CN114066941A - Ship comprehensive tracking system and ship law enforcement terminal - Google Patents
Ship comprehensive tracking system and ship law enforcement terminal Download PDFInfo
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Abstract
The invention provides a ship comprehensive tracking system and a ship law enforcement terminal, wherein the ship comprehensive tracking system comprises: the inertial navigation equipment is used for acquiring navigation information data of the ship and transmitting the navigation information data to the host equipment; the radar equipment is used for acquiring azimuth information data of the target ship and transmitting the azimuth information data to the host equipment; the host equipment is used for determining the position information data of the target ship according to the navigation information data and the azimuth information data; the photoelectric detection device is also used for transmitting the position information data to the photoelectric detection device; and the photoelectric reconnaissance equipment is used for determining self angle adjustment data according to the position information data and adjusting the reconnaissance direction of the photoelectric reconnaissance equipment based on the angle adjustment data so as to track and reconnaissance the target ship. The invention automatically aligns and tracks the target through the photoelectric reconnaissance equipment, avoids the problems of slow alignment and target tracking loss of manual operation, and improves the reconnaissance speed, accuracy and practicability.
Description
Technical Field
The invention relates to the technical field of ship navigation, in particular to a ship comprehensive tracking system and a ship law enforcement terminal.
Background
With the rapid development of economy, the transportation mileage of waterways is increasing continuously, and water transportation planning is being formed. The supervision and forensics of water transport are becoming increasingly difficult. For example: the number of the cameras on the bank side is small, the cost is high, and images at the bank side visual angle in the ship running process are difficult to obtain. The ships need to be subjected to on-site law enforcement such as offline berthing, illegal loading and unloading and the like; the channel scene of water transportation is difficult to fix, and the water level change is big, and can't judge.
The administrative law enforcement informatization means of the existing ship is relatively backward, the existing ship is supervised by adopting a manual patrol mode, and the field law enforcement work is usually completed by manually driving a law enforcement boat. And independent photoelectric reconnaissance equipment is required to be installed on the law enforcement boat and used for remote image identification and law enforcement video recording. In the law enforcement process, the law enforcement boat needs at least three persons, which are respectively responsible for driving, observing and law enforcement video recording. Due to the independently installed photoelectric reconnaissance equipment, the photoelectric reconnaissance equipment cannot be linked with a comprehensive ship navigation system, and time information, ship position information, target ship position information and target video information in the law enforcement process cannot be synchronously recorded.
Disclosure of Invention
Aiming at the problems in the prior art, the invention provides the comprehensive ship tracking system and the ship law enforcement terminal, which can realize automatic alignment and tracking of the target, avoid the problems of slow alignment and target loss caused by manual operation, and improve the reconnaissance speed and accuracy of the ship.
In order to achieve the purpose, the invention provides the following technical scheme:
in one aspect, the invention provides a ship comprehensive tracking system, a host device, and an inertial navigation device, a radar device and a photoelectric reconnaissance device which are respectively connected with the host device;
the inertial navigation equipment is used for acquiring navigation information data of a ship and transmitting the navigation information data to the host equipment;
the radar equipment is used for acquiring azimuth information data of a target ship and transmitting the azimuth information data to the host equipment;
the host equipment is used for determining the position information data of the target ship according to the navigation information data and the azimuth information data; the photoelectric detection device is also used for transmitting the position information data to the photoelectric detection device;
the photoelectric reconnaissance equipment is used for determining self angle adjustment data according to the position information data and adjusting the reconnaissance direction of the photoelectric reconnaissance equipment based on the angle adjustment data so as to track and reconnaissance the target ship.
Further, still include: a vessel identification device;
the ship identification equipment is connected with the host equipment and used for acquiring basic information data of a target ship and transmitting the basic information data to the host equipment;
the host equipment is further used for marking the position information data of the target ship based on the basic information data.
