CN117851655A - Ship track missing data complement method and system based on multi-algorithm coupling - Google Patents
Ship track missing data complement method and system based on multi-algorithm coupling Download PDFInfo
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Abstract
The invention discloses a ship track missing data complement method and system based on multi-algorithm coupling, wherein the method comprises the following steps: acquiring navigation point position data of a ship to be processed and all land elements on a map, obtaining a plurality of sections of ship track subsections according to the navigation point position data, and obtaining a plurality of sections of abnormal track subsections; acquiring endpoint information corresponding to each abnormal track subsection, and acquiring network node information corresponding to the endpoint information of each abnormal track subsection according to a pre-constructed typical channel network diagram; and configuring an A star algorithm, carrying out path planning operation on each network node information according to the A star algorithm to obtain an optimal path of each abnormal track subsection, and completing the ship track of the ship to be processed according to all the optimal paths. The invention can quickly and efficiently find the optimal path, improves the data complement efficiency, and improves the data complement accuracy by constructing the typical channel network diagram.
Description
Technical Field
The invention relates to the technical field of ship track data, in particular to a ship track missing data complement method, a system, a terminal and a computer readable storage medium based on multi-algorithm coupling.
Background
Currently, an automatic ship positioning system (Automatic identification System, AIS) is widely used for tracking and identifying ships, in the AIS, the updating frequency of the ship position is within 10 minutes, but due to equipment failure, communication interference, manual operation and other reasons, AIS data may be lost or wrong, so that historical ship positioning data of a part of sea areas are sparse and incoherent, and at the moment, data complementation needs to be carried out between ship track points with large time intervals or long distances so as to better know and analyze the actual ship movement track.
The main methods of AIS track data completion at present comprise an automatic completion method and a manual intervention method, the former mainly comprises a track data completion method based on navigation information interpolation and a track data completion method combined with numerical interpolation, and when the two methods process track data, an important assumption is often based on: the ship does not span land between the track points. Although simplifying the data processing process, the assumption has obvious limitation in practical application, and cannot effectively restore the actual sailing situation of the ship around the land, so that obvious abnormality and distortion occur in the track tracking of the area, thereby influencing the authenticity and usability of the track data.
Compared with the automatic complement method, the manual intervention method tries to carry out path planning by combining with the manually set channel grid so as to correct and complement the ship track data related to the land area. The method can consider the actual sailing situation of the ship around the land to a certain extent, thereby improving the accuracy of data completion. However, the manual intervention method not only consumes a great deal of time and labor cost, but also is difficult to ensure the accuracy and reliability of the complement trajectory in actual operation because of not considering the navigation rules and modes contained in the original navigation data.
Accordingly, the prior art is still in need of improvement and development.
Disclosure of Invention
The invention mainly aims to provide a ship track missing data complementing method, system, terminal and computer readable storage medium based on multi-algorithm coupling, and aims to solve the problems of low efficiency and poor accuracy in complementing ship track data related to land areas, and abnormal and distorted ship track after complementing in the prior art.
In order to achieve the above purpose, the invention provides a ship track missing data complement method based on multi-algorithm coupling, which comprises the following steps:
Acquiring navigation point position data of a ship to be processed and all land elements on a map, and acquiring a plurality of sections of ship track subsections according to the navigation point position data;
according to a space query method, each ship track subsection is intersected with all land elements to obtain a plurality of abnormal track subsections;
acquiring endpoint information corresponding to each abnormal track sub-segment, and acquiring network node information corresponding to the endpoint information of each abnormal track sub-segment according to a pre-constructed typical channel network diagram;
and configuring an A star algorithm, carrying out path planning operation on each network node information according to the A star algorithm to obtain an optimal path of each abnormal track subsection, and complementing the ship track of the ship to be processed according to all the optimal paths.
Optionally, the method for supplementing missing data of ship track based on multi-algorithm coupling, wherein the acquiring navigation point position data of the ship to be processed and all land elements on the map, and obtaining a plurality of segments of ship track subsections according to the navigation point position data, specifically includes:
acquiring navigation point position data of the ship to be processed from a preset ship track database, and acquiring all land elements from the map;
Acquiring all navigation points of the navigation point data, and acquiring a time stamp corresponding to each navigation point;
and sequencing all the navigation points according to all the timestamps, and connecting two navigation points with adjacent timestamps to obtain a plurality of sections of ship track subsections.
