CN115616516B - Ship size estimation method based on radar information - Google Patents
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- 238000004364 calculation method Methods 0.000 claims description 18
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Classifications
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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
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
- G01S7/41—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00 using analysis of echo signal for target characterisation; Target signature; Target cross-section
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B7/00—Measuring arrangements characterised by the use of electric or magnetic techniques
- G01B7/004—Measuring arrangements characterised by the use of electric or magnetic techniques for measuring coordinates of points
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- Computer Networks & Wireless Communication (AREA)
- Radar, Positioning & Navigation (AREA)
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- Radar Systems Or Details Thereof (AREA)
Abstract
The invention discloses a ship size estimation method based on radar information, which comprises the following steps of 1, establishing a radar echo shape model; step 2, establishing a radar trace information model; and 3, establishing a double-weight target size estimation model. According to the method, the radar echo shape model and the point trace information model are built, so that the information in multiple aspects such as echo distance direction, azimuth direction, sampling distance, the number of sampling points and the like is fully utilized, the information is comprehensively considered, and the model applicability is wide. In a complex water area environment, accurate estimation of the ship size can be realized, and the method provided by the invention has the advantages of small complexity, high accuracy and wide applicability.
Description
Technical Field
The invention relates to the field of ship traffic management, in particular to a ship size estimation method based on radar information.
Background
The vigorous development of the social economy in China drives the annual increase of the water transportation traffic, the number of ships is increased sharply, and the problems of increased potential safety hazards of water transportation and the like are also caused. To ensure the safety of vessel sailing, marine traffic management systems (Vessel Traffic Services, VTS) are commonly used by the water traffic management authorities in China to monitor vessel dynamics in jurisdictions. The VTS fuses the radar information and AIS information (Automatic Identification System, automatic ship identification system) so as to obtain comprehensive, accurate and real-time ship dynamic information.
The ship size is generally provided by AIS information as a piece of information of major concern to water traffic management. But for some non-cooperative uncertain vessels the water traffic authorities cannot obtain their AIS information (the non-cooperative vessels deliberately do not open or install AIS equipment). Therefore, for the ship with non-cooperative uncertainty, the research on the size method of the ship based on radar information is of great importance to the further development of VTS in China.
Disclosure of Invention
The invention aims to solve the technical problems of the prior art, and provides a ship size estimation method based on radar information, which utilizes the radar information to estimate the ship size, sequentially establishes a radar echo shape model, a radar trace information model and a target size estimation model, and realizes accurate estimation of the ship size in a complex water area environment.
In order to solve the technical problems, the invention adopts the following technical scheme:
a ship size estimation method based on radar information comprises the following steps.
Step 1, establishing a radar echo shape model: in a complex water area environment, based on the acquired radar echo data, the radar echo is equivalent to be a length of a according to the distance direction and the azimuth direction of the radar echo shape Width b shape Is a rectangular shape of (c).
Step 2, establishing a radar trace information model: in a complex water area environment, based on the acquired radar echo data, and according to the point trace information of the radar echo, the radar echo is equivalent to be a in length area Width b area Is a rectangle of (2); the point trace information of the radar echo comprises the sampling distance and the sampling point number of the radar echo.
Step 3, establishing a double-weight target size estimation model: in a complex water area environment, a double-weight target size estimation model is established based on the shape information and the trace information of the radar echo, so that the ship length L and the ship width W are estimated.
In step 3, the expression of the dual-weight target size estimation model is:
wherein R is the maximum detection distance of the radar.
d is the distance of the ship from the radar station.
L shape For a ship based on radar echo shape information, an estimated shipThe length of the ship is about a shape And b shape Is a function of (2).
W shape The estimated ship width is based on the radar echo shape information, which is about a shape And b shape Is a function of (2).
L area The estimated ship length is based on radar echo point trace information, and is related to a area And b area Is a function of (2).
