CN117542227B - Marine construction ship security system based on radar and AIS acquisition and positioning - Google Patents
Marine construction ship security system based on radar and AIS acquisition and positioning Download PDFInfo
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Abstract
The invention discloses an offshore construction ship security system based on radar and AIS collection and positioning, in particular relates to the field of ship positioning measurement, and is used for solving the problems that the existing construction ship security system lacks a perfect state evaluation-risk classification link and is low in decision efficiency by means of manual judgment.
Description
Technical Field
The invention relates to the field of ship positioning measurement, in particular to a marine construction ship security system based on radar and AIS acquisition and positioning.
Background
The AIS system can transmit or receive broadcast signals with specific frequency, notifies key information of ships, including data of ship name, nationality, type, heading, speed, position, size and the like, so as to inform adjacent ships, automatically identify ships and early-warning prompt operation, and the radar system detects reflection signals of electromagnetic waves by transmitting specific electromagnetic waves so as to measure and calculate the distance and motion state of a target object.
The existing offshore navigation safety inspection means for offshore construction lacks complete internal and external combined state evaluation-risk classification key links, still relies on manual integration data, relies on experience and the working state of a construction ship to perform manual intervention adjustment, has low decision efficiency and lacks strict data decision support.
In order to solve the above-mentioned defect, a technical scheme is provided.
Disclosure of Invention
The invention aims to provide a marine construction ship security system based on radar and AIS acquisition and positioning so as to solve the defects in the background technology.
In order to achieve the above object, the present invention provides the following technical solutions: marine construction ship security protection system based on radar, AIS gather location, its characterized in that: the system comprises a data acquisition module, an information verification module, a deduction judgment module and an adjustment processing module;
the data acquisition module is used for collecting radar detection data of the construction ship and AIS broadcast data of adjacent ships, and preprocessing the data;
the information verification module is used for verifying and comparing AIS broadcast data according to radar detection data, if the data verification result is abnormal, modeling is not carried out through the deduction judgment module, classification processing is directly carried out through the adjustment processing module, if the data verification result is normal, modeling is carried out through the deduction judgment module, and then analysis is carried out through the adjustment processing module;
the method for comparing and verifying the collected data by the information verification module comprises the following steps:
calibrating adjacent vessels and applicationsThe distance between the ship and the ship is S, the navigation speed of the adjacent ship is V, the navigation direction of the adjacent ship is D, and the deviation value of the distance received by the AIS system and the distance obtained by radar scanning isThe deviation value of the speed received by the AIS system and the speed obtained by radar scanning is +.>The deviation value of the direction received by the AIS system and the direction acquired by the radar isThe expression of the differential index is +.>Wherein->The ratio of the distance deviation value to the speed deviation value and the direction deviation value are respectively proportional coefficients, and are +.>Are all greater than 0;
when the difference index exceeds the difference threshold, indicating that the ship AIS system which transmits the AIS broadcast signal has faults and the data is abnormal; when the difference index does not exceed the difference threshold, the ship AIS system sending the AIS broadcast signals is indicated to work normally, and the data are reliable;
the deduction judging module is used for establishing a construction operation buffer area according to construction ship positioning, calculating navigational speed projection coefficients of other ships and average mileage change rate of periodic clustering centroids according to AIS broadcast signals and radar data, establishing a risk coefficient model and calculating a risk coefficient;
establishing logic of risk coefficient model:
the risk factor is expressed asWherein Ar is the area of the operation buffer area, pr is the navigational speed projection coefficient, and Cl is the periodic cluster massHeart mean mileage rate>The ratio coefficients of the area of the operation buffer area, the navigational speed projection coefficient and the average mileage change rate of the periodical clustering centroid are respectively +.>Are all greater than 0;
the calculation method of the area of the operation buffer area comprises the following steps:
