CN111507394A - Multi-domain spatial data fusion method and fusion device - Google Patents
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Abstract
The invention discloses a multi-domain spatial data fusion method and a fusion device, wherein the method comprises the following steps: acquiring positioning data of a plurality of vehicles, wherein the vehicles are at least two of water vehicles, airspace vehicles and land vehicles; converting the positioning data of a plurality of vehicles into positioning data in the same coordinate system, and recording the positioning data as first data; and displaying the first data in the same display picture. The invention fuses the positioning data of the water area transportation means, the air space transportation means and the land area transportation means represented by different coordinate systems, and displays the positioning data of the three transportation means in the same display picture, thereby realizing the real-time synchronization and visualization of the water, land and air data of the mobile side system. Furthermore, the method provides an intelligent, efficient and economic method for identity security and credible authentication, accurate positioning navigation and remote control scheduling of the unmanned device.
Description
Technical Field
The application relates to a multi-domain spatial data fusion method and a multi-domain spatial data fusion device, and belongs to the technical field of data fusion.
Background
With the increasingly deep improvement of low-altitude airspace management and the rapid improvement of the use demand of the public on the low-altitude airspace, the flight activity of the low-altitude airspace is rapidly increased in a blowout manner at present. The flying activities of general aircrafts including private airplanes, unmanned planes, helicopters, delta wings, power umbrellas, hot air balloons and the like are increasing day by day, and when the aircrafts move on the sea or on the land, the aircrafts have to influence the original drivers who only need to pay attention to the state of ships on the sea or the drivers who only pay attention to the state of vehicles on the ground. Increasingly busy air flight activities are increasingly risking the operational safety and regulatory safety of ships on the sea surface and of vehicles on the ground. Therefore, the need to grasp the operating states of various vehicles in the airspace, the sea surface, and the land is becoming stronger.
At present, in order to realize that a ship masters the running state of an air vehicle and avoid the influence of the air vehicle on the running safety and the management safety risk of the ship, receivers for receiving positioning data of the air vehicle are installed on a plurality of ships, and meanwhile, ship positioning equipment is also installed on the ship, the two sets of independent systems are used for working simultaneously, and real-time information of the sea surface and the airspace is provided for ship drivers and port managers.
However, two sets of position receiving devices are installed on a ship, a ship driver needs to pay attention to positioning data of the ship and positioning data of an air vehicle respectively, inconvenience is brought to the ship driver, and the cost is high when two sets of devices are used.
Disclosure of Invention
The application aims to provide a multi-domain spatial data fusion method and a multi-domain spatial data fusion device, so as to solve the technical problems that the operation states of the traditional airspace, sea surface and land transportation means cannot be communicated, the data processing is not timely due to poor compatibility, and the safe operation is influenced.
The invention discloses a multi-domain spatial data fusion method, which comprises the following steps:
acquiring positioning data of a plurality of vehicles, wherein the vehicles are at least two of water vehicles, airspace vehicles and land vehicles;
converting the positioning data of a plurality of vehicles into positioning data in the same coordinate system, and recording the positioning data as first data;
and displaying the first data in the same display picture.
Preferably, after the first data is displayed on the same display screen, the method further includes:
acquiring a position viewing request sent by a vehicle, wherein the position viewing request comprises positioning data and viewing range request data;
according to the position viewing request, acquiring positioning data in the position viewing request and data limited by the data of the requested viewing range from the first data;
and sending the positioning data in the position viewing request and the data limited by the requested viewing range data to the vehicle sending the position viewing request.
Preferably, the method further comprises the following steps:
acquiring external environment data around a vehicle;
the displaying the first data in the same display screen specifically includes:
and displaying the first data and the external environment data in the same display screen.
Preferably, the positioning data at least comprises an identity code and position data, and further comprises moving speed data and moving direction data.
The invention also discloses a multi-domain spatial data fusion device, which comprises:
the first data acquisition module is used for acquiring positioning data of a vehicle; the vehicles comprise at least two of water vehicles, airspace vehicles and land vehicles;
the coordinate conversion module is used for converting the positioning data acquired by the first data acquisition module into positioning data in the same coordinate system and recording the positioning data as first data;
and the storage display module is used for storing and displaying the first data.
Preferably, the method further comprises the following steps:
and the software defined radio module is used for sending the positioning data of the water area vehicles and the positioning data of the airspace vehicles to the coordinate conversion module.
Preferably, the method further comprises the following steps:
and the communication module is used for sending the first data to the storage display module.
Preferably, the communication module is one of a 2G communication module, a 4G communication module, a 5G communication module, an NB-IOT communication module, and a satellite communication module.
