CN111366920A - Radar photoelectric tracking system of offshore wind farm - Google Patents
Radar photoelectric tracking system of offshore wind farm Download PDFInfo
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- CN111366920A CN111366920A CN202010249372.3A CN202010249372A CN111366920A CN 111366920 A CN111366920 A CN 111366920A CN 202010249372 A CN202010249372 A CN 202010249372A CN 111366920 A CN111366920 A CN 111366920A
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Abstract
The invention discloses a radar photoelectric tracking system of an offshore wind farm, which samples and scans a sea area covered by a first radar level, and identifies large, medium and small targets on the sea by correcting a detection threshold of radar echoes; and then the centralized control center controls a first offshore booster station closest to the first position according to the first position where the identified first target sits, so that the first offshore booster station controls the first photoelectric equipment to point to the first target, and fixed-point monitoring is carried out on the first target. The technical scheme of the invention can comprehensively master the conditions of all targets of the relevant sea areas of the whole wind power plant, and improve the automation and intellectualization degree of the monitoring of the whole wind power plant.
Description
Technical Field
The invention relates to the technical field of offshore monitoring, in particular to a radar photoelectric tracking system of an offshore wind farm.
Background
The sea area where the offshore wind farm is located generally has a plurality of ship anchoring areas such as ships, commercial ships, foreign ships and the like, and tourism resources and fishery resources are also very abundant. However, many cables are arranged on the seabed of the offshore wind farm, and the cables are likely to be hooked, damaged or even dragged and broken when the operation or activity is performed around the seabed. Therefore, the surrounding environment of the offshore wind farm needs to be monitored in real time, and illegal targets are prevented from approaching the submarine cable.
Existing monitoring means are AIS tracking and telecamera filming. The AIS can acquire the information of ships with the AIS function opened at the periphery, and then the monitoring of the target is realized through the rotation, zooming and even thermal imaging of the remote camera. However, these approaches only target cooperative targets, and for some non-cooperative targets, which are not open or have an AIS installed, they cannot be effectively monitored. In addition, the remote monitoring equipment acquires the image information of the target too much by the operation of personnel, and is not easy to find and aim at the remote target, so that the intellectualization of the whole system for detecting, alarming, linking and following shooting the target is not enough, the best early warning opportunity is often missed, and even the best evidence obtaining opportunity is missed after an accident occurs.
Disclosure of Invention
The invention provides a radar photoelectric tracking system of an offshore wind farm, which can comprehensively master the conditions of all targets of the relevant sea areas of the whole wind farm and improve the automation and intelligence degree of the monitoring of the whole wind farm.
In order to solve the above technical problem, an embodiment of the present invention provides a radar photoelectric tracking system for an offshore wind farm, including: the system comprises a centralized control center and an offshore wind farm consisting of a plurality of offshore booster stations;
wherein the centralized control center is provided with a first radar; each offshore booster station is provided with a photoelectric device for monitoring the sea area nearby the offshore booster station;
the first radar is used for sampling and scanning a covered sea area, and identifying large, medium and small targets on the sea by correcting a detection threshold of radar echo;
the centralized control center is used for controlling a first offshore booster station closest to a first position according to the first position of the identified first target, so that the first offshore booster station controls a first photoelectric device to point to the first target, and fixed-point monitoring is carried out on the first target.
Further, the first radar is used for sampling and scanning a sea area covered by the first radar, and large, medium and small targets on the sea are identified through correction of a detection threshold of radar echo, and the method specifically comprises the following steps:
the first radar is used for sampling and scanning a covered sea area, and correcting the detection threshold of the radar echo in real time according to the integral noise condition of echo sampling and scanning so as to identify large, medium and small targets on the sea.
Further, the first radar identifies a small target on the sea, specifically:
reducing a detection threshold of radar echo, selecting a plurality of targets as candidate targets from a current signal in a scanning period, and recording the positions, sizes and movement directions of the candidate targets;
when the candidate target is acquired again in the next scanning period, adding 1 to the confidence corresponding to the acquired candidate target;
and identifying the candidate target with the confidence coefficient reaching the preset threshold value as a real small target.