defining a working buffer distance for a construction ship in a construction state, wherein the working buffer area takes the coordinates of the construction ship as a circle center, takes the working buffer distance as a radius, and the working buffer distance is defined as R, and the calculation expression of the area of the working buffer area is；
The calculation method of the navigational speed projection coefficient comprises the following steps:
the navigational speed projection coefficient is the sum of the products of the navigational speed of the adjacent ships and the length and the width of the ships, the adjacent ships are numbered as d, and the value range of d isWherein n is a positive integer, the length of the adjacent ship obtained by AIS broadcasting is L, the width of the adjacent ship is W, the speed of the adjacent ship obtained by a radar scanning system is V, and the expression is +.>The more the number of vessels in the adjacent sea area, the faster the line speed of the adjacent vessels, and the larger the size of the adjacent vessels, the larger the line speed projection coefficient;
the calculation method of the average mileage change rate of the periodical clustering centroid comprises the following steps:
clustering based on SSE (automatic identification system) minimization principle by using a binary k-means algorithm, taking an overlapping area of an AIS broadcast coverage area and a construction ship radar scanning system as a cluster range, taking all adjacent ship coordinate positions in the range as data points in the same cluster, carrying out binary processing on the data cluster with the aim of reducing SSE,after the cluster centroid positions of the adjacent ships are obtained, marking the mileage distance between each cluster centroid position and the construction ship, and taking the distance between the cluster centroid and the construction ship as Ad, wherein d is the number of each cluster centroid, and the value range of d isWherein j is a positive integer, the average mileage of the cluster centroid from the construction ship is +.>The average mileage of the cluster centroid from the construction ship is numbered as +.f according to the time sequence with the period as T>Wherein i has a value in the range +.>Wherein f is a positive integer, the expression of the mean change rate of the periodic clustering centroid mileage is +.>Wherein->The average mileage between the centers of mass of two adjacent clusters sequenced according to time sequence and the construction ship is represented by T, wherein T is the period time;
the adjustment processing module is used for grading the risk state according to the comparison of the risk coefficient and the risk coefficient threshold value, and performing reaction operation according to different risk grades so as to avoid the inclusion of marine accidents.
Preferably, the logic for risk status grading is performed according to the risk coefficient;
when the risk coefficient is greater than or equal to a first threshold value of the risk coefficient, the construction ship and the adjacent ship have the risk of the line intersection, and the risk of the line intersection is classified as S1-class risk;
when the risk coefficient is between the first threshold value and the second threshold value, the construction ship and the adjacent ship have construction blocking risks, and the construction blocking risks are classified as S2-class risks;
and when the risk coefficient is smaller than or equal to the risk coefficient second threshold value, the construction ship and the adjacent ship are in a stable observation state, and the stable observation state is classified as S3-level risk.
Preferably, logic for performing a reaction process according to the risk status level;
performing emergency AIS broadcasting on the S1-level risk, uploading recorded data to a maritime management mechanism, and performing warning call sign on ships in the adjacent sea area;
carrying out half-period AIS broadcasting on the S2-level risk, and informing the coordinates and the range of the construction area;
and (3) carrying out radar scanning detection on the S3-level risk without special processing operation and keeping receiving the AIS signal.
In the technical scheme, the invention has the technical effects and advantages that:
according to the method, an operation buffer area is divided through an operation buffer radius of a construction ship, the area of the operation buffer area is calculated, the navigational speed projection coefficients of the ships in the adjacent sea areas are calculated through the collection results of AIS broadcast signals and radar scanning signals, cluster analysis is conducted on the ships in the adjacent sea areas through a binary k-means algorithm, cluster centroids are extracted, the range mean change rate of the cluster centroids and the construction ship is calculated, a risk coefficient model is constructed, therefore, a risk coefficient is calculated, classification grading is conducted on the sharing state according to the comparison result of the risk coefficient and a risk coefficient threshold value, and corresponding countermeasures are adopted according to different levels of the risk state.
