CN108828550A - A kind of sea cable regional boundary ship target method for detecting position - Google Patents
A kind of sea cable regional boundary ship target method for detecting position Download PDFInfo
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- CN108828550A CN108828550A CN201810877506.9A CN201810877506A CN108828550A CN 108828550 A CN108828550 A CN 108828550A CN 201810877506 A CN201810877506 A CN 201810877506A CN 108828550 A CN108828550 A CN 108828550A
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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
- G01S7/41—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00 using analysis of echo signal for target characterisation; Target signature; Target cross-section
Abstract
The present invention relates to a kind of sea cable regional boundary ship target method for detecting position, specially the data fusion detection algorithm based on Technology of Radar Target Identification Yu bank base ship automatic identification system；Land-based radar detection and localization is used first, it is marked and drawn on radar map and peripherally manages situation, dynamic object is confirmed by filtering, tracking obtains course and polar coordinate position, it is associated with by time synchronizing with target position information fusion, then Radar Plotting target position is modified using B class bank base AIS received vessel position information, ship subsequent time course and ship's speed are predicted by target position detection, finally obtain the true geographical location of target, radar map is superimposed upon on electronic chart again, sea cable regional boundary is drawn using electron assistant navigation mark, guarantee sea cable regional boundary safety.The present invention compares fusion using the instantaneity combination radar data of AIS location information, reduces radar fix sea-surface target shift error, keeps position detection result more accurate.
Description
Technical field
The present invention relates to radar target acquisition, ship automatic identification system (AIS), Electronic Chart System (ECDIS) and meters
Calculation machine graph processing technique field, especially a kind of sea cable regional boundary ship target method for detecting position.
Background technique
Ship automatic identification system (AIS) technology cooperates global positioning system (GPS) by accommodation, ship's speed, rate of changing course
And the ships static data such as the Ship dynamic situations combination such as course name of vessel, catchword from very high frequency(VHF) (VHF) channel to Its Adjacent Waters ship and
Base station broadcast enables neighbouring ship and base station to grasp the dynamic static information of all ships in sea nearby in time, obtains vessel position
Coordinate is avoided in time.
Electromagnetic wave energy directive space a direction is in the object that this side up and reflects the electromagnetic wave encountered by radar；
Radar antenna receives this back wave, send to receiving device and is handled, and extracting certain information in relation to the object, (target object is extremely
The distance of radar, range rate or radial velocity, orientation, height etc.).But target position and the target of single radar detection
Deviation is larger between true geographical location, can not provide accurate coordinates of targets.Therefore, it is necessary to by AIS system and radar detection mesh
Cursor position information is merged, and is carried out target position detection using the accuracy backup radar of AIS location information, is effectively reduced sea
Noise jamming avoids changing the drift for causing radar fix target point because of meteorological condition, corrects systematic error.
Summary of the invention
It is an object of the invention to overcome the deficiencies in the prior art, propose a kind of sea cable that position detection result is more accurate
Regional boundary ship target method for detecting position.
The technical solution adopted by the present invention to solve the technical problems is：
A kind of sea cable regional boundary ship target method for detecting position, including：
Detection and localization is carried out by land-based radar, obtains radar target position data, and obtains plotting there are geographical feelings around
The radar map of condition；The radar target position data includes ship course information and polar coordinate position information；
AIS target position data is received by B class bank base AIS；The AIS target position data includes Ship GPS position
Information and course information；
Coordinate conversion is carried out to the radar target position data and the AIS target position data, respectively described in acquisition
The rectangular co-ordinate of the rectangular co-ordinate of radar target position data and the AIS target position data；
It is synchronous with AIS target position data progress time alignment to the radar target position data；
The radar target position data and the AIS target position data are merged, fusion coordinate points are established
According to library；
Based on the fusion coordinate points, flight path optimization is fitted using least square method；
Based on the flight path optimization, grey forecasting model is established, predicts the course and position of subsequent time ship.
Preferably, the detection method further includes：
According to the course and position of the subsequent time ship predicted, judge whether the ship swarms into sea cable regional boundary；Such as
Fruit swarms into, and starts early warning；If do not swarmed into, the radar map is added on electronic chart.
Preferably, the radar target position data and the AIS target position data are merged, establishes fusion and sits
Punctuate database, including：
Using the AIS position coordinates that receive as when base, take 2 groups of position coordinates at two time points to establish track and update point
Library.
Preferably, the grey forecasting model is GM (1,1) grey forecasting model.
