CN111986520A - Sea area traffic management system and method based on offshore data integrated management center - Google Patents
Sea area traffic management system and method based on offshore data integrated management center Download PDFInfo
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- CN111986520A CN111986520A CN202010784904.3A CN202010784904A CN111986520A CN 111986520 A CN111986520 A CN 111986520A CN 202010784904 A CN202010784904 A CN 202010784904A CN 111986520 A CN111986520 A CN 111986520A
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Abstract
The invention relates to a sea area traffic management system and method based on a marine data integrated management center, wherein the system comprises the following steps: the system comprises an information acquisition module, an information receiving module, a marine data comprehensive processing center, a marine traffic safety management center and a marine disaster rescue center; the information acquisition module includes: the intelligent ship is provided with equipment for acquiring information of a current object and objects within a preset range; the information receiving module is positioned in the offshore data comprehensive processing center; the offshore data comprehensive processing center is arranged on a fixed platform in the ocean and acquires the track of each ship in the monitored sea area; the marine traffic safety management center is arranged on the fixed platform and used for determining whether collision risks exist according to the flight path; the marine disaster rescue center is arranged on the fixed platform and used for sending out early warning information when collision risks exist in the marine traffic safety management center. The system enhances the coverage area of intelligent shipping traffic management, and improves the dangerous case handling capacity and the crisis handling capacity.
Description
Technical Field
The invention relates to the technical field of intelligent ship traffic management, in particular to a sea area traffic management system and method based on a marine data comprehensive management center.
Background
Along with the development of the water traffic transportation industry in China, the tonnage and the number of ships in ports and inland waterways in China are greatly increased, the number of ships entering the ports is increased more and more, and the problem of water traffic safety is increasingly highlighted. How to judge whether adjacent ships collide and guide the ships with collision danger to carry out collision avoidance operation, assist the intelligent ships to safely navigate and maintain the sea navigation traffic order has received attention of more and more people.
The existing marine traffic management means rely on a shore-based radar and a shore-based base station to realize the transmission, capture and fusion of key information, and have extremely strict requirements on the terrain and the site, so that the existing marine traffic management means can only be arranged in ports and coastal zones with high-quality geographic conditions, and the coverage range is limited; on the other hand, based on the working principle of the shore-based radar, when the shore-based radar works, the land-oriented party cannot acquire ship information, the monitoring range is reduced, and the utilization rate is low; finally, the monitoring radius of the shore-based radar is limited due to the fading characteristics of the radio, and if a long-distance sea area is to be monitored, the signal strength needs to be increased, which causes strong interference to the nearby radar.
Disclosure of Invention
Technical problem to be solved
In view of the above disadvantages and shortcomings of the prior art, the present invention provides a sea traffic management system and method based on an integrated offshore data management center, which can enhance the coverage of intelligent shipping traffic management, reduce the interference of offshore signals, enhance the strength of offshore signals, and improve the emergency response capability and crisis handling capability.
(II) technical scheme
In order to achieve the purpose, the invention adopts the main technical scheme that:
in a first aspect, an embodiment of the present invention provides a sea area traffic management system based on an offshore data integrated management center, including: the system comprises an information acquisition module, an information receiving module, a marine data comprehensive processing center, a marine traffic safety management center and a marine disaster rescue center;
the information acquisition module includes: the equipment is arranged on each moving object on the sea and used for acquiring the current object and the object information in the preset range;
the information receiving module is positioned in the offshore data comprehensive processing center and used for receiving the information transmitted by each information acquisition module;
the offshore data comprehensive processing center is arranged on a fixed platform in the sea and used for acquiring the track of each ship in the monitored sea area according to the information received by the information receiving module;
the marine traffic safety management center is arranged on the fixed platform and used for determining whether collision risks exist according to the flight path acquired by the marine data comprehensive processing center;
the marine disaster rescue center is arranged on the fixed platform and used for sending out early warning information when collision risks exist in the marine traffic safety management center.
Optionally, the method further comprises:
and the communication safety management center is used for determining whether at least one piece of equipment fault or communication interference information exists according to the information received by the information receiving module, and if so, sending a maintenance instruction to the associated terminal.
Optionally, the fixed platform is an already existing drilling platform at sea.
Optionally, the information collecting module includes:
AIS equipment, shipborne radars, and sea-based radars;
the sea-based radar is arranged at the top end of the offshore data comprehensive processing center;
the AIS equipment and the shipborne radar are arranged on each ship.
Optionally, the offshore data integrated processing center includes: the system comprises a radar base station 1 integrated with various radar detection devices and a functional area 2; the fixed platform 3 provides support for the radar base station 1 and the functional area 2;
the functional area 2 is arranged on the upper part of the fixed platform 3 and is divided into two layers including a first working area 21 and a second living area 22;
the one-layer working area 21 comprises a placement place, a working place and a storage area of equipment and ships; the storage area is provided with a folding mechanical arm used for placing the functional ship into the storage area; the second living area 22 is used for solving the basic living requirements of the work staff on the platform;
the functional area 2 is of a structure with an inner layer and an outer layer of hexagonal prisms, the part of the inner layer of the hexagonal prism of the working area 21 on the first layer is a water filtering type lifting platform, and the bottom of the working area 21 on the first layer is provided with a bottom gate 211 which is used for extending out the water filtering type lifting platform to receive the ship to be recovered after being opened;
the radar base station 1 is provided above the second living area 22.