Optionally, in the method for supplementing missing data of a ship track based on multi-algorithm coupling, the intersecting judgment is performed on each section of the ship track subsections and all the land elements according to a space query method to obtain a plurality of sections of abnormal track subsections, which specifically includes:
according to the space query method, respectively carrying out space query on line-plane intersection of each ship track subsection and all land elements, and judging whether the ship track subsection is intersected with the land elements or not;
if the ship track subsections are intersected with the land elements, performing abnormal marking processing on the corresponding ship track subsections;
and after the ship track subsections are processed, taking all the ship track subsections with the abnormal marks as abnormal track subsections.
Optionally, in the method for supplementing missing data of ship track based on multi-algorithm coupling, the acquiring endpoint information corresponding to each section of the abnormal track sub-section, and acquiring network node information corresponding to the endpoint information of each section of the abnormal track sub-section according to a pre-constructed typical channel network diagram specifically includes:
Acquiring endpoint information corresponding to each abnormal track subsection, wherein the endpoint information comprises a starting endpoint and an ending endpoint;
respectively carrying out matching operation on a starting endpoint and an ending endpoint of each abnormal track subsection according to a pre-constructed typical channel network diagram to obtain a starting network node with the shortest distance from the starting endpoint of each abnormal track subsection and an ending network node with the shortest distance from the ending endpoint of each abnormal track subsection;
integrating the starting network node and the ending network node corresponding to each abnormal track sub-segment to obtain the network node information corresponding to each abnormal track sub-segment.
Optionally, in the method for supplementing missing data of a ship track based on multi-algorithm coupling, the configuration of an a-star algorithm and path planning operation on each piece of network node information according to the a-star algorithm are performed to obtain an optimal path of each piece of abnormal track subsections, which specifically includes:
taking Euclidean distance as a cost function of an A star algorithm, and taking Manhattan distance as a heuristic function of the A star algorithm to finish configuration of the A star algorithm;
acquiring a plurality of first connection nodes directly connected with the starting network node of each abnormal track subsection, respectively calculating first Euclidean distances between the starting network node of each abnormal track subsection and each first connection node, and calculating first Manhattan distances between the ending network node and each first connection node;
Calculating a first total cost corresponding to each first connecting node according to a first Euclidean distance and a first Manhattan distance corresponding to each first connecting node, and acquiring a first target point of each abnormal track subsection according to all the first total costs;
and acquiring a plurality of second connecting nodes which are directly connected with the first target points of the abnormal track subsections of each section, … …, and completing the path planning operation of the abnormal track subsections of each section until reaching the end network node, so as to obtain the optimal path of the abnormal track subsections of each section.
Optionally, the method for supplementing missing data of ship tracks based on multi-algorithm coupling, wherein the supplementing the ship tracks of the ship to be processed according to all the optimal paths specifically includes:
connecting the starting end point of each abnormal track subsection with the corresponding starting network node of the optimal path;
connecting the end point of each abnormal track subsection with the corresponding end network node of the optimal path;
and after the starting end points and the ending end points of all the abnormal track subsections are respectively connected with the corresponding optimal paths, completing the completion of the ship track of the ship to be processed.
Optionally, the method for supplementing missing data of ship tracks based on multi-algorithm coupling, wherein the construction process of the typical channel network diagram specifically includes:
acquiring navigation point position data of all ships from a preset ship track database, and performing data cleaning operation on all the navigation point position data to obtain an initial navigation point set;
performing spatial clustering denoising operation on the initial navigation point set to obtain a high-density navigation point set corresponding to the initial navigation point set;
dividing the high-density navigation point set into a preset number of clusters according to a clustering algorithm, and acquiring the central point position information of each cluster;
performing triangulation operation according to all the central point position information to obtain a triangular network diagram;
and judging the intersection of all line elements in the triangular network diagram and all land elements, taking the line elements which do not intersect with all land elements as final line elements, and constructing a typical channel network diagram according to all the final line elements.