Preferably, it is based on the flight path optimization, grey forecasting model is established, predicts the course and position of subsequent time ship
It sets, including：
Based on the flight path optimization, optimum target point mark sequence is obtained, it is as follows：
x(0)=x0(1),x0(2),…,x0(k),…,x0(n)
The grade ratio of the sequence of calculation：
If all grades can hold covering section than all falling inIt is interior, then the point mark sequence in flight path optimization
Arrange x(0)It establishes GM (1,1) model and carries out gray prediction；
With x(0)=x0(1),x0(2),…,x0(k),…,x0(n) GM (1,1) model is established for data sequence, it is as follows：
x(0)(k)+ax(1)(k)=b
The estimated value that a and b are acquired using regression analysis, obtaining corresponding albefaction model is：
Xie Wei：
Obtain predicted value：
To obtain subsequent time sea cable regional boundary ship target position coordinates predicted value：
Preferably, described that electronic chart is added to the radar map, including：
The polar coordinate position information identified on the radar map is subjected to coordinate conversion, obtains plane rectangular coordinates；
Radar image scaling is calculated according to electronic chart scale bar；
Judge whether the scaling is greater than twice；If so, judging whether there is rotation angle after interpolation in proportion；If
It is no, directly judge whether there is rotation angle；
If there is rotation angle, neighbours domain interpolation is carried out after rotation, the radar map is added on electronic chart；If not yet
There is rotation angle, the radar map is added on electronic chart after directly carrying out four neighbor interpolations.
The present invention has the advantages that：
(1) a kind of sea cable regional boundary ship target method for detecting position of the present invention, by AIS system and radar detection target position
Information is merged, and carries out target position detection using the accuracy backup radar of AIS location information, it is dry to effectively reduce sea clutter
It disturbs, avoids because meteorological condition variation causes the drift of radar fix target point, correct systematic error；
(2) a kind of sea cable regional boundary ship target method for detecting position of the present invention, fits best boat using least square method
Mark；Based on the flight path optimization, grey forecasting model is established, predicts the course and position of subsequent time ship；Make target position
It is more accurate to set testing result；
(3) a kind of sea cable regional boundary ship target method for detecting position of the present invention, radar image is superimposed upon on electronic chart,
Sea cable regional boundary is drawn using electron assistant navigation mark, guarantees sea cable regional boundary safety；
(4) a kind of sea cable regional boundary ship target method for detecting position of the present invention, radar image will not influence electricity in superposition
The normal operating of sub- sea chart, and corresponding operation can be carried out with scaling, the roaming of sea chart, while radar image deletion
When normal navigation feature will not be influenced, radar image and prediction track have apparent light and shade to distinguish, and pass through ratio
Compared with can judge in this way in order to the more intuitive track to ship of people, the safety of sea cable regional boundary is protected.
Detailed description of the invention
In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, to embodiment or will show below
There is attached drawing needed in technical description to be briefly described, it should be apparent that, the accompanying drawings in the following description is only this
Some embodiments of invention for those skilled in the art without any creative labor, can be with root
Other attached drawings are obtained according to these attached drawings.
Fig. 1 is a kind of flow chart of sea cable regional boundary ship target method for detecting position of the present invention；
Fig. 2 is that radar map of the invention is superimposed flow chart with electronic chart.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts every other
Embodiment shall fall within the protection scope of the present invention.
It is shown in Figure 1, a kind of sea cable regional boundary ship target method for detecting position, including：
(a) detection and localization is carried out by land-based radar, obtains radar target position data, and obtain plotting to have geography around
The radar map of situation；The radar target position data includes ship course information and polar coordinate position information；
(b) AIS target position data is received by B class bank base AIS；The AIS target position data includes Ship GPS position
Confidence breath and course information；
(c) coordinate conversion is carried out to the radar target position data and the AIS target position data, obtains institute respectively
State the rectangular co-ordinate of radar target position data and the rectangular co-ordinate of the AIS target position data；
Specifically, carrying out coordinate conversion to the radar target position data and the AIS target position data, obtain respectively
The rectangular co-ordinate of the radar target position data and the rectangular co-ordinate of the AIS target position data are obtained, can be used existing
Technology realize that the embodiment of the present invention is not specifically limited.
(d) synchronous with AIS target position data progress time alignment to the radar target position data；
Specifically, it is synchronous with AIS target position data progress time alignment to the radar target position data, it can
To use existing technology to realize that the embodiment of the present invention is not specifically limited.
