CN116955937A - Marine suspicious ship monitoring method and device, electronic equipment and storage medium - Google Patents
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Abstract
The invention provides a method and a device for monitoring a suspicious marine ship, electronic equipment and a storage medium, and belongs to the technical field of marine observation, wherein the method comprises the following steps: preprocessing the received original AIS data issued by the ship, and determining target star-based AIS data and target shore-based AIS data of the ship; the target star-based AIS data is used for positioning the ship; the target shore-based AIS data is used for analyzing maritime behaviors of the ship; and comprehensively analyzing the target star-based AIS data and the target shore-based AIS data to determine whether the ship is a suspicious ship. The invention can effectively judge whether the monitored ship is a suspicious ship, realizes the high-efficiency monitoring of the suspicious ship at sea, has wide monitoring range, high monitoring timeliness and high intelligent degree, and can well meet the monitoring of large-scale maritime activities.
Description
Technical Field
The invention relates to the technical field of ocean observation, in particular to a method and a device for monitoring a suspicious marine vessel at sea, electronic equipment and a storage medium.
Background
Maritime monitoring is the understanding of the actual conditions of sea-related and sea-going activities that can affect the safety, economy or environment of the sea. In recent years, as the number of marine vessels is increasing and the issues of marine resource equity are expanding, marine activities of various influence areas such as marine safety and environment are increasing: illegal operation and resource investigation, random discharge of ship oil sewage, and the like.
For the above activities affecting the offshore safety and environment, the current common monitoring means is a mode of on-site patrol or mass report, however, the traditional maritime monitoring means has the defects of very small monitoring range, untimely monitoring, low monitoring efficiency and high labor cost, and cannot meet the requirement of monitoring the maritime activities in a large range.
Disclosure of Invention
The invention provides a method, a device, electronic equipment and a storage medium for monitoring a suspicious marine vessel, which are used for solving the defects of small monitoring range, untimely monitoring, low monitoring efficiency and high labor cost of marine monitoring means in the prior art.
The invention provides a method for monitoring a suspicious marine vessel at sea, which comprises the following steps:
preprocessing the received original AIS data issued by the ship, and determining target star-based AIS data and target shore-based AIS data of the ship; the target star-based AIS data is used for positioning the ship; the target shore-based AIS data is used for analyzing maritime behaviors of the ship;
And comprehensively analyzing the target star-based AIS data and the target shore-based AIS data to determine whether the ship is a suspicious ship.
According to the offshore suspicious ship monitoring method provided by the invention, the target satellite-based AIS data comprise a first identification code, a ship type and a first longitude and latitude, and the target shore-based AIS data comprise a second identification code, a navigation time, a second longitude and latitude and a ground speed; the comprehensively analyzing the target star-based AIS data and the target shore-based AIS data to determine whether the ship is a suspicious ship, including:
determining that the ship has entered the marine monitoring area when the ship type is determined to be a target monitoring type and the first longitude and latitude is within a longitude and latitude range of the marine monitoring area;
and under the condition that the first identification code is identical to the second identification code and the second longitude and latitude are in the longitude and latitude range of the ocean monitoring area, determining whether the ship is a suspicious ship or not based on the navigation time and the ground speed in the target shore-based AIS data.
According to the method for monitoring the suspicious marine vessel at sea, the method for determining whether the vessel is the suspicious vessel based on the navigation time and the ground speed in the target shore-based AIS data comprises the following steps:
Determining the residence time of the ship in the marine monitoring area based on the navigation time in the target shore-based AIS data, and determining the average ground speed of the ship in the marine monitoring area based on the ground speed in the target shore-based AIS data;
and if the residence time is determined to be greater than a first threshold and the average speed to ground is less than a second threshold, determining that the vessel is a suspicious vessel, otherwise, determining that the vessel is not a suspicious vessel.
According to the offshore suspicious ship monitoring method provided by the invention, the target shore-based AIS data comprises a ground heading; after said determining an average ground speed of the vessel within the marine surveillance area, the method further comprises:
acquiring a plurality of target data sets based on the ground heading in the target shore-based AIS data under the condition that the residence time is determined to be greater than a first threshold and the average ground heading is determined to be less than a second threshold; the target data set comprises continuous multi-item target-to-ground heading information, and the absolute value of the deviation between the first item of target-to-ground heading information and any other item of target-to-ground heading information in the target data set is smaller than a third threshold value;
Carrying out histogram statistics on the plurality of target data sets, and determining a statistical result;
and determining that the ship is a suspicious ship under the condition that two peaks exist in the statistical result and the positive deviation between the two peaks is in a target threshold range.
According to the method for monitoring the marine suspicious ship, the received original AIS data issued by the ship is preprocessed, and the target star-based AIS data and the target shore-based AIS data of the ship are determined, wherein the method comprises the following steps:
deleting target defect data of the star-based AIS data and the shore-based AIS data in the original AIS data respectively to obtain target star-based AIS data and shore-based AIS data to be processed of the ship;
denoising the shore-based AIS data to be processed to obtain denoised shore-based AIS data;
and carrying out data reconstruction on the denoised shore-based AIS data to obtain reconstructed target shore-based AIS data.
According to the offshore suspicious ship monitoring method provided by the invention, the shore-based AIS data to be processed comprises a plurality of pieces of AIS information at different moments; denoising the shore-based AIS data to be processed to obtain denoised shore-based AIS data, wherein the denoising processing comprises the following steps:
Averaging based on each piece of AIS information and AIS information of target quantity at different moments before and after the AIS information to obtain fitting AIS information corresponding to each piece of AIS information;
and updating the AIS information to the corresponding fitting AIS information under the condition that the ratio of the absolute value of the deviation between the AIS information and the fitting AIS information corresponding to the AIS information to the standard deviation is larger than a fourth threshold value, otherwise, keeping the AIS information unchanged to finish denoising processing of each AIS information and obtain denoised shore-based AIS data.
