CN115356727B - Ship identification method and system - Google Patents
Ship identification method and system Download PDFInfo
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- CN115356727B CN115356727B CN202211299550.9A CN202211299550A CN115356727B CN 115356727 B CN115356727 B CN 115356727B CN 202211299550 A CN202211299550 A CN 202211299550A CN 115356727 B CN115356727 B CN 115356727B
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/88—Radar or analogous systems specially adapted for specific applications
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G3/00—Traffic control systems for marine craft
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02A—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
- Y02A90/00—Technologies having an indirect contribution to adaptation to climate change
- Y02A90/30—Assessment of water resources
Abstract
The invention discloses a ship identification method and a system, wherein a grid network is constructed in a continuous wave radar observation water area, the amplitude and frequency shift data of reflected waves are subjected to grid treatment to obtain an amplitude two-dimensional array and a frequency shift two-dimensional array, whether the ship exists in the monitoring water area in the current detection period is judged, the type of the ship is determined by combining with a preset typical ship type amplitude two-dimensional array, then the ship exists in each detection period in a plurality of detection periods, the speed of the ship is in a speed threshold range, and finally, the ship with the corresponding ship type exists in the monitoring area is determined.
Description
Technical Field
The invention relates to the technical field of data processing, in particular to a ship identification method and a system.
Background
Ship monitoring is an important content of harbor navigation administrative supervision, but the technology of ship supervision is far from mature as that of on-road vehicle supervision: due to the physical difference between the water surface and the ground, the non-standardization of the ship name and the ship number and the non-consistency of the ship name and the ship number, the traditional method for monitoring vehicles on roads such as ground sensing recognition, license plate recognition and radio frequency recognition is not suitable for ship monitoring.
At present, the marine department mainly adopts a traditional pulse radar detection system to realize ship supervision. The pulse radar adopts a transmitter and receiver separation mechanism, is provided with a servo mechanism, an antenna with more than 8 feet, a feeder system and the like, has the characteristics of high manufacturing cost, large blind area and the like, and is mainly applied to open waters such as ports, coastal channels, high-grade inland channel opening zones and the like, but is not applicable to most inland channels in China.
Along with the high-speed development of highway intelligent technologies such as automobile automatic driving, the application of the frequency modulation continuous wave radar on the automobile side and the road side is mature gradually. There are also attempts to apply frequency modulated continuous wave radar to water vessel monitoring. The continuous wave radar has smaller volume and lower manufacturing cost, but has lower signal-to-noise ratio of a target due to lower transmitting power, and needs to carry out auxiliary identification by means of a beat signal (based on Doppler frequency shift principle) generated by the movement of the target, and under a highway scene, ground reflected waves are easy to filter out, so that an effective target signal of a vehicle is obtained; in waterway scenes, the fluctuation of the water surface can cause serious interference to the extraction of the ship reflected wave signals, and particularly in waterways with faster runoff and tide flow rates, false targets generated by the fluctuation of the water surface are easy to submerge the ship reflected wave signals, and the target ship is difficult to identify.
Disclosure of Invention
For this reason, an embodiment of the present invention proposes a ship identification method to improve the accuracy of identification of a ship by a continuous wave radar technology.
According to one embodiment of the invention, a ship identification method comprises the following steps:
constructing a grid network of a continuous wave radar monitoring area, and distributing unique two-dimensional codes for each grid unit in the grid network;
in the current detection period, transmitting radio waves to a monitored water area through a continuous wave radar, receiving reflected waves, and forming an amplitude two-dimensional array and a frequency shift two-dimensional array which cover all grid networks according to the amplitude and the frequency shift value of the reflected waves and the two-dimensional code of the grid units;
judging whether a ship exists in the monitored water area in the current detection period according to the amplitude two-dimensional array and the frequency shift two-dimensional array;
if the ship exists in the monitored water area in the current detection period, determining the type of the ship according to the amplitude two-dimensional array and a preset typical ship type amplitude two-dimensional array;
judging whether the ship of the ship type exists in each detection period or not in a plurality of continuous detection periods taking the current detection period as the start;
if the ship of the ship type exists in each detection period, further judging whether the speed of the ship is within a speed threshold range corresponding to the ship type;
and if the speed of the ship is within the speed threshold range corresponding to the ship type, finally determining that the ship of the ship type exists in the monitoring area.
According to the ship identification method provided by the embodiment of the invention, a grid network is constructed in a continuous wave radar observation water area, the amplitude and frequency shift data of the reflected wave are subjected to rasterization processing to obtain an amplitude two-dimensional array and a frequency shift two-dimensional array, whether the ship exists in the monitoring water area in the current detection period or not is judged according to the amplitude two-dimensional array, the type of the ship is determined by combining with a preset typical ship type amplitude two-dimensional array, then the ship exists in each detection period in a plurality of detection periods, the speed of the ship exists in a speed threshold range, and finally, the ship with the corresponding ship type exists in the monitoring area is determined.