W area The estimated ship width is based on radar echo point trace information, and is related to a area And b area Is a function of (2).
L shape And W is shape The function calculation formula of (2) is:
wherein:
in θ 1 ，θ 2 The intermediate quantity of two angles in the calculation process is calculated;
λ 1 is a course angle; lambda (lambda) 2 The included angle between the short axis of the radar echo equivalent rectangle in the step 1 and the north direction is formed; wherein the short axis is a symmetry axis parallel to the short side in the equivalent rectangle of the radar echo;
respectively, ship target is in course lambda 1 And short axis lambda 2 Unit vector on;
k is the aspect ratio of the ship size and is a known statistical calculation.
L area And W is area The function calculation formula of (2) is:
in step 1, the method for establishing the radar echo shape model specifically comprises the following steps.
Step 11, establishing a polar coordinate system: and drawing the obtained radar echo data in a polar coordinate system rho-theta, wherein the radar echo data is rectangular-like in the polar coordinate system.
Step 12, searching boundary points: firstly, selecting a point A closest to the radar echo in the upward direction 1 And the furthest point A 3 The method comprises the steps of carrying out a first treatment on the surface of the Then selecting the point A with the minimum upward azimuth of the radar echo azimuth 2 And point A with the greatest azimuth 4 The method comprises the steps of carrying out a first treatment on the surface of the Next, four boundary points A 1 、A 2 、A 3 、A 4 The polar coordinates of (c) are converted into plane rectangular coordinates.
Step 13, establishing an inscribed quadrangle: will A 1 、A 2 、A 3 、A 4 The four boundary points are connected end to form an inscribed quadrangle; the maximum side length of the four side lengths of the inscribed quadrangle is set as d 2 ，d 2 The side length of the corresponding side is d 4 The method comprises the steps of carrying out a first treatment on the surface of the The side lengths of the other two sides are respectively set as d 1 And d 3 The method comprises the steps of carrying out a first treatment on the surface of the D is calculated in sequence according to the plane rectangular coordinates of the four boundary points 1 、d 2 、d 3 And d 3 。
Step 14, constructing an approximate rectangle: constructing the inscribed quadrangle established in the step 13 into a rectangle A which is the most approximate; when the rectangle A is constructed, the side length d 2 And d 4 Is connected with the middle point ofLine length d 1 And d 3 Two symmetry axes of the rectangle A are respectively arranged on the middle point connecting line of the rectangle A; let the length of the long side of the rectangle A be a shape Length of short side b shape 。
Step 15, calculating a shape And b shape The specific calculation formula is as follows:
in step 2, the method for establishing the radar trace information model specifically comprises the following steps.
Step 21, determining a sampling distance: and determining the sampling distance samplingddis of the radar in the current working mode.
Step 22, calculating the number of sampling points: and calculating the sampling point number SamplingNum contained in the radar echo.
Step 23, calculating the trace point area S, wherein the specific calculation formula is as follows:
S＝SamplingDis·SamplingNum
step 24, calculating a area And b area : approximating the radar echo to a rectangle B, and setting the length of the long side of the rectangle B as a area Length of short side b area The method comprises the steps of carrying out a first treatment on the surface of the Then:
obtaining a based on aspect ratio k of ship size and trace area S of radar echo area And b area 。
The invention has the following beneficial effects:
1. the radar echo shape model and the point trace information model provided by the invention fully utilize the information in multiple aspects such as echo distance direction, azimuth direction, sampling distance, sampling point number and the like, and have comprehensive information consideration and wide model applicability.
2. The target size estimation model provided by the invention can fully consider the influence of factors such as ship target distance, heading and the like, and determines the ship size based on two different dimensions of radar echo shape and point trace information, and has high accuracy.
Drawings
Fig. 1 shows a schematic flow chart of a ship size estimation method based on radar information.
Fig. 2 shows a schematic diagram of a coordinate system used in the present invention.
