CN111556438A - Method and device for judging boundary crossing of ship - Google Patents
Method and device for judging boundary crossing of ship Download PDFInfo
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- CN111556438A CN111556438A CN202010283493.XA CN202010283493A CN111556438A CN 111556438 A CN111556438 A CN 111556438A CN 202010283493 A CN202010283493 A CN 202010283493A CN 111556438 A CN111556438 A CN 111556438A
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- coordinate point
- distance
- electronic fence
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/02—Services making use of location information
- H04W4/021—Services related to particular areas, e.g. point of interest [POI] services, venue services or geofences
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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
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
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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
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/52—Determining velocity
Abstract
The invention provides a method for judging the boundary crossing of a ship, which comprises the following steps: acquiring a first ship coordinate point and a second ship coordinate point of a ship, and an electronic fence area marked by a plurality of fence coordinate points; the first ship coordinate point and the second ship coordinate point comprise a navigation direction and a navigation speed; determining a course line of the ship according to a connection line of the first ship coordinate point and the second ship coordinate point, and judging whether the course line is intersected with the electronic fence area; and if the course line does not intersect with the electronic fence area, determining that the ship does not cross the electronic fence area. The method effectively solves the problem that whether the ship crosses the electronic fence or not cannot be captured due to the fact that the frequency of reporting the satellite position data is low in the prior art, can find out whether the ship has a border crossing behavior in time, and brings great convenience to monitoring work.
Description
Technical Field
The invention relates to the technical field of offshore prevention and control, in particular to a method and a device for judging that a ship is out of range.
Background
The electronic fence is an advanced perimeter anti-theft alarm system and consists of an electronic fence host and a front-end detection fence. When the ship-monitoring alarm device is arranged on the sea area, the ship can be monitored in real time, and once the ship is monitored to cross the boundary, the alarm can be triggered.
In the process of monitoring the intrusion of the ship into the electronic fence and giving an alarm, the reported satellite position data of the ship has certain interval time. Because the frequency of reporting the satellite position data is relatively low, the situation that two spaced position data of the same ship are outside the electronic fence exists, but actually the ship breaks into and breaks out of the electronic fence in the time period, namely the ship has an out-of-range behavior. In this case, the alarm cannot be triggered in time, which brings inconvenience to the monitoring work.
It is noted that this section is intended to provide a background or context to the embodiments of the disclosure that are recited in the claims. The description herein is not admitted to be prior art by inclusion in this section.
Disclosure of Invention
The embodiment of the invention provides a method for judging the boundary crossing of a ship, which aims to solve the problem that whether the ship crosses an electronic fence or not cannot be captured due to the low reporting frequency of satellite position data in the prior art.
In a first aspect, an embodiment of the present invention provides a method for determining that a ship is out of bounds, where the method includes:
acquiring a first ship coordinate point and a second ship coordinate point of a ship, and an electronic fence area marked by a plurality of fence coordinate points; the first ship coordinate point and the second ship coordinate point comprise a sailing direction and a sailing speed;
determining a course line of the ship according to a connection line of the first ship coordinate point and the second ship coordinate point, and judging whether the course line is intersected with the electronic fence area;
and if the course line does not intersect with the electronic fence area, determining that the ship does not cross the electronic fence area.
As a preferred mode of the first aspect of the present invention, the method further comprises:
if the course line intersects with the electronic fence area, respectively making extension lines along the navigation direction of the first ship coordinate point and the navigation direction of the second ship coordinate point to obtain an intersection point;
judging whether the extension line of the first ship coordinate point and the extension line of the second ship coordinate point are intersected with the electronic fence area;
and if the extension line of the first ship coordinate point or the extension line of the second ship coordinate point is intersected with the electronic fence area, determining that the ship crosses the electronic fence area.
As a preferred mode of the first aspect of the present invention, the method further comprises:
if the extension line of the first ship coordinate point or the extension line of the second ship coordinate point does not intersect with the electronic fence area, respectively calculating a first distance between the first ship coordinate point and the intersection point and a second distance between the second ship coordinate point and the intersection point;
acquiring a predicted sailing distance of the ship in a time difference between the first ship coordinate point and the second ship coordinate point;
judging whether the predicted sailing distance is smaller than or equal to the sum of the first distance and the second distance;
if yes, determining that the ship crosses the electronic fence area; otherwise, determining that the ship does not cross the electronic fence area.