In addition, the ship identification method according to the above embodiment of the present invention may further have the following additional technical features:
further, the step of constructing a grid network of the continuous wave radar monitoring area and assigning a unique two-dimensional code to each grid unit in the grid network specifically includes:
the continuous wave radar is deployed in a near-channel domain, the normal direction of an antenna of the continuous wave radar is parallel to the central line of the channel or forms a preset included angle, the scanning sector area is parallel to the water surface, grid units are built in the coverage area of the continuous wave radar and the overlapped area of the observed water area according to a preset interval, and unique and continuous two-dimensional codes are distributed for each grid unit in the grid network, so that the two-dimensional codes are matched with relative or absolute position coordinates, and the grid network with plane position information is formed.
Further, the step of judging whether the ship exists in the monitored water area in the current detection period according to the amplitude two-dimensional array and the frequency shift two-dimensional array specifically comprises the following steps:
performing matching analysis on the amplitude two-dimensional array and a preset typical ship type amplitude two-dimensional array to preliminarily judge whether a ship exists in the monitored water area in the current detection period;
and if the ship exists in the monitored water area in the current detection period, carrying out data deviation value analysis according to the frequency shift two-dimensional array to finally determine whether the ship exists in the monitored water area in the current detection period.
Further, the step of performing matching analysis on the amplitude two-dimensional array and a preset typical ship type amplitude two-dimensional array to preliminarily judge whether the ship exists in the monitored water area in the current detection period specifically comprises the following steps:
in amplitude two-dimensional array A [ X, Y ]]Middle-truncated and typical boat-shaped amplitude two-dimensional array S [ X ] 0 ,Y 0 ]Equal length array A n [X 0 ,Y 0 ]Wherein A represents a two-dimensional array of magnitudes A [ X, Y ]]Amplitude values of [ X, Y ]]Representing amplitude two-dimensional arrays A [ X, Y ]]S represents the amplitude value in a typical ship-type amplitude two-dimensional array, [ X ] 0 ,Y 0 ]Representing two-dimensional codes in a typical ship-shaped amplitude two-dimensional array, A n Representing array A n [X 0 ,Y 0 ]N represents the traversal count;
according to S [ X ] 0 ,Y 0 ]For A n [X 0 ,Y 0 ]Amplitude adjustment is carried out to realize amplitude gain equalization;
the amplitude deviation value θ is calculated according to:
wherein k represents the k-th group of two-dimensional codes, delta k Represents S [ X ] 0 ,Y 0 ]And A is a n [X 0 ,Y 0 ]Element differences for each array having the same two-dimensional code;
if the amplitude deviation value theta is smaller than the first preset value, the fact that the ship exists in the monitored water area in the current detection period is preliminarily judged.
Further, the step of analyzing the data deviation value according to the frequency shift two-dimensional array to finally determine whether the ship exists in the monitored water area in the current detection period specifically comprises the following steps:
in a frequency-shifted two-dimensional array F [ X, Y]Middle intercept and array A n [X 0 ,Y 0 ]Array F with identical two-dimensional codes n [X 0 ,Y 0 ]Wherein F represents a two-dimensional array of frequency shifts F [ X, Y ]]Frequency shift value of F n Representing array F n [X 0 ,Y 0 ]Frequency shift value of (a);
filtering array F n [X 0 ,Y 0 ]Data with middle and lower than the preset effective frequency shift value form one-dimensional effective frequency shift array FZ]Wherein Z represents the Z-th set of effective frequency shift arrays;
calculating an effective frequency shift array FZ]Arithmetic mean value F of all elements in (B) a ；
Calculating an effective frequency shift array FZ according to]Deviation value of (2)
：
Wherein j represents the j-th effective frequency shift array, F j A frequency shift value representing a j-th set of effective frequency shift arrays;
if effective frequency shift array FZ]Deviation value of (2)
If the ship is smaller than the second preset value, the ship existing in the monitored water area in the current detection period is finally determined, and the ship is located in the array A n [X 0 ,Y 0 ]Corresponding grid cells.
Another embodiment of the present invention proposes a ship identification system to improve the accuracy of the identification of a ship by the continuous wave radar technology.
A ship identification system according to an embodiment of the present invention includes:
the construction module is used for constructing a grid network of the continuous wave radar monitoring area and distributing unique two-dimensional codes to each grid unit in the grid network;
the detection module is used for transmitting radio waves to the monitored water area through the continuous wave radar in the current detection period, receiving reflected waves, and forming an amplitude two-dimensional array and a frequency shift two-dimensional array which cover all grid networks according to the amplitude and the frequency shift value of the reflected waves and the two-dimensional code of the grid units;
the first judging module is used for judging whether a ship exists in the monitored water area in the current detection period according to the amplitude two-dimensional array and the frequency shift two-dimensional array;
the first determining module is used for determining the type of the ship according to the amplitude two-dimensional array and a preset typical ship type amplitude two-dimensional array if the ship exists in the monitored water area in the current detection period;
the second judging module is used for judging whether the ship of the ship type exists in each detection period in a plurality of continuous detection periods taking the current detection period as the start;
the third judging module is used for further judging whether the speed of the ship is in a speed threshold range corresponding to the ship type if the ship of the ship type exists in each detection period;
and the second determining module is used for finally determining that the ship of the ship type exists in the monitoring area if the speed of the ship is within the speed threshold range corresponding to the ship type.