The photoelectric detection device is further configured to receive the basic information data transmitted by the host device, and perform marking processing on detection information data obtained by the tracking detection processing according to the basic information data.
Further, still include: a chart display device;
the chart display device is connected with the host device and used for receiving the basic information data and the position information data transmitted by the host device and carrying out visualization processing on the basic information data and the position information data.
Further, still include: a navigation positioning device;
the navigation positioning device is connected with the host device and used for acquiring global positioning data of a ship and transmitting the global positioning data to the host device, so that the host device determines the longitude and the latitude of the ship based on the global positioning data.
Further, still include: a redundant power supply device;
the redundant power supply equipment is connected with the host equipment and used for supplying power to the host equipment when the host equipment has power supply failure;
the redundant power supply equipment is used for converting input alternating current and/or direct current into direct current which accords with preset power supply parameters;
wherein the preset power supply parameter is set according to the power supply requirement of the host device.
Further, still include: a sounding device;
the depth sounding equipment is connected with the host equipment and used for acquiring water depth information data below the ship and transmitting the water depth information data to the host equipment so that the host equipment can determine the depth of water below the ship based on the water depth information data.
Further, still include: a control device;
the control equipment is connected with the host equipment and used for acquiring a control instruction input by a user and sending the control instruction to the host equipment so as to enable the host equipment to execute the control instruction.
Further, still include: a communication interaction device;
the communication interaction equipment is connected with the host equipment and used for sending the data acquired by the host equipment to a remote terminal.
In another aspect, the present invention further provides a ship law enforcement terminal, including: the system comprises a control system, an avionic system and a lifesaving system; further comprising: the comprehensive tracking system for the ship.
According to the technical scheme, the comprehensive ship tracking system and the ship law enforcement terminal automatically aim at and track the target through the photoelectric reconnaissance equipment, so that the problems of slow alignment and target tracking loss caused by manual operation are solved, and the reconnaissance speed, accuracy and practicability are improved.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without creative efforts.
FIG. 1 is a schematic diagram of a first structure of a comprehensive tracking system for a ship, provided by an embodiment of the invention;
FIG. 2 is a schematic diagram of a second structure of the integrated tracking system for a ship provided by the embodiment of the invention;
FIG. 3 is a third schematic structural diagram of the integrated tracking system for a ship provided by the embodiment of the invention;
FIG. 4 is a fourth schematic diagram of the integrated tracking system for a ship according to the embodiment of the present invention;
FIG. 5 is a fifth structural schematic diagram of the integrated tracking system for a ship according to the embodiment of the invention;
FIG. 6 is a sixth schematic diagram of the integrated tracking system for a ship according to the embodiment of the present invention;
FIG. 7 is a seventh schematic diagram of the integrated tracking system for a ship according to the embodiment of the present invention;
FIG. 8 is an eighth schematic diagram of the integrated tracking system for a ship according to the embodiment of the present invention;
FIG. 9 is a schematic structural diagram of a data recording module in the integrated ship tracking system according to an embodiment of the present invention;
fig. 10 is a schematic diagram of a specific hardware structure of the integrated ship tracking system according to an embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are 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 following embodiments of the present invention provide a comprehensive tracking system for a ship, referring to fig. 1, the comprehensive tracking system for a ship includes: a host device 10, and an inertial navigation device 20, a radar device 30, and a photoelectric detection device 40 connected to the host device 10, respectively;
the inertial navigation device 20 is configured to obtain navigation information data of the ship and transmit the navigation information data to the host device 10;
in the present embodiment, the inertial Navigation device 20 is configured to provide Navigation information data of the ship, where the Navigation information data includes at least one of latitude and longitude coordinates, heading, speed, posture of the ship, data of a 3-axis gyroscope, data of an axis accelerometer, and data received by a dual GNSS (Global Navigation Satellite System) receiver. Through the satellite/inertia combined navigation algorithm, multi-parameter navigation information with accuracy, high real-time performance and reliability can be provided.