According to the invention, the self-properties of the construction ship and the motion states of other ships in the adjacent sea area can be combined for comprehensive analysis, the marine risk coefficient of the construction ship in the construction state is reasonably calculated, the working state of the construction ship can be safely ensured not to be influenced through risk grading treatment, the working efficiency of the construction ship is improved, and the safety of the adjacent sea area is improved.
Drawings
In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings that are needed in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments described in the present invention, and other drawings may be obtained according to these drawings for a person having ordinary skill in the art.
FIG. 1 is a block diagram of a system according to the present invention.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but 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.
Example 1: the invention relates to a marine construction ship security system based on radar and AIS acquisition and positioning, which comprises the following parts: the system comprises a data acquisition module, an information verification module, a deduction judgment module and an adjustment processing module;
the data acquisition module is used for aggregating radar detection data of the construction ship and AIS broadcast data of adjacent ships and preprocessing the data;
the information verification module is used for verifying and comparing AIS broadcast data according to the radar detection data;
the deduction judging module is used for establishing a construction operation buffer area according to construction ship positioning, defining an operation buffer radius, calculating cluster centroid average mileage according to other ship information in an AIS broadcasting range, establishing a risk judging model and evaluating risk coefficients;
the adjustment processing module is used for grading the risk state according to the comparison of the risk coefficient and the risk coefficient threshold value, and carrying out reaction operation according to different risk grades so as to avoid the rolling-in navigation accident.
The data acquisition module is used for collecting and integrating radar scanning data and AIS broadcast data, preprocessing the radar data and the AIS broadcast data and transmitting the radar data and the AIS broadcast data to the information verification module.
The preprocessing process of the data integrated by the data acquisition module is as follows:
data cleaning: identifying and correcting errors, inconsistencies, or missing data in the data set may include deleting duplicates, processing missing values, repairing data format errors, and the like.
Data selection: when the data set is huge or contains a large number of features, the features useful for model construction can be selected for feature selection, which is helpful for reducing the computational complexity and improving the interpretation of the model.
Data conversion: the data is mathematically transformed to meet modeling or analysis requirements, including normalization, logarithmic transformation, and the like.
Feature extraction: creating new features or converting existing features to improve model performance may include creating interactive features, encoding classification variables, performing principal component analysis or linear discriminant analysis, etc.
The information verification module is used for verifying and approving the preprocessed radar scanning data and AIS broadcast data, and verifying the authenticity of the AIS broadcast data received by the construction ship according to the radar scanning feedback result.
An AIS system carried by a construction ship receives broadcast signals of adjacent ships, a radar system is used for scanning and detecting the ships in the adjacent sea area, collected ship distance, speed and direction data are aligned according to the same time line, the distance between the adjacent ships and the construction ship is calibrated as S, the navigation speed of the adjacent ships is V, the navigation direction of the adjacent ships is D, the difference between the broadcast data and the radar data is approved, and the deviation value of the distance received by the AIS system and the distance obtained by radar scanning is taken asThe deviation value of the speed received by the AIS system and the speed obtained by radar scanning is +.>The deviation value of the direction received by the AIS system and the direction acquired by the radar is +.>ThenThe expression of the differential index is +.>Wherein->The ratio of the distance deviation value to the speed deviation value and the direction deviation value are respectively proportional coefficients, and are +.>Are all greater than 0.
When the difference index exceeds the difference threshold, indicating that the ship AIS system for transmitting AIS broadcast signals has faults and the data is not credible; and when the difference index does not exceed the difference threshold, the ship AIS system sending the AIS broadcast signal is indicated to work normally, and the data is credible.
For the adjacent ships with AIS system faults, broadcasting alarm is directly carried out on the adjacent ships through the adjustment processing module, verification data are uploaded to a maritime management mechanism for recording, and when a predicted route of a radar intersects with a construction ship operation buffer area, risk avoidance measures are taken to avoid collision accidents;
and for the normal approaching ship of the AIS system, a risk judgment model is established according to the deduction judgment module, the risk coefficient of construction operation is calculated, and the risk grade is divided according to the comparison result of the risk coefficient and the risk threshold value.