As a preferable mode of the first aspect of the present invention, the acquiring of the estimated travel distance of the ship within the time difference between the first ship coordinate point and the second ship coordinate point includes:
acquiring the time difference between the first ship coordinate point and the second ship coordinate point;
acquiring the average navigation speed of the ship according to the navigation speed of the first ship coordinate point and the navigation speed of the second ship coordinate point;
and acquiring the estimated sailing distance of the ship in the time difference according to the time difference and the average sailing speed.
In a second aspect, an embodiment of the present invention provides an apparatus for determining that a ship is out of range, where the apparatus includes:
the system comprises a coordinate acquisition unit, a data processing unit and a data processing unit, wherein the coordinate acquisition unit is used for acquiring a first ship coordinate point and a second ship coordinate point of a ship and an electronic fence area marked by a plurality of fence coordinate points; the first ship coordinate point and the second ship coordinate point comprise a sailing direction and a sailing speed;
the first judgment unit is used for determining a course line of the ship according to a connection line of the first ship coordinate point and the second ship coordinate point and judging whether the course line intersects with the electronic fence area;
the first determining unit is used for determining that the ship does not cross the electronic fence area when the course line does not intersect with the electronic fence area.
As a preferred mode of the second aspect of the present invention, the apparatus further comprises:
the extension line acquisition unit is used for respectively making extension lines along the navigation direction of the first ship coordinate point and the navigation direction of the second ship coordinate point and obtaining an intersection point when the course line intersects with the electronic fence area;
a second judging unit, configured to judge whether an extension line of the first ship coordinate point and an extension line of the second ship coordinate point intersect with the electronic fence area;
a second determination unit configured to determine that the ship crosses the electric fence area when an extension line of the first ship coordinate point or an extension line of the second ship coordinate point intersects the electric fence area.
As a preferred mode of the second aspect of the present invention, the apparatus further comprises:
the distance acquisition unit is used for respectively calculating a first distance between the first ship coordinate point and the intersection point and a second distance between the second ship coordinate point and the intersection point when the extension line of the first ship coordinate point or the extension line of the second ship coordinate point does not intersect with the electronic fence area;
a predicted distance acquisition unit for acquiring a predicted sailing distance of the ship within a time difference between the first ship coordinate point and the second ship coordinate point;
a third judging unit, configured to judge whether the estimated cruising distance is less than or equal to a sum of the first distance and the second distance;
a third determination unit configured to determine that the ship crosses the electric fence area when the estimated cruising distance is equal to or less than a sum of the first distance and the second distance; otherwise, determining that the ship does not cross the electronic fence area.
As a preferable mode of the second aspect of the present invention, the expected distance acquisition unit is specifically configured to:
acquiring the time difference between the first ship coordinate point and the second ship coordinate point;
acquiring the average navigation speed of the ship according to the navigation speed of the first ship coordinate point and the navigation speed of the second ship coordinate point;
and acquiring the estimated sailing distance of the ship in the time difference according to the time difference and the average sailing speed.
In a third aspect, an embodiment of the present invention provides a computing device, including a processor and a memory, where the memory has stored therein execution instructions, and the processor reads the execution instructions in the memory for executing the steps of the method for determining a ship boundary crossing as described above.
In a fourth aspect, embodiments of the present invention provide a computer-readable storage medium containing computer-executable instructions for performing the steps of the method for determining a ship boundary violation as described above.
According to the method and the device for judging the boundary crossing of the ship, under the condition that the frequency reported by satellite position data is low, two coordinate points of the ship are connected by using a ray method, whether the two coordinate points are in a polygonal area formed by an electronic fence or not is judged, and when the connecting lines are outside the polygonal area, the ship can be determined not to pass through the polygonal area; when the intersection point exists between the connecting line and the polygonal area, whether the ship passes through the polygonal area needs to be further judged, so that the problem that whether the ship passes through an electronic fence cannot be captured due to low frequency of satellite position data reporting in the prior art is solved, whether the ship has a boundary crossing behavior can be timely found, and great convenience is brought to monitoring work.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used in the description of the embodiments will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.