A radar device 30 for acquiring azimuth information data of the target ship and transmitting the azimuth information data to the host device 10; in this embodiment, the radar device 30 is also used to provide radar echo video for detecting objects such as reef, coast, etc., and the ARPA (Auto radar plotter) track data of other vessels. In specific implementation, the radar device 30 is in the form of an FPGA (Field Programmable Gate Array) chip and an arm (advanced RISC machines) chip. The FPGA chip is in hard signal connection with the radar antenna and is mainly responsible for radar video sampling and networked distribution, radar tuning, triggering and antenna emission control. The ARM chip part is the core of data processing and comprehensive display and is particularly responsible for radar signal detection, target tracking and admission and comprehensive display control. The radar device 30 provides data to a radar data parsing module of the host device 10.
A host device 10 for determining position information data of the target ship based on the navigation information data and the azimuth information data; and also for transmitting position information data to the photodetection device 40;
in specific implementation, the host device 10 uses a motherboard of the FT2000CP, loads the operating system of the Galaxy kylin, and runs the law enforcement integrated informatization system software.
And the photoelectric reconnaissance equipment 40 is used for determining self angle adjustment data according to the position information data and adjusting the reconnaissance direction of the photoelectric reconnaissance equipment based on the angle adjustment data so as to track and reconnaissance the target ship.
In this embodiment, the photoelectric reconnaissance device 40 is responsible for all-weather all-day-around omnibearing detection, tracking, monitoring and video forensics of an offshore target, has the functions of manual and automatic scanning, searching and tracking of the target, has the function of reporting basic information (direction, distance and speed) of the target after the target is manually locked, has the functions of electrically adjusting optical parameters such as focusing and zooming, and has the function of stabilizing an image gyro.
In particular implementations, the photo detection device 40 includes at least one of a visible light camera, a thermal infrared imager, and a gyroscope. The photoelectric reconnaissance device 40 is a 2-network camera, and provides the camera video information in the h.264 format to the host device 10 through the ethernet interface.
According to the comprehensive ship tracking system provided by the embodiment of the invention, the photoelectric reconnaissance equipment 40 automatically aligns and tracks the target, so that the problems of slow alignment and target tracking loss caused by manual operation are avoided, and the reconnaissance speed, accuracy and practicability are improved.
In an embodiment, referring to fig. 2, the integrated tracking system for a ship further includes: a ship identifying device 50;
the ship identification device 50 is connected with the host device 10 and used for acquiring basic information data of a target ship and transmitting the basic information data to the host device 10;
the host device 10 is also configured to perform a marking process on the position information data of the target ship based on the basic information data.
In the present embodiment, the ship identifying apparatus 50 receives basic information data of all ships in the sea area. Wherein, the basic information data of the ship comprises: at least one of the ship name, the ship length, the size of the ship, the position of the ship and the destination is analyzed, and the coordinates of the ship are marked on the electronic chart.
Further, the photoelectric detection device 40 is further configured to receive the basic information data transmitted from the host device 10, and perform a marking process on the detection information data obtained by the tracking detection process according to the basic information data.
It is understood that the marking process is performed by the photoelectric scout apparatus 40 to describe or image the ship by the basic information data and the detection information data obtained by the tracking scout process.
In an embodiment, referring to fig. 3, the integrated tracking system for a ship further includes: a chart display device 60;
the chart display device 60 is connected to the host device 10, and is configured to receive the basic information data and the location information data transmitted by the host device 10, and perform visualization processing on the basic information data and the location information data.
In this embodiment, the chart display device 60 includes: and a touch display having a touch operation and 1080P pixel image display.
The basic information data and the position information data are visually processed, the target position and track information are displayed on the electronic chart in an overlapping mode, and the intuition and the usability of the ship comprehensive tracking system are improved.
