stored in phase
In the 5th row comprehensive similarity like degree calculations list；
11), after step 10 is completed, it is grouped according to first row AIS ship oceangoing ship object number in Similarity Measure list,
In each group, comprehensive similarity is ranked up, that data line of comprehensive similarity maximum is taken out, as the AIS ship oceangoing ship
The result of the radar scanning object of object association；The result of all packets is collected, obtains object extemporaneous association list；
After step 11 is completed, threshold value screening is carried out to extemporaneous association list, set comprehensive similarity threshold ε, when comprehensive
When closing threshold value, you can think that both have been carried out data association；When composite thresholds, both cannot carry out data association, at this
When in invention, interrelating effect is best (affiliated partner number is more, and False Rate is relatively fewer).The result for meeting screening conditions is taken out,
Linked list is obtained, the implication of the table is the data of the corresponding ship object of AIS numbering, and radar batch number is corresponding
Sweep object data, are belonging to the data of same perceptive object, so as to form data association.
Preferably, the matrix element Similarity Measure is based on formula, when wherein occurring for AIS ship oceangoing ship object first
Between be converted into UTC number of seconds, be that time of occurrence is converted into UTC number of seconds to radar scanning object first；Lead time is bigger, represents both
The probability for belonging to same perceptive object is lower.
Preferably, the entry of a matrix element is the calculating of the geographical space Distance conformability degree of ranks index
Based on formula
The longitude of wherein radar scanning object is that latitude is；The longitude of AIS ship oceangoing ship object is that latitude is.
Preferably, the calculating of the comprehensive similarity is based on formula
Wherein, it is wherein time similarity, is Distance conformability degree.α and β is comprehensive scale factor, can be according to repeatedly melting
The accuracy rate of result is closed being adjusted, the factor is relevant with environment during actual motion.
The situation of prior art is different from, the invention has the beneficial effects as follows：
1) solve in Marine Electronics application system, AIS ship oceangoing ship numbering is inconsistent with radar lot number to cause the data cannot
The problem of association, by both dependencys on time dimension and space length latitude of analysis, so as to realize the pass of data
Connection；
2) present invention relies on line computation model, based on real time data, is dynamically updated linked list, similar
Degree is also constantly to change with the motion of perceptive object, possesses good motility, and overcoming calculated off line model can not
The shortcoming of real-time update.
Description of the drawings
Fig. 1 is a kind of Marine Electronics data correlation method schematic flow sheet of the embodiment of the present invention.
Specific embodiment
Below in conjunction with the accompanying drawing in the embodiment of the present invention, the technical scheme in the embodiment of the present invention is carried out clear, complete
Site preparation is described, it is clear that described embodiment is only a part of embodiment of the present invention, rather than whole embodiments.It is based on
Embodiment in the present invention, it is every other that those of ordinary skill in the art are obtained under the premise of creative work is not made
Embodiment, belongs to the scope of protection of the invention.
A kind of Marine Electronics data correlation method is provided, it is characterised in that：The tool of the Marine Electronics data correlation method
Running body comprises the steps：
1) installation and deployment AIS base station equipment, AIS mobile device and radar equipment, wherein to AIS base station and radar
Deployed position and sweep limitss are adapted to, it is ensured that both are deployed in same place, and both effective coverage range identical or
Difference is less.
2) after step 1 is completed, time of occurrence incidence matrix first is constructed, the wherein line index of matrix is AIS ship oceangoing ship
Object information, including the numbering of ship object, and the time that base station receives first；Matrix column index is believed for radar object
Breath, the time that detects including batch number and first.
3) radar scanning and AIS base station receiving data is opened, and the data of the perceptive object for occurring first is inserted pass
In connection matrix, if wherein AIS base station receives ships data first, a line index is just set up, be stored in numbering and the head of ship
The secondary time for receiving, and which is calculated with each column index, obtain corresponding string matrix element matrix element；If radar
Receive scan data first, a column index is just set up, batch number and the time for receiving first is stored in, and by which with each row
Index is calculated.
4) according to longitude and latitude and the radar direction finding value of radar itself, object longitude and latitude conduct that radar scanning goes out are calculated
The center of circle, the precision of radar and AIS positioning precision sum do round domain for radius, divide longitude and latitude grid in units of 0.01 degree, and
Calculate whether the grid falls in circle domain, the grid for falling in circle domain is retained.