In addition, in order to achieve the above purpose, the present invention further provides a ship track missing data complement system based on multi-algorithm coupling, wherein the ship track missing data complement system based on multi-algorithm coupling comprises:
The track subsection obtaining module is used for obtaining navigation point position data of the ship to be processed and all land elements on the map, and obtaining a plurality of sections of ship track subsections according to the navigation point position data;
the abnormal track judging module is used for respectively carrying out intersection judgment on each section of the ship track subsections and all the land elements according to a space query method to obtain a plurality of sections of abnormal track subsections;
the node information acquisition module is used for acquiring the endpoint information corresponding to each section of the abnormal track sub-section and acquiring the network node information corresponding to the endpoint information of each section of the abnormal track sub-section according to a pre-constructed typical channel network diagram;
and the ship track completion module is used for configuring an A star algorithm, carrying out path planning operation on the information of each network node according to the A star algorithm to obtain an optimal path of each abnormal track subsection, and completing the ship track of the ship to be processed according to all the optimal paths.
In addition, to achieve the above object, the present invention also provides a terminal, wherein the terminal includes: the system comprises a memory, a processor and a multi-algorithm coupling-based ship track missing data complement program which is stored in the memory and can run on the processor, wherein the multi-algorithm coupling-based ship track missing data complement program realizes the steps of the multi-algorithm coupling-based ship track missing data complement method when being executed by the processor.
In addition, in order to achieve the above object, the present invention also provides a computer readable storage medium, wherein the computer readable storage medium stores a ship track missing data complement program based on multi-algorithm coupling, and the ship track missing data complement program based on multi-algorithm coupling realizes the steps of the ship track missing data complement method based on multi-algorithm coupling as described above when being executed by a processor.
In the invention, navigation point position data of a ship to be processed and all land elements on a map are obtained, and a plurality of sections of ship track subsections are obtained according to the navigation point position data; according to a space query method, each ship track subsection is intersected with all land elements to obtain a plurality of abnormal track subsections; acquiring endpoint information corresponding to each abnormal track sub-segment, and acquiring network node information corresponding to the endpoint information of each abnormal track sub-segment according to a pre-constructed typical channel network diagram; and configuring an A star algorithm, carrying out path planning operation on each network node information according to the A star algorithm to obtain an optimal path of each abnormal track subsection, and complementing the ship track of the ship to be processed according to all the optimal paths. According to the invention, heuristic search and optimal preferential search are realized through the A star algorithm, so that an optimal path can be quickly and efficiently found, the processing efficiency of missing data completion on a ship track with large data volume is improved, more accurate support can be provided for data completion by constructing a typical channel network diagram, a great amount of time and effort consumed by manually setting channels are avoided, the data completion efficiency is further improved, and the data completion accuracy is also improved.
Drawings
FIG. 1 is a flow chart of a preferred embodiment of the ship track missing data completion method based on multi-algorithm coupling of the present invention;
FIG. 2 is a schematic diagram of a preferred embodiment of the ship track missing data completion system based on multi-algorithm coupling of the present invention;
FIG. 3 is a schematic diagram of the operating environment of a preferred embodiment of the terminal of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more clear and clear, the present invention will be further described in detail below with reference to the accompanying drawings and examples. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the invention.
The ship track missing data complement method based on multi-algorithm coupling according to the preferred embodiment of the invention, as shown in fig. 1, comprises the following steps:
and S10, acquiring navigation point position data of the ship to be processed and all land elements on the map, and obtaining a plurality of sections of ship track subsections according to the navigation point position data.
Specifically, in the preferred embodiment of the present invention, a ship track missing data complement system (hereinafter, collectively referred to as a complement system) will first acquire navigation point position data of a certain ship to be processed, where the navigation point position data includes position information and time stamps of a plurality of navigation points of the ship to be processed; acquiring all land elements on the map, wherein the land elements are actually all lands on the map, such as Asian land elements, north America land elements and the like; and then, carrying out corresponding processing on the navigation point position data to obtain a plurality of sections of ship track subsections corresponding to the ship to be processed.
Further, the acquiring navigation point position data of the ship to be processed and all land elements on the map, and obtaining a plurality of sections of ship track subsections according to the navigation point position data specifically includes:
acquiring navigation point position data of the ship to be processed from a preset ship track database, and acquiring all land elements from the map; acquiring all navigation points of the navigation point data, and acquiring a time stamp corresponding to each navigation point; and sequencing all the navigation points according to all the timestamps, and connecting two navigation points with adjacent timestamps to obtain a plurality of sections of ship track subsections.
