CN110687509A - Maritime affair law enforcement system for ship AIS intelligent verification - Google Patents
Maritime affair law enforcement system for ship AIS intelligent verification Download PDFInfo
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- CN110687509A CN110687509A CN201911067111.3A CN201911067111A CN110687509A CN 110687509 A CN110687509 A CN 110687509A CN 201911067111 A CN201911067111 A CN 201911067111A CN 110687509 A CN110687509 A CN 110687509A
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- 238000012795 verification Methods 0.000 title claims abstract description 18
- 238000012544 monitoring process Methods 0.000 claims abstract description 15
- 238000012545 processing Methods 0.000 claims abstract description 10
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- 230000001629 suppression Effects 0.000 claims description 17
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
- G01S7/40—Means for monitoring or calibrating
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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
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/86—Combinations of radar systems with non-radar systems, e.g. sonar, direction finder
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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
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/86—Combinations of radar systems with non-radar systems, e.g. sonar, direction finder
- G01S13/867—Combination of radar systems with cameras
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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
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/88—Radar or analogous systems specially adapted for specific applications
- G01S13/886—Radar or analogous systems specially adapted for specific applications for alarm systems
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- G—PHYSICS
- G08—SIGNALLING
- G08B—SIGNALLING OR CALLING SYSTEMS; ORDER TELEGRAPHS; ALARM SYSTEMS
- G08B7/00—Signalling systems according to more than one of groups G08B3/00 - G08B6/00; Personal calling systems according to more than one of groups G08B3/00 - G08B6/00
- G08B7/06—Signalling systems according to more than one of groups G08B3/00 - G08B6/00; Personal calling systems according to more than one of groups G08B3/00 - G08B6/00 using electric transmission, e.g. involving audible and visible signalling through the use of sound and light sources
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/60—Control of cameras or camera modules
- H04N23/67—Focus control based on electronic image sensor signals
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/60—Control of cameras or camera modules
- H04N23/695—Control of camera direction for changing a field of view, e.g. pan, tilt or based on tracking of objects
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N7/00—Television systems
- H04N7/18—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast
Abstract
The invention provides a maritime affair law enforcement system for ship AIS intelligent verification, which comprises a radar front end, a radar terminal, external equipment, a power supply module and a control unit, wherein the radar front end comprises an antenna, a receiving and transmitting component and a signal processing module, the radar terminal comprises an information fusion and AIS intelligent verification processing center and a display module, the external equipment comprises a GPS, an AIS and a video monitoring system, and the radar terminal, the radar front end, the external equipment and the control unit are communicated through serial ports. The system has an off-site intelligent AIS verification function, reduces the workload of the sea trial law enforcement personnel, and improves the law enforcement efficiency; through target identification and moving and static target distinguishing, false targets, stationary ships stopped at safe sides, boats without AIS installation and the like are effectively eliminated, and the false alarm rate is low.
Description
Technical Field
The invention relates to a maritime affairs law enforcement system for intelligent verification of ship AIS.
Background
The automatic identification system of the ship is also called AIS, which is a novel multi-door high-tech navigation system integrating communication, network and information technology, and the system has been developed from an initial ship collision avoidance system into a global navigation aid system for ensuring navigation safety. As a class a reason country of IMO (international maritime organization), China actively fulfills the relevant requirements of international convention: in 2001, 12/18, a notice was issued that ships are forcibly equipped with AIS equipment, and that ships sailing internationally at 300 total tons and higher, non-internationally at 500 total tons and higher, and all passenger ships must be equipped with AIS equipment. In 12 days 4 and 2010, the Chinese maritime administration newly promulgates the regulations on the management of the electronic chart system and the automatic identification system on board the sailing ship in China, and provides AIS (automatic identification system) allocation requirements for ships with a total ton of over 200 along the sea and over 100 tons in the inland river.
Under the above regulations, the popularization and application of the AIS system equipment in domestic sailing ships have good effects, but still, the problems that few AIS equipment are not installed or the AIS information of the ships is inaccurate, and the AIS equipment is not normally used (closed, shielded by an antenna, failed and the like) exist. In order to solve the problems, the AIS equipment of the domestic sailing ship needs to be installed, equipped and used by the Ministry of transportation and maritime affairs at all places in China for special supervision and inspection.