5) minimum distance matrix is constructed, and wherein matrix line index is AIS ship oceangoing ship object information, including official number, newest
Latitude and longitude value, updates the time；Column matrix index is newest longitude and latitude radar scanning object information, including radar object batch number,
Renewal time, and its neighbouring grid longitude and latitude two-dimensional array.
6) when radar scanning and AIS base station receiving data is opened, if receiving a new radar scanning object, most
Closely a column index being generated in matrix, is stored in the batch number of the object, the longitude and latitude of existing object, receive object data
Time, and according to step 4 calculate near grid and be stored in grid longitude and latitude two-dimensional array；If receiving same radar scanning
The data of object, then find corresponding column index, updates the longitude and latitude in column index, updates the time for receiving data, and according to
Step 4 calculates the grid longitude and latitude two-dimensional array after updating longitude and latitude；If receiving a new AIS ship oceangoing ship object, in most low coverage
A line index is generated in matrix, be stored in the numbering of the ship, the longitude and latitude of current ship, receive the time of ships data；
If the data of same AIS ship oceangoing ship object are received, corresponding line index is found, the longitude and latitude of ship is updated, update and receive number
According to time.
7) in step 6, whenever increasing or update line index, the line index needs to be counted with all column indexes
Calculate, and corresponding same row matrix element is updated, when increasing in the same manner or updating column index, it is also desirable to enter which with all line index
Row calculates and updates corresponding same row matrix element, and the detailed process that wherein matrix element is calculated comprises the steps：
A) line index and a column index are extracted；
B) longitude and latitude of line index and the grid longitude and latitude two-dimensional array of column index are extracted；
If c) line index longitude and latitude is not in two-dimensional array, matrix element value is that 0, representation space range difference is excessive can not
It can be same perceptive object；If line index longitude and latitude is in two-dimensional array, similar according to formula computed range in step 5
Degree；
D) repeat step a to c, realizes calculating a row or column matrix element.
8) parallel with step 6, opening detection process process, during to the renewal time in each line index with system
Between contrast, if a certain line index updated the time difference of time and system time more than 6 minutes, by the row rope in minimum distance matrix
Draw the deletion of a corresponding row element；The renewal time in each column index is contrasted with system time, if a certain column index is more
The time difference of new time and system time more than two radar scanning cycles, then by the column index corresponding one in minimum distance matrix
Column element is deleted.
9) parallel with step 6, with the radar scanning cycle as fusion cycle T, every a cycle, construction Similarity Measure row
Table, wherein list first is classified as AIS ship oceangoing ship object number, and second is classified as the batch number of radar scanning object, and the 3rd is classified as the time
Similarity, the 4th is classified as Distance conformability degree, and the 5th is classified as comprehensive similarity, and the every a line in Similarity Measure table is calculated comprehensive
Close similarity；
10), after step 10 is completed, it is grouped according to first row AIS ship oceangoing ship object number in Similarity Measure list,
In each group, comprehensive similarity is ranked up, that data line of comprehensive similarity maximum is taken out, as the AIS ship oceangoing ship
The result of the radar scanning object of object association；The result of all packets is collected, obtains object extemporaneous association list.
11) after step 11 is completed, threshold value screening carried out to extemporaneous association list, set comprehensive similarity threshold ε, when
During composite thresholds, you can think that both have been carried out data association；When composite thresholds, both cannot carry out data association,
When in the present invention, interrelating effect is best (affiliated partner number is more, and False Rate is relatively fewer).The result for meeting screening conditions is taken
Go out, linked list is obtained, the implication of the table is the data of the corresponding ship object of AIS numbering, and radar batch number pair
The sweep object data that answers, are belonging to the data of same perceptive object, so as to form data association.
In specific implementation process, the matrix element Similarity Measure is based on formula, is wherein AIS ship oceangoing ship object
Time of occurrence is converted into UTC number of seconds first, is that time of occurrence is converted into UTC number of seconds to radar scanning object first；Lead time is got over
Greatly, the probability for belonging to same perceptive object both representing is lower.
The entry of a matrix element is based on formula for the calculating of the geographical space Distance conformability degree of ranks index
The longitude of wherein radar scanning object is that latitude is；The longitude of AIS ship oceangoing ship object is that latitude is.