Example 2: the risk judgment model established by the deduction judgment module is formed according to the state data of the construction ship and the state data of other ships in the adjacent sea area, the construction ship in the working state is regulated with the working buffer distance according to the property and the working condition of the construction ship, the working buffer distance is taken as the circle center, the working buffer area is divided by taking the working buffer distance as the radius, the navigational speed projection coefficient of the adjacent ship and the average mileage change rate of the periodical clustering centroid of the adjacent ship are calculated, the risk coefficient model is established, and the risk coefficient is calculated by the following method:
the risk factor is expressed asWherein Ar is the area of a working buffer area, pr is the navigational speed projection coefficient, cl is the average mileage change rate of periodic clustering centroid, and +.>The ratio coefficients of the area of the operation buffer area, the navigational speed projection coefficient and the average mileage change rate of the periodical clustering centroid are respectively +.>Are all greater than 0.
The area of the operation buffer area takes the construction ship coordinates as the center of a circle, the operation buffer distance as the radius, the calibration operation buffer distance is R, and the calculation expression is；
The navigational speed projection coefficient is the sum of the products of the navigational speed of the adjacent ships and the length and the width of the ships, the adjacent ships are numbered as d, and the value range of d isWherein n is a positive integer, the length of the adjacent ship obtained by broadcasting is L, the width of the adjacent ship is W, the speed of the adjacent ship obtained by a radar scanning system is V, and the expression is +.>The more the number of the ships in the adjacent sea area, the faster the line speed of the adjacent ships, the larger the size of the adjacent ships, the larger the line speed projection coefficient, and the higher the risk coefficient;
the average mileage change rate of the periodic clustering centroid is used for describing the average distance change rate state of the clustering centroid of the adjacent sea area ship from the construction ship according to a clustering algorithm, a binary k-means algorithm is used for clustering and dividing, based on an SSE minimization principle, an AIS broadcast coverage area and a superposition area of a construction ship radar scanning system are used as cluster areas, all adjacent ship coordinate positions in the areas are used as data points of the same cluster, the cluster is divided into two parts with the aim of reducing SSE, so that SSE values can be reduced to the greatest extent as a division result, namely, the square sum of clustered clusters from the clustering center of the cluster is minimum, and for adjacent ships in the superposition area, the specific processing process is as follows:
taking the position information of all adjacent ships in the overlapping range as the same cluster, and taking the number of the adjacent ships as m;
g is used as the quantity of cluster centroids, SSE effect evaluation method is applied to calculate total cluster errors, and SSE calculation formula is thatWherein E is the sum of squares of the errors, < >>Barycenter (barycenter)>Is->The set of the included objects, q is the position data point of a certain adjacent ship in the cluster, +.>For q and centroid->Is a distance of (2);
taking g=2, and clustering and dividing clusters;
calculating total error after two-mean clustering division, namely the sum of the error of two clusters after division and the error of other residual sets;
selecting a cluster with the smallest SSE after division, and carrying out cluster division of g=2 again;
when the original cluster is cohesive with centroidAt this time, the two-means division is stopped and +.>。
Obtaining the mass center position of the cluster of the adjacent ships through the stepsMarking the distance between each cluster centroid position and the mileage of the construction ship, wherein the distance between each cluster centroid and the construction ship is Ad, d is the number of each cluster centroid, and the value range of d isWherein j is a positive integer, the average mileage of the cluster centroid from the construction ship is +.>The average mileage of the cluster centroid from the construction ship is numbered as +.f according to the time sequence with the period as T>Wherein the value range of i isWherein f is a positive integer, the expression of the mean change rate of the periodic clustering centroid mileage is +.>Wherein->The average mileage between the centers of mass of two adjacent clusters sequenced in time sequence and the construction ship is represented by T, and the period time is represented by T.
