CN113190636A - Offshore road network construction method and system - Google Patents
Offshore road network construction method and system Download PDFInfo
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- CN113190636A CN113190636A CN202110444123.4A CN202110444123A CN113190636A CN 113190636 A CN113190636 A CN 113190636A CN 202110444123 A CN202110444123 A CN 202110444123A CN 113190636 A CN113190636 A CN 113190636A
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- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F16/00—Information retrieval; Database structures therefor; File system structures therefor
- G06F16/20—Information retrieval; Database structures therefor; File system structures therefor of structured data, e.g. relational data
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- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/20—Instruments for performing navigational calculations
- G01C21/203—Specially adapted for sailing ships
Abstract
The invention provides a method and a system for constructing a marine road network, wherein the method for constructing the marine road network comprises the following steps: determining a reference ship track between two ports based on the ship track data and the port attachment data; acquiring two target track points of which the distance parameters are greater than a target distance threshold; confirming that a connecting line between two target track points passes through a land area, and constructing a target track based on an A-star algorithm and a marine key point grid; extracting a middle track point of the target track, and iteratively extracting a plurality of middle track points between the middle track point and the target track point by using an A-star algorithm until a connecting line between the plurality of middle track points and adjacent track points in the target track points does not pass through the land area; and obtaining a target ship route based on the reference ship track and the plurality of intermediate track points, and generating the marine road network based on the target ship route. The method and the system for constructing the marine road network can provide navigation path planning for the ship and estimate the arrival time of the ship.
Description
Technical Field
The invention relates to the technical field of data processing, in particular to a method and a system for constructing a marine road network.
Background
In the navigation field, a ship can navigate according to a preset track route in the navigation process from an originating port to a destination port, and the marine path planning based on a ship position and a destination can be realized by constructing a plurality of navigation tracks in advance.
At present, a track course for marine ship navigation is generally generated by manually drawn course sections or key points, and for the field of daily, new and monthly shipping, the real-time performance is poor, and the coverage rate of partial areas is low.
Disclosure of Invention
The invention provides a method and a system for constructing a marine road network, which are used for solving the defects that the real-time performance of a manually drawn route is poor and the coverage rate of partial areas is low in the prior art, realizing the purpose of providing navigation path planning for a ship, improving the area covered by the path and predicting the arrival time of the ship.
The invention provides a marine road network construction method, which comprises the following steps: determining a reference ship track between two ports based on the ship track data and the port attachment data; determining a distance parameter between every two adjacent reference track points in the reference ship track, and acquiring two target track points of which the distance parameter is greater than a target distance threshold; confirming that a connecting line between the two target track points passes through a land area, and inserting marine key points between the two target track points based on an A-star algorithm and a marine key point grid to construct a target track; the offshore key point grid is constructed based on satellite trajectory data and strait canal key point data; extracting a middle track point of the target track, and iteratively extracting a plurality of middle track points between the middle track point and the target track point by using an A-star algorithm until a connecting line between the plurality of middle track points and adjacent track points in the target track points does not pass through a land area; and obtaining a target ship route based on the reference ship track and the plurality of intermediate track points, and generating a marine road network based on the target ship route.
According to the method for constructing the marine road network provided by the invention, the step of confirming that the connecting line between the two target track points passes through the land area comprises the following steps: inserting a plurality of equidistant virtual track points between the two target track points based on a great circle route algorithm; and confirming that the altitude parameters of partial track points in the plurality of virtual track points are greater than a target altitude threshold value, and enabling a connecting line between the two target track points to pass through the land area.
According to the method for constructing the marine road network provided by the invention, the step of confirming that the altitude parameters of partial track points in a plurality of virtual track points are greater than the target altitude threshold value further comprises the following steps: acquiring a global altitude dictionary table, wherein the global altitude dictionary table has a corresponding relation between altitude parameters of track points and longitude and latitude information; and determining the altitude parameters of the virtual track points based on the global altitude dictionary table and the longitude and latitude information of the virtual track points.
According to the method for constructing the offshore road network, the offshore key point grid is determined based on the following steps: removing noise track points on the land based on the altitude parameters corresponding to the satellite track data to obtain de-noised satellite track point data; constructing a plurality of same track point grids based on the denoised satellite track point data and the strait canal key point data; and reserving a track point close to the central point of the grid in each track point grid as a grid key point, and constructing the offshore key point grid based on a plurality of grid key points.