Optionally, the part of the hexagonal prism in the second living area layer is a lifting platform, and a helicopter apron is arranged on the lifting platform; and a top cover plate is arranged at the position, corresponding to the lifting platform, of the top of the two-layer living area.
Optionally, the two-layer living area comprises a dining area, a washing area, a bathing area, a leisure area and a living area; the residential area comprises one or two of a multi-person residential area or a single-person comprehensive residence;
the multi-person living area is of a multi-person dormitory structure and comprises a washroom and a washroom, the washroom is of an open public washroom structure, the washroom is of a public bathing structure, and male and female areas are separated;
the residential area, the washing area, the bathing area and the toilet of the single-person comprehensive residential room are integrated.
Optionally, the radar base station includes one or more of a radar transmitter, a radar receiver, a GPS antenna, and a GPS receiver.
Optionally, the water-filtering type lifting platform is movably connected to the working area at one floor, and the lifting platform is movably connected to the living area at the second floor.
Optionally, the second living area is connected with the first working area through a stair and a vertical ladder; the stairs and the straight stairs are both arranged on the edge of the inner hexagonal prism, and the stairs are of a clip-shaped structure.
Optionally, the functional area is integrally made of radiation-proof materials, and radiation-proof enhancement treatment is performed on the top of the second living area, the outside of the second living area and the heavily-radiated area on the surface of the storage area.
Optionally, a protective guard is arranged at the edge of the radar base station, the ground for placing the radar base station is high in the middle and low in the periphery, the ground is integrally inclined, and a dredging channel is arranged on the ground.
Optionally, a photovoltaic array is arranged on the top of the second living area, and the photovoltaic array comprises a plurality of solar cells, and the solar cells can convert solar energy into direct current electric energy through the photovoltaic effect to supply power to the whole center; and a seawater desalination device is arranged in the working area of the first floor for daily use of workers.
Optionally, the drainage type elevating platform further comprises an elevating platform water filtering port, the elevating platform water filtering port is used for discharging seawater inside the drainage type elevating platform, the one-layer working area is provided with an elevating platform winch, and the elevating platform winch is used for controlling the drainage type elevating platform to ascend and descend.
In a second aspect, an embodiment of the present invention provides a management method for a sea traffic management system, including:
when a plurality of ships appear in a sea area, an information acquisition module on each ship acquires first information of the ships around, acquires second information of the surrounding environment, and sends the first information and the second information to a comprehensive offshore data processing center;
the offshore data comprehensive processing center receives the first information, the second information and third information sensed by the sea-based radar for fusion processing, and acquires track information of each ship in the monitored sea area; and the track information of all ships is sent to a marine traffic safety management center;
and the marine traffic safety management center analyzes whether the ship collision risk exists or not according to the track information.
Optionally, the method further comprises:
when the marine traffic safety management center determines that the ship has collision risk, sending a collision avoidance instruction to the ship with collision risk;
when the marine traffic safety management center does not receive the response of all collision avoidance instructions, sending early warning information to a marine disaster relief center so that the marine disaster relief center sends preparation information to each relief terminal;
and repeating the step of collecting information when the marine traffic safety management center receives the response of all collision avoidance instructions.
Optionally, the method further comprises:
the communication safety management center is used for analyzing the first information, the second information and the third information, determining whether interference exists in each communication device, and if the interference exists, sending a maintenance instruction to the associated terminal.
Optionally, the marine data comprehensive processing center receives the first information, the second information, and third information sensed by the sea-based radar, performs fusion processing, and acquires track information of each ship in the monitored sea area, including:
the offshore data comprehensive processing center preprocesses the first information, the second information and the third information according to the data characteristic attribute and the sensor type;
filtering all the preprocessed information to obtain filtered information;
and performing coordinate conversion and time calibration on the filtered data to acquire track information of each ship.
Optionally, the analyzing, by the marine traffic safety management center, whether there is a risk of ship collision according to the track information includes:
judging whether the tracks in the track information are related or not;
for track set R ═ R1，R2，...，Rn]Any two tracks Ri、RjI ≠ j, i ≠ 1, 2.., n; j is 1,2, and n is used for carrying out track association judgment;
if at least two tracks are associated, judging Ri、RjExecuting the track weighting fusion operation on two different tracks belonging to the same target;
and if not, returning to the track set to traverse the other two tracks in the track set to determine whether the other two tracks are related.
Optionally, a track weighted fusion operation is performed, comprising:
and performing weighted fusion operation according to the weighted fusion algorithm of the average standard deviation.
(III) advantageous effects
The invention has the beneficial effects that: the sea area traffic management system based on the offshore data integrated management center transfers a shore-based sensing device (shore-based radar) and a shore-based data fusion center from land to the sea, realizes the acquisition, fusion and transmission of sea area traffic information, and is provided with a professional rescue group and a communication guarantee group for enhancing the stability of the system.