Fig. 1 is a schematic flow chart of a method for determining a boundary crossing of a ship according to an embodiment of the present invention;
FIG. 2 is a schematic diagram of the electric fence area and the intersection of the extension of the first vessel coordinate point and the extension of the second vessel coordinate point in the method shown in FIG. 1;
FIG. 3 is another schematic flow chart of a method for determining a boundary crossing of a ship according to an embodiment of the present invention;
FIG. 4 is a schematic structural diagram of an apparatus for determining a boundary crossing of a ship according to an embodiment of the present invention;
fig. 5 is a schematic structural diagram of a computing device according to an embodiment of the present invention.
Detailed Description
In order to make the technical solutions of the present invention better understood, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the 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: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined and explained in subsequent figures.
Referring to fig. 1, an embodiment of the present invention discloses a method for determining a boundary crossing of a ship, which mainly includes the following steps:
101. acquiring a first ship coordinate point and a second ship coordinate point of a ship, and an electronic fence area marked by a plurality of fence coordinate points; the first ship coordinate point and the second ship coordinate point comprise a navigation direction and a navigation speed;
102. determining a course line of the ship according to a connection line of the first ship coordinate point and the second ship coordinate point, and judging whether the course line is intersected with the electronic fence area;
103. and if the course line does not intersect with the electronic fence area, determining that the ship does not cross the electronic fence area.
In the process of monitoring the alarm of the ship intruding into the electronic fence, because the reporting frequency of the satellite position data is low, the same ship exists outside the electronic fence at two spaced position coordinate points, but actually the ship already intrudes into and breaks out of the electronic fence in the time. Aiming at the problem that whether the ship breaks into the electronic fence or not can not be captured, a corresponding algorithm is constructed to judge whether the ship breaks into a polygonal area formed by the electronic fence or not.
In step 101, a polygonal area formed by the electronic fence is marked on the map in advance, and the polygonal area is marked by a plurality of fence coordinate points ViThe coordinate point is represented by a rectangular plane coordinate system, and the polygonal area is represented by the following formula:
Z＝[V1,V2,……Vn]in which V isi＝(x,y)，i＝1～n。
Illustratively, referring to FIG. 2, a plurality of coordinate points V are shown1、V2、V3、V4And V5Forming a pentagon, wherein the pentagon area is the electronic fence area.
The ship is in a fixed roomTwo coordinate points in time interval, namely a first ship coordinate point Pt1And a second vessel coordinate point Pt2The coordinate points are obtained by a satellite positioning system and are expressed by a spherical longitude and latitude coordinate system. The parameters of the first ship coordinate point and the second ship coordinate point need to include a navigation direction and a navigation speed in addition to longitude and latitude position information.
In addition, the interval time is preset by the satellite positioning system.
In step 102, a line connecting the first ship coordinate point and the second ship coordinate point is made by adopting a ray method, and a course line of the ship is determined according to the line. And further judging whether the course line intersects with the electronic fence area, namely judging whether the course line intersects with the polygonal area.
In step 103, when it is determined that the course line does not intersect with the fence region, i.e. there is no intersection between the course line and the polygon region, it can be directly determined that the ship is in the P-th positiont1Point to Pt2The point does not travel into the polygon area during the process, i.e. does not cross the fence area.
Further, when it is determined that the heading line intersects the electric fence area, after step 103, the method further includes the following steps:
104. if the course line intersects with the electronic fence area, respectively making extension lines along the navigation direction of the first ship coordinate point and the navigation direction of the second ship coordinate point to obtain an intersection point;
105. judging whether the extension line of the first ship coordinate point and the extension line of the second ship coordinate point are intersected with the electronic fence area;
106. and if the extension line of the first ship coordinate point or the extension line of the second ship coordinate point intersects with the electronic fence area, determining that the ship crosses the electronic fence area.
In step 104, if the course intersects with the fence area, it indicates that the ship may enter the polygonal area formed by the fence, and further determination is needed.
Because the first ship coordinate point Pt1And a second vessel coordinate point Pt2All the coordinates are expressed by a spherical longitude and latitude coordinate system, and the coordinates are required to be converted into coordinates expressed under a plane rectangular coordinate system.