According to the method for constructing the marine road network, the step of extracting a middle track point of the target track comprises the following steps: and obtaining the distance values of the plurality of track points on the target track and the connecting line of the two target track points, and taking the track point with the largest distance value as a middle track point of the target track.
According to the method for constructing the marine road network provided by the invention, the reference ship track between two ports is determined based on the ship track data and the port attachment data, and the method comprises the following steps: acquiring ship track data and port attachment data; determining a historical ship track between two ports based on the ship track data and the port attachment data; and deleting abnormal track points in the plurality of historical track points based on the attribute parameters of the plurality of historical track points of the historical ship track to obtain a reference ship track.
According to the method for constructing the marine road network, the method for deleting abnormal track points in the plurality of historical track points based on the attribute parameters of the plurality of historical track points of the historical ship track to obtain the reference ship track comprises the following steps: deleting flying points in the plurality of historical track points based on the speed parameters of the plurality of historical track points, and performing sparse operation based on a Douglas-Puck algorithm to obtain the reference ship track; and/or deleting turning points in the plurality of historical track points based on the angle parameters of the plurality of historical track points, and performing sparse operation based on the Douglas-Puck algorithm to obtain the reference ship track.
The invention also provides a marine road network construction system, which comprises: the determining module is used for determining a reference ship track between two ports based on the ship track data and the port attachment data; the acquisition module is used for determining a distance parameter between every two adjacent reference track points in the reference ship track and acquiring two target track points of which the distance parameter is greater than a target distance threshold; the construction module is used for confirming that a connecting line between the two target track points passes through a land area, and inserting marine key points between the two target track points based on an A-star algorithm and a marine key point grid to construct a target track; the offshore key point grid is constructed based on satellite trajectory data and strait canal key point data; the extracting module is used for extracting central track points of the target track, and extracting a plurality of central track points by using an A-star algorithm in an iteration mode between the central track points and the target track points until a connecting line between the central track points and adjacent track points in the target track points does not penetrate through a land area; and the generating module is used for obtaining a target ship route based on the reference ship track and the plurality of central track points and generating a marine road network based on the target ship route.
The invention further provides an electronic device, which comprises a memory, a processor and a computer program stored on the memory and capable of running on the processor, wherein the processor executes the computer program to realize the steps of any one of the above-mentioned marine road network construction methods.
The invention also provides a non-transitory computer-readable storage medium having stored thereon a computer program which, when being executed by a processor, carries out the steps of the marine road network construction method according to any one of the above.
According to the method and the system for constructing the marine road network, the reference ship track crossing the land is repaired and compensated by using the iteration A-star algorithm based on the marine key point grid, a smooth target ship route can be formed, the accurate marine road network is generated, a navigation path plan can be provided for a ship, the area covered by the path is improved, and the arrival time of the ship is estimated.
Drawings
In order to more clearly illustrate the technical solutions of the present invention or the prior art, the drawings needed for the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and those skilled in the art can also obtain other drawings according to the drawings without creative efforts.
FIG. 1 is a schematic flow diagram of a marine road network construction method provided by the invention;
FIG. 2 is a schematic structural diagram of a marine road network construction system provided by the invention;
fig. 3 is a schematic structural diagram of an electronic device provided in the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention clearer, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings, and it is obvious that the described embodiments are some, but not all embodiments of the present invention. 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.
The marine road network construction method and system of the present invention will be described with reference to fig. 1-3.
As shown in fig. 1, the present invention provides a marine road network construction method, including: as follows from step 110 to step 150.
Wherein a reference ship trajectory between two ports is determined based on the ship trajectory data and the port docking data, step 110.
It can be understood that the reference ship track is a real ship track of a certain ship passing between two ports, that is, a historical track of the ship, and the ship track data may include a historical track record of the certain ship traveling, and may be combined with port attachment data to obtain a reference ship track of the ship passing between two ports.