According to the ship identification system provided by the embodiment of the invention, a grid network is constructed in a continuous wave radar observation water area, the amplitude and frequency shift data of reflected waves are subjected to rasterization processing to obtain an amplitude two-dimensional array and a frequency shift two-dimensional array, whether the ship exists in the monitoring water area in the current detection period or not is judged according to the amplitude two-dimensional array, the type of the ship is determined by combining a preset typical ship type amplitude two-dimensional array, then the ship exists in each detection period in a plurality of detection periods, the speed of the ship exists in a speed threshold range, and finally, the ship with the corresponding ship type exists in the monitoring area is determined.
In addition, the ship identification system according to the above embodiment of the present invention may further have the following additional technical features:
further, the construction module is specifically configured to:
the continuous wave radar is deployed in a near-channel domain, the normal direction of an antenna of the continuous wave radar is parallel to the central line of the channel or forms a preset included angle, the scanning sector area is parallel to the water surface, grid units are built in the coverage area of the continuous wave radar and the overlapped area of the observed water area according to a preset interval, and unique and continuous two-dimensional codes are distributed for each grid unit in the grid network, so that the two-dimensional codes are matched with relative or absolute position coordinates, and the grid network with plane position information is formed.
Further, the first judging module is specifically configured to:
performing matching analysis on the amplitude two-dimensional array and a preset typical ship type amplitude two-dimensional array to preliminarily judge whether a ship exists in the monitored water area in the current detection period;
and if the ship exists in the monitored water area in the current detection period, carrying out data deviation value analysis according to the frequency shift two-dimensional array to finally determine whether the ship exists in the monitored water area in the current detection period.
Further, the first judging module is specifically configured to:
in amplitude two-dimensional array A [ X, Y ]]Middle-truncated and typical boat-shaped amplitude two-dimensional array S [ X ] 0 ,Y 0 ]Equal length array A n [X 0 ,Y 0 ]Wherein A represents a two-dimensional array of magnitudes A [ X, Y ]]Amplitude values of [ X, Y ]]Representing amplitude two-dimensional arrays A [ X, Y ]]S represents the amplitude value in a typical ship-type amplitude two-dimensional array, [ X ] 0 ,Y 0 ]Two-dimensional braiding in a two-dimensional array representing typical ship-type amplitudeCode A n Representing array A n [X 0 ,Y 0 ]N represents the traversal count;
according to S [ X ] 0 ,Y 0 ]For A n [X 0 ,Y 0 ]Amplitude adjustment is carried out to realize amplitude gain equalization;
the amplitude deviation value θ is calculated according to:
wherein k represents the k-th group of two-dimensional codes, delta k Represents S [ X ] 0 ,Y 0 ]And A is a n [X 0 ,Y 0 ]Element differences for each array having the same two-dimensional code;
if the amplitude deviation value theta is smaller than the first preset value, the fact that the ship exists in the monitored water area in the current detection period is preliminarily judged.
Further, the first judging module is specifically configured to:
in a frequency-shifted two-dimensional array F [ X, Y]Middle intercept and array A n [X 0 ,Y 0 ]Array F with identical two-dimensional codes n [X 0 ,Y 0 ]Wherein F represents a two-dimensional array of frequency shifts F [ X, Y ]]Frequency shift value of F n Representing array F n [X 0 ,Y 0 ]Frequency shift value of (a);
filtering array F n [X 0 ,Y 0 ]Data with middle and lower than the preset effective frequency shift value form one-dimensional effective frequency shift array FZ]Wherein Z represents the Z-th set of effective frequency shift arrays;
calculating an effective frequency shift array FZ]Arithmetic mean value F of all elements in (B) a ；
Calculating an effective frequency shift array FZ according to]Deviation value of (2)
：
Wherein j represents the j-th effective frequency shift array, F j A frequency shift value representing a j-th set of effective frequency shift arrays;
if effective frequency shift array FZ]Deviation value of (2)
If the ship is smaller than the second preset value, the ship existing in the monitored water area in the current detection period is finally determined, and the ship is located in the array A n [X 0 ,Y 0 ]Corresponding grid cells.
Drawings
The foregoing and/or additional aspects and advantages of embodiments of the invention will be apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings, in which:
FIG. 1 is a flow chart of a ship identification method according to an embodiment of the present invention;
fig. 2 is a schematic structural view of a ship identification system according to an embodiment of the present invention.
Detailed Description
For the purpose of making the objects, technical solutions and advantages of the embodiments of the present invention more apparent, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention, and it is apparent that the described embodiments are some embodiments of the present invention, but not all embodiments of the present invention. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
Referring to fig. 1, the method for identifying a ship according to an embodiment of the present invention includes steps S101 to S107:
s101, constructing a grid network of the continuous wave radar monitoring area, and distributing unique two-dimensional codes for each grid unit in the grid network.