Preferably, the method further comprises the following steps:
the request receiving module is used for receiving a position viewing request sent by the vehicle, wherein the position viewing request comprises positioning data and viewing range request data;
and the second data acquisition module is used for acquiring positioning data in the position viewing request and data limited by the requested viewing range data from the first data according to the position viewing request and transmitting the positioning data and the data to the vehicle sending the position viewing request by using the software defined radio module.
Preferably, the method further comprises the following steps:
and the external environment acquisition module is used for acquiring external environment data around the vehicle and sending the external environment data to the storage display module through the communication module.
Preferably, the positioning data of the water vehicle is provided by AIS positioning equipment carried on the water vehicle;
the positioning data of the airspace vehicles is provided by ADS-B positioning equipment carried on the airspace vehicles;
the positioning data of the land area vehicles is provided by Beidou positioning equipment carried on the land area vehicles.
Compared with the prior art, the multi-domain spatial data fusion method and the multi-domain spatial data fusion device have the following beneficial effects:
the multi-domain spatial data fusion method fuses the positioning data of the water area transportation means, the airspace transportation means and the land area transportation means represented by different coordinate systems, and enables the positioning data of the three transportation means to be displayed in the same display picture, thereby realizing the real-time synchronization and visualization of the water, land and air data of the mobile side embedded system. Furthermore, the method provides an intelligent, efficient and economic method for identity security and credible authentication, accurate positioning navigation and remote control scheduling of the unmanned device, and also provides more data sources for large data fusion in the three fields.
In order to realize accurate positioning navigation and remote control scheduling of land, water and air vehicles, the invention combines a position viewing request containing positioning data sent by a vehicle to acquire first data within a set range from the positioning data, so that the position information of the vehicle and the positioning data of other vehicles within the set range are known, the positioning data of other vehicles is used for assisting the position information of the vehicle, and finally the accurate positioning navigation and the remote control scheduling are realized.
The identity identification code included in the positioning data is used for identifying which specific vehicle is in which vehicles in water, land and air; the position data indicates the data of longitude and latitude, height and the like of the vehicle; the moving speed data and the moving direction data are used for indicating the running speed and the running direction of the vehicle, and if other vehicles which have influences on the running of the vehicles are found, the vehicles can be found in advance and early warned.
The multi-domain spatial data fusion device realizes real-time synchronization and visualization of water, land and air data of the mobile side embedded system. Furthermore, an intelligent, efficient and economic platform can be provided for identity security and credible authentication, accurate positioning navigation and remote control scheduling of the unmanned device.
The invention uses the software defined radio module to send the positioning data of the water area vehicles and the positioning data of the airspace vehicles to the coordinate conversion module, and adopts a universal hardware platform to realize the quick and accurate transmission of different types of messages, so that the utilization rate of the hardware platform is greatly improved, and the use cost is reduced.
The invention uses 2G, 4G, 5G, NB-IOT and satellite communication module to realize sensing the coordinate-converted positioning data to the storage display module, thereby ensuring the real-time property and stability of data transmission.
The data fusion device is provided with the request receiving module and the second data acquisition module, so that the position viewing request sent by the vehicle can be received, and the feedback result is fed back to the corresponding vehicle, so that the vehicle can know the positions, the moving speed and the moving direction of other vehicles in the air, sea, land and the surrounding set range.
In order to realize the collection of the external environment around the vehicle, the external environment collection module is arranged. For example, the external environment acquisition module is installed on a water vehicle, and can be used to acquire data such as the temperature and humidity of the surrounding environment, the acid-base equilibrium degree of water, and an image of an underwater environment.
Drawings
FIG. 1 is a flow chart of a multi-domain spatial data fusion method according to the present invention;
FIG. 2 is a schematic structural diagram of a multi-domain spatial data fusion apparatus according to the present invention.
List of parts and reference numerals:
1. a first data acquisition module; 2. a coordinate conversion module; 3. a storage display module; 4. a software defined radio module; 5. a communication module; 6. a request receiving module; 7. a second data acquisition module; 8. an external environment acquisition module; 9. a water area vehicle; 10. an airspace vehicle; 11. a land based vehicle.
Detailed Description
The present invention will be described in detail with reference to examples, but the present invention is not limited to these examples.
FIG. 1 is a flowchart of a multi-domain spatial data fusion method according to an embodiment of the present invention.