Specifically, the completion system acquires navigation point position data of all ships from a preset ship track database (AIS database), wherein the file format in the AIS database is csv (character separation value) format, the navigation point position data of each ship comprises position information (ship longitude and latitude), time stamp, ship number and other information of a plurality of corresponding navigation points, and the completion system acquires the navigation point position data of the ship to be processed, which needs to be completed, according to the requirements of users; and then acquiring all land elements from the map, wherein the land elements are relevant position information of all lands (including islands).
And then obtaining the corresponding time stamps of all navigation points (namely the discrete navigation point data of the historical ship) in the navigation points of the ship to be processed, sequencing the navigation points according to the time stamps, connecting the two navigation points by using two adjacent time stamps, and after all the navigation points are connected, indicating that all the ship track subsections of the ship to be processed are constructed.
As an example, the completion system obtains all navigation points in navigation data of a certain ship (denoted as a ship a), and then sequences all navigation points according to the time stamp to obtain the position sequence of navigation of the ship a on a certain day, wherein the sequence is as follows: (113.77 DEG N,22.39 DEG E), (114.48 DEG N,22.28 DEG E), (114.88 DEG N,22.27 DEG E), (115.24 DEG N,22.29 DEG E) … …, and then connecting every two adjacent time stamped navigation points as a first ship track subsection, for example, a first ship track subsection formed by navigation points corresponding to a first time stamp and a second time stamp, is: (113.77 DEG N,22.39 DEG E) - (114.48 DEG N,22.28 DEG E), wherein the second ship track subsection formed by the navigation points corresponding to the second time stamp and the third time stamp is as follows: (114.48 DEG N,22.28 DEG E) - (114.88 DEG N,22.27 DEG E), and so on, until the navigation point corresponding to the last time stamp of vessel A is connected, the construction of the vessel track subsection of vessel A is completed.
And S20, respectively carrying out intersection judgment on each ship track subsection and all land elements according to a space query method to obtain a plurality of abnormal track subsections.
In particular, in the preferred embodiment of the present invention, a spatial query method based on a spatial data index R-Tree is mainly used, and the R-Tree is a Tree-shaped data structure that can efficiently store and query spatial data, which is very useful for processing a large amount of ship trajectory data.
And the completion system carries out intersection judgment on each ship track subsection and the land elements acquired in advance, screens out ship track subsections intersected with the land, and marks the ship track subsections as data-missing abnormal track subsections which relate to the land area and need data completion.
Further, the intersecting judgment is performed on each section of the ship track subsections and all the land elements according to a space query method to obtain a plurality of sections of abnormal track subsections, which specifically comprises:
according to the space query method, respectively carrying out space query on line-plane intersection of each ship track subsection and all land elements, and judging whether the ship track subsection is intersected with the land elements or not; if the ship track subsections are intersected with the land elements, performing abnormal marking processing on the corresponding ship track subsections; and after the ship track subsections are processed, taking all the ship track subsections with the abnormal marks as abnormal track subsections.
Specifically, the completion system uses a space query method based on a space index R-Tree to perform space query of intersection of line surfaces of each ship track subsection and all land elements, namely actually taking each ship track subsection as a line element, and then performing intersection judgment on the line element and the land corresponding surface element; if the ship track subsections are intersected with the land elements, the ship track subsections intersected with the land elements are subjected to abnormal marking, after all the ship track subsections are intersected, all the ship track subsections with abnormal marks are used as abnormal track subsections which are required to be subjected to missing data completion subsequently, the intersection of the ship track subsections and the land elements is judged by an R-Tree space inquiring method, so that space data can be efficiently stored and inquired, a large amount of ship track data can be processed, the efficiency of judging the abnormal track subsections is improved, the misjudgment or omission judgment is avoided, the accuracy of judging the abnormal track subsections is improved, more complex ship track analysis requirements can be met, and the flexibility of a system is improved.
As an example, after performing a spatial query of intersection of all ship track subsections of the ship a with all land elements, the ship track subsections are found: (113.77 DEG N,22.39 DEG E) - (114.48 DEG N,22.28 DEG E) intersects a land element, then the ship track sub-section is identified as abnormal and marked (e.g., in the ship track sub-section's stored file, "abnormal" in the row corresponding to the ship track sub-section represents "column mark" 1 ").