Because the sweep range of the continuous wave radar is in a sector shape, the identification of the target needs to be combined with the comprehensive judgment of the amplitude and the frequency shift of the reflected wave of the target, but is different from the identification of a road vehicle, the wave-surface radar has the characteristics of high reflected signal intensity and frequency shift and is mixed with the ship emission signal under the scene of identifying the ship on the water surface, and the wave-surface radar is difficult to filter; therefore, the present embodiment constructs a grid, analyzes the correlation of the reflected wave signals in the continuous grid, and determines whether the reflected wave is a reflected wave of the continuous hull (the volume of the ship is large, and a plurality of continuous grids are occupied in the reflected wave).
Specifically, the continuous wave radar is deployed in a near-channel domain, so that the normal direction of an antenna of the continuous wave radar is parallel to the central line of the channel or forms a preset included angle, a sweep sector area is parallel to the water surface, grid units are built according to preset intervals in the coverage area of the continuous wave radar and the overlapped area of the observed water area, and unique and continuous two-dimensional codes [ X, Y ] are allocated to each grid unit in the grid network, so that the two-dimensional codes are matched with relative or absolute position coordinates, and the grid network with plane position information is formed.
The two-dimensional codes [ X, Y ] of the grid units are used as subscripts, and a two-dimensional array can be constructed and used for storing different types of data, such as a radar reflected wave amplitude two-dimensional array, a frequency shift two-dimensional array and the like.
S102, transmitting radio waves to a monitored water area through a continuous wave radar in a current detection period, receiving reflected waves, and forming an amplitude two-dimensional array and a frequency shift two-dimensional array which cover all grid networks according to the amplitude and the frequency shift value of the reflected waves and the two-dimensional code of the grid units.
The continuous wave radar emits radio waves to a monitored water area, receives reflected waves, analyzes the reflected waves according to the characteristics of the reflected waves of the ship, and forms a two-dimensional array which is convenient for data processing.
Specifically, in one detection period (for example, the current detection period), the fm continuous wave radar continuously emits radio waves according to a preset frequency variation period, receives reflected waves of a corresponding frequency band, converts the radar beam angle and the reflected wave time delay into grid two-dimensional coordinates, and fills the values of the amplitude and the frequency shift of the reflected waves into corresponding grids to form an amplitude two-dimensional array a [ X, Y ] and a frequency shift two-dimensional array F [ X, Y ] covering all grid networks.
And S103, judging whether the ship exists in the monitored water area in the current detection period according to the amplitude two-dimensional array and the frequency shift two-dimensional array.
Specifically, the step of judging whether the ship exists in the monitored water area in the current detection period according to the amplitude two-dimensional array and the frequency shift two-dimensional array specifically includes S1031-S1032:
s1031, carrying out matching analysis on the amplitude two-dimensional array and a preset typical ship type amplitude two-dimensional array to preliminarily judge whether a ship exists in the monitored water area in the current detection period;
s1032, if the ship exists in the monitored water area in the current detection period, data deviation value analysis is carried out according to the frequency shift two-dimensional array (the ship is used as a rigid object, the speeds of all parts of the ship are consistent when the ship sails normally, and the radar frequency shift characteristics of the ship are also consistent), so that whether the ship exists in the monitored water area in the current detection period is finally determined.
Step S1031 performs a matching analysis on the amplitude two-dimensional array and a preset typical ship type amplitude two-dimensional array to preliminarily determine whether a ship exists in the monitored water area in the current detection period, and specifically includes:
in amplitude two-dimensional array A [ X, Y ]]Middle-truncated and typical boat-shaped amplitude two-dimensional array S [ X ] 0 ,Y 0 ](e.g., a ship-type amplitude two-dimensional array S [ X ] of a typical self-unloading type sand carrier 0 ,Y 0 ]) Equal length array A n [X 0 ,Y 0 ]Wherein A represents a two-dimensional array of magnitudes A [ X, Y ]]Amplitude values of [ X, Y ]]Representing amplitude two-dimensional arrays A [ X, Y ]]S represents the amplitude value in a typical ship-type amplitude two-dimensional array, [ X ] 0 ,Y 0 ]Representing two-dimensional codes in a typical ship-shaped amplitude two-dimensional array, A n Representing array A n [X 0 ,Y 0 ]N represents the traversal count;
according to S [ X ] 0 ,Y 0 ]For A n [X 0 ,Y 0 ]Amplitude adjustment is carried out to realize amplitude gain equalization;
the amplitude deviation value θ is calculated according to:
wherein k represents the k-th group of two-dimensional codes, delta k Represents S [ X ] 0 ,Y 0 ]And A is a n [X 0 ,Y 0 ]Element differences for each array having the same two-dimensional code;
if the amplitude deviation value theta is smaller than the first preset value, the fact that the ship exists in the monitored water area in the current detection period is preliminarily judged.