In an embodiment, referring to fig. 4, the integrated tracking system for a ship further includes: a navigation and positioning device 70;
the navigation positioning device 70 is connected to the host device 10, and is configured to acquire global positioning data of the ship itself and transmit the global positioning data to the host device 10, so that the host device 10 determines the longitude and latitude of the ship based on the global positioning data.
In specific application, the Beidou combined inertial Navigation System is used for providing positioning, orientation, navigational speed and attitude information, dual GNSS (Global Navigation Satellite System) antenna differential data is adopted, and a Satellite/inertial combined Navigation algorithm is adopted, so that the data precision and real-time performance are improved, the heading precision is 0.1 degree, the positioning precision is 2cm, the attitude precision is 0.2 degree, and the updating rate is 100 Hz. The accuracy and the real-time performance of the comprehensive ship tracking system are improved.
In an embodiment, referring to fig. 5, the integrated tracking system for a ship further includes: a redundant power supply device 80;
the redundant power supply device 80 is connected to the host device 10, and is configured to supply power to the host device 10 when a power supply failure occurs in the host device 10;
a redundant power supply device 80 for converting input ac power and/or dc power into dc power conforming to preset power supply parameters; during specific implementation, an alternating current power supply of the generator and a direct current power supply of the shipborne battery can be accessed simultaneously to perform redundant backup power supply.
The preset power supply parameter is set according to the power supply requirement of the host device.
In an embodiment, referring to fig. 6, the integrated tracking system for a ship further includes: a sounding device 90;
the sounding device 90 is connected to the host device 10, and is configured to obtain water depth information data below the ship and transmit the water depth information data to the host device 10, so that the host device 10 determines the depth of the water below the ship based on the water depth information data.
In an embodiment, referring to fig. 7, the integrated tracking system for a ship further includes: a control device 100;
the control device 100 is connected to the host device 10, and is configured to obtain a control instruction input by a user and send the control instruction to the host device 10, so that the host device 10 executes the control instruction.
In this embodiment, the control device 100 includes: and at least one of a keyboard, a mouse and a button knob is quickly controlled.
In an embodiment, referring to fig. 8, the integrated tracking system for a ship further includes: a communication interaction device 110;
the communication interaction device 110 is connected to the host device 10 and is configured to transmit data acquired by the host device 10 to a remote terminal. In this embodiment, the communication interaction device 110 uses an ethernet switching module of a KD5660 switching core to provide a data network switching function for the ship integrated tracking system, and the ethernet switching module uses a hardware forwarding mode to support two-layer wire speed forwarding.
In an embodiment, the integrated ship tracking system further includes: a data recording module;
in particular implementation, the data logging module is connected to the host device 10. Referring to fig. 9, the data recording module is composed of a haisi Hi3536 chip, a sata (serial ata) interface solid state disk, and a peripheral interface circuit thereof, where the peripheral interface circuit includes: DDR3(Double Data Rate) interface circuit, Flash interface circuit, USB interface circuit and serial interface circuit. The Hi3536 chip receives data and stores the data to the solid state disk through the SATA interface. It should be noted that, after data recording, data playback is the reverse process of data recording.
And the data recording module is used for fusing and recording the law enforcement video information, the navigation radar information and the whole ship state information in real time. The multi-channel data extraction function is achieved, and data extraction modes such as decoupling data of a single sensor and fusion data of multiple sensors are supported. The data of the radar equipment 30, the photoelectric reconnaissance equipment 40, the ship identification equipment 50, the inertial navigation equipment 20 and the depth measurement equipment are recorded and played back under unified space-time coordinates, and fusion recording and playing back of the data under the same time axis and the same space axis is supported. The method has a statistical analysis function, supports statistical analysis on the activity rule of the target in the sensitive area, provides big data support for troubleshooting potential hidden dangers, and also provides data accumulation for ocean big data construction.
In this embodiment, the embedded software of the data recording module mainly includes five parts: the device comprises a data recording part, a data playback part, a data retrieval and extraction part, a statistical analysis part and a one-key destruction part.