According to the offshore suspicious ship monitoring method provided by the invention, the denoised shore-based AIS data comprises a plurality of pieces of AIS information at different moments, and each piece of AIS information comprises navigation time and longitude and latitude; performing data reconstruction on the denoised shore-based AIS data to obtain reconstructed target shore-based AIS data, wherein the method comprises the following steps of:
comparing the navigation time and longitude and latitude in the AIS information with those in the previous AIS information aiming at each piece of AIS information;
under the condition that the comparison result meets the preset condition, inserting a piece of target AIS information between the AIS information and the previous AIS information, otherwise, keeping the AIS information unchanged from the previous AIS information so as to finish data reconstruction of the shore-based AIS data and obtain reconstructed target shore-based AIS data;
The target AIS information is determined based on the AIS information and the previous AIS information; the preset condition includes that the absolute value of the deviation between the sailing time in the AIS information and the sailing time in the AIS information before the AIS information is larger than a fifth threshold value, or the absolute value of the deviation between the longitude in the AIS information and the longitude in the AIS information before the AIS information is larger than a sixth threshold value, or the absolute value of the deviation between the latitude in the AIS information and the latitude in the AIS information before the AIS information is larger than a seventh threshold value.
The invention also provides a device for monitoring the suspicious marine vessel at sea, which comprises:
the pretreatment module is used for carrying out pretreatment on the received original AIS data issued by the ship and determining target star-based AIS data and target shore-based AIS data of the ship; the target star-based AIS data is used for positioning the ship; the target shore-based AIS data is used for analyzing maritime behaviors of the ship;
and the analysis module is used for comprehensively analyzing the target star-based AIS data and the target shore-based AIS data to determine whether the ship is a suspicious ship or not.
The invention also provides an electronic device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, the processor implementing the method for monitoring a suspected marine vessel as described above when executing the program.
The invention also provides a non-transitory computer readable storage medium having stored thereon a computer program which, when executed by a processor, implements a method of monitoring a suspected marine vessel as described in any of the above.
The invention also provides a computer program product comprising a computer program which when executed by a processor implements a method of monitoring a suspected marine vessel as described in any of the above.
According to the offshore suspicious ship monitoring method, device, electronic equipment and storage medium, the advantages of wide satellite-based AIS data coverage range and good shore-based AIS data continuity are fully utilized, the satellite-based AIS data and the shore-based AIS data are obtained according to the AIS data issued by the received ship, the satellite-based AIS data with wide coverage range are utilized for accurately positioning the ship, and the shore-based AIS data with good continuity are utilized for accurately analyzing the maritime behaviors of the ship, so that comprehensive analysis is carried out on the satellite-based AIS data and the shore-based AIS data, whether the monitored ship is a suspicious ship can be effectively judged, efficient monitoring of the offshore suspicious ship is realized, the monitoring range is wide, the monitoring timeliness is high, and the large-scale maritime activity monitoring can be well met.
Drawings
In order to more clearly illustrate the invention or the technical solutions of the prior art, the following description will briefly explain the drawings used in the embodiments or the description of the prior art, and it is obvious that the drawings in the following description are some embodiments of the invention, and other drawings can be obtained according to the drawings without inventive effort for a person skilled in the art.
FIG. 1 is a schematic flow chart of a method for monitoring a suspected marine vessel provided by the invention;
FIG. 2 is a schematic diagram of the marine suspicious ship monitoring device provided by the invention;
fig. 3 is a schematic structural diagram of an electronic device provided by the present invention.
Detailed Description
For the purpose of making the objects, technical solutions and advantages of the present invention more apparent, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings, and it is apparent that the described embodiments are some embodiments of the present invention, not all embodiments. 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.
The offshore suspicious ship monitoring method, the offshore suspicious ship monitoring device, the electronic equipment and the storage medium according to the invention are described below with reference to fig. 1-3.
Fig. 1 is a schematic flow chart of a method for monitoring a suspected marine vessel according to the present invention, as shown in fig. 1, including: step 110 and step 120.
Step 110, preprocessing the received original AIS data issued by the ship, and determining target star-based AIS data and target shore-based AIS data of the ship;
the target star-based AIS data is used for positioning the ship; the target shore-based AIS data are used for analyzing maritime behaviors of the ship;
and 120, comprehensively analyzing the target star-based AIS data and the target shore-based AIS data to determine whether the ship is a suspicious ship.
It should be noted that, the automatic ship identification system (Automatic Identification System, AIS) is a ship navigation device, which integrates a large amount of ship information and rich marine traffic information, however, the on-board AIS device generally issues one piece of information for 2s to 6min, so that the amount of ship AIS track data is quite large. The AIS systems are generally classified into shore-based AIS systems and satellite-based AIS systems, which can realize global coverage by carrying AIS loads via satellites. The shore-based AIS system mainly comprises AIS base stations erected on coasts and along rivers, and the coverage range of the AIS base stations is influenced by various factors. The satellite-based AIS data has the advantages of wide coverage, poor data continuity, good data continuity and limited data coverage.
In the embodiment of the invention, the advantages of the star-based AIS data and the shore-based AIS data are fully considered, and the two types of data are utilized to comprehensively monitor and analyze the behavior of the marine ship, so that the effective monitoring of the marine suspicious ship is realized.
Specifically, each message issued by the on-board AIS device generally includes two types of information, namely static information and dynamic information. Wherein, the static information can comprise ship name, call sign, water mobile communication service identification code (Maritime Mobile Service Identify, MMSI) number, ship length, ship width and ship type; the dynamic information may include longitude and latitude coordinates, ground heading, ground speed, turn rate, and voyage related information such as cargo type, origin port, arrival port, etc.
The original AIS data described in the embodiment of the invention refers to AIS data issued by various ships at sea, which is not subjected to data processing and comprises star-based AIS data and shore-based AIS data.
The target star-based AIS data described in the embodiment of the invention refers to data which can be used for ship positioning and is obtained by preprocessing star-based AIS data in original AIS data.