The calculating of the comprehensive similarity is based on formula
Wherein, it is wherein time similarity, is Distance conformability degree.α and β is comprehensive scale factor, can be according to repeatedly melting
The accuracy rate of result is closed being adjusted, the factor is relevant with environment during actual motion, in the present invention, and the knot that will calculate
Fruit is stored in the 5th row comprehensive similarity of Similarity Measure list, and the process that is stored in of its Similarity Measure list includes following step
Suddenly：
A) data line of time of occurrence incidence matrix first is taken out, and takes out an element of the row data；
B) in Similarity Measure list, newly-built data line, the corresponding line index of the element is inserted in first row
AIS ship oceangoing ship object number, inserts the radar scanning object batch number of the corresponding column index of the element in a second column, and the 3rd row are filled out
Enter the element；
C) corresponding Distance conformability degree is found in minimum distance matrix according to the ranks of element index, inserts the 4th
Row；If cannot find that 0 is just inserted；
D) repeat the above steps a to c, completes the filling of data line and the generation of whole Similarity Measure list.
By the way, a kind of Marine Electronics data correlation method of the embodiment of the present invention is by AIS system and thunder
Reaching the time latitude of systematic collection data and spatial dimension is analyzed, perceptive object is constructed on time dimension first
Time of occurrence incidence matrix, calculates the perceptive object for possessing high similarity on time latitude according to model；In spatial dimension
On on the basis of the object's position that radar direction finding is arrived, based on latitude and longitude coordinates system grid division, according in AIS dynamic data
Calculation of longitude ＆ latitude goes out the nearest AIS ship oceangoing ship object of the object for going out from radar direction finding, and constructs space minimum distance matrix, through continuous
Iteration update minimum distance matrix, extract the perceptive object for possessing high similarity on spatial dimension, finally according to the time
And the similarity of spatial dimension, the data of highly similar AIS ship oceangoing ship object and radar perceptive object are combined, real
Both data associations existing.
Embodiments of the invention are the foregoing is only, the scope of the claims of the present invention is not thereby limited, every using this
Equivalent structure or equivalent flow conversion that bright description and accompanying drawing content are made, or directly or indirectly it is used in other related skills
Art field, is included within the scope of the present invention.
Claims (4)
1. a kind of Marine Electronics data correlation method, it is characterised in that comprise the steps：
1) installation and deployment AIS base station equipment, AIS mobile device and radar equipment, the wherein deployment to AIS base station and radar
Position and sweep limitss are adapted to, it is ensured that both are deployed in same place, and both identical or differences of effective coverage range
Less；
2) after step 1 is completed, time of occurrence incidence matrix first is constructed, the wherein line index of matrix is AIS ship oceangoing ship object
Information, including the numbering of ship object, and the time that base station receives first；Matrix column index is radar object information,
The time that detects including batch number and first；
3) radar scanning and AIS base station receiving data is opened, and the data of the perceptive object for occurring first is inserted association square
In battle array, if wherein AIS base station receives ships data first, a line index is just set up, be stored in the numbering of ship and receive first
The time for arriving, and which is calculated with each column index, obtain corresponding string matrix element matrix element；If radar is first
Scan data is received, a column index is just set up, batch number and the time for receiving first is stored in, and by which with each line index
Calculate；
4) according to longitude and latitude and the radar direction finding value of radar itself, object longitude and latitude conduct circle that radar scanning goes out are calculated
The heart, the precision of radar and AIS positioning precision sum do round domain for radius, divide longitude and latitude grid, and count in units of 0.01 degree
Calculate whether the grid falls in circle domain, the grid for falling in circle domain is retained；
5) minimum distance matrix is constructed, and wherein matrix line index is newest longitude and latitude AIS ship oceangoing ship object information, including official number
Angle value, updates the time；Column matrix index is radar scanning object information, including radar object batch number, newest longitude and latitude, updates
Time, and its neighbouring grid longitude and latitude two-dimensional array；
6) when radar scanning and AIS base station receiving data is opened, if receiving a new radar scanning object, in most low coverage
A column index is generated in matrix, is stored in the batch number of the object, the longitude and latitude of existing object, receive object data when
Between, and according to step 4 calculate near grid and be stored in grid longitude and latitude two-dimensional array；If receiving same radar scanning pair