The method comprises the steps of carrying out data deviation value analysis according to a frequency shift two-dimensional array to finally determine whether a ship exists in a monitored water area in a current detection period, and specifically comprises the following steps:
in a frequency-shifted two-dimensional array F [ X, Y]Middle intercept and array A n [X 0 ,Y 0 ]Array F with identical two-dimensional codes n [X 0 ,Y 0 ]Wherein F represents a two-dimensional array of frequency shifts F [ X, Y ]]Frequency shift value of F n Representing array F n [X 0 ,Y 0 ]Frequency shift value of (a);
filtering array F n [X 0 ,Y 0 ]Data with middle and lower than the preset effective frequency shift value form one-dimensional effective frequency shift array FZ]Wherein Z represents the Z-th set of effective frequency shift arrays;
calculating an effective frequency shift array FZ]Arithmetic mean value F of all elements in (B) a ；
Calculating an effective frequency shift array FZ according to]Deviation value of (2)
：
Wherein j represents the j-th effective frequency shift array, F j A frequency shift value representing a j-th set of effective frequency shift arrays;
if effective frequency shift array FZ]Deviation value of (2)
If the ship is smaller than the second preset value, the ship existing in the monitored water area in the current detection period is finally determined, and the ship is located in the array A n [X 0 ,Y 0 ]Corresponding grid cells.
It should be noted that when there are a plurality of typical ship types, steps S1031 and S1032 are repeated to determine the most matched typical ship type (i.e., the one with the largest amplitude deviation value θ).
And S104, if the ship exists in the monitored water area in the current detection period, determining the ship type according to the amplitude two-dimensional array and the preset typical ship type amplitude two-dimensional array.
Wherein in step S1031, a two-dimensional array S [ X ] of amplitudes of a typical ship shape has been calculated 0 ,Y 0 ]The amplitude deviation value theta of (2) is smaller than the first preset value, so that the type of the ship is the type of a typical ship type, for example, the ship with the type of a self-unloading sand carrier existing in the monitored water area in the current detection period can be directly determined.
S105, judging whether the ship of the ship type exists in each detection period in a plurality of continuous detection periods taking the current detection period as the start.
In this embodiment, a plurality of detection periods need to be continuously analyzed to improve the detection accuracy, for example, 3 detection periods are continuously analyzed to determine whether there is a ship of this type in all of the 3 detection periods.
And S106, if the ship of the ship type exists in each detection period, further judging whether the speed of the ship is within a speed threshold range corresponding to the ship type.
If the ship of the ship type exists in a plurality of continuous detection periods, whether the speed of the ship is within a speed threshold range corresponding to the ship type can be further judged, and the speed of the ship can be obtained by acquiring the position (grid coordinates where the ship is) and the navigation time (determined by the detection frequency and the passing detection period) of the ship. Since the sailing speed of the same type of ship will not change too much, for example, the speed of the self-unloading sand carrier is generally 4-20 km/h, in this embodiment, the accuracy of the judgment is further improved by further judging whether the speed of the ship is within the speed threshold range corresponding to the type of ship.
And S107, if the speed of the ship is within a speed threshold range corresponding to the ship type, finally determining that the ship of the ship type exists in the monitoring area.
In summary, according to the ship identification method provided by the embodiment, a grid network is constructed in a continuous wave radar observation water area, the amplitude and frequency shift data of a reflected wave are subjected to grid treatment to obtain an amplitude two-dimensional array and a frequency shift two-dimensional array, whether the ship exists in the monitoring water area in the current detection period or not is judged according to the amplitude two-dimensional array, the type of the ship is determined by combining with a preset typical ship type amplitude two-dimensional array, then the ship exists in each detection period in a plurality of detection periods, the speed of the ship is in a speed threshold range, and finally, the ship with the corresponding ship type in the monitoring area is determined.
Referring to fig. 2, a marine system according to an embodiment of the present invention includes:
the construction module is used for constructing a grid network of the continuous wave radar monitoring area and distributing unique two-dimensional codes to each grid unit in the grid network;
the detection module is used for transmitting radio waves to the monitored water area through the continuous wave radar in the current detection period, receiving reflected waves, and forming an amplitude two-dimensional array and a frequency shift two-dimensional array which cover all grid networks according to the amplitude and the frequency shift value of the reflected waves and the two-dimensional code of the grid units;
the first judging module is used for judging whether a ship exists in the monitored water area in the current detection period according to the amplitude two-dimensional array and the frequency shift two-dimensional array;
the first determining module is used for determining the type of the ship according to the amplitude two-dimensional array and a preset typical ship type amplitude two-dimensional array if the ship exists in the monitored water area in the current detection period;
the second judging module is used for judging whether the ship of the ship type exists in each detection period in a plurality of continuous detection periods taking the current detection period as the start;
the third judging module is used for further judging whether the speed of the ship is in a speed threshold range corresponding to the ship type if the ship of the ship type exists in each detection period;
and the second determining module is used for finally determining that the ship of the ship type exists in the monitoring area if the speed of the ship is within the speed threshold range corresponding to the ship type.
In this embodiment, the construction module is specifically configured to:
the continuous wave radar is deployed in a near-channel domain, the normal direction of an antenna of the continuous wave radar is parallel to the central line of the channel or forms a preset included angle, the scanning sector area is parallel to the water surface, grid units are built in the coverage area of the continuous wave radar and the overlapped area of the observed water area according to a preset interval, and unique and continuous two-dimensional codes are distributed for each grid unit in the grid network, so that the two-dimensional codes are matched with relative or absolute position coordinates, and the grid network with plane position information is formed.