The target shore-based AIS data described in the embodiment of the invention refers to data which can be used for marine behavior analysis of a ship and is obtained by preprocessing the shore-based AIS data in the original AIS data.
The suspicious ship described in the embodiment of the invention refers to a ship which can perform maritime behaviors such as illegal operation, resource investigation and the like in a marine monitoring area.
In embodiments of the present invention, some of the collected star-based and shore-based AIS data may have significant errors or defects by receiving raw AIS data published by the marine vessel. Meanwhile, due to the influence of factors such as information acquisition, transmission, decoding, error elimination and the like, obvious noise and missing phenomena exist in some ship AIS data, so that the received original AIS data is required to be subjected to data preprocessing, and defect data processing, data noise elimination and missing data reconstruction in the AIS data are realized.
In the embodiment of the present invention, in step 110, by preprocessing the original AIS data issued by the received ship, after performing defect processing, noise cancellation and lost data reconstruction on the AIS data, the target star-based AIS data and the target shore-based AIS data of the ship may be determined from the preprocessed AIS data, where the target star-based AIS data is used for positioning the ship, and the target shore-based AIS data is used for analyzing the marine behavior of the ship.
Further, in step 120, by comprehensively analyzing the target star-based AIS data and the target shore-based AIS data, the target ship entering the key monitoring sea area can be first quickly locked by using the target star-based AIS data with wide coverage area, and then the maritime behavior process information of the ship is further analyzed by using the target shore-based AIS data with good continuity to determine whether the ship is a suspicious ship.
According to the marine suspicious ship monitoring method, the advantages of wide satellite-based AIS data coverage range and good shore-based AIS data continuity are fully utilized, the satellite-based AIS data and the shore-based AIS data are obtained according to the AIS data issued by the received ship, the satellite-based AIS data with wide coverage range are utilized for accurately positioning the ship, and the shore-based AIS data with good continuity are utilized for accurately analyzing marine behaviors of the ship, so that comprehensive analysis is performed on the satellite-based AIS data and the shore-based AIS data, whether the monitored ship is a suspicious ship can be effectively judged, efficient monitoring of the marine suspicious ship is achieved, the monitoring range is wide, the monitoring timeliness is high, the intelligent degree is high, and large-scale marine activity monitoring can be well met.
Based on the foregoing embodiment, as an optional embodiment, the target satellite-based AIS data includes a first identification code, a ship type, and a first longitude and latitude, and the target shore-based AIS data includes a second identification code, a voyage time, a second longitude and latitude, and a speed to earth;
comprehensively analyzing the target star-based AIS data and the target shore-based AIS data to determine whether the ship is a suspicious ship, including:
under the condition that the ship type is determined to be the target monitoring type and the first longitude and latitude are in the longitude and latitude range of the ocean monitoring area, determining that the ship enters the ocean monitoring area;
and under the condition that the first identification code is identical to the second identification code and the second longitude and latitude are in the longitude and latitude range of the ocean monitoring area, determining whether the ship is a suspicious ship or not based on the navigation time and the ground speed in the target shore-based AIS data.
Specifically, the target satellite-based AIS data described in the embodiments of the present invention includes a first identification code (MMSI), a ship TYPE (TYPE), and a first longitude and latitude (LON, LAT), and the target shore-based AIS data includes a second identification code (MMSI), a voyage time (T), a second longitude and latitude (LON, LAT), and a speed-to-ground (SOG).
It can be understood that the first identification code refers to MMSI in the star-based AIS data, and the first longitude and latitude refer to longitude LON and latitude LAT of the ship in the star-based AIS data; the second identification code refers to MMSI in the shore-based AIS data, and the second longitude and latitude refer to longitude LON and latitude LAT of the ship in the shore-based AIS data.
The type of target monitoring described in embodiments of the present invention refers to the type of suspicious Vessel and may include "dredging or underwater operations Vessel (Dredge or under water operation)", or "submersible operations Vessel (vehicle-planning operation)", or "military operations Vessel (vehicle-military operation)".
In an embodiment of the present invention, a star-based ship information model may be constructed from target star-based AIS data, which is used to quickly lock a suspected ship, and may be expressed as:
Ship_sat＝{MMSI,TYPE,LON,LAT}；
building a shore-based ship information model according to the target shore-based AIS data, wherein the shore-based ship information model is used for carrying out maritime behavior analysis on suspicious ships and can be expressed as follows:
Ship_coast＝{MMSI,T,LON,LAT,SOG}；
further, in the embodiment of the present invention, comprehensive analysis is performed on the target star-based AIS data and the target shore-based AIS data, where the AIS data includes a plurality of pieces of received AIS information at different moments, and the assumption is made that the information is receivedReceiving the ith AIS information issued by the same ship, wherein the ship type in the star-based ship information modelIs of the target monitoring type, namely 'Dredge or under water operation', or 'vehicle-navigation operation', or 'vehicle-military operation', and the first longitude and latitude in the satellite-based ship information model The method meets the following conditions:
where (LON 1, LON 2) represents the latitude range of the sea monitoring area, and (LAT 1, LAT 2) represents the latitude range of the sea monitoring area.
At this time, the first identification code, namely the ship number, can be primarily determined through the rapid positioning of the satellite-based AIS dataMMSI0 is recorded as the suspicious vessel that has entered the marine surveillance area.
Further, in the embodiment of the invention, under the condition that the first identification code is identical to the second identification code and the second longitude and latitude are in the longitude and latitude range of the ocean monitoring area, the second identification code is screened based on the shore-based ship information modelShip shore-based AIS data equal to MMSI0 and determining a second longitude and latitudeThe method meets the following conditions:
at this time, it is explained that the searched shore-based AIS data is target shore-based AIS data corresponding to the suspicious ship having entered the ocean monitoring area.
Further, the maritime behavior of the ship can be analyzed by using the voyage time T and the SOG of the ground speed in the target shore-based AIS data, and whether the ship is a suspicious ship with illegal construction operation can be determined.