Fig. 3 shows a schematic diagram of a radar echo shape model according to the present invention.
FIG. 4 shows a schematic representation of the correction of echo size based on vessel heading in the present invention.
Detailed Description
The invention will be described in further detail with reference to the accompanying drawings and specific preferred embodiments.
In the description of the present invention, it should be understood that the terms "left", "right", "upper", "lower", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, are merely for convenience in describing the present invention and simplifying the description, and do not indicate or imply that the apparatus or element being referred to must have a specific orientation, be configured and operated in a specific orientation, and "first", "second", etc. do not indicate the importance of the components, and thus are not to be construed as limiting the present invention. The specific dimensions adopted in the present embodiment are only for illustrating the technical solution, and do not limit the protection scope of the present invention.
As shown in fig. 1, a ship size estimation method based on radar information includes the following steps.
Step 1, establishing a radar echo shape model: in a complex water area environment, based on the acquired radar echo data, the radar echo is equivalent to be a length of a according to the distance direction and the azimuth direction of the radar echo shape Width b shape Is a rectangular shape of (c).
The method for establishing the radar echo shape model specifically comprises the following steps.
Step 11, establishing a polar coordinate system: the acquired radar echo data is plotted in a polar coordinate system ρ - θ as shown in fig. 2, where the radar echo data is rectangular-like.
Step 12, searching boundary points: firstly, selecting a point A closest to the radar echo in the upward direction 1 And the furthest point A 3 The method comprises the steps of carrying out a first treatment on the surface of the Then selecting the point A with the minimum upward azimuth of the radar echo azimuth 2 And point A with the greatest azimuth 4 The method comprises the steps of carrying out a first treatment on the surface of the Next, four boundary points A 1 、A 2 、A 3 、A 4 The polar coordinates of (c) are converted into plane rectangular coordinates.
The distance direction refers to the direction in which the radar emits the pulse outwards, and the azimuth direction refers to the direction in which the radar pulse azimuth changes.
Step 13, establishing an inscribed quadrangle: will A 1 、A 2 、A 3 、A 4 The four boundary points are connected end to form an inscribed quadrangle; the maximum side length of the four side lengths of the inscribed quadrangle is set as d 2 ，d 2 The side length of the corresponding side is d 4 The method comprises the steps of carrying out a first treatment on the surface of the The side lengths of the other two sides are respectively set as d 1 And d 3 The method comprises the steps of carrying out a first treatment on the surface of the D is calculated in sequence according to the plane rectangular coordinates of the four boundary points 1 、d 2 、d 3 And d 3 。
Step 14, constructing an approximate rectangle: constructing the inscribed quadrangle established in the step 13 into a rectangle A which is the most approximate; when the rectangle A is constructed, the side length d 2 And d 4 Is connected with the middle point and has a side length d 1 And d 3 Two symmetry axes of the rectangle A are respectively adopted, wherein the longer symmetry axis is the long axis of the rectangle A, and the shorter symmetry axis is the short axis of the rectangle A; let the length of the long side of the rectangle A be a shape Length of short side b shape 。
Step 15, calculating a shape And b shape The specific calculation formula is as follows:
step 2, establishing a radar trace information model
In a complex water environment, based on the acquired radar echo data,and according to the point trace information of the radar echo, the radar echo is equivalent to be a length area Width b area Is a rectangle of (2); the point trace information of the radar echo comprises the sampling distance and the sampling point number of the radar echo.
The method for establishing the radar trace information model preferably comprises the following steps.
Step 21, determining a sampling distance: and determining the sampling distance samplingddis of the radar in the current working mode.
Step 22, calculating the number of sampling points: the number SamplingNum of sampling points included in the radar echo is calculated, wherein the calculation method is in the prior art, and details are not repeated here.