Further, the tracking system further comprises a second radar adjacent to the first radar, and the coverage area of the second radar is partially overlapped with the coverage area of the first radar.
The centralized control center is also used for identifying all targets appearing in the overlapping area and fusing the overlapping targets belonging to the same object.
Further, the centralized control center is further configured to identify all targets appearing in the overlapping area, and fuse overlapping targets belonging to the same object, specifically:
the centralized control center acquires parameter information of all targets in the overlapping area and calculates the correlation among the targets according to the parameter information;
fusing coincident targets with the correlation meeting preset conditions into one target;
the parameter information includes: historical track information, position information, motion characteristic information, and object size information.
Further, the tracking system further comprises: an AIS device;
the AIS equipment is used for collecting AIS information of an offshore target and transmitting the collected AIS information to the centralized control center;
and the centralized control center is also used for fusing the collected AIS information and radar target information collected by the radar to obtain comprehensive target data of the same object, and displaying the comprehensive target data to monitoring personnel.
Further, when the monitored first target appears in an alarm area, the centralized control center generates an alarm event according to a preset alarm strategy, the trigger time of the first target and the trigger area, and feeds the alarm event back to monitoring personnel.
Further, the alarm area is set in a work area set by a monitoring person, and the alarm area includes: the system comprises an intrusion alarm area, an exit alarm area, a safe distance alarm area and a dangerous course alarm area;
the working area is used for displaying the targets identified by the centralized control center, and the targets outside the working area can not be displayed.
Further, the centralized control center is also used for receiving a control instruction of a remote client and sending monitoring data to the remote client according to the control instruction; or executing remote control operation according to the control instruction.
Furthermore, the centralized control center is also used for recording the sensor data loaded with the timestamp, radar original video, radar target track data, operation records and alarm records.
The embodiment of the invention has the following beneficial effects:
the invention provides a radar photoelectric tracking system of an offshore wind farm, which samples and scans a covered sea area through a first radar degree, and identifies large, medium and small targets on the sea through the correction of a detection threshold of radar echoes; and then the centralized control center controls a first offshore booster station closest to the first position according to the first position where the identified first target sits, so that the first offshore booster station controls the first photoelectric equipment to point to the first target, and fixed-point monitoring is carried out on the first target. Compared with the prior art that the AIS and the remote camera are used for monitoring at sea, the technical scheme of the invention can comprehensively master the conditions of all targets of the relevant sea areas of the whole wind power plant, and improves the automation and intelligentization degree of the monitoring of the whole wind power plant.
Drawings
FIG. 1 is a schematic structural diagram of an embodiment of a radar photoelectric tracking system of an offshore wind farm provided by the invention;
FIG. 2 is a schematic structural diagram of another embodiment of the radar photoelectric tracking system of the offshore wind farm provided by the invention.
Detailed Description
The technical solutions in the present invention will be described clearly and completely with reference to the accompanying drawings, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
It should be noted that, the step numbers in the text are only for convenience of explanation of the specific embodiments, and do not serve to limit the execution sequence of the steps. The method provided by the embodiment can be executed by the relevant server, and the server is taken as an example for explanation below.
Example 1
Referring to fig. 1, fig. 1 is a schematic structural diagram of an embodiment of a radar photoelectric tracking system of an offshore wind farm provided by the invention. As shown in fig. 1, the system includes: a centralized control center 101 and an offshore wind farm consisting of a number of offshore booster stations 102. The centralized control center 101 is provided with a first radar, and each offshore booster station 102 is provided with a photoelectric device for monitoring the sea area nearby the offshore booster station. The centralized control center 101 is disposed on land.