According to the method provided by the embodiment of the invention, the suspicious ship is quickly locked by using the ship type and longitude and latitude information of the satellite-based AIS data, and further, maritime behavior analysis is performed by using the navigation time and the ground navigation speed of the continuous moment of the shore-based AIS data, so that the suspicious ship entering the sea monitoring area and possibly having illegal operation behaviors can be effectively distinguished, and the high-efficiency monitoring of the suspicious ship at sea is realized.
Based on the foregoing embodiment, as an alternative embodiment, determining whether the ship is a suspicious ship based on the voyage time and the ground speed in the target shore-based AIS data includes:
determining the residence time of the ship in the marine monitoring area based on the navigation time in the target shore-based AIS data, and determining the average ground speed of the ship in the marine monitoring area based on the ground speed in the target shore-based AIS data;
and if the residence time is determined to be greater than the first threshold value and the average ground speed is less than the second threshold value, determining that the ship is a suspicious ship, otherwise, determining that the ship is not the suspicious ship.
Specifically, the first threshold value in the embodiment of the invention refers to a time threshold value for determining the residence time of the ship in the marine monitoring area. It may be denoted as M1, and a specific value may range from 79200 seconds to 86400 seconds, i.e. from 22 hours to 24 hours, such as 24 hours.
The second threshold value of the embodiment of the invention refers to a speed threshold value, and is used for judging the sailing speed of the ship in the ocean monitoring area. It may be represented as M2, and a specific value may range from 4 to 8, such as 6.
In the embodiment of the invention, assuming that the obtained target shore-based AIS data comprises a plurality of continuous AIS information pieces, wherein the first AIS information piece is marked as p, and the last AIS information piece is marked as q, the navigation time of the first AIS information piece of the ship can be determined to be the navigation time according to the navigation time T in the target shore-based AIS data The voyage time of the last AIS information of the ship is +.>Thus, the residence time of the ship in the marine surveillance area can be calculated as +.>
Similarly, based on the SOG of the destination shore-based AIS data, the first AIS information of the ship may be determined to be the SOG of the destination shore-based AIS dataThe speed of the ship i AIS information to ground is +.>The last AIS information of the ship has a speed to ground of +.>And further can calculate the average speed of the ship to ground in the marine surveillance area as +.>
Further, in determiningAnd average speed of navigation to groundIn the above-described case, it is assumed that the vessel entering the marine surveillance area is long in residence time and slow in sailing speed, and therefore it is possible to determine that the vessel is a suspicious vessel performing illegal construction in the marine surveillance area, and otherwise, it is possible to determine that the vessel is not a suspicious vessel performing illegal construction in the marine surveillance area.
According to the method provided by the embodiment of the invention, the residence time and the average speed of the ship are monitored by monitoring the sailing time and the sailing speed in the continuous shore-based AIS information of the ship entering the ocean monitoring area, so that whether the ship has illegal operation behaviors or not is determined, and the quick and effective monitoring of the suspicious ship at sea is realized.
Based on the foregoing embodiment, as an alternative embodiment, the target shore-based AIS data may further include a heading to ground; after determining the average ground speed of the vessel in the marine surveillance area, the method further comprises:
under the condition that the residence time is larger than a first threshold value and the average ground speed is smaller than a second threshold value, acquiring a plurality of target data sets based on the ground course in the target shore-based AIS data; the target data set comprises continuous multi-item target-to-ground course information, and the absolute value of the deviation between the first item target-to-ground course information and any other item target-to-ground course information in the target data set is smaller than a third threshold value;
carrying out histogram statistics on a plurality of target data sets, and determining a statistical result;
and under the condition that two peaks exist in the statistical result and the deviation between the two peaks is in the target threshold range, determining that the ship is a suspicious ship.
Specifically, the third threshold in the embodiment of the invention refers to a ground heading threshold, which is used for judging the heading change condition of the ship in the marine monitoring area. It may be denoted as M3 and may in particular take a value of 13 degrees to 17 degrees, such as 15 degrees.
The target threshold range described in the embodiments of the present invention may range from 165 degrees to 195 degrees, such as from 170 degrees to 190 degrees.
In an embodiment of the present invention, the shore-based ship information model constructed from the target shore-based AIS data may also be expressed as:
Ship_coast＝{MMSI,T,LON,LAT,SOG,COG}；
wherein COG represents the ground heading of a ship.
Further, in the present embodiment, in the case where it is determined that the residence time of the ship is greater than the first threshold value and the average speed-to-ground is less than the second threshold value, that is, in the case where it is determined that And average speed of navigation to groundIn the case of the above, it is explained that the vessel entering the sea monitoring area is long in residence time and slow in sailing. Meanwhile, in order to further improve the accuracy of monitoring, the change condition of the ground heading of the ship can be considered.
Specifically, the obtained target shore-based AIS data may include a plurality of continuous pieces of AIS information, and COG information in each piece of AIS information may be determined based on the ground heading COG information in the target shore-based AIS data. Thus, the ground course data set of the ship when the ship stays in the ocean key area can be constructedAnd meanwhile, a ground heading data set COG2 is constructed and used for storing a plurality of target data sets extracted from the data set COG1, and each target data set comprises continuous multi-item target ground heading information.
More specificallyLet i=1, j=i, when |cog1 i -COG1 j |<M3, where M3 may take a value of 15 degrees. Let j=j+1, repeat this step, namely traverse the ith AIS information and every AIS information after this AIS information sequentially, calculate heading information COG1 in the ith AIS information i COG1 in each piece of AIS information following it j If the deviation is less than 15 degrees, continuing to traverse the COG1 in the next AIS information j Until |COG1 appears i -COG1 j When the deviation is larger than or equal to M3, namely the deviation is larger than or equal to 15 degrees, the calculation of COG1 is started i To COG1 j The number of pieces of information therebetween.