When the coordinate system is converted, the longitude lon and the latitude lat in the coordinate points need to be correspondingly converted into x coordinate values and y coordinate values, which are shown by the following formula:
x＝N×CosB0×Log(Tan(PI/4+B/2)×Pow((1-e×Sin(lat×PI/180))/(1+e×Sin(lat×PI/180))，e/2))；
y＝N×CosB0×(lon×PI/180)；
wherein, PI is circumference ratio, 3.1415926 is taken;
B0＝30×PI/180；
B＝lat×PI/180；
e＝0.000045420816532046692727888569；
e2＝0.00004481472364144682862615441664；
N＝(6399593.6258039771)/(1+(e2×CosB0)2)。
coordinate point P of the first ship is determined by the formulat1And a second vessel coordinate point Pt2After the coordinates of the ship are converted into coordinates expressed under a plane rectangular coordinate system, a first ship coordinate point Pt1＝(x1，y1，d1，v1) Second ship coordinate point Pt2＝(x2，y2，d2，v2) Wherein d is1And d2The sailing direction of the ship at the moment is represented, the value range is 0-360 degrees, the north direction is defined to be 0 degrees, and v is1And v2Indicating the speed at which the ship is moving.
The sailing direction d along the first ship coordinate point1As an extension line, in the direction of travel d of the second vessel coordinate point2Making extension lines, and making two extension lines intersect at one point to obtain an intersection point T (x)t，yt)。
In step 105, whether any one of the extension line of the first ship coordinate point and the extension line of the second ship coordinate point intersects with a polygonal area formed by the electronic fence area is further judged, and the possibility that the ship enters the polygonal area is judged through whether the intersection exists.
In step 106, when the extension line of the first ship coordinate point or the extension line of the second ship coordinate point intersects with the polygonal area formed by the electronic fence area, it is indicated that the ship has a high possibility of entering the polygonal area formed by the electronic fence, and it can be determined that the ship crosses the electronic fence area.
Further, when it is determined that the extension line of the first ship coordinate point or the extension line of the second ship coordinate point does not intersect with the electric fence area, after step 106, the method further includes the following steps:
107. if the extension line of the first ship coordinate point or the extension line of the second ship coordinate point does not intersect with the electronic fence area, respectively calculating a first distance between the first ship coordinate point and the intersection point and a second distance between the second ship coordinate point and the intersection point;
108. acquiring a predicted sailing distance of the ship in the time difference between the first ship coordinate point and the second ship coordinate point;
109. judging whether the predicted sailing distance is less than or equal to the sum of the first distance and the second distance;
110. if so, determining that the ship crosses the electronic fence area; otherwise, it is determined that the vessel has not crossed the electric fence area.
In step 107, if the extension line of the first ship coordinate point or the extension line of the second ship coordinate point does not intersect with the area of the electronic fence, it cannot be determined that the ship has a high possibility of entering the polygonal area formed by the electronic fence, and therefore further determination is required.
Respectively calculating a first distance S between a first ship coordinate point and an intersection point by using a Euclidean distance calculation methodt1And a second distance S between the second ship coordinate point and the intersection pointt2。
Wherein the content of the first and second substances,
in step 108, the time at which the satellite position data of the ship is reported is obtained from the satellite navigation system, namelyTime t when reporting first ship coordinate point1And the time t when the second ship coordinate point is reported2Then, the time difference Δ t is calculated as t2-t1。
And further calculating the expected sailing distance S of the ship in the time difference according to the time difference.
Specifically, in one possible implementation, step 108 may be performed as follows:
1081. and acquiring the time difference between the first ship coordinate point and the second ship coordinate point.
In the step, a time t when a satellite navigation system reports a first ship coordinate point is obtained1And the time t when the second ship coordinate point is reported2Then, the time difference Δ t is calculated as t2-t1。
1082. And acquiring the average navigation speed of the ship according to the navigation speed of the first ship coordinate point and the navigation speed of the second ship coordinate point.
In the step, firstly, according to the navigation speed of the first ship coordinate point and the navigation speed of the second ship coordinate point, the average navigation speed of the ship in the interval time is calculated
1083. And acquiring the estimated sailing distance of the ship in the time difference according to the time difference and the average sailing speed.
In this step, the estimated voyage distance S of the ship within the time difference is calculated from the time difference and the average voyage speed obtained in the above stepavg。
In step 109, the sum D of the first distance and the second distance is calculated as S1t+St2And then comparing the estimated sailing distance S with the estimated sailing distance S, and if the estimated sailing distance S is less than or equal to the sum D of the first distance and the second distance, judging that the ship has a high possibility of entering the polygonal area formed by the electronic fence.