The embodiment of the invention also provides a specific hardware structure of the ship integrated tracking system, and referring to fig. 10, the host equipment of the ship integrated tracking system selects a high-reliability CPEX bus architecture, and adopts an ATR (arinc ATR tracking system) case design with excellent vibration and impact resistance, and the system comprises a mainboard module, an ethernet switching module, a navigation radar module, a data recording module, and a DCDC (Direct Current to Direct Current, DC for short) power module, and each module is designed as a blade plug-in card.
The DCDC power supply module receives the direct current transmitted by the redundant power supply. In this embodiment, the redundant power supply performs ac/dc conversion on the externally input generator ac, performs dc voltage conversion on the externally input battery dc, and finally outputs the dc. Note that the redundant power supply in this embodiment outputs DC power of DC 24V.
The navigation radar module receives radar signals through a radar antenna.
The main board module is respectively connected with an AIS (Automatic Identification System) device, a depth finder, a Beidou combined inertial navigation and display control unit. The AIS equipment receives information of other ships in the coverage range through the AIS antenna. Depth finders convert electrical energy to acoustic energy and acoustic energy to electrical energy through transducers. The Beidou combined inertial navigation receives differential data through double antennas of the Beidou front antenna and the Beidou rear antenna, and improves precision and instantaneity through an inertial combined navigation algorithm.
Wherein, the display control unit includes: a display device and a control device. The display device is a display, and the control device is a keyboard, a mouse and a key knob. The display may have a touch function.
The Ethernet switching module is connected with the photoelectric reconnaissance equipment. The photoelectric reconnaissance equipment carries out omnibearing detection, tracking, monitoring and video evidence obtaining on an offshore target, has the functions of manual and automatic scanning, searching and tracking the target, has the function of reporting basic information (direction, distance and speed) of the target after manually locking the target, has the functions of electrically adjusting optical parameters such as focusing, zooming and the like, and has the function of stabilizing an image gyro.
The embodiment of the invention also provides a ship law enforcement terminal, which comprises: the integrated ship tracking system in the above embodiment further includes: control system, avionics system, lifesaving system.
The control system is used for controlling a main engine of the ship; the avionic system is used for supplying power to equipment in the ship; the lifesaving system is used for controlling ship lifesaving equipment.
It should be noted that, in this document, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Unless expressly stated or limited otherwise, the terms "mounted," "connected," and "connected" are intended to be inclusive and mean, for example, that they may be fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.
In the description of the present invention, numerous specific details are set forth. It is understood, however, that embodiments of the invention may be practiced without these specific details. In some instances, well-known methods, structures and techniques have not been shown in detail in order not to obscure an understanding of this description. Similarly, it should be appreciated that in the foregoing description of exemplary embodiments of the invention, various features of the invention are sometimes grouped together in a single embodiment, figure, or description thereof for the purpose of streamlining the disclosure and aiding in the understanding of one or more of the various inventive aspects. However, the disclosed method should not be interpreted as reflecting an intention that: that the invention as claimed requires more features than are expressly recited in each claim. Rather, as the following claims reflect, inventive aspects lie in less than all features of a single foregoing disclosed embodiment. Thus, the claims following the detailed description are hereby expressly incorporated into this detailed description, with each claim standing on its own as a separate embodiment of this invention. It should be noted that the embodiments and features of the embodiments in the present application may be combined with each other without conflict. The present invention is not limited to any single aspect, nor is it limited to any single embodiment, nor is it limited to any combination and/or permutation of these aspects and/or embodiments. Moreover, each aspect and/or embodiment of the present invention may be utilized alone or in combination with one or more other aspects and/or embodiments thereof.
Finally, it should be noted that: the above embodiments are only used to illustrate the technical solution of the present invention, and not to limit the same; while the invention has been described in detail and with reference to the foregoing embodiments, it will be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; such modifications and substitutions do not depart from the spirit and scope of the present invention, and they should be construed as being included in the following claims and description.