If j-i at this time>M, where M may be set according to actual design requirements, preferably m=10, i.e. in determining COG1 i To COG1 j In case the number of the information pieces exceeds 10, the continuous multi-item can be marked with the heading information COG1 z Z=i, i+1, …, j-2, j-1 is deposited into the data set COG2, thereby obtaining a target data set. Next, COG1 is used as a slave j Initially, let i=j, continue traversing COG1 according to the above-described decision logic and calculation i COG1 data in each piece of AIS information thereafter.
If j-i<When M is not the same, data extraction and storage are not performed, and then COG1 is used j Initially, let i=j, continue traversing COG1 according to the above-described decision logic and calculation i The COG1 data in each piece of AIS information thereafter is traversed until all pieces of COG1 data in AIS information are traversed. Therefore, according to the above embodiment, a plurality of target data sets can be extracted from the earth heading data set COG1 and stored in the data set COG 2.
Further, in the embodiment of the present invention, histogram statistics may be performed for a plurality of target data sets stored in the data set COG2, to determine a histogram statistical result. For the statistical result, under the condition that obvious double peaks exist, namely two peaks exist, the positive deviation cog1-cog2 between the two peaks is calculated on the assumption that the ground heading values corresponding to the two peaks are cog1 and cog2.
If the absolute value of cog1-cog2-180| < N is satisfied, 180-N < cog1-cog2 < 180+N is available, wherein N can be valued according to practical experience values, such as N=10, 170 degrees < cog1-cog2 < 190 degrees, namely, the positive deviation between two peaks is in a target threshold range, at this time, it can be stated that an obvious loitering track exists on the ship, and the ship can be further judged to be a suspicious ship.
According to the method provided by the embodiment of the invention, the navigation time, the navigation speed and the change condition of the ground heading in the shore-based AIS information of the ship entering the ocean monitoring area are monitored at the same time by further considering the ground heading data of the ship navigation, so that whether the ship has illegal operation behaviors is judged, and the accuracy and the effectiveness of monitoring the offshore suspicious ship can be further improved.
Based on the foregoing embodiment, as an optional embodiment, preprocessing the received original AIS data issued by the ship to determine target star-based AIS data and target land-based AIS data of the ship, including:
deleting target defect data of the star-based AIS data and the shore-based AIS data in the original AIS data respectively to obtain target star-based AIS data of the ship and the shore-based AIS data to be processed;
denoising the shore-based AIS data to be processed to obtain denoised shore-based AIS data;
and carrying out data reconstruction on the denoised shore-based AIS data to obtain reconstructed target shore-based AIS data.
Specifically, in the embodiment of the invention, the original AIS data issued by the received ship is preprocessed, so that defect processing, noise elimination and lost data reconstruction in the AIS data are realized.
The target defect data described in the embodiments of the present invention refers to data having obvious errors or defects in the received AIS data.
In the embodiment of the invention, star-based AIS data and shore-based AIS data are collected, and some AIS information has obvious errors, and when any one of the following conditions exists, the method comprises the following steps:
1) Repeated AIS data;
2) The MMSI numbers, longitude and latitude coordinates, the speed to the ground, the heading to the ground and other key information are empty data;
3) AIS data exceeding reasonable values, such as: the longitude is less than-180 or greater than 180, the latitude is less than-90 or greater than 90, and the heading to the ground is less than 0 or greater than 360.
At this time, the corresponding piece of AIS data can be deleted, so that deletion of target defect data in the star-based AIS data and the shore-based AIS data is realized, and the target star-based AIS data and the shore-based AIS data to be processed are obtained.
Because some ship AIS data have obvious noise and missing phenomena, a corresponding mathematical model needs to be constructed to realize noise elimination and missing data reconstruction. Since only shore-based AIS data is required for subsequent ship behavior analysis, only shore-based AIS data is processed here.
Based on the content of the above embodiment, as an optional embodiment, the shore-based AIS data to be processed includes a plurality of pieces of AIS information at different moments; denoising the shore-based AIS data to be processed to obtain denoised shore-based AIS data, including:
averaging based on each piece of AIS information and the AIS information of the target quantity at different moments before and after the AIS information to obtain fitting AIS information corresponding to each piece of AIS information;
And updating the AIS information to the corresponding fitting AIS information under the condition that the ratio of the absolute value of the deviation to the standard deviation between the AIS information and the fitting AIS information corresponding to the AIS information is larger than a fourth threshold value, otherwise, keeping the AIS information unchanged to finish denoising processing of each AIS information and obtain denoised shore-based AIS data.
Specifically, the fourth threshold described in the embodiments of the present invention refers to an AIS information data threshold, which is used to determine the degree of difference between AIS information and corresponding fitting AIS information. It may be denoted as M4 and may in particular take on a value of 3.
The target number described in the embodiment of the invention can be set according to actual calculation requirements, and can be specifically 1, 2 or 3.
In the embodiment of the invention, the shore-based AIS data is a data set comprising a plurality of pieces of AIS information, so that the shore-based AIS data to be processed is known to also comprise a plurality of pieces of AIS information at different moments, and denoising is performed on the shore-based AIS data to be processed, namely, the AIS information is denoised piece by piece.
Specifically, let T be 0 AIS information of dynamic observation of ship at moment is Y 0 Where the vessel dynamic information may include longitude and latitude, speed to ground, heading to ground, etc., i.e., Y 0 = { LON, LAT, SOG, COG }, adopt T -k To T k Time-of-day ship dynamic observation information pair T 0 Fitting the ship information at the moment, wherein k is a constant, and obtaining T -k To T k Standard deviation of time-of-day ship dynamic observation informationAnd let the fitted ship AIS information +.>The fitting AIS information corresponding to each piece of AIS information can be obtained by averaging each piece of AIS information with k pieces of AIS information at different moments before and after the AIS information. Here, the target number is 2k.