In this embodiment, the first radar is used to sample and scan the sea area covered by the first radar, and the large, medium and small targets on the sea are identified by correcting the detection threshold of the radar echo. The method comprises the following steps: the first radar is used for sampling and scanning a covered sea area, and correcting the detection threshold of the radar echo in real time according to the integral noise condition of echo sampling and scanning so as to identify large, medium and small targets on the sea. The invention adopts a non-constant self-adaptive threshold algorithm to identify the target, and realizes the real-time tracking of large, medium and small targets on the sea under the condition of not changing the working parameters of the radar. The radar carries out sampling rate of up to 125MHZ on an original video during sampling, so that the distance precision of the original video reaches 1.2 meters, a good foundation is laid for the subsequent weak and small target detection and tracking capacity, and the high-precision digital processing capacity is ensured.
In this embodiment, the threshold correction is mainly determined according to the noise, and if the noise is too much, the threshold is raised, and if the noise is too little, the threshold is lowered. The detection threshold correction can determine which signals are not needed and which signals are acquired, the correction process does not need human intervention, and the automation degree is improved.
When monitoring at sea, large and medium targets are likely to be tracked easily and are not easy to lose, and although the small targets are identified by a software algorithm, the small targets are not as real-time as large and medium targets, and are easy to lose when interference factors such as sea condition changes (such as sea clutter, rain clutter and snow clutter) appear in the tracking process of the targets. Therefore, when the small target is identified, the invention specifically identifies the following: reducing a detection threshold of radar echo, selecting a plurality of targets as candidate targets from a current signal in a scanning period, and recording the positions, sizes and movement directions of the candidate targets; when the candidate target is acquired again in the next scanning period, adding 1 to the confidence corresponding to the acquired candidate target; and identifying the candidate target with the confidence coefficient reaching the preset threshold value as a real small target.
When sea clutter, rain clutter and snow clutter exist, the real signal of the target is rather weak in the radar echo, even the signal is lower than noise (the signal-to-noise ratio is less than 1), and the signal cannot be screened out only according to the current signal. The system adopts a special algorithm to reduce the signal threshold, selects thousands of 'targets' from the current signal as candidate targets, and records the data of the position, the size, the motion direction and the like of the candidate targets, wherein most of the 'targets' are actually false targets. When the scanning period is next, the scanning period is collected once again, the 'reliability' factor is increased by 1 when the same target appears once, and when the 'reliability' is increased to a certain value, the software lists the target as a real target, so that the small target can be identified under the condition of strong interference factors.
In the embodiment, the method is different from the principle that the conventional radar transmits target position information, the video monitoring equipment turns to the video tracking after turning to the designated position, and the radar does not track any more, but tracks by the radar in the whole process, so that the problem that the tracking of the video tracking is unstable under low contrast is solved.
The radar detects the target position based on the polar coordinates, converts the target position into longitude and latitude, transmits the longitude and latitude to a video monitoring control program, and the control program corrects the longitude and latitude according to the initial correction value and converts the longitude and latitude into pitching and horizontal angle values based on the coordinates of the video monitoring equipment. The target in the final picture is not in the middle of the image due to the errors of radar detection and pan-tilt rotation and the errors between the pan-tilt installation coordinate system and the geodetic coordinate system, and the target is determined by specific hardware performance and cannot be eliminated fundamentally, but the target can be compensated by software design, and the errors of the pan-tilt installation coordinate system can be solved by an automatic correction mode.
In the present embodiment, the radar is the main sensor of the present invention, and the performance and the detection processing capability of the radar to the target play a significant role in the whole system. The radar signal detection and target tracking technology used by the system can form a complete solution for tracking and monitoring targets with the sea surface RCS being 0.1 square meter and above, and has unique advantages in the aspects of small target detection capability, target processing capacity and target processing precision.
As an example of this embodiment, the radar may be, but is not limited to, a large waveguide slot antenna radar, which has operating environment specifications meeting the requirements of the International maritime navigation facility CEI/IEC945(1988) and the corresponding supplements 1 (1992). The radar can detect moving and fixed targets, and can be carried out in the whole radar coverage area all the time without manual work. Meanwhile, the system adopts an open structure, so that structural and functional upgrading is facilitated in the future.