In the invention, a mature marine oil drilling platform technology is utilized to build a marine platform capable of carrying a data fusion center and a radar base station, so that offshore ship data transmission, capture and fusion are realized, and water area traffic management is carried out on the sea area. Compared with a shore-based data integrated management center, the method has the advantages that the intelligent shipping traffic management coverage is enhanced, the offshore signal interference is reduced, and the far-sea signal strength is enhanced.
In addition, in frontier defense application, the supervision of illegal ships (such as illegal fishing, illegal leaning, illegal sand collection, sneak ferry and the like) is strengthened. Meanwhile, the dangerous case handling capacity and the dangerous engine handling capacity are improved, and personnel and property are guaranteed to be rescued at the first time of an accident.
Drawings
Fig. 1 is a schematic structural diagram of a sea area traffic management system based on an offshore data integrated management center according to an embodiment of the present invention;
fig. 2 is a schematic flow chart illustrating a management method of a sea area traffic management system according to an embodiment of the present invention;
fig. 3 is a flow chart illustrating a management method of a sea traffic management system according to another embodiment of the present invention;
fig. 4 is a flow chart illustrating a management method of a sea traffic management system according to another embodiment of the present invention;
FIG. 5 is a schematic diagram of an offshore data integration processing center according to the present invention;
FIG. 6 is a top view of the lift platform and helipad of FIG. 5 after they have been raised;
FIG. 7 is a side view of FIG. 6;
FIG. 8 is a top plan view of the living quarters of FIG. 5;
FIG. 9 is a bottom plan view of a layer of the work area of FIG. 5;
fig. 10 is a flow chart of the operation of the water filtering type lifting platform.
[ description of reference ]
1: a radar base station;
2: a functional region; 21: a working area; 211: a bottom gate; 22: a second living area; 221: a helicopter apron; 222: a lifting platform; 223: a top cover plate;
3: and (4) fixing the platform.
Detailed Description
For the purpose of better explaining the present invention and to facilitate understanding, the present invention will be described in detail by way of specific embodiments with reference to the accompanying drawings.
The invention provides a sea area traffic management system based on a marine data comprehensive management center, which has the core scheme that a shore-based sensing device (a shore-based radar) and a shore-based data fusion center are transferred from land to the sea, so that the collection, fusion and transmission of sea area traffic information are realized, the stability of the system is enhanced, and meanwhile, a professional rescue group and a communication guarantee group are configured.
In order to better understand the above technical solutions, exemplary embodiments of the present invention will be described in more detail below with reference to the accompanying drawings. While exemplary embodiments of the invention are shown in the drawings, it should be understood that the invention can be embodied in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the invention to those skilled in the art.
Example one
As shown in fig. 1, fig. 1 is a schematic structural diagram of a marine traffic management system based on a marine data integrated management center according to an embodiment of the present invention; the sea traffic management system of the present embodiment may include: the system comprises an information acquisition module, an information receiving module, a marine data comprehensive processing center, a marine traffic safety management center and a marine disaster rescue center;
the information acquisition module includes: the equipment is arranged on each moving object on the sea and used for acquiring information of the current object and the object in a preset range;
the information receiving module is positioned in the offshore data comprehensive processing center and used for receiving the information transmitted by each information acquisition module;
the offshore data comprehensive processing center is arranged on a fixed platform in the sea and used for acquiring the track of each ship in the monitored sea area according to the information received by the information receiving module;
the marine traffic safety management center is arranged on the fixed platform and used for determining whether collision risks exist according to the flight path acquired by the marine data comprehensive processing center;
the marine disaster rescue center is arranged on the fixed platform and used for sending out early warning information when collision risks exist in the marine traffic safety management center.
In a specific application, the sea traffic management system further includes: a communication security management center; the communication safety management center is used for determining whether at least one piece of equipment fault or communication interference information exists according to the information of the information receiving module, and if the equipment fault or communication interference information exists, sending a maintenance instruction to the associated terminal.
Specifically, the communication security management center is also used for taking charge of communication in distress, quarantine communication, emergency communication when a natural disaster occurs, and the like, and simultaneously issuing a navigation warning, a navigation notification, regional ship navigation state deployment information, and the like.
In practice, the fixed platform may be provided as an already existing drilling platform at sea. For example, a marine operation platform that can be improved based on a tension leg type marine oil drilling platform (TLP) serves as a fixed platform, which provides a stable and powerful support for an upper-layer marine data integrated processing center, a radar base station and a marine traffic safety management center, and enables offshore data fusion analysis.
For example, the information collection module may include: AIS equipment, shipborne radars, and sea-based radars;
the sea-based radar is arranged at the top end of the offshore data comprehensive processing center; the radar base station 1 (base station of various radars) mainly comprises a radar transmitter, a radar receiver, a GPS antenna and a GPS receiver, and is used for monitoring the movement direction of ships in a monitoring area, sensing the position information of the ships and obstacles, receiving AIS and radar signals transmitted by the ships in the jurisdiction, and transmitting the information to a comprehensive offshore data processing center in a data form.