The multi-domain spatial data fusion method provided by the embodiment of the invention comprises the following steps:
the method comprises the following steps that 1, positioning data of a plurality of vehicles are obtained, wherein the vehicles are at least two of water-area vehicles, airspace vehicles and land-area vehicles; the positioning data comprises at least an identity code and position data, and further comprises moving speed data and moving direction data. For example: acquiring positioning data of a ship: the identity code is CN 20021234580; is positioned at 38 degrees of north latitude and 118 degrees of east longitude; the moving speed is 20 knots; move east. Acquiring positioning data of a ship B: the identity code is CN 20051834681; is positioned at the north latitude of 39 degrees and the east longitude of 120 degrees; the moving speed is 21 knots; move to the west. Obtaining positioning data of helicopter a: the identity code is GJB 3458-1998; at 37 ° north latitude, 121 ° east longitude, height 1000 m: the moving speed is 300km/h, and the moving is towards the west.
The positioning data of the ship A, the positioning data of the ship B and the positioning data of the helicopter A in the step 1 are converted into the positioning data under the same coordinate system, which is recorded as first data, for example, the positioning data of the ship A, the positioning data of the ship B and the positioning data of the helicopter A in the step 1 are converted into the positioning data under the same coordinate system, if the ship A and the ship B are carried by the same positioning equipment, the coordinate systems corresponding to the positioning data are generally the same, and if the ship A and the ship B are carried by different positioning equipment, the coordinate systems corresponding to the positioning data are possibly different.
The coordinate transformation method adopted by the embodiment can use a gaussian projection coordinate transformation method or a three-parameter coordinate transformation method, a four-parameter coordinate transformation method and a seven-parameter coordinate transformation method, and is preferably a seven-parameter coordinate transformation method because the method is based on three-dimensional transformation among ellipsoids and has the highest precision.
And 3, displaying the first data in the same display picture, wherein the displaying in the same display picture in the embodiment is 3D navigation display. The adopted display method is a display method used by Baidu maps, Gaude maps and the like in the prior art, and is not described herein again.
According to the multi-domain spatial data fusion method, the positioning data of the water area vehicle, the airspace vehicle and the land area vehicle represented by different coordinate systems are fused, and the positioning data of the three vehicles are displayed in the same display picture, so that real-time synchronization and visualization of the water, land and water data of the mobile side embedded system are realized. Furthermore, the method provides an intelligent, efficient and economic method for identity security and credible authentication, accurate positioning navigation and remote control scheduling of the unmanned device, and also provides more data sources for large data fusion in the three fields.
In order to further realize accurate positioning navigation and remote control scheduling of the land, water and air vehicle on the basis of 3D navigation display, after the first data is displayed in the same display screen, the method further comprises the following steps:
step 4, acquiring a position viewing request sent by a vehicle, wherein the position viewing request comprises positioning data and viewing range request data;
step 5, acquiring positioning data in the position viewing request and data limited by the viewing range data from the first data according to the position viewing request;
and 6, sending the positioning data in the position viewing request and the data limited by the data of the requested viewing range to the vehicle sending the position viewing request.
For example, the ship a issues a position viewing request when it wants to acquire the vehicle behavior in a land, water and air three-party within a certain range around the ship a. The position viewing request comprises positioning data and requested viewing range data of a ship A, the position data of the ship A are obtained from the positioning data, then the running conditions of the vehicles in the three-party in the water, the water and the air in the requested viewing range with the position data as the center are obtained from a data platform (the positioning data of a plurality of vehicles are converted into the positioning data under the same coordinate system and recorded as first data, and the first data are stored in a memory of the data platform), and the obtained data are fed back to the ship A. Of course, the positioning data in the position viewing request may not be the current positioning data of the ship a.
The multi-domain spatial data fusion method further comprises the following steps: acquiring external environment data around a vehicle; and then the first data and the external environment data are displayed in the same display screen. The external environment data can be data such as temperature and humidity, acid-base equilibrium degree of water, image of underwater environment, multispectral image, video and the like.
Fig. 2 is a schematic structural diagram of a multi-domain spatial data fusion apparatus according to an embodiment of the present invention.
The multi-domain spatial data fusion device comprises a first data acquisition module 1, a coordinate conversion module 2 and a storage display module 3.
The first data acquisition module 1 is used for acquiring positioning data of a vehicle; the vehicles include at least two of a water vehicle 9, an airspace vehicle 10, and a land vehicle 11; for example: acquiring positioning data of a ship: the identity code is CN 20021234580; is positioned at 38 degrees of north latitude and 118 degrees of east longitude; the moving speed is 20 knots; move east. Acquiring positioning data of a ship B: the identity code is CN 20051834681; is positioned at the north latitude of 39 degrees and the east longitude of 120 degrees; the moving speed is 21 knots; move to the west. Obtaining positioning data of helicopter a: the identity code is GJB 3458-1998; at 37 ° north latitude, 121 ° east longitude, height 1000 m: the moving speed is 300km/h, and the moving is towards the west.