In this embodiment, the centralized control center is configured to control, according to the first location where the identified first target is located, the first offshore booster station closest to the first location, so that the first offshore booster station controls the first photovoltaic device to point at the first target, and performs fixed-point monitoring on the first target.
After the first radar identifies a plurality of targets, taking the first target as an example, the centralized control center controls the nearest photoelectric equipment to point to the first target according to the first position of the first target, so as to realize fixed-point monitoring. Meanwhile, the first radar continues to track the first target and controls different photoelectric equipment along with the movement of the first target.
In the present embodiment, each offshore booster station 102 is provided with a photovoltaic device for monitoring the sea area in the vicinity thereof. The photoelectric equipment exceeds an infrared thermal imager, a long-focus fog-penetrating lens, a pointer of a fog-penetrating camera, a fully-sealed anti-corrosion shield, information terminal equipment and the like, and is a set of equipment specially developed for the requirement of offshore remote observation. The equipment is arranged in a place with a wide view at a height-making point, can overcome the influence of fog, darkness and the like on an image picture, and realizes a marine target. Such as observation, searching, tracking, monitoring of objects, such as boats, floats, etc. The photoelectric equipment can automatically associate the target identified by the radar according to the control instruction of the centralized control center, so that a worker in the centralized control center can remotely and accurately control the camera of the photoelectric equipment to identify and track the target, and all-weather and all-around searching and automatic tracking on land, sea and air are realized. In addition, the operator can also recognize the artificial target characteristics and the ship number through the photoelectric equipment, for example, the characteristics such as the appearance shape of the ship, the building layout condition on the ship and the like can be obtained through an image picture, and the attention to the ship can be conveniently described to other departments.
From the above, the invention provides a radar photoelectric tracking system of an offshore wind farm, which samples and scans the sea area covered by a first radar level, and identifies large, medium and small targets on the sea by correcting the detection threshold of radar echo; and then the centralized control center controls a first offshore booster station closest to the first position according to the first position where the identified first target sits, so that the first offshore booster station controls the first photoelectric equipment to point to the first target, and fixed-point monitoring is carried out on the first target. Compared with the prior art that the AIS and the remote camera are used for monitoring at sea, the technical scheme of the invention can comprehensively master the conditions of all targets of the relevant sea areas of the whole wind power plant, and improves the automation and intelligentization degree of the monitoring of the whole wind power plant.
Example 2
Referring to fig. 2, fig. 2 is a schematic structural diagram of another embodiment of the radar photoelectric tracking system of the offshore wind farm provided by the invention. As shown in fig. 2, the system includes: the system comprises a plurality of radars, a centralized control center and an offshore wind farm consisting of a plurality of offshore booster stations. Wherein, the centralized control center is arranged on the land and is provided with a radar, a photoelectric device and an AIS device. The radar on the centralized control center realizes the coverage of the whole area, and the photoelectric equipment realizes the coverage of part of the submarine cable from the onshore centralized control center to the offshore booster station.
Each offshore booster station is provided with a photoelectric device for monitoring the sea area nearby the offshore booster station.
The difference between the present embodiment and embodiment 1 in structure is that the present embodiment sets a plurality of radars to cover more areas, and in order to make up for a radar blind area, the coverage areas of adjacent radars are all overlapped. The radar arranged in the centralized control center is used as a first radar, the radar adjacent to the first radar is used as a second radar, and each radar can realize the functions of the embodiment 1 and carry out target identification and tracking. The sea area covered by the first radar partially overlaps the sea area covered by the second radar.
When the centralized control center receives the uploaded identification targets of the two radars respectively, all targets appearing in the overlapping area are identified, and the overlapping targets belonging to the same object are fused, specifically: the centralized control center acquires parameter information of all targets in the overlapping area and calculates the correlation among the targets according to the parameter information; and fusing the coincident targets with the correlation meeting the preset condition into one target.