The AIS equipment and the shipborne radar are arranged on each ship.
The sea area traffic management system of this embodiment is with bank base perception device (bank base radar) and bank base data fusion center, from land on the ocean, realizes sea area traffic information acquisition, integration and transmission, for strengthening the stability of system, disposes professional rescue group and communication guarantee group simultaneously.
Furthermore, by utilizing the mature offshore oil drilling platform technology, an offshore platform capable of bearing a data fusion center and a radar base station is built, so that offshore ship data transmission, capture and fusion are realized, and water area traffic management is carried out on the sea area. Compared with a shore-based data comprehensive management center, the method has the advantages that the intelligent shipping traffic management coverage is enhanced, the offshore signal interference is reduced, and the far-sea signal strength is enhanced.
Example two
Referring to fig. 5 to 10, an actual structure of the offshore data integrated processing center according to one embodiment of the present invention will be described in detail. The offshore data integrated processing center in the embodiment may include a radar base station 1 and a functional area 2.
The fixed platform 3 is an offshore operation platform improved based on a tension leg type offshore oil drilling platform (TLP), and mainly has the function of providing stable and powerful support for the upper radar base station 1 and the functional area 2, so that offshore data fusion analysis becomes possible.
The functional area 2 is arranged on the upper part of the fixed platform 3 and is divided into two layers including a first working area 21 and a second living area 22;
the first-layer working area 21 comprises a placement place, a working place and a storage area of equipment and ships; the working place provides a working place for workers engaged in marine ship data management, the arrangement place mainly has the function of providing an arrangement place for data management and data fusion related equipment, and the storage area is provided with a folding mechanical arm which can provide a parking space for small and medium-sized functional ships such as helicopters, patrol boats, rescue boats and sampling boats; the second living area 22 is used for solving the basic living requirements of the working personnel on the platform; including eating, washing, body-building, decompressing and the like, so as to meet the requirement that the former staff can keep healthy and stable physical and mental conditions before the new staff arrives, thereby being capable of performing periodical important work.
The functional area 2 is of a hexagonal prism structure with an inner layer and an outer layer, the hexagonal structure with the inner layer and the outer layer is a main bearing structure, the hexagonal prism part on the inner layer of the working area 21 on the first layer is a water filtering type lifting platform, and the bottom of the working area 21 on the first layer is provided with a bottom gate 211 which is used for extending out the water filtering type lifting platform to receive the ship to be recovered after being opened;
the upper part of the second-layer living area 22 is provided with a radar base station 1, and the radar base station 1 is responsible for acquiring information and transmitting the information to the data fusion module in a data form. The part of the inner hexagonal prism of the second living area 22 is a lifting platform 222, and a helicopter apron 221 is arranged on the lifting platform 222; a top cover plate 223 is arranged at the top of the second living area 22 corresponding to the lifting platform 222.
If severe weather occurs, the lifting platform 222 can carry the helicopter apron 221 and the helicopter slowly descends into the building to a proper height, and the top is popped out to form the top cover plate 223 to seal the hexagonal gap.
The second floor living quarters 22 includes catering, washing, bathing, leisure and residential areas; the residential area comprises one or two of a multi-person residential area or a single-person comprehensive residence; the multi-person living area is of a multi-person dormitory structure and comprises a washroom and a toilet, the washing area is of an open public washroom structure, the bathing area is of a public bathing structure, and male and female areas are separated; the residential area, the washing area, the bathing area and the toilet of the single-person comprehensive residential room are integrated.
The water-filtering type lifting platform is movably connected to the first-layer working area 21, and the lifting platform 222 is movably connected to the second-layer living area 22. The second floor living area 22 is connected with the first floor working area 21 through a stair and a vertical ladder; the stairs and the straight stairs are both arranged at the edge of the inner hexagonal prism, and the stairs are of a clip-shaped structure.
In consideration of the harm of radar radiation to human bodies, the whole functional area 2 is made of radiation-proof materials, and radiation-proof enhancement treatment is carried out on the top of the second-layer living area 22, the outside of the second-layer living area and the heavy radiation area on the surface of the storage area. The edge of radar basic station 1 is provided with the rail guard for place radar basic station 1's ground middle height, low all around, the difference in height should not be too big, the whole small angle slope form that is in ground, and be provided with the mediation channel subaerial, the drainage of flood season of being convenient for prevents that the rainwater from piling up and leading to top corrosion, fatigue and rainwater infiltration.
The top of the second living area 22 is provided with a photovoltaic array which comprises a plurality of solar cells, and the solar cells can convert solar energy into direct current electric energy through the special photovoltaic effect to supply power to the whole center; a seawater desalination device is arranged in the working area 21 of one layer for daily use of workers.
The lifting of the water-filtering type lifting platform is used for withdrawing the ship into the working area 21 of one layer or placing the ship in the working area 21 of one layer in seawater for working. The water filtration type lifting platform further comprises a lifting platform water filtering port, the lifting platform water filtering port is used for discharging seawater inside the water filtration type lifting platform, a lifting platform winch is arranged in the one-layer working area 21, and the lifting platform winch is used for controlling the water filtration type lifting platform to lift.