It should be noted that a voyage of a ship consists of the information of the affiliations of two consecutive ports, the first port being the origin port and the second port being the destination port, and the voyage includes the time of departure from the origin port and the time of arrival at the destination port. The voyage time can be generated based on the port attachment data, namely the attachment data of a single ship are arranged according to the ascending sequence of arrival time, a traversal algorithm is applied to extract continuous attachment data, the starting port and the destination port are further determined, and the departure time of the starting port and the arrival time of the destination port are stored as the starting and stopping time of the voyage time.
The ship set can be determined according to the ship type, the ship set is traversed, port attachment data of the ship are obtained from a database according to the ship identification, sequencing is carried out according to the port arrival time of attachment, and non-attachment or abnormal attachment data are removed. Then, the starting port and the destination port are determined according to the adjacent ports, and the time of leaving the starting port and the arrival time of the destination port are determined, wherein the two times respectively form the starting time and the ending time of a voyage. And finally, acquiring the ship track from the ship track data by using the ship identification, intercepting the reference ship track by using the start-stop time, constructing the reference ship track and storing the reference ship track in a database.
And step 120, determining a distance parameter between every two adjacent reference track points in the reference ship track, and acquiring two target track points of which the distance parameter is greater than a target distance threshold.
It can be understood that, the reference track points on the reference ship track are traversed point by point, except the last reference track point, the distance from the current reference track point to the next reference track point is calculated in each traversal, when the distance exceeds a target distance threshold, the two adjacent reference track points are taken as two target track points, and when the distance exceeds a target distance threshold, the two adjacent reference track points are considered to be most likely to pass through a land area, so that a route track guiding driving is lacked between the two target track points, and the route needs to be repaired and compensated.
It can be understood that the connection line between two target track points can be judged according to a preset judgment rule to judge whether the connection line crosses the land area, the judgment result can be obtained by comparing longitude and latitude information with pre-stored map information, and whether the connection line between the target track points crosses the land area can also be determined by global altitude data, which is not limited here.
And if the connecting line between the two target track points is judged and confirmed to cross the land area, inserting the offshore key points between the two target track points by utilizing an A-star algorithm on the basis of the offshore key point grid.
The offshore key point grid can be constructed based on satellite trajectory data and strait canal key point data.
And if a connecting line between the two target track points has a point crossing the land, inserting offshore key points formed by the satellite track data and the strait canal key point data into the two target track points. Firstly, satellite trajectory data in recent years are screened by using altitude parameters, noise trajectory points on land are removed, and then straits and canal key points are combined. Then, the track points are used for constructing a grid, and when a plurality of track points appear in the grid, a track point closest to the central point of the grid is selected to represent key points at sea in the area of the grid.
If the grids are taken as nodes, the basis for judging whether the two grids are communicated is whether the ship track from the satellite track data is continuous or not and whether the key point data of the strait canal is continuous or not. The cost of movement of two connected nodes is defined as the distance between the key points representing the grid positions. Based on the key points of the offshore road network, a minimum cost path between two points can be obtained by using an A-star algorithm, and the path is composed of a series of key points.
The a-algorithm is a very common path finding and graph traversal algorithm. Compared to Dijkstra's algorithm, a-x algorithm generally has better performance with the guidance of heuristic functions. The algorithm calculates the priority of each node by the function f (i) ═ g (i) + h (i), i > 0, i ∈ N. Where f (i) is the composite priority of node i. When the next node to be traversed is selected, the node with the highest comprehensive priority is always selected. g (i) is the cost of node i from the starting point. h (i) is the predicted cost of node i from the end, which is the heuristic function of the a-algorithm. In the operation process of the A-algorithm, the node with the minimum value of f (i) is selected from the priority queue as the next node to be traversed. In addition, the a-algorithm uses two sets to represent the nodes to be traversed, and the nodes that have been traversed, referred to as open _ set and close _ set, respectively.
Namely, the two target track points and the maritime key track point jointly form the target track.
And step 140, extracting a middle track point of the target track, and iteratively extracting a plurality of middle track points between the middle track point and the target track point by using an A-star algorithm until a connecting line between the plurality of middle track points and adjacent track points in the target track points does not pass through the land area.
It will be appreciated that because the satellite trajectories and the strait canal of an unknown number of vessels are used as offshore key points, there is a risk of computing on the grid constructed from these key points. This risk may manifest itself as unsmooth shortest paths found by the a-algorithm, giving rise to some unsmooth curves. To solve this problem, the present embodiment uses a divide and conquer strategy to improve the smoothness between the new insertion point and the original start and stop point.