(e) the radar target position data and the AIS target position data are merged, establishes fusion coordinate points
Database；
(f) the fusion coordinate points are based on, fit flight path optimization using least square method；
Specifically, using the AIS position coordinates that receive as when base, take 2 groups of position coordinates at two time points to establish track
Update point library；Flight path optimization will be fitted using least square method, show that track in the function expression of plane coordinate system, passes through
The flight path optimization fitted find out fusion after target geographical position coordinates.
Least square method finds the optimal function matching of data by minimizing the quadratic sum of error, can easily acquire
Unknown data, and the quadratic sum of error is minimum between the data and real data that these are acquired, and finds out regression
Model carries out curve fitting to coordinate points.
(g) it is based on the flight path optimization, grey forecasting model is established, predicts the course and position of subsequent time ship；
After obtaining flight path optimization by track association fusion, analysis is associated to track with grey forecasting model, is built
Erection system analysis, assessment, modeling, prediction, decision, control, the system based on optimization.
Track association analysis, the phase that gray prediction passes through development trend between identification system factor are carried out based on gray theory
Off course degree is associated analysis, and carries out generation processing to initial data and carry out the rule that searching system changes, generation has relatively strong
The data sequence of regularity, then establishes corresponding Differential Equation Model, to predict the situation of things future developing trend.Mesh
Mark state estimation is to carry out valuation to system track state, forms fusion track.After position coordinates association, according to these fusions
Track carries out state estimation to the position of target, speed and course, grasps the travel condition of sea cable regional boundary target.
Gray system theory is to be based on concept definitions grey derivative and the grey differential equations such as incident space, smooth discrete function,
And then the dynamic model of differential equation form is established with discrete data column, i.e. gray model is using Discrete Stochastic number by generating
Become randomness to be significantly weakened and more regular generation number, it is established that differential equation form model, be convenient in this way
Vessel position change procedure is studied and is described.
Track association analysis is carried out based on least square fitting method and gray theory, gray prediction passes through identification system factor
Between development trend different degree, i.e., progress Trajectory Prediction, and to initial data carry out generation processing come searching system change
Rule, generating has the data sequence of stronger regularity, corresponding Differential Equation Model is then established, to predict things future
The situation of development trend.Target state estimator is to carry out valuation to system track state, forms fusion track.It is closed in position coordinates
After connection, state estimation is carried out to the position of target, speed and course according to these fusion tracks, grasps the row of sea cable regional boundary target
Into state.
The present invention is described track process using GM (1,1) model.Since front is distributed coordinate points track
It is associated by statistics least square method, has fitted flight path optimization, therefore available optimum target position.
Assuming that being based on the flight path optimization, optimum target point mark sequence is obtained, it is as follows：
x(0)=x0(1),x0(2),…,x0(k),…,x0(n)
The grade ratio of the sequence of calculation：
If all grades can hold covering section than all falling inIt is interior, then the point mark sequence in flight path optimization
Arrange x(0)It establishes GM (1,1) model and carries out gray prediction；Otherwise, it needs to do data conversion process appropriate, such as translation becomes
It changes：
y(0)(k)=x(0)(k)+c, k=1,2........, n
The grade ratio for taking c that data are arranged all falls in and can hold in covering.
With x(0)=x0(1),x0(2),…,x0(k),…,x0(n) GM (1,1) model is established for data sequence, it is as follows：
x(0)(k)+ax(1)(k)=b
The estimated value that a and b are acquired using regression analysis, obtaining corresponding albefaction model is：
Xie Wei：
Obtain predicted value：
To obtain subsequent time sea cable regional boundary ship target position coordinates predicted value：
It is tested according to above formula to predicted value and calculates opposite residual error：And if only if to institute
Have | ε (k) |<0.1|ε(k)|<0.1.
(h) according to the course and position of the subsequent time ship predicted, judge whether the ship swarms into sea cable regional boundary；
If swarmed into, start early warning；If do not swarmed into, the radar map is added on electronic chart.
It is shown in Figure 2, it is described that electronic chart is added to the radar map, including：
The polar coordinate position information identified on the radar map is subjected to coordinate conversion, obtains plane rectangular coordinates；
Radar image scaling is calculated according to electronic chart scale bar；
Judge whether the scaling is greater than twice；If so, judging whether there is rotation angle after interpolation in proportion；If
It is no, directly judge whether there is rotation angle；
If there is rotation angle, neighbours domain interpolation is carried out after rotation, the radar map is added on electronic chart；If not yet
There is rotation angle, the radar map is added on electronic chart after directly carrying out four neighbor interpolations.