When the first radar and the second radar are scanning, the scanning period can be set to be, but is not limited to, 2 seconds, because the marine target is less likely to suddenly turn or greatly accelerate or decelerate within seconds. The invention can carry out derivation calculation on the real-time position of the target in two periods according to the speed, the variation trend and the course curve of the target. Based on these calculated position data, the radar can direct the optoelectronic device to perform smooth tracking on the target. In addition, based on the position prediction and estimation algorithm, the target parameters are updated by the radar without 1/8 cycles, and the real-time processing of target tracking is almost achieved. Multiple radars may therefore obtain approximately the same target parameter information at approximately the same time.
These parameter information include: historical track information, position information, motion characteristic information, and object size information. For the radar target, the superposition problem exists, the targets need to be fused, fusion of non-identical targets possibly occurs during fusion, target loss is caused, and non-fusion of identical targets causes starting of the targets. The invention adopts a multi-information source target fusion technology and judges whether the targets are the same target for fusion or not according to various characteristics of the targets. Such as the correlation of the target historical track, the correlation of the target position, the correlation of the target motion characteristic, and the correlation of the target size, which are calculated by parameter information, when the correlations satisfy a preset condition or a preset threshold, it is determined whether two targets to be overlapped are correlated. If any of the above parameters are not relevant, the target will not be fused.
In this embodiment, the centralized control center is further provided with AIS equipment for acquiring AIS information of the offshore targets and transmitting the acquired AIS information to the centralized control center. The centralized control center is also used for fusing the collected AIS information and the radar target information collected by the radar to obtain comprehensive target data of the same object, and displaying the comprehensive target data to monitoring personnel. The invention not only fuses the information of the same sensor (radar) to avoid target repetition, but also fuses the information of different sensors to ensure that the same object only has one comprehensive target data, thereby facilitating subsequent management.
The AIS equipment is provided with an AIS receiver which provides relevant vessel position and other parameters to a centralized control center. The information received from the AIS equipment is written into by the centralized control center, including identity, location, ship size, cargo value, etc.
In this embodiment, the centralized control center may provide a management operation interface to the user, so that the operator can obtain all the information in the system and has the ability to control the system functions. The centralized control center can be provided with one or more displays, and the dynamic state of the ship can be detected by arranging the displays in a specific area or the whole coverage area. When displayed, the AIS tracking target may appear as a specialized symbol or graphic to distinguish it from other radar tracking targets. And displaying the targets tracked by the AIS and the radar at the same time according to the fused target parameters.
In this embodiment, but not limited to, more than 10 windows may be displayed simultaneously, the windows may be respectively resized and zoomed, and more than 4 specific windows may also be preset. In addition, this system can let the user self-define work area for show the target that centralized control center discerned, radar or AIS target will not show outside work area.
In this embodiment, when the monitored first target appears in the alarm area, the centralized control center generates an alarm event according to a preset alarm strategy, the trigger time of the first target and the trigger area, and feeds back the alarm event to the monitoring personnel. The alarm area management of the invention adopts a three-level design of 'configuration file-group-member', an operator can flexibly switch among different configuration files, the group and the member under the configuration file automatically switch, and any member added into the group inherits the attributes of the corresponding group, such as the width of a frame, the color of the frame, the alarm level and the like. When a member is handled independently from the group, the member and attributes are automatically restored to their attributes. The alarm grades of the groups and the members are distributed as 'serious', 'alarm', 'early-warning' and 'close early-warning'.
In this embodiment, the alarm area is set in a work area set by a monitoring person, and the alarm area includes: the system comprises an intrusion alarm area, an exit alarm area, a safe distance alarm area and a dangerous course alarm area. The alarm area supports polygonal areas, circular areas, channel calibration, buoy calibration, oil well calibration and the like.
The embodiment adopts an alarm strategy based on events, and the alarm of different time and areas of each target is treated as an independent event. The start time and end time of the occurrence of the alarm event are recorded in detail. For alarm events missed by the operator, the system will automatically treat the event as "inactive/NOT ACTIVE" for operator review. The status levels of alarm events are classified as "severe", "alarm", "early warning", "inactive/NOT ACTIVE", and the like.