Currently, most maritime offices use the following three ways to supervise inspection:
1. the on-site inspection and recording mode is adopted;
2. distinguishing radar tracks associated with or not associated with AIS by adopting a domestic VTS system or some high-end marine navigation equipment with information fusion of radar and AIS, and further taking the radar tracks as inspection bases;
3. adopt "AIS intelligent verification appearance" of Shanghai maritime affairs office research and development, but this verification appearance long-range automatic reception ship-borne AIS equipment signal, the analysis shows all kinds of information of ship-borne AIS through smart mobile phone, whether the rapid judgement AIS equipment normally works.
The above three ways have drawbacks, however, and in particular,
1. the on-site inspection mode has low efficiency and high omission factor.
2. By adopting a VTS system or ship navigation equipment with information fusion of radar and AIS, targets such as fixed targets, stationary ships parked on the bank, small fish fillets and the like cannot be distinguished, and the false alarm rate is high.
3. By adopting the AIS intelligent detector of the Shanghai maritime affairs office, ships which are not provided with or close the AIS still need to be found and judged manually.
Disclosure of Invention
In order to solve the technical problems, the invention provides the following technical scheme:
a maritime affair law enforcement system for ship AIS intelligent verification comprises a radar front end, a radar terminal, external equipment, a control unit and a power supply module, wherein the radar front end comprises an antenna, a receiving and transmitting assembly and a signal processing module; the radar terminal comprises an information fusion and AIS intelligent verification processing center and a display module; the external equipment comprises a GPS system, an AIS system and a video monitoring system, the radar terminal is communicated with the radar front end, the external equipment and the control unit through serial ports, the AIS system is used for acquiring AIS track information and sending the AIS track information to the radar terminal, the transceiving component is used for generating specific radio frequency pulse and sending and receiving the radio frequency pulse through an antenna, the signal processing module is used for pre-selecting, amplifying, frequency converting, filtering, demodulating and AD sampling the radio frequency pulse information received by the transceiving component, inhibiting clutter, accumulating video and detecting echo edges to generate radar target echo edge point information and sending the radar target echo edge point information to the radar terminal, the radar terminal is used for receiving the radar target echo edge point information and the AIS track information and carrying out combined tracking and information fusion processing with an AIS intelligent verification processing center through information fusion processing, firstly, distinguishing the flight path into an AIS-associated flight path and a radar flight path which is not associated with the AIS, then distinguishing the radar flight path which is not associated with the AIS through target identification and moving and static targets to obtain a radar moving target flight path which is not associated with the AIS, and finally alarming the radar moving target flight path which is not associated with the AIS within one minute.
Furthermore, the information content of the target point trace at the front end of the radar comprises time, distance, direction and amplitude, and clutter suppression comprises same-frequency suppression, rain and snow suppression and sea wave suppression.
Further, when alarming, the display module is used for limiting the flickering of the alarming target and prompting law enforcement personnel to pay attention through characters and sound.
Further, when alarming, the radar terminal controls the video monitoring system to adjust the angle and the focal length of the camera through linkage control information, video monitoring is conducted on an alarming target, the monitoring video is transmitted back to the radar terminal, the radar terminal conducts interface small-window display on the monitoring video, and the radar terminal is further provided with a function of shooting and storing the monitoring video of the interface small-window.
Further, the combined tracking and information fusion processing process comprises point track condensation and target identification, coordinate conversion, time alignment, AIS track association and update, radar confirmation track association and update, radar test track association and update, track initiation and track management.
Further, the correlation between the radar confirmed track and the AIS track adopts NNCJPDA algorithm, the track initiation adopts a speed gate initiation method, the track management comprises track test management and track confirmation management, wherein the track test management adopts M/N criterion, the track confirmation management adopts L criterion, the wave gate in the track correlation, the speed threshold of the track initiation, the track confirmation and the track termination parameter can be adjusted, the target identification is realized by judging the size, the shape and the number of the radar point track edges when the points track is condensed, and the dynamic and static target differentiation is jointly judged by the nearest K-frame target average vector speed and the moving distance.
Further, the GPS and the radar front end are placed together, and the GPS and the radar front end are used for acquiring positioning information and performing coordinate conversion on the acquired positioning information.
Furthermore, the radar terminal also has the functions of state display, information display, map loading, alarm area setting, parameter setting, radar front-end control and video linkage control.
Furthermore, the radar terminal device further comprises a control unit connected with the radar terminal, wherein the control unit comprises a keyboard and a mouse, the mouse is used for operation control, and the keyboard is used for input.