Referring to fig. 10, the water filtration type lifting platform work flow comprises the following steps:
and S1, the control console calculates the out-chain length of the lifting platform winch according to the current sea level, and the step S2 is executed.
The console in this embodiment may be a console in an offshore data integrated processing center.
S2, the console sends out a working instruction, each module enters a standby state, and the step S3 is executed;
s3, opening a water filtering port of the water filtering type lifting platform, and executing the step S4;
s4, opening the bottom gate 211 (namely the bottom door) of the fixed platform 1, and executing the step S5;
s5, the lifting platform winch is just going out of the chain for one section, the water-filtering type lifting platform descends, and the step S6 is executed;
s6, judging whether the chain length is smaller than the calculated chain length, if so, executing the step S5, otherwise, executing the step S7;
s7, stopping the lifting platform winch, stopping the water-filtering lifting platform from descending, opening the side door of the water-filtering lifting platform, and executing the step S8;
s8, driving the ship into the water filtering type lifting platform, closing the side door, and executing the step S9;
s9, closing the water filtering port of the water filtering type lifting platform, and executing the step S10;
s10, backing up the lifting platform winch and collecting a chain section, lifting the water-filtering lifting platform, and executing the step S1;
s11, judging whether the chain length is larger than the initial chain outlet length, if so, executing a step S10, otherwise, executing a step S12;
s12, stopping the lifting platform winch, stopping the water-filtering type lifting platform from rising (at the moment, returning the water-filtering type lifting platform to the fixed platform 3 cabin), and executing the step S13;
s13, closing the gate 211 at the bottom of the fixed platform 3, and executing the step S14;
s14, releasing the buckle at the top of the water-filtering lifting platform, lifting the lifting platform winch and the top of the water-filtering lifting platform together to a preset height, and executing the step S15;
s15, the mechanical arm stretches out and captures the ship, and the step S16 is executed;
s16, placing the ship in a storage area by the mechanical arm, and executing the step S17;
s17, recovering the mechanical arm, returning the lifting platform winch and the top of the water-filtering lifting platform to the initial position, locking the top buckle, and executing the step S18;
s18, opening a gate 211 at the bottom of the fixed platform 3, opening a water filtering port of the water filtering type lifting platform, removing seawater in the water filtering type lifting platform, and executing a step S19;
s19, closing the water filtering port of the water filtering type lifting platform, and executing the step S20;
s20, the gate 211 is closed at the bottom of the fixed platform 3.
Of course, the invention is not limited to this, the functional area 2 of the invention can also be replaced, form the offshore center with different functions;
the marine traffic safety management center has the functions as follows: and the system is responsible for functions of sea traffic management, anchoring management, fishing supervision and the like.
The function of the marine salvage center is as follows: the ship life saving and scene saving functions are responsible for life saving and scene saving of ships in the navigational area during marine accidents such as fire disasters, overturns, ship sinking and the like.
The navigation aid facility management center has the functions as follows: the system is responsible for management and daily maintenance inspection of navigation aids such as lighthouses, buoys and radio beacon lights in the navigation area, and has the functions of collecting meteorological and hydrological condition data such as wind direction, wind speed, waves and water quality in the navigation area.
In summary, in the embodiment, the shore-based sensing device (shore-based radar) and the shore-based data fusion center are transferred from the land to the sea, so as to realize the acquisition, fusion and transmission of the sea traffic information.
The mature offshore oil drilling platform technology is utilized to build a fixed platform 3 capable of bearing a data fusion center and a radar base station, so that offshore ship data transmission, capture and fusion are realized, and water area traffic management is carried out on the marine area.
Compared with a shore-based data integrated management center, the method has the advantages that the coverage range of intelligent shipping traffic management is enlarged, the offshore signal interference is reduced, the far-sea signal strength is enhanced, and the monitoring and management strength on illegal ships (such as illegal fishing, illegal leaning, illegal sand mining, sneak ferry and the like) is enhanced in frontier defense application.
EXAMPLE III
As shown in fig. 2, fig. 2 is a schematic flow chart illustrating a management method of a sea traffic management system according to an embodiment of the present invention; the management method of the sea area traffic management system of the embodiment may include the following steps:
201. when a plurality of ships appear in a sea area, an information acquisition module on each ship acquires first information of the ships around, acquires second information of the surrounding environment, and sends the first information and the second information to a comprehensive offshore data processing center;
202. the offshore data comprehensive processing center receives the first information, the second information and third information sensed by the sea-based radar for fusion processing, and acquires track information of each ship in the monitored sea area; and the track information of all ships is sent to the marine traffic safety management center.
For example, the offshore data integrated processing center preprocesses the first information, the second information and the third information according to data characteristic attributes and sensor types;
filtering all the preprocessed information to obtain filtered information;
and performing coordinate conversion and time calibration on the filtered data to acquire track information of each ship.
203. And the marine traffic safety management center analyzes whether the ship collision risk exists or not according to the track information.