Step 23, calculating the trace point area S, wherein the specific calculation formula is as follows:
S＝SamplingDis·SamplingNum
step 24, calculating a area And b area : approximating the radar echo to a rectangle B, and setting the length of the long side of the rectangle B as a area Length of short side b area The method comprises the steps of carrying out a first treatment on the surface of the Then:
obtaining a based on aspect ratio k of ship size and trace area S of radar echo area And b area 。
Step 3, establishing a double-weight target size estimation model
In a complex water area environment, a double-weight target size estimation model is established based on the shape information and the trace information of the radar echo, so that the ship length L and the ship width W are estimated.
The further the ship is from the radar station, the larger the echo is, the more inaccurate the ship size is estimated by radar trace information, so the further the ship is from the radar station, the smaller the weight of the trace information model is, and the expression of the double-weight target size estimation model is as follows:
wherein R is the maximum detection distance of the radar.
d is the distance of the ship from the radar station.
L shape The estimated ship length is based on the radar echo shape information, which is about a shape And b shape Is a function of (2).
W shape The estimated ship width is based on the radar echo shape information, which is about a shape And b shape Is a function of (2).
L area The estimated ship length is based on radar echo point trace information, and is related to a area And b area Is a function of (2).
W area The estimated ship width is based on radar echo point trace information, and is related to a area And b area Is a function of (2).
L shape And W is shape The function calculation formula of (2) is:
wherein:
in θ 1 ，θ 2 To calculate the intermediate quantity of two angles in the process.
λ 1 Is a course angle; lambda (lambda) 2 The included angle between the short axis of the radar echo equivalent rectangle (rectangle A) and the north direction in the step 1; wherein the short axis is a symmetry axis parallel to the short side in the equivalent rectangle of the radar echo.
Respectively, ship target is in course lambda 1 And short axis lambda 2 Unit vector on;
k is the aspect ratio of the ship size, which is a known statistical calculation value obtained by extracting the length and width of each ship from a large number of ship static data (more than 10000 ships) in a marine ship database, calculating the aspect ratio of each ship, and taking an average value.
L area And W is area The function calculation formula of (2) is:
since the radar echo shape is affected by factors such as direction widening, the length and width of the rectangle estimated in step 1 cannot represent the length and width of the ship, so that further correction is required based on the ship heading and the aspect ratio of the ship size, as shown in fig. 3. When the vessel is a static target (stationary, no heading information), no corrections are needed.
The preferred embodiments of the present invention have been described in detail above, but the present invention is not limited to the specific details of the above embodiments, and various equivalent changes can be made to the technical solution of the present invention within the scope of the technical concept of the present invention, and all the equivalent changes belong to the protection scope of the present invention.
Claims (3)
1. A ship size estimation method based on radar information is characterized in that: the method comprises the following steps:
step 1, establishing a radar echo shape model: in a complex water area environment, based on the acquired radar echo data, the radar echo is equivalent to be a length of a according to the distance direction and the azimuth direction of the radar echo shape Width b shape Is a rectangle of (2); the method for establishing the radar echo shape model specifically comprises the following steps:
step 11, establishing a polar coordinate system: drawing the obtained radar echo data in a polar coordinate system rho-theta, wherein the radar echo data is rectangular-like in the polar coordinate system;
step 12, searching boundary points: firstly, selecting a point A closest to the radar echo in the upward direction 1 And the furthest point A 3 The method comprises the steps of carrying out a first treatment on the surface of the Then selecting the point A with the minimum upward azimuth of the radar echo azimuth 2 And point A with the greatest azimuth 4 The method comprises the steps of carrying out a first treatment on the surface of the Next, four boundary points A 1 、A 2 、A 3 、A 4 The polar coordinates of the two are converted into plane rectangular coordinates;