Further, in an embodiment of the present invention, in determining |Y 0 -Y 1 When the ratio of the absolute value of the deviation between the AIS information and the corresponding fitting AIS information to the standard deviation is greater than the fourth threshold, the deviation between the AIS information and the corresponding fitting AIS information is too large, Y 0 If noise exists, let Y 0 ＝Y 1 Updating AIS information to corresponding fitting AIS information, otherwise, maintaining AIS information Y 0 Is unchanged.
Therefore, in the embodiment of the invention, the above denoising judgment and processing are performed by traversing each piece of AIS information in the shore-based AIS data to be processed, so that the denoising processing of each piece of AIS information is completed, and the denoised shore-based AIS data is obtained.
According to the method provided by the embodiment of the invention, the mean filtering denoising principle is adopted, and continuous AIS information in the shore-based AIS data is subjected to denoising treatment, so that the accuracy and reliability of the shore-based AIS data can be improved, and reliable data can be provided for subsequent behavior analysis of the offshore suspicious ship.
Based on the content of the above embodiment, as an optional embodiment, the denoised shore-based AIS data includes a plurality of pieces of AIS information at different moments, each piece of AIS information including a navigation time and a longitude and latitude; performing data reconstruction on the denoised shore-based AIS data to obtain reconstructed target shore-based AIS data, wherein the method comprises the following steps of:
comparing the navigation time and longitude and latitude in the AIS information with those in the previous AIS information aiming at each piece of AIS information;
under the condition that the comparison result meets the preset condition, inserting a piece of target AIS information between AIS information and the previous AIS information, otherwise, keeping the AIS information unchanged from the previous AIS information so as to finish data reconstruction of the shore-based AIS data and obtain reconstructed target shore-based AIS data;
the target AIS information is determined based on AIS information and the previous AIS information; the preset condition includes that the absolute value of the deviation between the sailing time in the AIS information and the sailing time in the AIS information before the AIS information is larger than a fifth threshold value, or the absolute value of the deviation between the longitude in the AIS information and the longitude in the AIS information before the AIS information is larger than a sixth threshold value, or the absolute value of the deviation between the latitude in the AIS information and the latitude in the AIS information before the AIS information is larger than a seventh threshold value.
Specifically, the fifth threshold described in the embodiments of the present invention refers to a voyage time deviation threshold, which is used to determine the deviation degree of voyage time in the front and rear pieces of AIS information. It may be denoted as M5, and a specific value may range from 1800 seconds to 2200 seconds, such as 2000 seconds:
the sixth threshold described in the embodiment of the present invention refers to a longitude position deviation threshold, which is used to determine the deviation degree between longitudes in the front and rear pieces of AIS information. It may be denoted as M6, and a specific value may range from 0.01 degrees to 0.03 degrees, such as 0.02 degrees.
The seventh threshold described in the embodiment of the present invention refers to a latitude position deviation threshold, which is used to determine the deviation degree between the latitudes in the front and rear pieces of AIS information. It may be denoted as M7, and a specific value may range from 0.01 degrees to 0.03 degrees, such as 0.02 degrees.
In the embodiment of the invention, due to the influence of factors such as information acquisition, transmission, decoding, error elimination and the like, obvious deletion phenomenon of some shore-based AIS data is easy to exist, so that the lost data in the shore-based AIS data needs to be reconstructed.
Based on the above embodiment, it may be understood that the denoised shore-based AIS data may include multiple pieces of AIS information at different moments, each piece of AIS information may include a voyage time and a longitude and latitude, and may further include a ground speed and a ground heading, and then an ith piece of AIS information in the multiple pieces of AIS information of the same ship may be expressed as:
Y i ＝{MMSI i ,T i ,LON i ,LAT i ,SOG i ,COG i }；
Meanwhile, the last AIS information of the ith AIS information may be expressed as:
Y i-1 ＝{MMSI i-1 ,T i-1 ,LON i-1 ,LAT i-1 ,SOG i-1 ,SOG i-1 }；
therein, it can be appreciated that MMSI i-1 ＝MMSI i 。
Specifically, in this embodiment, each piece of shore-based AIS information of the ship may be traversed, and for each piece of AIS information, the voyage time and longitude and latitude in the AIS information are compared with the voyage time and longitude and latitude in the previous piece of AIS information. When a preset condition is satisfied, that is, a deviation between a voyage time in the AIS information and a voyage time in a previous AIS information is greater than a fifth threshold, or a deviation between a longitude in the AIS information and a longitude in a previous AIS information is greater than a sixth threshold, or a deviation between a latitude in the AIS information and a latitude in a previous AIS information is greater than a seventh threshold, that is, at this time, for the ith AIS information, there is:
|T i -T i-1 |>m5, or |LON i -LON i-1 |>M6, or |LAT i -LAT i-1 |>M7, can be explained beforeThe deviation degree between the sailing time in the last two pieces of AIS information is too large, or the deviation degree between the longitudes in the front and rear pieces of AIS information is too large, or the deviation degree between the latitudes in the front and rear pieces of AIS information is too large, namely that the data loss exists between the ith AIS information and the last ith-1 AIS information, and therefore data reconstruction is needed.
Further, if the target AIS information to be inserted between the ith AIS information and the last ith-1 AIS information is determined based on the ith AIS information and the last ith-1 AIS information, a target AIS information Y can be inserted between the ith-1 AIS information and the ith AIS information m ：
Further, this traversal may be terminated and updated pieces of shore-based AIS information may be re-traversed from scratch. And when the preset condition is not met, keeping the ith AIS information unchanged from the ith-1 th AIS information, searching and traversing the next (i+1) th bank-based AIS information until each bank-based AIS information is traversed, thereby completing data reconstruction of bank-based AIS data and obtaining reconstructed target bank-based AIS data.
According to the method provided by the embodiment of the invention, by traversing each piece of AIS information in the de-noised shore-based AIS data one by one, the deviation degree between the front and rear pieces of AIS information is judged, so that whether data reconstruction is performed or not is determined, the data reconstruction of continuous information in the shore-based AIS data can be effectively realized, the accuracy and the continuity of the shore-based AIS data are improved, and the reliability of the data for analyzing the maritime behaviors of the suspicious marine vessels is further improved.