When Cl is greater than 0, the distribution change of the ship taking the construction ship as a core in the adjacent sea area is shown to be looser;
when Cl is equal to 0, the distribution of the adjacent sea area ships taking the construction ship as a core is not changed in the density degree;
when Cl is less than 0, it is indicated that the distribution of the adjacent sea area vessels with the construction vessel as a core changes more closely.
According to the method, the operation buffer area is divided through the operation buffer radius of the construction ship, the area of the operation buffer area is calculated, the navigational speed projection coefficients of the ships in the adjacent sea areas are calculated through the acquisition results of AIS broadcast signals and radar scanning signals, the cluster analysis is carried out on the ships in the adjacent sea areas through a binary k-means algorithm, the cluster centroid is extracted, the mileage mean change rate of the cluster centroid and the construction ship is calculated, a risk coefficient model is constructed, and therefore the risk coefficient is calculated, comprehensive analysis can be carried out by combining the self properties of the construction ship and the motion states of other ships in the adjacent sea areas, and the offshore risk coefficient of the construction ship in the construction state is reasonably calculated.
Example 3: after a risk coefficient model is constructed, calculating a risk coefficient, comparing the risk coefficient obtained through calculation with a first threshold value of the risk coefficient and a second threshold value of the risk coefficient, when the risk coefficient is larger than or equal to the first threshold value of the risk coefficient, determining that a ship line intersection risk exists between a construction ship and an adjacent ship, determining that the ship line intersection risk is an S1-level risk, broadcasting an emergency AIS (automatic identification system) on the S1-level risk, uploading recorded data to a maritime work management mechanism, and carrying out warning call on the approaching ship in the adjacent sea area;
when the risk coefficient is between the first threshold value of the risk coefficient and the second threshold value of the risk coefficient, the construction ship and the adjacent ship have construction obstruction risks, the construction obstruction risks are classified into S2-level risks, and the S2-level risks are subjected to half-period AIS broadcasting to announce the coordinates and the range of the construction area;
when the risk coefficient is smaller than or equal to the risk coefficient second threshold, the construction ship and the adjacent ship are in a stable observation state, the stable observation state is classified as S3-level risk, special processing operation is not performed on the S3-level risk, and the AIS signal is kept to be received and radar scanning detection is performed.
According to the method and the device for classifying the sharing states, the sharing states are classified and graded according to the comparison result of the risk coefficient and the risk coefficient threshold value, corresponding countermeasures are adopted according to different levels of the risk states, the working state of the construction ship can be safely ensured not to be affected, the working efficiency of the construction ship is improved, and the safety of the adjacent sea areas is improved.
The above formulas are all formulas with dimensions removed and numerical values calculated, the formulas are formulas with a large amount of data collected for software simulation to obtain the latest real situation, and preset parameters in the formulas are set by those skilled in the art according to the actual situation.
The above embodiments may be implemented in whole or in part by software, hardware, firmware, or any other combination. When implemented in software, the above-described embodiments may be implemented in whole or in part in the form of computer program product. The computer program product comprises one or more computer instructions or computer programs. When the computer instructions or computer program are loaded or executed on a computer, the processes or functions described in accordance with the embodiments of the present application are all or partially produced. The computer may be a general purpose computer, a special purpose computer, a computer network, or other programmable apparatus. The computer instructions may be stored in a computer-readable storage medium or transmitted from one computer-readable storage medium to another computer-readable storage medium, for example, the computer instructions may be transmitted from one website site, computer, server, or data center to another website site, computer, server, or data center by wired or wireless means (e.g., infrared, wireless, microwave, etc.). The computer readable storage medium may be any available medium that can be accessed by a computer or a data storage device such as a server, data center, etc. that contains one or more sets of available media. The usable medium may be a magnetic medium (e.g., floppy disk, hard disk, magnetic tape), an optical medium (e.g., DVD), or a semiconductor medium. The semiconductor medium may be a solid state disk.