The data of elephant, then find corresponding column index, updates the longitude and latitude in column index, updates the time for receiving data, and according to step
Rapid 4 calculate the grid longitude and latitude two-dimensional array after updating longitude and latitude；If receiving a new AIS ship oceangoing ship object, in minimum distance
A line index is generated in matrix, be stored in the numbering of the ship, the longitude and latitude of current ship, receive the time of ships data；If
The data of same AIS ship oceangoing ship object are received, then corresponding line index is found, the longitude and latitude of ship is updated, update and receive data
Time；
7) in step 6, whenever increasing or update line index, the line index needs to be calculated with all column indexes,
And corresponding same row matrix element is updated, when increasing in the same manner or updating column index, it is also desirable to carry out which with all line index
Calculate and update corresponding same row matrix element；
8) parallel with step 6, opening detection process process, to the renewal time in each line index and system time pair
Than if a certain line index updates the time with the time difference of system time more than 6 minutes, by the line index pair in minimum distance matrix
The row element that answers is deleted；The renewal time in each column index is contrasted with system time, if a certain column index updates
Between with time difference of system time more than two radar scanning cycles, then by corresponding for the column index in minimum distance matrix string unit
Element is deleted；
9) parallel with step 6, with the radar scanning cycle as fusion cycle T, every a cycle, Similarity Measure list is constructed,
Wherein list first is classified as AIS ship oceangoing ship object number, and second is classified as the batch number of radar scanning object, and the 3rd is classified as time similarity
Degree, the 4th is classified as Distance conformability degree, and the 5th is classified as comprehensive similarity；
10), after the completion of step 9, comprehensive similarity is calculated to every a line of Similarity Measure list, is calculated according to equation below：
It is wherein time similarity, is Distance conformability degree.α and β is comprehensive scale factor, can be according to the standard of multiple fusion results
Really rate is being adjusted, and the factor is relevant with environment during actual motion, in the present invention,. the result of calculating is stored in similarity
In 5th row comprehensive similarity of calculations list；
11) after step 10 is completed, it is grouped according to first row AIS ship oceangoing ship object number in Similarity Measure list, every
In one group, comprehensive similarity is ranked up, that data line of comprehensive similarity maximum is taken out, as the AIS ship oceangoing ship object
The result of the radar scanning object of association；The result of all packets is collected, obtains object extemporaneous association list；
12) after step 11 is completed, threshold value screening carried out to extemporaneous association list, set comprehensive similarity threshold ε, works as synthesis
During threshold value, you can think that both have been carried out data association；When composite thresholds, both cannot carry out data association, at this
When bright middle, interrelating effect is best (affiliated partner number is more, and False Rate is relatively fewer).The result for meeting screening conditions is taken out, is obtained
To linked list, the implication of the table is the data of the corresponding ship object of AIS numbering, and radar batch number is corresponding sweeps
Object data is retouched, the data of same perceptive object is belonging to, so as to form data association.
2. a kind of Marine Electronics data correlation method according to claim 1, it is characterised in that：The matrix element is similar
Degree is calculated based on formula, and wherein for AIS ship oceangoing ship object, time of occurrence is converted into UTC number of seconds first, is radar scanning object
Time of occurrence is converted into UTC number of seconds first；Lead time is bigger, and the probability that both representatives belong to same perceptive object is lower.
3. a kind of Marine Electronics data correlation method according to claim 1, it is characterised in that：
The entry of a matrix element is based on formula for the calculating of the geographical space Distance conformability degree of ranks index
The longitude of wherein radar scanning object is that latitude is；The longitude of AIS ship oceangoing ship object is that latitude is.
4. a kind of Marine Electronics data correlation method according to claim 1, goes to be characterised by：The comprehensive similarity
Calculate based on formula
Wherein, it is wherein time similarity, is Distance conformability degree.α and β is comprehensive scale factor, can be tied according to repeatedly fusion
The accuracy rate of fruit is being adjusted, and the factor is relevant with environment during actual motion.
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| CN106990395A (en) * | 2017-04-11 | 2017-07-28 | 北京海兰信数据科技股份有限公司 | The calibration method and device of a kind of radar target |
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| CN106446519B (en) | 2019-04-05 |
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