Specific embodiment is applied in the present invention, and principle and implementation of the present invention are described, above embodiments
Explanation be merely used to help understand method and its core concept of the invention；At the same time, for those skilled in the art,
According to the thought of the present invention, there will be changes in the specific implementation manner and application range, in conclusion in this specification
Appearance should not be construed as limiting the invention.
Claims (6)
1. a kind of sea cable regional boundary ship target method for detecting position, which is characterized in that including：
Detection and localization is carried out by land-based radar, obtains radar target position data, and obtains to mark and draw and has around geographic basis
Radar map；The radar target position data includes ship course information and polar coordinate position information；
AIS target position data is received by B class bank base AIS；The AIS target position data includes Ship GPS location information
And course information；
Coordinate conversion is carried out to the radar target position data and the AIS target position data, obtains the radar respectively
The rectangular co-ordinate of the rectangular co-ordinate of target position data and the AIS target position data；
It is synchronous with AIS target position data progress time alignment to the radar target position data；
The radar target position data and the AIS target position data are merged, fusion coordinate point data base is established；
Based on the fusion coordinate points, flight path optimization is fitted using least square method；
Based on the flight path optimization, grey forecasting model is established, predicts the course and position of subsequent time ship.
2. sea cable regional boundary ship target method for detecting position according to claim 1, which is characterized in that the detection method
Further include：
According to the course and position of the subsequent time ship predicted, judge whether the ship swarms into sea cable regional boundary；If rushed
Enter, starts early warning；If do not swarmed into, the radar map is added on electronic chart.
3. sea cable regional boundary ship target method for detecting position according to claim 1, which is characterized in that by the radar mesh
Cursor position data and the AIS target position data are merged, and fusion coordinate point data base is established, including：
Using the AIS position coordinates that receive as when base, take 2 groups of position coordinates at two time points to establish track and update a point library.
4. sea cable regional boundary ship target method for detecting position according to claim 1, which is characterized in that the gray prediction
Model is GM (1,1) grey forecasting model.
5. sea cable regional boundary ship target method for detecting position according to claim 4, which is characterized in that based on described best
Track establishes grey forecasting model, predicts the course and position of subsequent time ship, including：
Based on the flight path optimization, optimum target point mark sequence is obtained, it is as follows：
x(0)=x0(1),x0(2),…,x0(k),…,x0(n)
The grade ratio of the sequence of calculation：
If all grades can hold covering section than all falling inIt is interior, then the point mark sequence x in flight path optimization(0)
It establishes GM (1,1) model and carries out gray prediction；
With x(0)=x0(1),x0(2),…,x0(k),…,x0(n) GM (1,1) model is established for data sequence, it is as follows：
x(0)(k)+ax(1)(k)=b
The estimated value that a and b are acquired using regression analysis, obtaining corresponding albefaction model is：
Xie Wei：
Obtain predicted value：
To obtain subsequent time sea cable regional boundary ship target position coordinates predicted value：
6. sea cable regional boundary ship target method for detecting position according to claim 1, which is characterized in that described by electron sea
Figure is added to the radar map, including：
The polar coordinate position information identified on the radar map is subjected to coordinate conversion, obtains plane rectangular coordinates；
Radar image scaling is calculated according to electronic chart scale bar；
Judge whether the scaling is greater than twice；If so, judging whether there is rotation angle after interpolation in proportion；If not,
Directly judge whether there is rotation angle；
If there is rotation angle, neighbours domain interpolation is carried out after rotation, the radar map is added on electronic chart；If do not revolved
The radar map is added on electronic chart by corner after directly carrying out four neighbor interpolations.
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| CN109345876A (en) * | 2018-11-29 | 2019-02-15 | 长航(武汉)绿色航运科技服务有限公司 | A kind of control and monitoring system for ships and method |
| CN109725310A (en) * | 2018-11-30 | 2019-05-07 | 中船（浙江）海洋科技有限公司 | A kind of ship's fix supervisory systems based on YOLO algorithm and land-based radar system |
| CN109817023A (en) * | 2019-03-06 | 2019-05-28 | 国网福建省电力有限公司莆田供电公司 | A kind of novel sea cable waters AIS object detection method |
| CN109856625A (en) * | 2019-03-06 | 2019-06-07 | 国网福建省电力有限公司莆田供电公司 | A kind of vessel position recognition methods based on multisource data fusion |
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| CN110618290A (en) * | 2019-09-09 | 2019-12-27 | 中国船舶重工集团公司第七0七研究所九江分部 | Speed information fusion method |
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| CN111580096A (en) * | 2019-02-18 | 2020-08-25 | 杭州海康威视数字技术股份有限公司 | Defense area drawing method and device |
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