The invention has the beneficial effects that: the intelligent AIS verification function on the off-site reduces the workload of the sea trial law enforcement personnel and improves the law enforcement efficiency;
through target identification and moving and static target distinguishing, false targets, stationary ships stopped at safe sides, boats without AIS installation and the like are effectively eliminated, and the false alarm rate is low.
Drawings
FIG. 1 is a block diagram of a maritime enforcement system of the present invention;
FIG. 2 is a process diagram of the information fusion and AIS intelligent verification processing center of the present invention;
Detailed Description
The invention provides a maritime affairs law enforcement system for ship AIS intelligent verification, which comprises a radar front end, a radar terminal, external equipment and a power module, wherein the radar front end comprises an antenna, a transceiving component and a signal processing module; the radar terminal comprises an information fusion and AIS intelligent verification processing center, a display module and an operation and control unit; the external equipment comprises a GPS system, an AIS system and a video monitoring system, and the radar terminal is communicated with the radar front end, the external equipment and the control unit through serial ports.
The working process of the system is as follows:
the receiving and transmitting component at the front end of the radar generates radio frequency pulses, the radio frequency pulses radiate to the space through an antenna, partial energy of the radio frequency pulses is reflected after encountering a target, the radio frequency pulses are transmitted into the signal processing module after being received by the receiving and transmitting component through the antenna, the radio frequency pulse information reflected by the target is subjected to preselection, amplification, frequency conversion, filtering, demodulation and AD sampling processing by the signal processing module, the radio frequency pulse information reflected by the target is converted into a video signal and a digital signal with sufficient amplitude, radar target echo edge point track information is generated through clutter suppression, video accumulation and echo edge detection and then is transmitted to the radar terminal, the radar terminal runs on an ARM platform, receives the radar target echo edge point track information and AIS track information transmitted by an AIS system, and then the radar target echo edge point track information and the AIS track information are transmitted to an information fusion and AIS intelligent processing center for joint tracking and information fusion processing, specifically, the radar target echo edge point track information is divided into an AIS associated track and a radar track which is not associated with the AIS, then the radar track which is not associated with the AIS is distinguished through target identification and moving and static targets, a bank side, a false track caused by sea clutter and a stationary ship parked at the bank side are removed, a radar moving target track which is not associated with the AIS is obtained, and finally the radar moving target track which is not associated with the AIS within one minute is alarmed.
Further, the information content of the target point trace at the front end of the radar comprises time, distance, direction and amplitude
Furthermore, clutter suppression comprises same frequency suppression, rain and snow suppression and sea wave suppression.
Further, with the time of one circle of radar scanning as a processing period, as shown in fig. 2, the combined tracking and information fusion processing process includes point track aggregation and target identification, coordinate transformation, time alignment, AIS track association and update, radar confirmation track association and update, radar test track association and update, track initiation and track management.
Further, the correlation between the radar confirmed track and the AIS track adopts NNCJPDA algorithm, the track initiation adopts a speed gate initiation method, the track management comprises track test management and track confirmation management, wherein the track test management adopts M/N criterion, the track confirmation management adopts L criterion, the wave gate in the track correlation, the speed threshold of the track initiation, the track confirmation and the track termination parameter can be adjusted, the target identification is realized by judging the size, the shape and the number of the radar point track edges when the points track is condensed, and the dynamic and static target differentiation is jointly judged by the nearest K-frame target average vector speed and the moving distance.
When alarming, the display module is used for limiting the flickering of the alarming target and prompting law enforcement officers to pay attention through characters and sounds.
Furthermore, the radar terminal also has the functions of state display, information display, map loading, alarm area setting, parameter setting, radar front end control, video linkage control and the like, and is controlled and input by the control unit.
Furthermore, the GPS system is the same as the radar front end in placement position, and is used for providing positioning information for the radar front end and performing coordinate conversion on the acquired positioning information.
Furthermore, after an alarm target appears, the radar terminal controls the video monitoring system to adjust the angle and the focal length of the camera through linkage control information, video monitoring is carried out on the alarm target ship, the video is transmitted back to the radar terminal, the radar terminal displays the video in the form of a small interface window, and the radar terminal further has the function of shooting and storing the video formed by the small interface window.
Further, the control unit comprises a keyboard and a mouse, the mouse is used for operation control, and the keyboard is used for input. The mouse can realize the movement of a pointer and the arrangement of windowing, the idler wheel can realize the zooming of pictures, and the keyboard shortcut keys comprise a power switch, a radar front-end transmitting switch, an alarm switch, a rain and snow suppression adjusting knob, a sea wave suppression adjusting knob, a clutter suppression adjusting knob, a screen brightness adjusting knob and a gain adjusting knob lamp.