For example, step 203 may specifically include:
firstly, judging whether tracks in the track information are related or not;
for track set R ═ R1，R2，...，Rn]Any two tracks Ri、RjI ≠ j, i ≠ 1, 2.., n; j is 1,2, and n is used for carrying out track association judgment;
if at least two tracks are associated, judging Ri、RjExecuting the track weighting fusion operation on two different tracks belonging to the same target;
and if not, returning to the track set to traverse the other two tracks in the track set to determine whether the other two tracks are related.
In addition, in a specific implementation process, the management method may further include the following steps:
204. when the marine traffic safety management center determines that the ship has collision risk, sending a collision avoidance instruction to the ship with collision risk;
205. and when the marine traffic safety management center does not receive the response of all collision avoidance instructions, sending early warning information to the marine casualty rescue center so that the marine casualty rescue center sends preparation information to each rescue terminal.
Of course, when the marine traffic safety management center receives the responses of all the collision avoidance instructions, the step of collecting information is repeated.
In another alternative implementation, the management method may further include a step a1 not shown in the following figures:
a1, the communication security management center is used for analyzing the first information, the second information and the third information, determining whether each communication device has interference, and if so, sending a maintenance instruction to the associated terminal.
The step a1 is performed after the step 202, may be performed after the step 203 to the step 205, or may be performed before the step 203 to the step 205, and this embodiment is not limited to this, and is selected according to actual needs.
The method of the embodiment enhances the intelligent shipping traffic management coverage, reduces the offshore signal interference and enhances the far-sea signal strength.
EXAMPLE III
Referring to fig. 3 and 4, fig. 3 and 4 respectively show a flow chart of a management method of a sea area traffic management system according to an embodiment of the present invention; the management method of the sea area traffic management system of the embodiment may include the following steps:
step 01, when monitoring that ships run in the sea area, exchanging the AIS system with the development information of the surrounding ships, and executing step 04;
02, monitoring that ships travel in the sea area, sensing information of surrounding ships and obstacles by using a shipborne radar, and executing a step 05;
step 03, sensing and monitoring sea area obstacles and ship information by a sea-based radar, and executing step 06;
step 04, the AIS base station receives information from the ship, transmits the information to the offshore data comprehensive processing center, and executes step 07;
step 05, receiving information from a ship by a radar base station of the offshore data comprehensive management center, transmitting the information to an offshore data comprehensive processing center, and executing step 07;
06, the marine data comprehensive management center radar base station receives information from the marine radar and transmits the information to the marine data comprehensive processing center, and step 07 is executed;
step 07, the marine data comprehensive processing center performs filtering, association and fusion processing on the information sent in the steps 04, 05 and 06 to obtain the track information of the ship in the monitored sea area, and performs step 08;
specifically, the offshore data comprehensive processing center can perform the steps of examining, cleaning, screening, merging and the like on data, and integrate real data with incompleteness and disorder into an ideal data type with operability, so that the accuracy of the data and the effectiveness of a fusion result are ensured.
For example, preprocessing multi-source data according to data characteristic attributes and sensor types, merging acquired fuzzy data and incomplete data, and screening and classifying disordered data to reduce information bearing pressure of a processor and prevent the processor from being damagedStopping the occurrence of a throughput load condition; then, filtering the track data to eliminate clutter interference generated in a data sensing stage; and finally, carrying out coordinate conversion and time calibration on the flight path data sensed by the shipborne radar, the AIS system and the sea-based radar to form a multi-target multi-flight-path set R (R) with the same format1，R2，...，Rn]。
And step 08, the marine traffic safety management center receives and monitors the sea area ship track, analyzes the ship collision risk, sends a collision avoidance instruction to the dangerous ship, and executes step 09.
It should be noted that, the current collision avoidance calculation process may use any algorithm for collision avoidance in the prior art to perform calculation processing, and this embodiment does not limit this.
Step 09, judging whether the target ship responds, and if so, executing step 01; otherwise, executing step 10 and step 11;
step 10, the shipwreck rescue center issues an emergency early warning, and meanwhile, the shipwreck rescue team enters a standby state;
step 11, the communication safety management center checks a communication fault source, judges the communication interference level, makes an emergency maintenance scheme and executes step 12;
and step 12, the marine traffic safety management center receives the communication interference level information and executes step 08.
For better illustration, in the collision avoidance process of the embodiment of the present invention, the step 08 may include the following specific contents:
for track set R ═ R1，R2，...，Rn]Any two tracks Ri、RjI ≠ j, i ≠ 1, 2.., n; j 1, 2.. n, and if the association is confirmed, R is determinedi、RjExecuting the weighted fusion operation of the associated flight paths on two different flight paths belonging to the same target;
otherwise, judging Ri、RjAnd if not, returning to the track set to perform the re-traveling and association judgment until any two tracks in the track set realize the track association judgment, and then terminating.
The weighted fusion algorithm based on the average standard deviation adopted in this embodiment may specifically include:
at a certain time t1Constructing another track set S ═ S by n tracks belonging to one target1，S2，...，Sn]，S1，S2，...，SnAre independent of each other. Note that, the track set R ═ R is described above1，R2，...，Rn]Representing the flight path before the association judgment, and another flight path set S representing the n flight paths which are extracted from the flight path set R and belong to a certain target after the association judgment, at the same time t1After the track association, a plurality of other track sets S can be obtained, and a certain target is exemplified here.