The idea of the divide and conquer strategy is to decompose the original problem into several sub-problems of smaller size but similar to the original problem, solve these sub-problems recursively, and then combine the solutions of these sub-problems to build the solution of the original problem.
The method for decomposing the original problem in this embodiment is to use an a-x algorithm to obtain key points on the shortest path between two target trace points when a connecting line between the two target trace points passes through a land area, select an intermediate point on the key points according to some rules, and decompose the start and stop points determined by the current point and the next point in the original problem into two start and stop points from the current point to the intermediate point and from the intermediate point to the next point. Iterative execution of the a-x algorithm and the intermediate point selection algorithm can insert smooth points between trace points with large spans. The termination condition of the iteration step is that the point on the land is not included after the point is supplemented by the great circle route algorithm between any start point and any stop point. By processing in this way, the inserted key points on the sea can form a smoother track.
It can be understood that the rule for selecting the middle track point may be preset, the track point located at the central position in the entry mark track may be used as the middle track point, or two target track points may be connected, the distance values on the connecting lines of the plurality of track points and the two target track points on the target track are obtained, the track point with the largest distance value is used as the middle track point, and the rule selection for the middle track point is not limited in this embodiment.
And 150, obtaining a target ship route based on the reference ship track and the plurality of intermediate track points, and generating the marine road network based on the target ship route.
It can be understood that a plurality of middle track points can be inserted between two target track points, the vacant track between the two target track points is also repaired and compensated, the plurality of middle track points and the reference ship track are merged, a target ship route is obtained, the target ship route does not pass through a land area, and the ship can navigate according to the target ship route.
When a plurality of historical ships are focused on, a plurality of target ship routes corresponding to a plurality of ports can be obtained according to the method from step 110 to step 140, and a marine road network can be generated by combining a plurality of target ship routes.
According to the offshore road network construction method, the reference ship track crossing the land is repaired and compensated by using the iteration A-star algorithm based on the offshore key point grid, a smooth target ship route can be formed, an accurate offshore road network is generated, a navigation path plan can be provided for a ship, a path coverage area is improved, and the arrival time of the ship is estimated.
In some embodiments, the step 130 of confirming that the connection line between the two target trace points crosses the land area includes: inserting a plurality of equidistant virtual track points between two target track points based on a great circle route algorithm; and confirming that the altitude parameters of partial track points in the plurality of virtual track points are greater than the target altitude threshold value, and enabling a connecting line between the two target track points to pass through the land area.
It can be understood that the key points on the reference trajectory route may be traversed point by point, each traversal except the last point calculates the distance from the current point to the next point, and when the distance exceeds the distance threshold, the equidistant point supplementing operation is performed on the start point and the stop point, that is, the virtual trajectory point, and the point supplementing process uses a great circle route algorithm. And acquiring the altitude parameters of the newly added virtual track points one by one, and marking the current point to the next point to pass through the land when the altitude parameters are greater than a target altitude threshold value.
In some embodiments, the confirming that the altitude parameter of the partial track points in the plurality of virtual track points is greater than the target altitude threshold further includes: acquiring a global altitude dictionary table, wherein the global altitude dictionary table has a corresponding relation between altitude parameters of track points and longitude and latitude information; and determining the altitude parameters of the virtual track points based on the global altitude dictionary table and the longitude and latitude information of the virtual track points.
It will be appreciated that the elevation data may establish a global elevation dictionary table map _ elevation between north and south high latitudes, in terms of longitude loniAnd latitude latiKey value keys can be generatediI > 0, i ∈ N. Use keyiThe longitude and latitude information (lon) of the virtual track point can be obtained in the map _ estimatei,lati) Altitude parameter altitudeiThe altitude parameters corresponding to the virtual track points can be retrieved from the global altitude dictionary table by using the longitude and latitude information of the virtual track points.