The above is only a preferred embodiment of the present invention, and is not intended to limit the present invention, and various modifications and changes will occur to those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (9)
1. The utility model provides a maritime affairs law enforcement system for boats and ships AIS intelligent verification, includes radar front end, radar terminal, external equipment, power module and controls the unit, the radar front end includes antenna, receiving and dispatching subassembly and signal processing module, the radar terminal includes information fusion and AIS intelligent verification processing center and display module, external equipment includes GPS, AIS and video monitor system, the radar terminal communicates through the serial ports with radar front end, external equipment, control between the unit, the AIS system is used for acquireing AIS track information and sends to radar terminal, receiving and dispatching subassembly produces specific radio frequency pulse and through antenna transmission and this radio frequency pulse of receipt, signal processing module is used for receiving the radio frequency pulse information that the subassembly received and with this information through preselection, amplification, frequency conversion, filtering, AD demodulation and sampling, clutter suppression, The method comprises the steps that radar target echo edge point track information generated by video accumulation and echo edge detection is sent to a radar terminal, the radar terminal is used for receiving the radar target echo edge point track information and AIS track information and sending the radar target echo edge point track information and the AIS track information to an information fusion and AIS intelligent verification processing center for combined tracking and information fusion processing, when the combined tracking and information fusion processing is carried out, a track is divided into an AIS-associated track and an unassociated AIS radar track, then the radar track unassociated with the AIS is divided into a target identification and a moving and static target identification to obtain an unassociated AIS radar moving target track, and finally the radar moving target track unassociated with the AIS within one minute is subjected to alarming.
2. The marine law enforcement system of claim 1 wherein: the information content of the target point trace at the front end of the radar comprises time, distance, direction and amplitude, and clutter suppression comprises same frequency suppression, rain and snow suppression and sea wave suppression.
3. The marine law enforcement system of claim 1 wherein: when alarming, the display module is used for limiting the flickering of the alarming target and prompting law enforcement personnel to pay attention through characters and sounds.
4. A maritime law enforcement system according to claim 3, wherein: when alarming, the radar terminal controls the video monitoring system to adjust the angle and the focal length of the camera through the linkage control information, video monitoring is carried out on an alarming target, the monitoring video is transmitted back to the radar terminal, the radar terminal carries out interface small window display on the monitoring video, and the radar terminal is further provided with a function of photographing and storing the monitoring video of the interface small window.
5. The marine law enforcement system of claim 1 wherein: the joint tracking and information fusion processing process comprises point track condensation and target identification, coordinate conversion, time alignment, AIS track association and update, radar confirmation track association and update, radar test track association and update, track initiation and track management.
6. The maritime law enforcement system of claim 5, wherein: the method comprises the steps that an NNCJPDA algorithm is adopted for association of a radar confirmed track and an AIS track, a speed gate initiation method is adopted for track initiation, track management comprises track test management and track confirmation management, the M/N criterion is adopted for the track test management, the L criterion is adopted for the track confirmation management, a wave gate, a track initiation speed threshold, track confirmation and track termination parameters in the track association can be adjusted, target identification is achieved through judgment of the size, the shape and the number of track edges of a radar point when the point tracks are condensed, and dynamic and static targets are distinguished by the combination of the nearest K-frame target average vector speed and the moving distance.
7. A maritime law enforcement system according to claim 1, characterised in that: the GPS and the radar front end are placed together and used for the radar front end to acquire positioning information and perform coordinate conversion on the acquired positioning information.
8. A maritime law enforcement system according to claim 1, characterised in that: the radar terminal also has the functions of state display, information display, map loading, alarm area setting, parameter setting, radar front-end control and video linkage control.
9. The marine law enforcement system of claim 8 wherein: the radar terminal comprises a radar terminal, and is characterized by further comprising a control unit connected with the radar terminal, wherein the control unit comprises a keyboard and a mouse, the mouse is used for operation control, and the keyboard is used for input.
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| CN201911067111.3A CN110687509A (en) | 2019-11-04 | 2019-11-04 | Maritime affair law enforcement system for ship AIS intelligent verification |
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| CN201911067111.3A CN110687509A (en) | 2019-11-04 | 2019-11-04 | Maritime affair law enforcement system for ship AIS intelligent verification |
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