The standard deviation of the flight path measurement is respectively sigma1，σ2，...，σnThe weighting factors are respectively u1，u2，...，unThe merged track value is
The mean standard deviation after fusion is
The following relation is satisfied:
when mean standard deviation
At the minimum, corresponding to the time t1The system for constructing another track set S with the n tracks belonging to the target has the optimal weight, and the optimal weight satisfies the following functions:
and (3) solving the partial derivatives of the formulas to establish an equation set:
obtaining by solution:
the average standard deviation is then:
the calculation process shows that if the average standard deviation of the track measurement data is smaller and the weight value of the track measurement data is larger, the optimal weighted estimation value is selected from the weight values, and the proportion of the track data corresponding to the optimal weighted estimation value in the whole track set is larger;
conversely, if the standard deviation is larger, the weight value of the standard deviation is smaller, and the proportion of the corresponding track data is smaller when the optimal weighted estimation is carried out on the track data.
Thus, the above-described configuration makes it possible to obtain a fusion track by which whether or not the target has a collision risk is determined.
As will be appreciated by one skilled in the art, embodiments of the present invention may be provided as a method, system, or computer program product. Accordingly, the present invention may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present invention may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
The present invention has been described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems) and computer program products according to embodiments of the invention. It will be understood that each flow and/or block of the flowchart illustrations and/or block diagrams, and combinations of flows and/or blocks in the flowchart illustrations and/or block diagrams, can be implemented by computer program instructions.
It should be noted that in the claims, any reference signs placed between parentheses shall not be construed as limiting the claim. The word "comprising" does not exclude the presence of elements or steps not listed in a claim. The word "a" or "an" preceding an element does not exclude the presence of a plurality of such elements. The invention may be implemented by means of hardware comprising several distinct elements, and by means of a suitably programmed computer. In the claims enumerating several means, several of these means may be embodied by one and the same item of hardware. The use of the terms first, second, third and the like are for convenience only and do not denote any order. These words are to be understood as part of the name of the component.
Furthermore, it should be noted that the description of the term "one embodiment", "some embodiments", "examples", "specific examples" or "some examples" or the like in the description of the present specification means that a specific feature, structure, material or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the present invention. In this specification, the schematic representations of the terms used above are not necessarily intended to refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, the various embodiments or examples and features of the various embodiments or examples described in this specification can be combined and combined by those skilled in the art without contradiction.
While preferred embodiments of the present invention have been described, additional variations and modifications in those embodiments may occur to those skilled in the art once they learn of the basic inventive concepts. Therefore, the claims should be construed to include preferred embodiments and all changes and modifications that fall within the scope of the invention.
It will be apparent to those skilled in the art that various modifications and variations can be made in the present invention without departing from the spirit or scope of the invention. Thus, if such modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalents, the present invention should also include such modifications and variations.
Claims (9)
1. A sea traffic management system based on a marine data integrated management center is characterized by comprising: the system comprises an information acquisition module, an information receiving module, a marine data comprehensive processing center, a marine traffic safety management center and a marine disaster rescue center;
the information acquisition module includes: the equipment is arranged on each moving object on the sea and used for acquiring the current object and the object information in the preset range;
the information receiving module is positioned in the offshore data comprehensive processing center and used for receiving the information transmitted by each information acquisition module;
the offshore data comprehensive processing center is arranged on a fixed platform in the sea and used for acquiring and monitoring the track of each ship in the sea area according to the information received by the information receiving module;
the marine traffic safety management center is arranged on the fixed platform and used for determining whether collision risks exist according to the flight path acquired by the marine data comprehensive processing center;
the marine disaster rescue center is arranged on the fixed platform and used for sending out early warning information when collision risks exist in the marine traffic safety management center.
2. The sea traffic management system of claim 1, further comprising:
the communication safety management center is used for determining whether at least one piece of equipment fault or communication interference information exists according to the information received by the information receiving module, and if so, sending a maintenance instruction to the associated terminal;
the fixed platform is a drilling platform which is already available at sea;
and/or, the information acquisition module comprises:
AIS equipment, shipborne radars, and sea-based radars;
the sea-based radar is arranged at the top end of the offshore data comprehensive processing center;
the AIS equipment and the shipborne radar are arranged on each ship.
3. The sea traffic management system of claim 1, wherein the offshore data integrated processing center comprises: the radar base station is integrated with various radar detection devices (1) and the functional area (2); the fixed platform (3) provides support for the radar base station (1) and the functional area (2);
the functional area (2) is arranged on the upper part of the fixed platform (3) and is divided into two layers including a working area (21) and a living area (22);
the working area (21) comprises a placement place, a working place and a storage area of equipment and ships; the storage area is provided with a folding mechanical arm used for placing the functional ship into the storage area; the second-layer living area (22) is used for solving the basic living requirements of the work personnel on the platform;
the functional area (2) is of a structure with an inner layer and an outer layer of hexagonal prisms, the inner layer of hexagonal prisms of the working area (21) of one layer is a water filtering type lifting platform, and a bottom gate (211) is arranged at the bottom of the working area (21) of one layer and is used for extending out the water filtering type lifting platform to receive the ship to be recovered after being opened;
the radar base station (1) is arranged on the upper portion of the second-layer living area (22), and the radar base station (1) is responsible for acquiring information and transmitting the information to the data fusion module in a data form.