step 13, establishing an inscribed quadrangle: will A 1 、A 2 、A 3 、A 4 The four boundary points are connected end to form an inscribed quadrangle; the maximum side length of the four side lengths of the inscribed quadrangle is set as d 2 ，d 2 The side length of the corresponding side is d 4 The method comprises the steps of carrying out a first treatment on the surface of the The side lengths of the other two sides are respectively set as d 1 And d 3 The method comprises the steps of carrying out a first treatment on the surface of the D is calculated in sequence according to the plane rectangular coordinates of the four boundary points 1 、d 2 、d 3 And d 4 ；
Step 14, constructing an approximate rectangle: constructing the inscribed quadrangle established in the step 13 into a rectangle A which is the most approximate; when the rectangle A is constructed, the side length d 2 And d 4 Is connected with the middle point and has a side length d 1 And d 3 Two symmetry axes of the rectangle A are respectively arranged on the middle point connecting line of the rectangle A; let the length of the long side of the rectangle A be a shape Length of short side b shape ；
Step 15, calculating a shape And b shape The specific calculation formula is as follows:
step 2, establishing a radar trace information model: in a complex water area environment, based on the acquired radar echo data, and according to the point trace information of the radar echo, the radar echo is equivalent to be a in length area Width b area Is a rectangle of (2); the point trace information of the radar echo comprises the sampling distance and the number of sampling points of the radar echo; the method for establishing the radar trace information model specifically comprises the following steps:
step 21, determining a sampling distance: determining a sampling distance samplingddis of the radar in a current working mode;
step 22, calculating the number of sampling points: calculating the sampling point number SamplingNum contained in the radar echo;
step 23, calculating the trace point area S, wherein the specific calculation formula is as follows:
S＝SamplingDis·SamplingNum
step 24, calculating a area And b area : approximating the radar echo to a rectangle B, and setting the length of the long side of the rectangle B as a area Length of short side b area The method comprises the steps of carrying out a first treatment on the surface of the Then:
obtaining a based on aspect ratio k of ship size and trace area S of radar echo area And b area ；
Step 3, establishing a double-weight target size estimation model: in a complex water area environment, based on shape information and trace information of radar echo, a double-weight target size estimation model is established, so that the ship length L and the ship width W are estimated;
the expression of the double-weight target size estimation model is as follows:
wherein R is the maximum detection distance of the radar;
d is the distance from the ship to the radar station;
L shape the estimated ship length is based on the radar echo shape information, which is about a shape And b shape Is a function of (2);
W shape the estimated ship width is based on the radar echo shape information, which is about a shape And b shape Is a function of (2);
L area the estimated ship length is based on radar echo point trace information, and is related to a area And b area Is a function of (2);
W area the estimated ship width is based on radar echo point trace information, and is related to a area And b area Is a function of (2).
2. The radar information based vessel size estimation method according to claim 1, wherein: l (L) shape And W is shape The function calculation formula of (2) is:
wherein:
in θ 1 ，θ 2 The intermediate quantity of two angles in the calculation process is calculated;
λ 1 is a course angle; lambda (lambda) 2 The included angle between the short axis of the radar echo equivalent rectangle in the step 1 and the north direction is formed; wherein the short axis is a symmetry axis parallel to the short side in the equivalent rectangle of the radar echo;
respectively, ship target is in course lambda 1 And short axis lambda 2 Unit vector on;
k is the aspect ratio of the ship size and is a known statistical calculation.
3. The radar information based vessel size estimation method according to claim 1, wherein: l (L) area And W is area The function calculation formula of (2) is:
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| US11461915B2 (en) * | 2020-01-06 | 2022-10-04 | Qualcomm Incorporated | Object size estimation using camera map and/or radar information |
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| CN108415015A (en) * | 2018-03-14 | 2018-08-17 | 哈尔滨工业大学 | Ship Target three-dimensional InISAR imaging methods under a kind of sparse aperture |
| CN113962300A (en) * | 2021-10-18 | 2022-01-21 | 中船重工鹏力（南京）大气海洋信息系统有限公司 | Radar and AIS fused ship accurate association method |
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