In this embodiment, the first judging module is specifically configured to:
performing matching analysis on the amplitude two-dimensional array and a preset typical ship type amplitude two-dimensional array to preliminarily judge whether a ship exists in the monitored water area in the current detection period;
and if the ship exists in the monitored water area in the current detection period, carrying out data deviation value analysis according to the frequency shift two-dimensional array to finally determine whether the ship exists in the monitored water area in the current detection period.
In this embodiment, the first judging module is specifically configured to:
in amplitude two-dimensional array A [ X, Y ]]Middle-truncated and typical boat-shaped amplitude two-dimensional array S [ X ] 0 ,Y 0 ]Equal length array A n [X 0 ,Y 0 ]Wherein A represents a two-dimensional array of magnitudes A [ X, Y ]]Amplitude values of [ X, Y ]]Representing amplitude two-dimensional arrays A [ X, Y ]]S represents the amplitude value in a typical ship-type amplitude two-dimensional array, [ X ] 0 ,Y 0 ]Representing two-dimensional codes in a typical ship-shaped amplitude two-dimensional array, A n Representing array A n [X 0 ,Y 0 ]N represents the traversal count;
according to S [ X ] 0 ,Y 0 ]For A n [X 0 ,Y 0 ]Amplitude adjustment is carried out to realize amplitude gain equalization;
the amplitude deviation value θ is calculated according to:
wherein k represents the k-th group of two-dimensional codes, delta k Represents S [ X ] 0 ,Y 0 ]And A is a n [X 0 ,Y 0 ]Element differences for each array having the same two-dimensional code;
if the amplitude deviation value theta is smaller than the first preset value, the fact that the ship exists in the monitored water area in the current detection period is preliminarily judged.
In this embodiment, the first judging module is specifically configured to:
in a frequency-shifted two-dimensional array F [ X, Y]Middle intercept and array A n [X 0 ,Y 0 ]Array F with identical two-dimensional codes n [X 0 ,Y 0 ]Wherein F represents a two-dimensional array of frequency shifts F [ X, Y ]]Frequency shift value of F n Representing array F n [X 0 ,Y 0 ]Frequency shift value of (a);
filtering array F n [X 0 ,Y 0 ]Data with middle and lower than the preset effective frequency shift value form one-dimensional effective frequency shift array FZ]Wherein Z represents the Z-th set of effective frequency shift arrays;
calculating an effective frequency shift array FZ]Arithmetic mean value F of all elements in (B) a ；
Calculating an effective frequency shift array FZ according to]Deviation value of (2)
：
Wherein j represents the j-th effective frequency shift array, F j A frequency shift value representing a j-th set of effective frequency shift arrays;
if effective frequency shift array FZ]Deviation value of (2)
If the ship is smaller than the second preset value, the ship existing in the monitored water area in the current detection period is finally determined, and the ship is located in the array A n [X 0 ,Y 0 ]Corresponding grid cells.
According to the ship identification system provided by the embodiment, the grid network is constructed in the continuous wave radar observation water area, the amplitude and frequency shift data of the reflected wave are subjected to rasterization processing to obtain the amplitude two-dimensional array and the frequency shift two-dimensional array, whether the ship exists in the monitoring water area in the current detection period or not is judged according to the amplitude two-dimensional array, the type of the ship is determined according to the preset typical ship type amplitude two-dimensional array, then the ship exists in each detection period in a plurality of detection periods, the speed of the ship is in the speed threshold range, and finally, the ship with the corresponding ship type exists in the monitoring area is determined.
Logic and/or steps represented in the flowcharts or otherwise described herein, e.g., a ordered listing of executable instructions for implementing logical functions, can be embodied in any computer-readable medium for use by or in connection with an instruction execution system, apparatus, or device, such as a computer-based system, processor-containing system, or other system that can fetch the instructions from the instruction execution system, apparatus, or device and execute the instructions. For the purposes of this description, a "computer-readable medium" can be any means that can contain, store, communicate, propagate, or transport the program for use by or in connection with the instruction execution system, apparatus, or device.
More specific examples (a non-exhaustive list) of the computer-readable medium would include the following: an electrical connection (electronic device) having one or more wires, a portable computer diskette (magnetic device), a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber device, and a portable compact disc read-only memory (CDROM). In addition, the computer readable medium may even be paper or other suitable medium on which the program is printed, as the program may be electronically captured, via, for instance, optical scanning of the paper or other medium, then compiled, interpreted or otherwise processed in a suitable manner, if necessary, and then stored in a computer memory.
It is to be understood that portions of the present invention may be implemented in hardware, software, firmware, or a combination thereof. In the above-described embodiments, the various steps or methods may be implemented in software or firmware stored in a memory and executed by a suitable instruction execution system. For example, if implemented in hardware, as in another embodiment, may be implemented using any one or combination of the following techniques, as is well known in the art: discrete logic circuits having logic gates for implementing logic functions on data signals, application specific integrated circuits having suitable combinational logic gates, programmable Gate Arrays (PGAs), field Programmable Gate Arrays (FPGAs), and the like.