And step S30, acquiring endpoint information corresponding to the abnormal track subsections of each section, and acquiring network node information corresponding to the endpoint information of the abnormal track subsections of each section according to a pre-constructed typical channel network diagram.
Specifically, in the preferred embodiment of the present invention, the completion system acquires endpoint information corresponding to each abnormal track subsection, where the endpoint information is actually a start endpoint (coordinate) and an end endpoint (coordinate) of the abnormal track subsection; and then acquiring network node information corresponding to the endpoint information of each abnormal track subsection according to a pre-constructed typical channel network diagram.
Further, the obtaining endpoint information corresponding to the abnormal track subsections of each section, and obtaining network node information corresponding to the endpoint information of the abnormal track subsections of each section according to a pre-constructed typical channel network diagram specifically includes:
acquiring endpoint information corresponding to each abnormal track subsection, wherein the endpoint information comprises a starting endpoint and an ending endpoint; respectively carrying out matching operation on a starting endpoint and an ending endpoint of each abnormal track subsection according to a pre-constructed typical channel network diagram to obtain a starting network node with the shortest distance from the starting endpoint of each abnormal track subsection and an ending network node with the shortest distance from the ending endpoint of each abnormal track subsection; integrating the starting network node and the ending network node corresponding to each abnormal track sub-segment to obtain the network node information corresponding to each abnormal track sub-segment.
Specifically, the completion system acquires a start endpoint and an end endpoint of each abnormal track sub-segment, performs a matching operation through a pre-constructed typical channel network graph, matches two network nodes closest to the start endpoint and the end endpoint (for example, a network node closest to the start endpoint and the end endpoint can be calculated by using a two-point distance function), is called a start network node, and is called an end network node, so that a start network node and an end network node corresponding to each abnormal track sub-segment can be obtained, and finally integrates the start network node and the end network node of each abnormal track sub-segment to obtain network node information corresponding to each abnormal track sub-segment.
By way of example, the abnormal trajectory subsections have been represented as described above: (113.77 DEG N,22.39 DEG E) - (114.48 DEG E, 22.28 DEG E), the abnormal track subsection having a start end point (113.77 DEG N,22.39 DEG E), an end point (114.48 DEG N,22.28 DEG E), the complementing system searching for two network nodes closest to the two end points on a typical channel network map, the final searching for the start network node (113.80 DEG N,22.30 DEG E), and the end network node (114.50 DEG N,22.30 DEG E).
It should be noted that if the network nodes to which the start endpoint and the end endpoint are matched are the same, the matching result with a shorter distance will be retained, and the other endpoint will be matched to the network node next closest thereto. For example, assuming that the network nodes to which the start endpoint (113.77 °n,22.39 °e) and the end endpoint (114.48 °n,22.28°e) are matched are both (114.50 °n,22.30°e), i.e., the network node is closest to the start endpoint and the end endpoint (relative to the remaining network nodes), but the network node is closer to the start endpoint, then the network node is taken as the start network node to which the start endpoint corresponds, and the end endpoint needs to be re-matched with a new network node; the end point is matched again, the network node (115.00 DEG N,22.40 DEG E) next closest to the end point (second closest) is obtained, and the next closest network node is taken as the end network node.
And S40, configuring an A star algorithm, carrying out path planning operation on each piece of network node information according to the A star algorithm to obtain an optimal path of each section of abnormal track subsection, and complementing the ship track of the ship to be processed according to all the optimal paths.
Specifically, in the preferred embodiment of the present invention, the completing system configures an a star algorithm, the a star algorithm (a star algorithm) is a rough path planning algorithm based on sampling search, after the completing system configures the a star algorithm, path planning operation is performed on network node information of each section of abnormal track subsections according to the a star algorithm, so as to obtain an optimal path of each section of abnormal track subsections, and finally, data completion is performed on a ship track of a ship to be processed according to each optimal path.