According to altitude parameter altitudeiCan judge the latitude and longitude information (lon) of the virtual track pointi,lati) Whether located in a land area. The specific process is as follows: the method comprises the steps of firstly reading altitude data, sequentially recording the altitude data from a south latitude 80 degrees west longitude 180 degrees to a north latitude 80 degrees east longitude 180 degrees in a row-first mode, enabling left and right adjacent data to be separated by one-120 longitude and enabling upper and lower adjacent data to be separated by one-120 latitude, loading the data into a two-dimensional array of a memory, wherein the first dimension represents line numbers, the total number of the line numbers is 19200, and the second dimension represents column numbers, and the total number of the line numbers is 43200. And sequentially traversing the reference track points of the reference ship track, when the distance between two adjacent reference track points is greater than a target distance threshold value distance _ threshold, performing a point supplementing operation based on a great circle route algorithm between the two points, inserting virtual track points at fixed intervals, and traversing the virtual track points, wherein the longitude and latitude values of the virtual track points are integers with the precision of 0.000001 degrees as the original track, for example, the longitude of 120500000 represents the east longitude of 120.5 degrees. Suppose the longitude coordinate of a certain virtual track point is lonjLatitude coordinate is latjJ > 0, j belongs to N, then the row index of the position in the elevation dictionary table
Column index
And when the altitude parameter is greater than a target altitude threshold value, determining that a connecting line between two virtual track points passes through a land area, recording the index of the first virtual track point, and storing the index into a database.
In some embodiments, the offshore keypoint grid is: removing noise track points on the land based on the altitude parameters corresponding to the satellite track data to obtain de-noised satellite track point data; constructing a plurality of same track point grids based on the denoised satellite track point data and the strait canal key point data; and reserving a trace point close to the central point of the grid in each trace point grid as a grid key point, and constructing the grid based on a plurality of grid key points.
It can be understood that, reading the recent satellite trajectory, using map _ estimate to remove the trajectory points with the altitude parameter greater than-10 m, that is, defining the trajectory points with the altitude parameter greater than-10 m as noise trajectory points, and putting the denoised satellite trajectory point data into the set track _ satellite. And then loading key point data of the channel canal, recording the key point data as a set track _ manual, and setting the set of key points on the sea as a track _ key, wherein the track _ key is track _ satellite ═ U track _ manual. Creating a track point grid with a certain side length based on track _ key, and when a plurality of track points exist in one track point grid, selecting one track point closest to the central point of the grid, and recording the selected track point as giThe position of the grid is indicated.
The connectivity of the grid is defined by the continuity of the single vessel trajectories and the continuity of the strait canal keypoint data. For two connected grids, respectively marked as gridiAnd gridjI, j ∈ N. Their center points are respectively set as ciAnd cjThen gridiAnd gridjCost of movement between themkCan be defined as point ciAnd point cjThe spherical distance between them.
Thus, a marine key point mesh map _ pos is constructed by using track _ key.
In some embodiments, extracting a middle track point of the target track comprises: and obtaining the distance values of the connecting lines of the plurality of track points and the two target track points on the target track, and taking the track point with the largest distance value as a middle track point of the target track.
It can be understood that a plurality of inserted maritime key points are arranged on the target track, a perpendicular line can be drawn from a plurality of track points on the target track to a connecting line of two target track points, the length of the perpendicular line is the distance value of the connecting line of the plurality of track points on the target track and the two target track points, and the track point with the largest distance value is taken as a middle track point of the target track.
It is worth mentioning that after determining the start point and the end point, the a-x algorithm is operated on map _ pos, and the minimum moving cost path between the two points can be obtained. The path may have an uneven curve, and in order to smooth the new insertion point, the a-x algorithm is iteratively executed between the start point and the end point using a divide-and-conquer strategy, and then an intermediate point is selected from the shortest path to be inserted between the start point and the end point until the connecting line between the start point and the end point no longer passes through the land.
The selection method of the middle track point comprises the following steps: recording a certain track point of the target track as pkiStarting point is pbeginThe end point is pendCalculating pk with a straight line connecting the start point and the end point as liProjection point pro on li. The shortest path key points obtained by using an A-x algorithm between a certain start point and a certain stop point are N, i, N belongs to N,0 is more than i and is less than or equal to N, the distance value from each track point to l is calculated to obtain a distance value set PRO, and the distance value set PRO is recorded as { PRO1,pro2,…,proi,…,pronSelecting the maximum distance value PRO from PROmaxThen the middle trace point pmidIs promaxCorresponding trace point pkk，k∈N,0＜k≤n。
One target ship route processed in this waykK belongs to N, k is more than 0, and the marine road network MAP _ ROUTE is put in, and the MAP _ ROUTE is equal to ROUTE1∪route2∪…∪routek∪…∪routemWhere m is the course of the target vesselThe total number of (c).