In the description of the present specification, a description referring to terms "one embodiment," "some embodiments," "examples," "specific examples," or "some examples," etc., means that a particular 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, schematic representations of the above terms do not necessarily refer to the same embodiments or examples. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
While embodiments of the present invention have been shown and described, it will be understood by those of ordinary skill in the art that: many changes, modifications, substitutions and variations may be made to the embodiments without departing from the spirit and principles of the invention, the scope of which is defined by the claims and their equivalents.
Claims (8)
1. A method of identifying a vessel, comprising:
constructing a grid network of a continuous wave radar monitoring area, and distributing unique two-dimensional codes for each grid unit in the grid network;
in the current detection period, transmitting radio waves to a monitored water area through a continuous wave radar, receiving reflected waves, and forming an amplitude two-dimensional array and a frequency shift two-dimensional array which cover all grid networks according to the amplitude and the frequency shift value of the reflected waves and the two-dimensional code of the grid units;
judging whether a ship exists in the monitored water area in the current detection period according to the amplitude two-dimensional array and the frequency shift two-dimensional array;
if the ship exists in the monitored water area in the current detection period, determining the type of the ship according to the amplitude two-dimensional array and a preset typical ship type amplitude two-dimensional array;
judging whether the ship of the ship type exists in each detection period or not in a plurality of continuous detection periods taking the current detection period as the start;
if the ship of the ship type exists in each detection period, further judging whether the speed of the ship is within a speed threshold range corresponding to the ship type;
if the speed of the ship is within the speed threshold range corresponding to the ship type, finally determining that the ship of the ship type exists in the monitoring area;
the step of judging whether the ship exists in the monitored water area in the current detection period according to the amplitude two-dimensional array and the frequency shift two-dimensional array specifically comprises the following steps:
performing matching analysis on the amplitude two-dimensional array and a preset typical ship type amplitude two-dimensional array to preliminarily judge whether a ship exists in the monitored water area in the current detection period;
and if the ship exists in the monitored water area in the current detection period, carrying out data deviation value analysis according to the frequency shift two-dimensional array to finally determine whether the ship exists in the monitored water area in the current detection period.
2. The ship identification method according to claim 1, wherein the step of constructing a grid network of the continuous wave radar monitoring area and assigning each grid unit in the grid network a unique two-dimensional code specifically comprises:
the continuous wave radar is deployed in a near-channel domain, the normal direction of an antenna of the continuous wave radar is parallel to the central line of the channel or forms a preset included angle, the scanning sector area is parallel to the water surface, grid units are built in the coverage area of the continuous wave radar and the overlapped area of the observed water area according to a preset interval, and unique and continuous two-dimensional codes are distributed for each grid unit in the grid network, so that the two-dimensional codes are matched with relative or absolute position coordinates, and the grid network with plane position information is formed.
3. The ship identification method as claimed in claim 1, wherein the step of performing a matching analysis on the amplitude two-dimensional array and a preset typical ship type amplitude two-dimensional array to preliminarily determine whether the ship exists in the monitored water area in the current detection period comprises the following steps:
in amplitude two-dimensional array A [ X, Y ]]Middle-truncated and typical boat-shaped amplitude two-dimensional array S [ X ] 0 ,Y 0 ]Equal length array A n [X 0 ,Y 0 ]Wherein A represents a two-dimensional array of magnitudes A [ X, Y ]]Amplitude values of [ X, Y ]]Representing amplitude two-dimensional arrays A [ X, Y ]]S represents the amplitude value in a typical ship-type amplitude two-dimensional array, [ X ] 0 ,Y 0 ]Representing two-dimensional codes in a typical ship-shaped amplitude two-dimensional array, A n Representing array A n [X 0 ,Y 0 ]N represents the traversal count;
according to S [ X ] 0 ,Y 0 ]For A n [X 0 ,Y 0 ]Amplitude adjustment is carried out to realize amplitude gain equalization;
the amplitude deviation value θ is calculated according to:
wherein k represents the k-th group of two-dimensional codes, delta k Represents S [ X ] 0 ,Y 0 ]And A is a n [X 0 ,Y 0 ]Element differences for each array having the same two-dimensional code;
if the amplitude deviation value theta is smaller than the first preset value, the fact that the ship exists in the monitored water area in the current detection period is preliminarily judged.
4. A method of identifying a vessel as claimed in claim 3 wherein the step of performing data bias analysis based on the two-dimensional array of frequency shifts to ultimately determine whether the vessel is present in the monitored water during the current detection period comprises:
in a frequency-shifted two-dimensional array F [ X, Y]Middle intercept and array A n [X 0 ,Y 0 ]Array F with identical two-dimensional codes n [X 0 ,Y 0 ]Wherein F represents a two-dimensional array of frequency shifts F [ X, Y ]]Frequency shift value of F n Representing array F n [X 0 ,Y 0 ]Frequency shift value of (a);
filtering array F n [X 0 ,Y 0 ]Data with middle and lower than the preset effective frequency shift value form one-dimensional effective frequency shift array FZ]Wherein Z represents the Z-th set of effective frequency shift arrays;
calculating an effective frequency shift array FZ]Arithmetic mean of all elements in (3)
；
Calculating an effective frequency shift array FZ according to]Deviation value of (2)
：
Wherein j represents the j-th effective frequency shift array, F j A frequency shift value representing a j-th set of effective frequency shift arrays;
if effective frequency shift array FZ]Deviation value of (2)
If the ship is smaller than the second preset value, the ship existing in the monitored water area in the current detection period is finally determined, and the ship is located in the array A n [X 0 ,Y 0 ]Corresponding grid cells.