Further, the configuration of the a star algorithm, and the path planning operation on each network node information according to the a star algorithm, to obtain an optimal path of each abnormal track subsection, specifically includes:
taking Euclidean distance as a cost function of an A star algorithm, and taking Manhattan distance as a heuristic function of the A star algorithm to finish configuration of the A star algorithm; acquiring a plurality of first connection nodes directly connected with the starting network node of each abnormal track subsection, respectively calculating first Euclidean distances between the starting network node of each abnormal track subsection and each first connection node, and calculating first Manhattan distances between the ending network node and each first connection node; calculating a first total cost corresponding to each first connecting node according to a first Euclidean distance and a first Manhattan distance corresponding to each first connecting node, and acquiring a first target point of each abnormal track subsection according to all the first total costs; and acquiring a plurality of second connecting nodes which are directly connected with the first target points of the abnormal track subsections of each section, … …, and completing the path planning operation of the abnormal track subsections of each section until reaching the end network node, so as to obtain the optimal path of the abnormal track subsections of each section.
Specifically, the completion system takes Euclidean distance as a cost function of an A star algorithm, and Manhattan distance as a heuristic function of the A star algorithm, so that configuration of the A star algorithm is completed, and after the A star algorithm is completed in configuration, path planning operation is carried out on each abnormal track subsection according to the A star algorithm.
In the process of executing the A star algorithm, the completion system firstly acquires a plurality of first connected nodes directly connected with a starting network node of each abnormal track subsection, namely a plurality of nodes adjacent to the starting network node, then calculates Euclidean distance from each first connected node to the starting network node, calculates Manhattan distance from each first connected node to an ending network node, measures actual path distance from the starting network node to a target node, reflects straight line distance from one point to another point, and uses Manhattan distance to estimate expected distance from the target node to the ending network node, wherein the Manhattan distance is used as a heuristic estimation, and can provide minimum cost estimation required for reaching the ending network node.
And then, calculating the first total cost of each first connected node according to the Euclidean distance and the Manhattan distance of each first connected node, namely, calculating the first total cost of a plurality of corresponding first connected nodes for each abnormal track subsection, selecting the first connected node with the minimum first total cost as a first target point, and taking the first target point as a starting node of the next step.
Obtaining a plurality of second interlinking nodes directly connected with the first target point of each abnormal track subsection, then calculating a second Euclidean distance between each second interlinking node and the first target point, then calculating a second Manhattan distance from each second interlinking node to the ending network node, thus calculating a second total cost according to the second Euclidean distance and the second Manhattan distance of each second interlinking node, then selecting the second interlinking node with the minimum second total cost in each abnormal track subsection as the second target point, taking the second target point as the starting node of the next step, … …, and repeating the steps until the calculation reaches the ending network node, wherein the path formed by all the obtained target points (the first target point and the second target point … … N target point) is the optimal path of each abnormal track subsection.
By way of example, for example, the longitude and latitude coordinates of the starting network node are (x 1 ，y 1 ) The end network node has a longitude and latitude coordinate (x 2 ，y 2 ) The node directly connected to the starting network node is a (x a ，y b ）、B（x b ，y b ) And C (x) c ，y c ) Three points, the cost value of a specified node A, B, C (current network node) moving from a start point (starting network node) to a directly connected node using the euclidean distance of the projected coordinates of the two points is calculated as: The method comprises the steps of carrying out a first treatment on the surface of the Then, the Manhattan distance (Manhattan Distance) is used as a heuristic function to restrict the path trend, wherein the Manhattan distance is the sum of absolute values of the difference of coordinates between two network nodes, namely, the distances in the horizontal direction and the vertical direction are added, and a specific calculation formula is as follows: manhattanDistance=|x a –x 2 | + |y a –y 2 After the calculation is completed, the point with the minimum cost is selected from three points A, B, C, for example, the point with the minimum cost is a as a first target point, a is taken as a starting node, two points of a node D, E directly connected with a are taken as candidate points of a second target point, and the calculation and the selection are performed in the above manner until the network node is selected to be ended.
It should be noted that the first connecting node mentioned above actually refers to a network node directly connected to the starting network node, and the second connecting node actually refers to a network node directly connected to the first target point, and the first and second are used only to distinguish whether to directly connect to the starting network node or to directly connect to the first target point; the same applies to the first euclidean distance/first manhattan distance/first total cost and the second euclidean distance/second manhattan distance/second total cost.
Further, the completing the ship track of the ship to be processed according to all the optimal paths specifically includes:
connecting the starting end point of each abnormal track subsection with the corresponding starting network node of the optimal path; connecting the end point of each abnormal track subsection with the corresponding end network node of the optimal path; and after the starting end points and the ending end points of all the abnormal track subsections are respectively connected with the corresponding optimal paths, completing the completion of the ship track of the ship to be processed.