And finally storing the marine road network MAP _ ROUTE constructed by the divide-and-conquer strategy into a database.
In some embodiments, determining a reference vessel trajectory between two ports based on the vessel trajectory data and the port docking data comprises: acquiring ship track data and port attachment data; determining historical ship tracks between two ports based on the ship track data and the port attachment data; and deleting abnormal track points in the plurality of historical track points based on the attribute parameters of the plurality of historical track points of the historical ship track to obtain a reference ship track.
In some embodiments, based on attribute parameters of a plurality of historical track points of a historical ship track, deleting an abnormal track point of the plurality of historical track points to obtain a reference ship track, including:
and deleting flying points in the plurality of historical track points based on the speed parameters of the plurality of historical track points, and performing sparse operation based on a Douglas-Puck algorithm to obtain a reference ship track.
And/or deleting turning points in the plurality of historical track points based on the angle parameters of the plurality of historical track points, and performing sparse operation based on a Douglas-Puck algorithm to obtain a reference ship track.
Notably, the abnormal trajectory points may include a flying point, a wandering point, and a retracing point.
For a flight time track, firstly removing track points with speed parameters smaller than speed threshold speed _ threshold1, then arranging the track points in time ascending order, traversing the ordered track, calculating the distance between adjacent points point by point, and recording as
D＝{d1,d2,…,di,…,dn-1},
Wherein N is the number of track points, i, N belongs to N, and i is more than 0 and less than N. Set distance diThe time difference between is tjJ is equal to N, j is less than N, and speed parameter is calculated
If v isiIf the speed is greater than the speed threshold speed _ threshold2, the second point is considered to be a flying point, and the point is deleted.
A smoothing algorithm smooth _ algorithm is constructed to delete wandering and turning points. The basic process of the smoothing algorithm smooth _ algorithm is to consider angles of three continuous points, when an angle suddenly changes in a small range, mark a turn-back phenomenon to start, then consider angles of subsequent points until the angle is larger than a threshold angle _ threshold, a point in the period is a loitering point, if no continuous small angle phenomenon occurs, the point is a turn-back point, and the marked abnormal point is deleted when the algorithm is finished. The smooth _ algorithm is executed in a loop until no more outliers are detected. During the circulation, after smooth _ algorithm is executed each time, a Douglas-Puck (Douglas-Peucker) algorithm is called to carry out sparsification operation on track points, and the algorithm reduces the number of the track points while keeping key inflection points of the path. And finally, storing the processed reference ship track into a database.
The marine road network construction system provided by the present invention is described below, and the marine road network construction system described below and the marine road network construction method described above can be referred to correspondingly.
As shown in fig. 2, the present invention further provides a marine road network construction system, which includes: a determination module 210, an acquisition module 220, a construction module 230, an extraction module 240, and a generation module 250.
A determining module 210 for determining a reference ship trajectory between two ports based on the ship trajectory data and the port docking data.
The obtaining module 220 is configured to determine a distance parameter between every two adjacent reference track points in the reference ship track, and obtain two target track points of which the distance parameter is greater than a target distance threshold.
The building module 230 is configured to confirm that a connecting line between two target track points passes through a land area, and insert a marine key point between the two target track points based on an a-star algorithm and a marine key point grid to build a target track; the offshore key point grid is constructed based on satellite trajectory data and strait canal key point data.
And the extracting module 240 is used for extracting the central track points of the target track, and iteratively extracting a plurality of central track points by using an A-star algorithm between the central track points and the target track points until a connecting line between adjacent track points in the plurality of central track points and the target track points does not pass through the land area.
And the generating module 250 is used for obtaining a target ship route based on the reference ship track and the plurality of central track points, and generating the marine road network based on the target ship route.