It should be understood that, in various embodiments of the present application, the sequence numbers of the foregoing processes do not mean the order of execution, and the order of execution of the processes should be determined by the functions and internal logic thereof, and should not constitute any limitation on the implementation process of the embodiments of the present application.
Those of ordinary skill in the art will appreciate that the various illustrative elements and algorithm steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware, or combinations of computer software and electronic hardware. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the solution. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present application.
It will be clearly understood by those skilled in the art that, for convenience and brevity of description, the specific working process of the above-described system may refer to the corresponding process in the foregoing method embodiment, which is not repeated herein.
In the several embodiments provided in this application, it should be understood that the disclosed system may be implemented in other ways. For example, the apparatus embodiments described above are merely illustrative, e.g., the division of the units is merely a logical function division, and there may be additional divisions when actually implemented, e.g., multiple units or components may be combined or integrated into another system, or some features may be omitted or not performed. Alternatively, the coupling or direct coupling or communication connection shown or discussed with each other may be an indirect coupling or communication connection via some interfaces, devices or units, which may be in electrical, mechanical or other form.
The units described as separate units may or may not be physically separate, and units shown as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.
In addition, each functional unit in each embodiment of the present application may be integrated in one processing unit, or each unit may exist alone physically, or two or more units may be integrated in one unit.
The functions, if implemented in the form of software functional units and sold or used as stand-alone goods, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present application 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 software goods stored in a storage medium, including several instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the methods described in the embodiments of the present application. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a read-only memory (ROM), a random access memory (random access memory, RAM), a magnetic disk, or an optical disk, or other various media capable of storing program codes.
The foregoing is merely specific embodiments of the present application, but the scope of the present application is not limited thereto, and any person skilled in the art can easily think about changes or substitutions within the technical scope of the present application, and the changes and substitutions are intended to be covered by the scope of the present application. Therefore, the protection scope of the present application shall be subject to the protection scope of the claims.
Claims (3)
1. Marine construction ship security protection system based on radar, AIS gather location, its characterized in that: the system comprises a data acquisition module, an information verification module, a deduction judgment module and an adjustment processing module;
the data acquisition module is used for collecting radar detection data of the construction ship and AIS broadcast data of adjacent ships, and preprocessing the data;
the information verification module is used for verifying and comparing AIS broadcast data according to radar detection data, if the data verification result is abnormal, modeling is not carried out through the deduction judgment module, classification processing is directly carried out through the adjustment processing module, if the data verification result is normal, modeling is carried out through the deduction judgment module, and then analysis is carried out through the adjustment processing module;
the method for comparing and verifying the collected data by the information verification module comprises the following steps:
calibrating the distance between the adjacent ship and the construction ship as S, the navigation speed of the adjacent ship as V, the navigation direction of the adjacent ship as D, and taking the deviation value of the distance received by the AIS system and the distance obtained by radar scanning asThe deviation value of the speed received by the AIS system and the speed obtained by radar scanning is +.>The deviation value of the direction received by the AIS system and the direction acquired by the radar is +.>The expression of the differential index is +.>Wherein->The ratio of the distance deviation value to the speed deviation value and the direction deviation value are respectively proportional coefficients, and are +.>Are all greater than 0;
when the difference index exceeds the difference threshold, indicating that the ship AIS system which transmits the AIS broadcast signal has faults and the data is abnormal; when the difference index does not exceed the difference threshold, the ship AIS system sending the AIS broadcast signals is indicated to work normally, and the data are reliable;