The offshore suspicious ship monitoring device provided by the invention is described below, and the offshore suspicious ship monitoring device described below and the offshore suspicious ship monitoring method described above can be correspondingly referred to each other.
Fig. 2 is a schematic structural diagram of an offshore suspicious ship monitoring apparatus provided by the present invention, as shown in fig. 2, including:
the preprocessing module 210 is configured to preprocess the received original AIS data issued by the ship, and determine target star-based AIS data and target shore-based AIS data of the ship; the target star-based AIS data is used for positioning the ship; the target shore-based AIS data are used for analyzing maritime behaviors of the ship;
and the processing module 220 is used for comprehensively analyzing the target star-based AIS data and the target shore-based AIS data to determine whether the ship is a suspicious ship.
The offshore suspicious ship monitoring device according to the embodiment may be used to execute the above embodiment of the offshore suspicious ship monitoring method, and the principle and the technical effects thereof are similar, and are not repeated here.
According to the marine suspicious ship monitoring device, the advantages of wide satellite-based AIS data coverage and good shore-based AIS data continuity are fully utilized, the satellite-based AIS data and the shore-based AIS data are obtained according to the AIS data issued by the received ship, the satellite-based AIS data with wide coverage are utilized for accurately positioning the ship, and the shore-based AIS data with good continuity are utilized for accurately analyzing marine behaviors of the ship, so that comprehensive analysis is performed on the satellite-based AIS data and the shore-based AIS data, whether the monitored ship is a suspicious ship can be effectively judged, efficient monitoring of the marine suspicious ship is achieved, the monitoring range is wide, the monitoring timeliness is high, the intelligent degree is high, and large-scale marine activity monitoring can be well met.
Fig. 3 is a schematic physical structure of an electronic device according to the present invention, and as shown in fig. 3, the electronic device may include: processor 310, communication interface (Communications Interface) 320, memory 330 and communication bus 340, wherein processor 310, communication interface 320, memory 330 accomplish communication with each other through communication bus 340. The processor 310 may invoke logic instructions in the memory 330 to perform the offshore suspicious vessel monitoring method provided by the methods described above, the method comprising: preprocessing the received original AIS data issued by the ship, and determining target star-based AIS data and target shore-based AIS data of the ship; the target star-based AIS data is used for positioning the ship; the target shore-based AIS data is used for analyzing maritime behaviors of the ship; and comprehensively analyzing the target star-based AIS data and the target shore-based AIS data to determine whether the ship is a suspicious ship.
Further, the logic instructions in the memory 330 described above may be implemented in the form of software functional units and may be stored in a computer-readable storage medium when sold or used as a stand-alone product. Based on this understanding, the technical solution of the present invention may be embodied essentially or in a part contributing to the prior art or in a part of the technical solution, in the form of a software product stored in a storage medium, comprising several instructions for causing a computer device (which may be a personal computer, a server, a network device, etc.) to perform all or part of the steps of the method according to the embodiments of the present invention. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a random access Memory (RAM, random Access Memory), a magnetic disk, or an optical disk, or other various media capable of storing program codes.
In another aspect, the present invention also provides a computer program product comprising a computer program storable on a non-transitory computer readable storage medium, the computer program when executed by a processor being capable of performing the method of monitoring a suspected marine vessel provided by the methods described above, the method comprising: preprocessing the received original AIS data issued by the ship, and determining target star-based AIS data and target shore-based AIS data of the ship; the target star-based AIS data is used for positioning the ship; the target shore-based AIS data is used for analyzing maritime behaviors of the ship; and comprehensively analyzing the target star-based AIS data and the target shore-based AIS data to determine whether the ship is a suspicious ship.
In yet another aspect, the present invention also provides a non-transitory computer readable storage medium having stored thereon a computer program which when executed by a processor implements the above-described methods of marine suspicious vessel monitoring, the method comprising: preprocessing the received original AIS data issued by the ship, and determining target star-based AIS data and target shore-based AIS data of the ship; the target star-based AIS data is used for positioning the ship; the target shore-based AIS data is used for analyzing maritime behaviors of the ship; and comprehensively analyzing the target star-based AIS data and the target shore-based AIS data to determine whether the ship is a suspicious ship.
The apparatus embodiments described above are merely illustrative, wherein the elements illustrated as separate elements may or may not be physically separate, and the elements shown as elements may or may not be physical elements, may be located in one place, or may be distributed over a plurality of network elements. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of this embodiment. Those of ordinary skill in the art will understand and implement the present invention without undue burden.
From the above description of the embodiments, it will be apparent to those skilled in the art that the embodiments may be implemented by means of software plus necessary general hardware platforms, or of course may be implemented by means of hardware. Based on this understanding, the foregoing technical solution may be embodied essentially or in a part contributing to the prior art in the form of a software product, which may be stored in a computer readable storage medium, such as ROM/RAM, a magnetic disk, an optical disk, etc., including several instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to execute the method described in the respective embodiments or some parts of the embodiments.
Finally, it should be noted that: the above embodiments are only for illustrating the technical solution of the present invention, and are not limiting; although the invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit and scope of the technical solutions of the embodiments of the present invention.
Claims (10)
1. A method of marine suspicious vessel monitoring, comprising:
preprocessing the received original AIS data issued by the ship, and determining target star-based AIS data and target shore-based AIS data of the ship; the target star-based AIS data is used for positioning the ship; the target shore-based AIS data is used for analyzing maritime behaviors of the ship;
and comprehensively analyzing the target star-based AIS data and the target shore-based AIS data to determine whether the ship is a suspicious ship.