In step 110, if the estimated sailing distance is less than or equal to the sum of the first distance and the second distance, it is determined that the ship has a high possibility of entering the polygonal area formed by the electronic fence, and it is determined that the ship crosses the electronic fence area. And if the estimated sailing distance is greater than the sum of the first distance and the second distance, judging that the possibility that the ship enters a polygonal area formed by the electronic fence is low, and determining that the ship does not cross the area of the electronic fence.
In summary, in the method for determining that a ship is out of range provided in the embodiment of the present invention, under the condition that the frequency of reporting satellite position data is low, a ray method is first used to connect two coordinate points of the ship, and determine whether the two coordinate points are within a polygonal area formed by an electronic fence, and when the connection lines are outside the polygonal area, it is determined that the ship does not pass through the polygonal area; when the intersection point exists between the connecting line and the polygonal area, whether the ship passes through the polygonal area needs to be further judged, so that the problem that whether the ship passes through an electronic fence cannot be captured due to low frequency of satellite position data reporting in the prior art is solved, whether the ship has a boundary crossing behavior can be timely found, and great convenience is brought to monitoring work.
Referring to fig. 3, fig. 3 shows a specific flow of a method for determining a boundary crossing of a ship. Through the process, the two ship coordinate points are connected through the ray method, and whether the two coordinate points are in a polygonal area formed by the electronic fence or not is judged. And when the result is outside the polygonal area, the two ship coordinate points are extended to obtain an intersection point, then coordinate conversion is carried out, the sum of the distances from the two coordinate points to the intersection point is calculated and compared with the estimated sailing distance in the time difference, and whether the ship passes through the polygonal area or not in the time difference is estimated.
It should be noted that the above-mentioned embodiments of the method are described as a series of actions for simplicity of description, but those skilled in the art should understand that the present invention is not limited by the described sequence of actions. Further, those skilled in the art will appreciate that the embodiments described in the specification are presently preferred and that no particular act is required to implement the invention.
Referring to fig. 4, based on the same inventive concept, an embodiment of the present invention provides an apparatus for determining a boundary crossing of a ship, the apparatus mainly including:
a coordinate obtaining unit 401, configured to obtain a first ship coordinate point and a second ship coordinate point of a ship, and an electronic fence area marked by a plurality of fence coordinate points; the first ship coordinate point and the second ship coordinate point comprise a navigation direction and a navigation speed;
the first judging unit 402 is configured to determine a course line of the ship according to a connection line between the first ship coordinate point and the second ship coordinate point, and judge whether the course line intersects with the electric fence area;
a first determining unit 403, configured to determine that the ship does not cross the electronic fence area when the course does not intersect with the electronic fence area.
Preferably, the apparatus further comprises:
an extension line obtaining unit 404, configured to, when the course line intersects with the electronic fence area, respectively make extension lines along a navigation direction of the first ship coordinate point and a navigation direction of the second ship coordinate point and obtain an intersection point;
a second determination unit 405, configured to determine whether an extension line of the first ship coordinate point and an extension line of the second ship coordinate point intersect with the electronic fence area;
a second determining unit 406, configured to determine that the ship crosses the electric fence area when the extension line of the first ship coordinate point or the extension line of the second ship coordinate point intersects the electric fence area.
Preferably, the apparatus further comprises:
a distance obtaining unit 407, configured to respectively calculate a first distance between the first ship coordinate point and the intersection point and a second distance between the second ship coordinate point and the intersection point when the extension line of the first ship coordinate point or the extension line of the second ship coordinate point does not intersect with the electronic fence area;
a predicted distance acquisition unit 408 for acquiring a predicted sailing distance of the ship within a time difference between the first ship coordinate point and the second ship coordinate point;
a third judging unit 409, configured to judge whether the predicted sailing distance is less than or equal to the sum of the first distance and the second distance;
a third determination unit 410 for determining that the ship crosses the electric fence area when the expected sailing distance is less than or equal to the sum of the first distance and the second distance; otherwise, it is determined that the vessel has not crossed the electric fence area.
Preferably, the expected distance obtaining unit 408 is specifically configured to:
acquiring a time difference between a first ship coordinate point and a second ship coordinate point;
acquiring the average navigation speed of the ship according to the navigation speed of the first ship coordinate point and the navigation speed of the second ship coordinate point;
and acquiring the estimated sailing distance of the ship in the time difference according to the time difference and the average sailing speed.