The radar digital video is displayed as a color-coded amplitude image and reflects the center of the target, and afterglow can be set to 0 to 60 seconds. 0 represents off afterglow. The present embodiment is based on the measurement of the radar video or database information, and the size of the plot varies according to the size of the target. The tracking symbol display is different according to the tracking state (such as radar tracking, AIS information, simulation target, prediction target, anchoring target and the like all have respective tracking symbols).
The invention can display the historical track points and lines of the target, the interval time is adjustable, and each historical track point has time and position information. The system can import, display, update and output standard electronic chart. Meanwhile, the user can add and edit targets and comments on the chart layer. It would be very easy to edit the entire editing process using tools. The user may add some information to the chart layer using a menu on the traffic display. The user can place the text, the polygon, the circle, the sector and the ellipse in the chart. The user may select the color of the lines and the color of the fill, and the manner of the lines and fill is also selected by the user.
Radar screening, tracking screening, land screening, noise screening, anchor zone screening, etc. may all be changed by users using their access rights. The functions like mask creation, editing, deletion, and parameter change can be performed through the corresponding panels.
Each console has the ability to suppress alarms, the operator can change which alarms are displayed on the console, and the operator can choose to delete the alarms, or the alarm display, or both.
In this embodiment, the centralized control center is also used to record the sensor data loaded with the timestamp, the radar raw video, the radar target track data, the operation records, and the alarm and alarm records. The invention can be configured with a server, and is specially used for recording various data for use in replaying afterwards, searching evidences, analyzing system parameter fault hidden dangers and the like.
The system adopts the following recording mode:
all sensor data are loaded with time stamps and recorded in a digital manner, and specific sensor information comprises radar video data and data of other sensors;
all PCs connected in the network and the server keep synchronous in time; the server is strictly synchronous with the time of the GPS/Beidou time service equipment or the Internet time server, namely all units in the system network adopt the same time. Data including radar raw video, radar target track data, and operational records, alarms, and alarm records are all centrally recorded on a server, and can be played back simultaneously on a local workstation by multiple clients attached to the system. The rights to view the history are specified by the client profile.
System status and system alarm information and operator-modified system parameters are centrally stored on a network-specific logging server. This data can be recalled by an operator via the system management client software. Rights to access the various data are stored in the client database.
All recorded data can be played back simultaneously on the local workstation by multiple clients connected to the system, which means that multiple operators may be able to play back data for different time periods simultaneously without interfering with each other.
In this embodiment, the centralized control center is further configured to receive a control instruction of the remote client, and send monitoring data to the remote client according to the control instruction; or, according to the control instruction, executing remote control operation. The centralized control center of the system reserves an interface of a remote client, and the remote client can obtain monitoring data of the centralized control center through the Internet or a private line or obtain control authority through application to realize remote operation of the whole system.
Therefore, the radar photoelectric tracking system of the offshore wind farm provided by the invention takes the electronic chart as a management interface, realizes remote ' point-and-point ' viewing ' of ships passing through the wind farm, realizes ' linkage tracking ' of the ships entering a virtual warning area, and realizes ' track recording ' of the ships passing through the wind farm in the past. The radar action distance is more than 30km, and the whole wind power plant can be covered; meanwhile, the photoelectricity is suitable for observing and evidence obtaining of targets within 5km of the periphery in detail, and all-weather detection and confirmation of the targets within 15km of the periphery can be achieved. The conditions of all targets of the whole wind power plant in the relevant sea area can be comprehensively mastered, the automation and intelligent degree of the whole wind power plant monitoring is practically improved, and the emergency response and field control capability are improved.
While the foregoing is directed to the preferred embodiment of the present invention, it will be understood by those skilled in the art that various changes and modifications may be made without departing from the spirit and scope of the invention.