The coordinate conversion module 2 is used for converting the positioning data acquired by the first data acquisition module 1 into positioning data in the same coordinate system, and recording the positioning data as first data; the coordinate transformation method used by the coordinate transformation module 2 may be a gaussian projection coordinate transformation method or a three-parameter coordinate transformation method, a four-parameter coordinate transformation method and a seven-parameter coordinate transformation method, and is preferably a seven-parameter coordinate transformation method because it is based on three-dimensional transformation between ellipsoids and has the highest precision.
And the storage display module 3 is used for storing and displaying the first data. That is, the positioning data of the vehicles acquired by all the first data acquisition modules 1 converted by the coordinate conversion module 2 are stored in the storage display module 3.
The multi-domain spatial data fusion device realizes real-time synchronization and visualization of water, land and air data of the mobile side embedded system. Furthermore, an intelligent, efficient and economic platform can be provided for identity security and credible authentication, accurate positioning navigation and remote control scheduling of the unmanned device.
The device of the invention further comprises a software defined radio module 4 for sending the positioning data of the water vehicles 9 and the positioning data of the air vehicles 10 to the coordinate transformation module 2.
Software Defined Radio (SDR) is a new type of Radio broadcast communication technology that is based on Software Defined wireless communication protocols rather than being implemented by hard-wiring. The frequency bands, air interface protocols and functions may be upgraded by software downloads and updates without complete hardware replacement. This application is with its location data of transmission waters vehicle and the location data of airspace vehicle, owing to adopt general hardware platform can realize quick, the accurate transmission of different grade type message, and hardware platform's utilization ratio improves by a wide margin to reduce use cost.
According to the embodiment of the application, the first data subjected to coordinate conversion is sent to the communication module 5 used by the storage display module 3, and the communication module 5 is one of a 2G communication module, a 4G communication module, a 5G communication module, an NB-IOT communication module and a satellite communication module, so that the real-time performance and the stability of data transmission are guaranteed.
In the embodiment of the application, a request receiving module 6 and a second data acquisition module 7 are arranged for receiving the position viewing request sent by the vehicle and feeding back the feedback result to the corresponding vehicle;
the request receiving module 6 is used for receiving a position viewing request sent by a vehicle, wherein the position viewing request comprises positioning data and viewing range request data;
and the second data acquisition module 7 is used for acquiring the positioning data in the position viewing request and the data limited by the requested viewing range data from the first data according to the position viewing request and transmitting the positioning data and the data limited by the requested viewing range data to the vehicle sending the position viewing request by using the software defined radio module 4.
In order to realize the collection of the external environment around the vehicle, the external environment collection module 8 is arranged for obtaining the external environment data around the vehicle and sending the external environment data to the storage display module 3 through the communication module 5. For example, the external environment acquisition module 8 is installed on the water vehicle 9, and is used to acquire data such as the temperature and humidity of the surrounding environment, the acid-base equilibrium degree of water, and the image of the underwater environment, and then the data are fused by using a multi-source heterogeneous method. When the storage display module 3 is applied to a water, land and air big data platform, an external environment early warning threshold value can be set inside the platform, and when the data acquired by the external environment acquisition module 8 exceeds the set early warning threshold value, early warning is sent out.
According to the mandatory requirements of International Maritime Organization (IMO), AIS positioning devices are installed on all international navigation ships of more than 300 tons and non-international navigation ships of more than 500 tons at present, although small ships are not forcibly installed with the AIS positioning devices at present, the AIS positioning devices are gradually popularized and applied to the aspects of sea area perception, sea surface monitoring, maritime rescue, auxiliary recognition, leisure, environmental protection, smuggling, terrorism attack and the like due to the self-reporting property and the gradual reduction of the manufacturing cost of the AIS, the AIS transceiver receives GPS signals so as to position coordinates of the ships, and receives position reports, static information and other data of other surrounding AIS transceivers by using a VHF frequency band, meanwhile, the AIS receiver transmits the dynamic state data of the AIS positioning devices to the surroundings at regular time intervals through the VHF frequency band, only the AIS terminal which does not transmit functional AIS positioning devices is capable of receiving more and more AIS terminals (such as AIS positioning devices, fishing vessels, positioning devices, and Beidou navigation satellite positioning devices, and Beidou navigation positioning devices L and Beidou navigation satellite positioning devices are also provided on the water area vehicles.