Fig. 3 illustrates a physical structure diagram of an electronic device, which may include, as shown in fig. 3: a processor (processor)310, a communication Interface (communication Interface)320, a memory (memory)330 and a communication bus 340, wherein the processor 310, the communication Interface 320 and the memory 330 communicate with each other via the communication bus 340. Processor 310 may invoke logic instructions in memory 330 to perform a marine road network construction method comprising: determining a reference ship track between two ports based on the ship track data and the port attachment data; determining a distance parameter between every two adjacent reference track points in the reference ship track, and acquiring two target track points of which the distance parameter is greater than a target distance threshold; confirming that a connecting line between two target track points passes through a land area, and inserting marine key points between the two target track points based on an A-star algorithm and a marine key point grid to construct a target track; the offshore key point grid is constructed based on satellite trajectory data and strait canal key point data; extracting a middle track point of the target track, and iteratively extracting a plurality of middle track points between the middle track point and the target track point by using an A-star algorithm until a connecting line between the plurality of middle track points and adjacent track points in the target track points does not pass through the land area; and obtaining a target ship route based on the reference ship track and the plurality of intermediate track points, and generating the marine road network based on the target ship route.
In addition, the logic instructions in the memory 330 may be implemented in the form of software functional units and stored in a computer readable storage medium when the software functional units are sold or used as independent products. Based on such understanding, the technical solution of the present invention may be embodied in the form of a software product, which is stored in a storage medium and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the method according to the embodiments of the present invention. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, and other various media capable of storing program codes.
In another aspect, the present invention also provides a computer program product, the computer program product comprising a computer program stored on a non-transitory computer-readable storage medium, the computer program comprising program instructions, which when executed by a computer, enable the computer to perform the marine road network construction method provided by the above methods, the method comprising: determining a reference ship track between two ports based on the ship track data and the port attachment data; determining a distance parameter between every two adjacent reference track points in the reference ship track, and acquiring two target track points of which the distance parameter is greater than a target distance threshold; confirming that a connecting line between two target track points passes through a land area, and inserting marine key points between the two target track points based on an A-star algorithm and a marine key point grid to construct a target track; the offshore key point grid is constructed based on satellite trajectory data and strait canal key point data; extracting a middle track point of the target track, and iteratively extracting a plurality of middle track points between the middle track point and the target track point by using an A-star algorithm until a connecting line between the plurality of middle track points and adjacent track points in the target track points does not pass through the land area; and obtaining a target ship route based on the reference ship track and the plurality of intermediate track points, and generating the marine road network based on the target ship route.
In yet another aspect, the present invention further provides a non-transitory computer-readable storage medium, on which a computer program is stored, the computer program being implemented by a processor to execute the marine road network construction method provided in the above aspects, the method comprising: determining a reference ship track between two ports based on the ship track data and the port attachment data; determining a distance parameter between every two adjacent reference track points in the reference ship track, and acquiring two target track points of which the distance parameter is greater than a target distance threshold; confirming that a connecting line between two target track points passes through a land area, and inserting marine key points between the two target track points based on an A-star algorithm and a marine key point grid to construct a target track; the offshore key point grid is constructed based on satellite trajectory data and strait canal key point data; extracting a middle track point of the target track, and iteratively extracting a plurality of middle track points between the middle track point and the target track point by using an A-star algorithm until a connecting line between the plurality of middle track points and adjacent track points in the target track points does not pass through the land area; and obtaining a target ship route based on the reference ship track and the plurality of intermediate track points, and generating the marine road network based on the target ship route.
The above-described embodiments of the apparatus are merely illustrative, and the units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of the present embodiment. One of ordinary skill in the art can understand and implement it without inventive effort.
Through the above description of the embodiments, those skilled in the art will clearly understand that each embodiment can be implemented by software plus a necessary general hardware platform, and certainly can also be implemented by hardware. With this understanding in mind, the above-described technical solutions may be embodied in the form of a software product, which can be stored in a computer-readable storage medium such as ROM/RAM, magnetic disk, optical disk, etc., and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to execute the methods described in the embodiments or some parts of the embodiments.
Finally, it should be noted that: the above examples are only intended to illustrate the technical solution of the present invention, but not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.