the deduction judging module is used for establishing a construction operation buffer area according to construction ship positioning, calculating navigational speed projection coefficients of other ships and average mileage change rate of periodic clustering centroids according to AIS broadcast signals and radar data, establishing a risk coefficient model and calculating a risk coefficient;
establishing logic of risk coefficient model:
the risk factor is expressed asWherein Ar is the area of a working buffer area, pr is the navigational speed projection coefficient, cl is the average mileage change rate of periodic clustering centroid, and +.>The ratio coefficients of the area of the operation buffer area, the navigational speed projection coefficient and the average mileage change rate of the periodical clustering centroid are respectively +.>Are all greater than 0;
the calculation method of the area of the operation buffer area comprises the following steps:
defining a working buffer distance for a construction ship in a construction state, wherein the working buffer area takes the coordinates of the construction ship as a circle center, takes the working buffer distance as a radius, and the working buffer distance is defined as R, and the calculation expression of the area of the working buffer area is；
The calculation method of the navigational speed projection coefficient comprises the following steps:
the navigational speed projection coefficient is the sum of the products of the navigational speed of the adjacent ships and the length and the width of the ships, the adjacent ships are numbered as d, and the value range of d isWherein n is a positive integer, the length of the adjacent ship obtained by AIS broadcasting is L, the width of the adjacent ship is W, the speed of the adjacent ship obtained by a radar scanning system is V, and the expression is +.>The more the number of vessels in the adjacent sea area, the faster the line speed of the adjacent vessels, and the larger the size of the adjacent vessels, the larger the line speed projection coefficient;
the calculation method of the average mileage change rate of the periodical clustering centroid comprises the following steps:
clustering based on SSE (automatic identification System) minimization principle by using a binary k-means algorithm, taking an overlapping area of AIS broadcast coverage and a construction ship radar scanning system as a cluster range, taking all adjacent ship coordinate positions in the range as identical cluster data points, performing binary processing on the data cluster with the aim of reducing SSE, obtaining cluster centroid positions of adjacent ships, and then marking mileage distances between each cluster centroid position and the construction ship, wherein the distance between the cluster centroid and the construction ship is Ad, d is the number of each cluster centroid, and the value range of d isWherein j is a positive integer, the average mileage of the cluster centroid from the construction ship is +.>The average mileage of the cluster centroid from the construction ship is numbered as +.f according to the time sequence with the period as T>Wherein i has a value in the range +.>Wherein f is a positive integer, the expression of the mean change rate of the periodic clustering centroid mileage is +.>Wherein->The average mileage between the centers of mass of two adjacent clusters sequenced according to time sequence and the construction ship is represented by T, wherein T is the period time;
the adjustment processing module is used for grading the risk state according to the comparison of the risk coefficient and the risk coefficient threshold value, and performing reaction operation according to different risk grades so as to avoid the inclusion of marine accidents.
2. The radar-AIS acquisition and positioning-based marine construction ship security system according to claim 1, wherein: logic for grading the risk state according to the risk coefficient;
when the risk coefficient is greater than or equal to a first threshold value of the risk coefficient, the construction ship and the adjacent ship have the risk of the line intersection, and the risk of the line intersection is classified as S1-class risk;
when the risk coefficient is between the first threshold value and the second threshold value, the construction ship and the adjacent ship have construction blocking risks, and the construction blocking risks are classified as S2-class risks;
and when the risk coefficient is smaller than or equal to the risk coefficient second threshold value, the construction ship and the adjacent ship are in a stable observation state, and the stable observation state is classified as S3-level risk.
3. The marine construction ship security system based on radar and AIS acquisition and positioning according to claim 2, wherein: logic for performing a reaction process according to the risk status level;
performing emergency AIS broadcasting on the S1-level risk, uploading recorded data to a maritime management mechanism, and performing warning call sign on ships in the adjacent sea area;
carrying out half-period AIS broadcasting on the S2-level risk, and informing the coordinates and the range of the construction area;
and (3) carrying out radar scanning detection on the S3-level risk without special processing operation and keeping receiving the AIS signal.
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