The positioning data of the airspace vehicle 10 in the embodiment is provided by ADS-B positioning equipment carried on the airspace vehicle, wherein the ADS-B (Automatic Dependent flight-Broadcast) is an international communication broadcasting standard applied to general aircrafts and issued by the Federal Aviation Administration (FAA) in the United states, the aircraft carrying the ADS-B portable equipment has a GPS positioning and navigation function, and meanwhile, the accurate position and other data (such as speed, height, course, identification number, whether the aircraft turns, climbs or descends and the like) of the aircraft are periodically Broadcast to the periphery and the ground in a 1090MHz frequency band, and the positioning data of the airspace vehicle 10 can also be provided by Beidou satellite positioning equipment, GPS positioning equipment or G L ONASS positioning equipment carried on the airspace vehicle.
The positioning data of the land area vehicle 11 in this embodiment is provided by the beidou positioning device carried on the land area vehicle. The Beidou positioning equipment is preferably high-precision differential Beidou positioning equipment which can calculate information such as the current position, the speed, the height and the direction, and the positioning precision of the differential Beidou positioning equipment can reach centimeter level to the maximum extent, so that the precision requirement of the embodiment is met.
Although the present application has been described with reference to a few embodiments, it should be understood that various changes, substitutions and alterations can be made herein without departing from the spirit and scope of the application as defined by the appended claims.
Claims (10)
1. A multi-domain spatial data fusion method is characterized by comprising the following steps:
acquiring positioning data of a plurality of vehicles, wherein the vehicles are at least two of water vehicles, airspace vehicles and land vehicles;
converting the positioning data of a plurality of vehicles into positioning data in the same coordinate system, and recording the positioning data as first data;
and displaying the first data in the same display picture.
2. The method according to claim 1, further comprising, after displaying the first data on the same display screen:
acquiring a position viewing request sent by a vehicle, wherein the position viewing request comprises positioning data and viewing range request data;
according to the position viewing request, acquiring positioning data in the position viewing request and data limited by the data of the requested viewing range from the first data;
and sending the positioning data in the position viewing request and the data limited by the requested viewing range data to the vehicle sending the position viewing request.
3. The multi-domain spatial data fusion method of claim 1, further comprising:
acquiring external environment data around a vehicle;
the displaying the first data in the same display screen specifically includes:
and displaying the first data and the external environment data in the same display screen.
4. A multi-domain spatial data fusion apparatus, comprising:
the first data acquisition module is used for acquiring positioning data of a vehicle; the vehicles comprise at least two of water vehicles, airspace vehicles and land vehicles;
the coordinate conversion module is used for converting the positioning data acquired by the first data acquisition module into positioning data in the same coordinate system and recording the positioning data as first data;
and the storage display module is used for storing and displaying the first data.
5. The multi-domain spatial data fusion apparatus of claim 4, further comprising:
and the software defined radio module is used for sending the positioning data of the water area vehicles and the positioning data of the airspace vehicles to the coordinate conversion module.
6. The multi-domain spatial data fusion apparatus of claim 4, further comprising:
and the communication module is used for sending the first data to the storage display module.
7. The multi-domain spatial data fusion device of claim 6 wherein the communication module is one of a 2G communication module, a 4G communication module, a 5G communication module, an NB-IOT communication module, and a satellite communication module.
8. The multi-domain spatial data fusion apparatus according to claim 6 or 7, further comprising:
the request receiving module is used for receiving a position viewing request sent by the vehicle, wherein the position viewing request comprises positioning data and viewing range request data;
and the second data acquisition module is used for acquiring positioning data in the position viewing request and data limited by the requested viewing range data from the first data according to the position viewing request and transmitting the positioning data and the data to the vehicle sending the position viewing request by using the software defined radio module.
9. The multi-domain spatial data fusion apparatus according to claim 6 or 7, further comprising:
and the external environment acquisition module is used for acquiring external environment data around the vehicle and sending the external environment data to the storage display module through the communication module.
10. The multi-domain spatial data fusion apparatus of claim 4,
the positioning data of the water area vehicle is provided by AIS positioning equipment carried on the water area vehicle;
the positioning data of the airspace vehicles is provided by ADS-B positioning equipment carried on the airspace vehicles;
the positioning data of the land area vehicles is provided by Beidou positioning equipment carried on the land area vehicles.
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| 林列书: "船载无人机惯性导航电子系统信息实时融合方法", 《舰船科学技术》 * |
| 雷锟等: "大数据在信息作战指挥决策中的运用", 《指挥控制与仿真》 * |
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| Publication number | Publication date |
|---|---|
| WO2021208150A1 (en) | 2021-10-21 |
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