In summary, in the apparatus for determining that a ship is out of range provided in the embodiments of the present invention, under the condition that the frequency of reporting satellite position data is relatively low, two coordinate points of the ship are connected by using a ray method, and it is determined whether the two coordinate points are within a polygonal area formed by an electronic fence, and when the two coordinate points are outside the polygonal area, it is determined that the ship does not pass through the polygonal area; when the intersection point exists between the connecting line and the polygonal area, whether the ship passes through the polygonal area needs to be further judged, so that the problem that whether the ship passes through an electronic fence cannot be captured due to low frequency of satellite position data reporting in the prior art is solved, whether the ship has a boundary crossing behavior can be timely found, and great convenience is brought to monitoring work.
It should be understood that the above device for determining the boundary crossing of the ship only comprises units which are logically divided according to the functions realized by the device, and in practical application, the units can be overlapped or separated. The functions of the device for determining the boundary crossing of the ship provided by the embodiment correspond to the method for determining the boundary crossing of the ship provided by the embodiment one by one, and for a more detailed processing flow implemented by the device, the detailed description is already given in the first method embodiment, and the detailed description is not given here.
Referring to fig. 5, based on the same inventive concept, an embodiment of the present invention provides a computing device, which mainly includes a processor 51 and a memory 52, wherein the memory 52 stores execution instructions. The processor 51 reads the execution instructions in the memory 52 for performing the steps described in any of the above embodiments of the method for determining a ship boundary crossing. Alternatively, the processor 51 reads the execution instructions in the memory 52 for implementing the functions of the units in any of the above-described devices for determining a ship boundary violation.
Fig. 5 is a schematic structural diagram of a computing device according to an embodiment of the present invention, as shown in fig. 5, the computing device includes a processor 51, a memory 52, and a transceiver 53; wherein the processor 51, the memory 52 and the transceiver 53 are interconnected by a bus 54.
The memory 52 is used to store programs; in particular, the program may include program code including computer operating instructions. The memory 52 may include a volatile memory (volatile memory), such as a random-access memory (RAM); the memory 52 may also include a non-volatile memory (non-volatile memory), such as a flash memory (flash memory), a Hard Disk Drive (HDD) or a solid-state drive (SSD); the memory 52 may also comprise a combination of the above types of memories.
The memory 52 stores the following elements, executable modules or data structures, or a subset thereof, or an expanded set thereof:
and (3) operating instructions: including various operational instructions for performing various operations.
Operating the system: including various system programs for implementing various basic services and for handling hardware-based tasks.
The bus 54 may be a Peripheral Component Interconnect (PCI) bus, an Extended Industry Standard Architecture (EISA) bus, or the like. The bus may be divided into an address bus, a data bus, a control bus, etc. For ease of illustration, only one thick line is shown in FIG. 5, but this is not intended to represent only one bus or type of bus.
The processor 51 may be a Central Processing Unit (CPU), a Network Processor (NP), or a combination of a CPU and an NP. But also a hardware chip. The hardware chip may be an application-specific integrated circuit (ASIC), a Programmable Logic Device (PLD), or a combination thereof. The PLD may be a Complex Programmable Logic Device (CPLD), a Field Programmable Gate Array (FPGA), a General Array Logic (GAL), or any combination thereof.
Embodiments of the present invention further provide a computer-readable storage medium containing computer-executable instructions, where the computer-executable instructions are used to perform the steps described in any of the above embodiments of the method for determining a ship boundary crossing. Alternatively, the computer-executable instructions are used to perform the functions of the units in the above-described apparatus embodiment for determining a ship boundary violation.
In the above embodiments of the present invention, the descriptions of the respective embodiments have respective emphasis, and for parts that are not described in detail in a certain embodiment, reference may be made to related descriptions of other embodiments.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents, improvements and the like that fall within the spirit and principle of the present invention are intended to be included therein.
Claims (10)
1. A method of determining a ship boundary crossing, the method comprising:
acquiring a first ship coordinate point and a second ship coordinate point of a ship, and an electronic fence area marked by a plurality of fence coordinate points; the first ship coordinate point and the second ship coordinate point comprise a sailing direction and a sailing speed;
determining a course line of the ship according to a connection line of the first ship coordinate point and the second ship coordinate point, and judging whether the course line is intersected with the electronic fence area;
and if the course line does not intersect with the electronic fence area, determining that the ship does not cross the electronic fence area.