2. The marine suspicious vessel monitoring method of claim 1, wherein the target satellite-based AIS data comprises a first identification code, a vessel type, and a first longitude and latitude, the target shore-based AIS data comprises a second identification code, a voyage time, a second longitude and latitude, and a speed to ground; the comprehensively analyzing the target star-based AIS data and the target shore-based AIS data to determine whether the ship is a suspicious ship, including:
Determining that the ship has entered the marine monitoring area when the ship type is determined to be a target monitoring type and the first longitude and latitude is within a longitude and latitude range of the marine monitoring area;
and under the condition that the first identification code is identical to the second identification code and the second longitude and latitude are in the longitude and latitude range of the ocean monitoring area, determining whether the ship is a suspicious ship or not based on the navigation time and the ground speed in the target shore-based AIS data.
3. The method of marine suspicious vessel monitoring according to claim 2, wherein the determining whether the vessel is a suspicious vessel based on the voyage time and the ground speed in the target shore-based AIS data comprises:
determining the residence time of the ship in the marine monitoring area based on the navigation time in the target shore-based AIS data, and determining the average ground speed of the ship in the marine monitoring area based on the ground speed in the target shore-based AIS data;
and if the residence time is determined to be greater than a first threshold and the average speed to ground is less than a second threshold, determining that the vessel is a suspicious vessel, otherwise, determining that the vessel is not a suspicious vessel.
4. The offshore suspicious vessel monitoring method of claim 3, wherein the target shore-based AIS data comprises a ground heading; after said determining an average ground speed of the vessel within the marine surveillance area, the method further comprises:
acquiring a plurality of target data sets based on the ground heading in the target shore-based AIS data under the condition that the residence time is determined to be greater than a first threshold and the average ground heading is determined to be less than a second threshold; the target data set comprises continuous multi-item target-to-ground heading information, and the absolute value of the deviation between the first item of target-to-ground heading information and any other item of target-to-ground heading information in the target data set is smaller than a third threshold value;
carrying out histogram statistics on the plurality of target data sets, and determining a statistical result;
and determining that the ship is a suspicious ship under the condition that two peaks exist in the statistical result and the positive deviation between the two peaks is in a target threshold range.
5. The method of monitoring a suspected marine vessel according to any of claims 1 to 4, wherein the preprocessing of the received raw AIS data issued by the vessel to determine target star based AIS data and target shore based AIS data for the vessel comprises:
Deleting target defect data of the star-based AIS data and the shore-based AIS data in the original AIS data respectively to obtain target star-based AIS data and shore-based AIS data to be processed of the ship;
denoising the shore-based AIS data to be processed to obtain denoised shore-based AIS data;
and carrying out data reconstruction on the denoised shore-based AIS data to obtain reconstructed target shore-based AIS data.
6. The offshore suspicious vessel monitoring method of claim 5, wherein the shore-based AIS data to be processed comprises a plurality of pieces of AIS information at different times; denoising the shore-based AIS data to be processed to obtain denoised shore-based AIS data, wherein the denoising processing comprises the following steps:
averaging based on each piece of AIS information and AIS information of target quantity at different moments before and after the AIS information to obtain fitting AIS information corresponding to each piece of AIS information;
and updating the AIS information to the corresponding fitting AIS information under the condition that the ratio of the absolute value of the deviation between the AIS information and the fitting AIS information corresponding to the AIS information to the standard deviation is larger than a fourth threshold value, otherwise, keeping the AIS information unchanged to finish denoising processing of each AIS information and obtain denoised shore-based AIS data.
7. The method for monitoring the suspicious marine vessels at sea according to claim 5, wherein the denoised shore-based AIS data comprises a plurality of pieces of AIS information at different moments, and each piece of AIS information comprises navigation time and longitude and latitude; performing data reconstruction on the denoised shore-based AIS data to obtain reconstructed target shore-based AIS data, wherein the method comprises the following steps of:
comparing the navigation time and longitude and latitude in the AIS information with those in the previous AIS information aiming at each piece of AIS information;
under the condition that the comparison result meets the preset condition, inserting a piece of target AIS information between the AIS information and the previous AIS information, otherwise, keeping the AIS information unchanged from the previous AIS information so as to finish data reconstruction of the shore-based AIS data and obtain reconstructed target shore-based AIS data;
the target AIS information is determined based on the AIS information and the previous AIS information; the preset condition includes that the absolute value of the deviation between the sailing time in the AIS information and the sailing time in the AIS information before the AIS information is larger than a fifth threshold value, or the absolute value of the deviation between the longitude in the AIS information and the longitude in the AIS information before the AIS information is larger than a sixth threshold value, or the absolute value of the deviation between the latitude in the AIS information and the latitude in the AIS information before the AIS information is larger than a seventh threshold value.
8. An offshore suspicious vessel monitoring apparatus, comprising:
the pretreatment module is used for carrying out pretreatment on the received original AIS data issued by the ship and determining target star-based AIS data and target shore-based AIS data of the ship; the target star-based AIS data is used for positioning the ship; the target shore-based AIS data is used for analyzing maritime behaviors of the ship;
and the analysis module is used for comprehensively analyzing the target star-based AIS data and the target shore-based AIS data to determine whether the ship is a suspicious ship or not.
9. An electronic device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, wherein the processor implements the method of marine suspicious vessel monitoring according to any one of claims 1 to 6 when the program is executed by the processor.
10. A non-transitory computer readable storage medium having stored thereon a computer program, which when executed by a processor implements the offshore suspicious vessel monitoring method according to any of claims 1 to 6.
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| CN117218898A (en) * | 2023-11-07 | 2023-12-12 | 亿海蓝（北京）数据技术股份公司 | Method and device for identifying offshore oil depot ship, electronic equipment and readable storage medium |
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| CN117218898A (en) * | 2023-11-07 | 2023-12-12 | 亿海蓝（北京）数据技术股份公司 | Method and device for identifying offshore oil depot ship, electronic equipment and readable storage medium |
| CN117218898B (en) * | 2023-11-07 | 2024-02-13 | 亿海蓝（北京）数据技术股份公司 | Method and device for identifying offshore oil depot ship, electronic equipment and readable storage medium |
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