It will be understood by those skilled in the art that all or part of the processes of the above embodiments may be implemented by hardware related to instructions of a computer program, and the computer program may be stored in a computer readable storage medium, and when executed, may include the processes of the above embodiments. The storage medium may be a magnetic disk, an optical disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), or the like.
Claims (10)
1. A radar photoelectric tracking system of an offshore wind farm, comprising: the system comprises a centralized control center and an offshore wind farm consisting of a plurality of offshore booster stations;
wherein the centralized control center is provided with a first radar; each offshore booster station is provided with a photoelectric device for monitoring the sea area nearby the offshore booster station;
the first radar is used for sampling and scanning a covered sea area, and identifying large, medium and small targets on the sea by correcting a detection threshold of radar echo;
the centralized control center is used for controlling a first offshore booster station closest to a first position according to the first position of the identified first target, so that the first offshore booster station controls a first photoelectric device to point to the first target, and fixed-point monitoring is carried out on the first target.
2. The system of claim 1, wherein the first radar is configured to sample and scan a sea area covered by the first radar, and identify a large, a medium, and a small target on the sea by modifying a detection threshold of a radar echo, specifically:
the first radar is used for sampling and scanning a covered sea area, and correcting the detection threshold of the radar echo in real time according to the integral noise condition of echo sampling and scanning so as to identify large, medium and small targets on the sea.
3. The radar photoelectric tracking system of an offshore wind farm according to claim 2, characterized in that the first radar identifies small targets at sea, in particular:
reducing a detection threshold of radar echo, selecting a plurality of targets as candidate targets from a current signal in a scanning period, and recording the positions, sizes and movement directions of the candidate targets;
when the candidate target is acquired again in the next scanning period, adding 1 to the confidence corresponding to the acquired candidate target;
and identifying the candidate target with the confidence coefficient reaching the preset threshold value as a real small target.
4. The radar photoelectric tracking system of an offshore wind farm according to claim 1, further comprising a second radar adjacent to the first radar, wherein the second radar has a coverage area that partially overlaps the coverage area of the first radar.
The centralized control center is also used for identifying all targets appearing in the overlapping area and fusing the overlapping targets belonging to the same object.
5. The radar photoelectric tracking system of an offshore wind farm according to claim 4, wherein the centralized control center is further configured to identify all targets appearing in the overlapping area, and fuse overlapping targets belonging to the same object, specifically:
the centralized control center acquires parameter information of all targets in the overlapping area and calculates the correlation among the targets according to the parameter information;
fusing coincident targets with the correlation meeting preset conditions into one target;
the parameter information includes: historical track information, position information, motion characteristic information, and object size information.
6. The radar photoelectric tracking system of an offshore wind farm according to claim 4, characterized in that the tracking system further comprises: an AIS device;
the AIS equipment is used for collecting AIS information of an offshore target and transmitting the collected AIS information to the centralized control center;
and the centralized control center is also used for fusing the collected AIS information and radar target information collected by the radar to obtain comprehensive target data of the same object, and displaying the comprehensive target data to monitoring personnel.
7. The radar photoelectric tracking system of the offshore wind farm according to claim 1, wherein when the monitored first target appears in an alarm area, the centralized control center generates an alarm event according to a preset alarm strategy, a trigger time and a trigger area of the first target, and feeds back the alarm event to monitoring personnel.
8. Radar photoelectric tracking system of an offshore wind farm according to claim 7, characterized in that the alarm area is set within a working area set by monitoring personnel and comprises: the system comprises an intrusion alarm area, an exit alarm area, a safe distance alarm area and a dangerous course alarm area;
the working area is used for displaying the targets identified by the centralized control center, and the targets outside the working area can not be displayed.
9. The radar photoelectric tracking system of an offshore wind farm according to claim 1, wherein the centralized control center is further configured to receive a control instruction of a remote client, and send monitoring data to the remote client according to the control instruction; or executing remote control operation according to the control instruction.
10. The system of claim 1, wherein the centralized control center is further configured to record time-stamped sensor data, radar raw video, radar target track data, operational records, and alarm and alert records.
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Cited By (3)
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