Claims (10)
1. An integrated tracking system for a vessel, comprising: the system comprises host equipment, and inertial navigation equipment, radar equipment and photoelectric reconnaissance equipment which are respectively connected with the host equipment;
the inertial navigation equipment is used for acquiring navigation information data of a ship and transmitting the navigation information data to the host equipment;
the radar equipment is used for acquiring azimuth information data of a target ship and transmitting the azimuth information data to the host equipment;
the host equipment is used for determining the position information data of the target ship according to the navigation information data and the azimuth information data; the photoelectric detection device is also used for transmitting the position information data to the photoelectric detection device;
the photoelectric reconnaissance equipment is used for determining self angle adjustment data according to the position information data and adjusting the reconnaissance direction of the photoelectric reconnaissance equipment based on the angle adjustment data so as to track and reconnaissance the target ship.
2. The integrated ship tracking system according to claim 1, further comprising: a vessel identification device;
the ship identification equipment is connected with the host equipment and used for acquiring basic information data of a target ship and transmitting the basic information data to the host equipment;
the host equipment is further used for marking the position information data of the target ship based on the basic information data.
3. The integrated ship tracking system according to claim 2, wherein the photoelectric detection device is further configured to receive the basic information data transmitted from the host device, and perform labeling processing on detection information data obtained by the tracking detection processing according to the basic information data.
4. The integrated ship tracking system according to claim 2, further comprising: a chart display device;
the chart display device is connected with the host device and used for receiving the basic information data and the position information data transmitted by the host device and carrying out visualization processing on the basic information data and the position information data.
5. The integrated vessel tracking system according to claim 4, further comprising: a navigation positioning device;
the navigation positioning device is connected with the host device and used for acquiring global positioning data of a ship and transmitting the global positioning data to the host device, so that the host device determines the longitude and the latitude of the ship based on the global positioning data.
6. The integrated vessel tracking system according to claim 4, further comprising: a redundant power supply device;
the redundant power supply equipment is connected with the host equipment and used for supplying power to the host equipment when the host equipment has power supply failure;
the redundant power supply equipment is used for converting input alternating current and/or direct current into direct current which accords with preset power supply parameters;
wherein the preset power supply parameter is set according to the power supply requirement of the host device.
7. The integrated vessel tracking system according to claim 4, further comprising: a sounding device;
the depth sounding equipment is connected with the host equipment and used for acquiring water depth information data below the ship and transmitting the water depth information data to the host equipment so that the host equipment can determine the depth of water below the ship based on the water depth information data.
8. The integrated vessel tracking system according to claim 4, further comprising: a control device;
the control equipment is connected with the host equipment and used for acquiring a control instruction input by a user and sending the control instruction to the host equipment so as to enable the host equipment to execute the control instruction.
9. The integrated vessel tracking system according to claim 4, further comprising: a communication interaction device;
the communication interaction equipment is connected with the host equipment and used for sending the data acquired by the host equipment to a remote terminal.
10. A ship law enforcement terminal comprising: the system comprises a control system, an avionic system and a lifesaving system; it is characterized by also comprising: an integrated tracking system for a vessel as claimed in any one of claims 1 to 9.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111365960.4A CN114066941A (en) | 2021-11-18 | 2021-11-18 | Ship comprehensive tracking system and ship law enforcement terminal |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111365960.4A CN114066941A (en) | 2021-11-18 | 2021-11-18 | Ship comprehensive tracking system and ship law enforcement terminal |
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| CN114066941A true CN114066941A (en) | 2022-02-18 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202111365960.4A Pending CN114066941A (en) | 2021-11-18 | 2021-11-18 | Ship comprehensive tracking system and ship law enforcement terminal |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN117269953A (en) * | 2023-11-23 | 2023-12-22 | 武汉工程大学 | Distributed radar guided photoelectric tracking and identifying device and method |
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