5. A ship identification system, comprising:
the construction module is used for constructing a grid network of the continuous wave radar monitoring area and distributing unique two-dimensional codes to each grid unit in the grid network;
the detection module is used for transmitting radio waves to the monitored water area through the continuous wave radar in the current detection period, receiving reflected waves, and forming an amplitude two-dimensional array and a frequency shift two-dimensional array which cover all grid networks according to the amplitude and the frequency shift value of the reflected waves and the two-dimensional code of the grid units;
the first judging module is used for judging whether a ship exists in the monitored water area in the current detection period according to the amplitude two-dimensional array and the frequency shift two-dimensional array;
the first determining module is used for determining the type of the ship according to the amplitude two-dimensional array and a preset typical ship type amplitude two-dimensional array if the ship exists in the monitored water area in the current detection period;
the second judging module is used for judging whether the ship of the ship type exists in each detection period in a plurality of continuous detection periods taking the current detection period as the start;
the third judging module is used for further judging whether the speed of the ship is in a speed threshold range corresponding to the ship type if the ship of the ship type exists in each detection period;
the second determining module is used for finally determining that the ship of the ship type exists in the monitoring area if the speed of the ship is within a speed threshold range corresponding to the ship type;
the first judging module is specifically configured to:
performing matching analysis on the amplitude two-dimensional array and a preset typical ship type amplitude two-dimensional array to preliminarily judge whether a ship exists in the monitored water area in the current detection period;
and if the ship exists in the monitored water area in the current detection period, carrying out data deviation value analysis according to the frequency shift two-dimensional array to finally determine whether the ship exists in the monitored water area in the current detection period.
6. The ship identification system of claim 5, wherein the building module is specifically configured to:
the continuous wave radar is deployed in a near-channel domain, the normal direction of an antenna of the continuous wave radar is parallel to the central line of the channel or forms a preset included angle, the scanning sector area is parallel to the water surface, grid units are built in the coverage area of the continuous wave radar and the overlapped area of the observed water area according to a preset interval, and unique and continuous two-dimensional codes are distributed for each grid unit in the grid network, so that the two-dimensional codes are matched with relative or absolute position coordinates, and the grid network with plane position information is formed.
7. The ship identification system of claim 5, wherein the first determination module is specifically configured to:
in amplitude two-dimensional array A [ X, Y ]]Middle-truncated and typical boat-shaped amplitude two-dimensional array S [ X ] 0 ,Y 0 ]Equal length array A n [X 0 ,Y 0 ]Wherein A represents a two-dimensional array of magnitudes A [ X, Y ]]Amplitude values of [ X, Y ]]Representing amplitude two-dimensional arrays A [ X, Y ]]S represents the amplitude value in a typical ship-type amplitude two-dimensional array, [ X ] 0 ,Y 0 ]Representing two-dimensional codes in a typical ship-shaped amplitude two-dimensional array, A n Representing array A n [X 0 ,Y 0 ]N represents the traversal count;
according to S [ X ] 0 ,Y 0 ]For A n [X 0 ,Y 0 ]Amplitude adjustment is carried out to realize amplitude gain equalization;
the amplitude deviation value θ is calculated according to:
wherein k represents the k-th group of two-dimensional codes, delta k Represents S [ X ] 0 ,Y 0 ]And A is a n [X 0 ,Y 0 ]Element differences for each array having the same two-dimensional code;
if the amplitude deviation value theta is smaller than the first preset value, the fact that the ship exists in the monitored water area in the current detection period is preliminarily judged.
8. The ship identification system of claim 7, wherein the first determination module is specifically configured to:
in a frequency-shifted two-dimensional array F [ X, Y]Middle intercept and array A n [X 0 ,Y 0 ]Array F with identical two-dimensional codes n [X 0 ,Y 0 ]Wherein F represents a two-dimensional array of frequency shifts F [ X, Y ]]Frequency shift value of F n Representing array F n [X 0 ,Y 0 ]Frequency shift value of (a);
filtering array F n [X 0 ,Y 0 ]Data with middle and lower than a preset effective frequency shift value form a one-dimensional effective frequency shift numberGroup F [ Z ]]Wherein Z represents the Z-th set of effective frequency shift arrays;
calculating an effective frequency shift array FZ]Arithmetic mean of all elements in (3)
；
Calculating an effective frequency shift array FZ according to]Deviation value of (2)
：
Wherein j represents the j-th effective frequency shift array, F j A frequency shift value representing a j-th set of effective frequency shift arrays;
if effective frequency shift array FZ]Deviation value of (2)
If the ship is smaller than the second preset value, the ship existing in the monitored water area in the current detection period is finally determined, and the ship is located in the array A n [X 0 ,Y 0 ]Corresponding grid cells.
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