Claims (10)
1. A marine road network construction method is characterized by comprising the following steps:
determining a reference ship track between two ports based on the ship track data and the port attachment data;
determining a distance parameter between every two adjacent reference track points in the reference ship track, and acquiring two target track points of which the distance parameter is greater than a target distance threshold;
confirming that a connecting line between the two target track points passes through a land area, and inserting marine key points between the two target track points based on an A-star algorithm and a marine key point grid to construct a target track; the offshore key point grid is constructed based on satellite trajectory data and strait canal key point data;
extracting a middle track point of the target track, and iteratively extracting a plurality of middle track points between the middle track point and the target track point by using an A-star algorithm until a connecting line between the plurality of middle track points and adjacent track points in the target track points does not pass through a land area;
and obtaining a target ship route based on the reference ship track and the plurality of intermediate track points, and generating a marine road network based on the target ship route.
2. The marine road network construction method of claim 1, wherein said confirming that a connecting line between said two target track points crosses a land area comprises:
inserting a plurality of equidistant virtual track points between the two target track points based on a great circle route algorithm;
and confirming that the altitude parameters of partial track points in the plurality of virtual track points are greater than a target altitude threshold value, and enabling a connecting line between the two target track points to pass through the land area.
3. The marine road network construction method according to claim 2, wherein said confirming that an altitude parameter of a part of the plurality of virtual track points is greater than a target altitude threshold further comprises:
acquiring a global altitude dictionary table, wherein the global altitude dictionary table has a corresponding relation between altitude parameters of track points and longitude and latitude information;
and determining the altitude parameters of the virtual track points based on the global altitude dictionary table and the longitude and latitude information of the virtual track points.
4. Marine road network construction method according to any of claims 1-3, characterised in that said marine keypoint grid is determined on the basis of the following steps:
removing noise track points on the land based on the altitude parameters corresponding to the satellite track data to obtain de-noised satellite track point data;
constructing a plurality of same track point grids based on the denoised satellite track point data and the strait canal key point data;
and reserving a track point close to the central point of the grid in each track point grid as a grid key point, and constructing the offshore key point grid based on a plurality of grid key points.
5. Marine road network construction method according to any of claims 1-3, characterized in that said extracting of one intermediate trajectory point of said target trajectory comprises:
and obtaining the distance values of the plurality of track points on the target track and the connecting line of the two target track points, and taking the track point with the largest distance value as a middle track point of the target track.
6. Marine road network construction method according to any of claims 1-3, characterised in that said determining a reference ship trajectory between two ports based on ship trajectory data and port docking data comprises:
acquiring ship track data and port attachment data;
determining a historical ship track between two ports based on the ship track data and the port attachment data;
and deleting abnormal track points in the plurality of historical track points based on the attribute parameters of the plurality of historical track points of the historical ship track to obtain a reference ship track.
7. The marine road network construction method according to claim 6, wherein said deleting abnormal track points from said plurality of historical track points based on attribute parameters of said plurality of historical track points of said historical ship track to obtain a reference ship track comprises:
deleting flying points in the plurality of historical track points based on the speed parameters of the plurality of historical track points, and performing sparse operation based on a Douglas-Puck algorithm to obtain the reference ship track;
and/or deleting turning points in the plurality of historical track points based on the angle parameters of the plurality of historical track points, and performing sparse operation based on the Douglas-Puck algorithm to obtain the reference ship track.
8. A marine road network construction system, comprising:
the determining module is used for determining a reference ship track between two ports based on the ship track data and the port attachment data;
the acquisition module is used for determining a distance parameter between every two adjacent reference track points in the reference ship track and acquiring two target track points of which the distance parameter is greater than a target distance threshold;
the construction module is used for confirming that a connecting line between the two target track points passes through a land area, and inserting marine key points between the two target track points based on an A-star algorithm and a marine key point grid to construct a target track; the offshore key point grid is constructed based on satellite trajectory data and strait canal key point data;
the extracting module is used for extracting central track points of the target track, and extracting a plurality of central track points by using an A-star algorithm in an iteration mode between the central track points and the target track points until a connecting line between the central track points and adjacent track points in the target track points does not penetrate through a land area;
and the generating module is used for obtaining a target ship route based on the reference ship track and the plurality of central track points and generating a marine road network based on the target ship route.
9. An electronic device comprising a memory, a processor and a computer program stored on said memory and executable on said processor, wherein said processor when executing said program implements the steps of the marine road network construction method according to any one of claims 1 to 7.
10. A non-transitory computer readable storage medium having stored thereon a computer program, wherein the computer program when executed by a processor implements the steps of the marine road network construction method according to any one of claims 1 to 7.
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