4. Sea traffic management system according to claim 3, characterized in that the part of the hexagonal prism inside the double-deck living area (22) is a lifting platform (222), on which lifting platform (222) a helipad (221) is arranged; a top cover plate (223) is arranged at the top of the second living area (22) corresponding to the lifting platform (222);
the two-layer living area (22) comprises a dining area, a washing area, a bathing area, a leisure area and a living area; the residential area comprises one or two of a multi-person residential area or a single-person comprehensive residence;
the multi-person living area is of a multi-person dormitory structure and comprises a washroom and a washroom, the washroom is of an open public washroom structure, the washroom is of a public bathing structure, and male and female areas are separated;
the residential area, the washing area, the bathing area and the toilet of the single-person comprehensive residential room are integrated;
and/or the water filtering type lifting platform is movably connected to the first-layer working area (21), and the lifting platform (222) is movably connected to the second-layer living area (22).
5. Sea traffic management system according to claim 3, characterized in that the second floor living area (22) is connected with the first floor working area (21) by stairs and vertical ladders; the stairs and the straight stairs are both arranged at the edge of the inner hexagonal prism, and the stairs are of a clip-shaped structure;
the functional area (2) is integrally constructed by adopting radiation-proof materials, and radiation-proof enhancement treatment is carried out on the top and the outer part of the two-layer living area (22) and the heavily-radiated area on the surface of the storage area;
the edge of the radar base station (1) is provided with a protective guard, the middle of the ground for placing the radar base station (1) is high, the periphery of the ground is low, the whole ground is inclined, and a dredging channel is arranged on the ground.
6. The sea traffic management system according to claim 3, wherein a photovoltaic array is arranged on the top of the two-layer living area (22) and comprises a plurality of solar cells, and the solar cells can convert solar energy into direct current electric energy through the photovoltaic effect to supply power to the whole center; a seawater desalination device is arranged in the first-layer working area (21) and is used by workers in daily life;
the water filtration type lifting platform further comprises a lifting platform water filtering port, the lifting platform water filtering port is used for discharging seawater inside the water filtration type lifting platform, a lifting platform winch is arranged in the one-layer working area (21), and the lifting platform winch is used for controlling the lifting of the water filtration type lifting platform.
7. The method for managing a sea traffic management system according to any one of claims 1 to 6, comprising:
when a plurality of ships appear in a sea area, an information acquisition module on each ship acquires first information of the ships around, acquires second information of the surrounding environment, and sends the first information and the second information to a comprehensive offshore data processing center;
the marine data comprehensive processing center receives the first information, the second information and third information sensed by the sea-based radar for fusion processing, and acquires track information of each ship in the monitored sea area; and the track information of all ships is sent to a marine traffic safety management center;
the marine traffic safety management center analyzes whether a ship collision risk exists or not according to the track information;
and/or the presence of a gas in the gas,
the method further comprises the following steps:
when the marine traffic safety management center determines that the ship has collision risk, sending a collision avoidance instruction to the ship with collision risk;
when the marine traffic safety management center does not receive the response of all collision avoidance instructions, early warning information is sent to a marine disaster rescue center, so that the marine disaster rescue center sends preparation information to each rescue terminal;
and repeating the step of collecting information when the marine traffic safety management center receives the response of all collision avoidance instructions.
8. The method of managing according to claim 7, further comprising:
the communication safety management center is used for analyzing the first information, the second information and the third information, determining whether each communication device has interference, and if the interference exists, sending a maintenance instruction to a related terminal;
and/or the offshore data comprehensive processing center receives the first information, the second information and third information sensed by the sea-based radar for fusion processing, and acquires track information of each ship in the monitored sea area, wherein the track information comprises:
the offshore data comprehensive processing center preprocesses the first information, the second information and the third information according to the data characteristic attribute and the sensor type;
filtering all the preprocessed information to obtain filtered information;
and performing coordinate conversion and time calibration on the filtered data to acquire track information of each ship.
9. The management method of claim 7, wherein the marine traffic safety management center analyzes whether a ship collision risk exists according to the track information, and comprises the following steps:
judging whether the tracks in the track information are related or not;
for track set R ═ R1，R2，...，Rn]Any two tracks Ri、RjI ≠ j, i ≠ 1, 2.., n; j is 1,2, and n is used for carrying out track association judgment;
if at least two tracks are associated, judging Ri、RjExecuting track weighted fusion operation according to a weighted fusion algorithm of average standard deviation for two different tracks belonging to the same target;
and if not, returning to the track set to traverse the other two tracks in the track set to determine whether the other two tracks are related.
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