2. The method of claim 1, further comprising:
if the course line intersects with the electronic fence area, respectively making extension lines along the navigation direction of the first ship coordinate point and the navigation direction of the second ship coordinate point to obtain an intersection point;
judging whether the extension line of the first ship coordinate point and the extension line of the second ship coordinate point are intersected with the electronic fence area;
and if the extension line of the first ship coordinate point or the extension line of the second ship coordinate point is intersected with the electronic fence area, determining that the ship crosses the electronic fence area.
3. The method of claim 2, further comprising:
if the extension line of the first ship coordinate point or the extension line of the second ship coordinate point does not intersect with the electronic fence area, respectively calculating a first distance between the first ship coordinate point and the intersection point and a second distance between the second ship coordinate point and the intersection point;
acquiring a predicted sailing distance of the ship in a time difference between the first ship coordinate point and the second ship coordinate point;
judging whether the predicted sailing distance is smaller than or equal to the sum of the first distance and the second distance;
if yes, determining that the ship crosses the electronic fence area; otherwise, determining that the ship does not cross the electronic fence area.
4. The method of claim 3, wherein the obtaining the predicted voyage distance of the ship within the time difference of the first ship coordinate point and the second ship coordinate point comprises:
acquiring the time difference between the first ship coordinate point and the second ship coordinate point;
acquiring the average navigation speed of the ship according to the navigation speed of the first ship coordinate point and the navigation speed of the second ship coordinate point;
and acquiring the estimated sailing distance of the ship in the time difference according to the time difference and the average sailing speed.
5. An apparatus for determining a ship boundary crossing, the apparatus comprising:
the system comprises a coordinate acquisition unit, a data processing unit and a data processing unit, wherein the coordinate acquisition unit is used for acquiring a first ship coordinate point and a second ship coordinate point of a ship and an electronic fence area marked by a plurality of fence coordinate points; the first ship coordinate point and the second ship coordinate point comprise a sailing direction and a sailing speed;
the first judgment unit is used for determining a course line of the ship according to a connection line of the first ship coordinate point and the second ship coordinate point and judging whether the course line intersects with the electronic fence area;
the first determining unit is used for determining that the ship does not cross the electronic fence area when the course line does not intersect with the electronic fence area.
6. The apparatus of claim 5, further comprising:
the extension line acquisition unit is used for respectively making extension lines along the navigation direction of the first ship coordinate point and the navigation direction of the second ship coordinate point and obtaining an intersection point when the course line intersects with the electronic fence area;
a second judging unit, configured to judge whether an extension line of the first ship coordinate point and an extension line of the second ship coordinate point intersect with the electronic fence area;
a second determination unit configured to determine that the ship crosses the electric fence area when an extension line of the first ship coordinate point or an extension line of the second ship coordinate point intersects the electric fence area.
7. The apparatus of claim 6, further comprising:
the distance acquisition unit is used for respectively calculating a first distance between the first ship coordinate point and the intersection point and a second distance between the second ship coordinate point and the intersection point when the extension line of the first ship coordinate point or the extension line of the second ship coordinate point does not intersect with the electronic fence area;
a predicted distance acquisition unit for acquiring a predicted sailing distance of the ship within a time difference between the first ship coordinate point and the second ship coordinate point;
a third judging unit, configured to judge whether the estimated cruising distance is less than or equal to a sum of the first distance and the second distance;
a third determination unit configured to determine that the ship crosses the electric fence area when the estimated cruising distance is equal to or less than a sum of the first distance and the second distance; otherwise, determining that the ship does not cross the electronic fence area.
8. The apparatus according to claim 7, wherein the expected distance obtaining unit is specifically configured to:
acquiring the time difference between the first ship coordinate point and the second ship coordinate point;
acquiring the average navigation speed of the ship according to the navigation speed of the first ship coordinate point and the navigation speed of the second ship coordinate point;
and acquiring the estimated sailing distance of the ship in the time difference according to the time difference and the average sailing speed.
9. A computing device comprising a processor and a memory, wherein the memory has stored therein execution instructions, wherein the processor reads the execution instructions in the memory for performing the steps of the method according to any one of claims 1 to 4.
10. A computer-readable storage medium containing computer-executable instructions for performing the steps of the method of any one of claims 1 to 4.
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