Specifically, after the completion system obtains the optimal path of each abnormal track sub-section, connecting the starting end point of each abnormal track sub-section with the corresponding starting network node of the optimal path, and connecting the ending end point of each abnormal track sub-section with the corresponding ending network node of the optimal path, namely replacing the abnormal track sub-section with the optimal path for completing data completion, wherein when all abnormal track sub-sections are replaced by the optimal path, the completion of the ship track of the ship to be processed is indicated.
By way of example, the completion system uses the configured a-star algorithm to perform path planning operations on a start network node (113.80 °n,22.30°e) and an end network node (114.50 °n,22.30°e), resulting in the optimal path: (113.80 °n,22.30°e) - [ intermediate network nodes ] - (114.50 °n,22.30°e), and then connecting the start (113.77 °n,22.39 °e) and end (114.48 °n,22.28°e) points of the corresponding abnormal trajectory subsections with the start and end network nodes, respectively, to obtain a data-complemented path: (113.77 °n,22.39 °e) - (113.80 °n,22.30°e) - [ intermediate network nodes ] - (114.50 °n,22.30°e) - (114.48 °n,22.28°e), in effect, i.e., replacing the path of the abnormal trajectory subsection with the optimal path.
Further, the construction process of the typical channel network diagram specifically includes:
acquiring navigation point position data of all ships from a preset ship track database, and performing data cleaning operation on all the navigation point position data to obtain an initial navigation point set; performing spatial clustering denoising operation on the initial navigation point set to obtain a high-density navigation point set corresponding to the initial navigation point set; dividing the high-density navigation point set into a preset number of clusters according to a clustering algorithm, and acquiring the central point position information of each cluster; performing triangulation operation according to all the central point position information to obtain a triangular network diagram; and judging the intersection of all line elements in the triangular network diagram and all land elements, taking the line elements which do not intersect with all land elements as final line elements, and constructing a typical channel network diagram according to all the final line elements.
Specifically, the completion system firstly acquires navigation point position data of all ships from a preset ship track database, then performs data cleaning operation on all navigation point position data, and the process comprises deleting repeated position points, clearly land offset points and excluding longitude and latitude abnormal points, wherein the land offset points refer to navigation points of the navigation point position data on land, and an initial navigation point set is obtained after the data cleaning operation on all the navigation point position data is completed.
By way of example, for example, in the sequence of the position of ship a sailing on a certain day, the sequence of sailing points is: (113.77 °n,22.39 °e), (114.48 °n,22.28°e), (114.88 °n,22.27°e), (114.88 °n,22.27°e), (115.24 °n,22.29 °e), (115.47 °n,22.82°e), (00.47 °n,00.82 °e) … …, deleting the repeated voyage points (114.88 °n,22.27°e); if (115.47 °n,22.82°e) is on land, delete the point; (00.47 DEG N,00.82 DEG E) the latitude and longitude are beyond the normal investigation region, and deletion is also performed.
And then the completion system uses a DBSCAN-based spatial clustering algorithm (Density-Based Spatial Clustering of Applications with Noise, noise application spatial clustering based on Density), a user can select proper DBSCAN parameters, the parameters comprise a neighborhood radius and minimum sample points, then spatial clustering denoising operation is carried out on the initial navigation point set according to the neighborhood radius and the minimum sample points, noise points are removed, and therefore a high-Density navigation point set corresponding to the initial navigation point set is obtained.
By way of example, the neighborhood radius (EPS) and the minimum sample number (minPts) in the DBSCAN parameter are set to 1200 meters and 3, the noise point ratio of the initial navigation point set is calculated to be 0.74% by the DBSCAN spatial clustering algorithm, the noise points are removed, and the reserved navigation points are used as the high-density navigation point set.
The completion system performs secondary spatial clustering on the high-density navigation point set, wherein a clustering algorithm adopted in the step can be a K-media (K center point) algorithm, and the K center point algorithm is used for dividing the high-density navigation point set into clusters with preset quantity, wherein the preset quantity is the quantity of clusters which are set by a user according to actual needs; each cluster has a center point, and the completion system obtains the center point position information of all clusters.
After the position information of all the center points is obtained, the complement system performs triangulation operation according to the position information of all the center points, and particularly Delaunay triangulation (Dirony triangulation) can be adopted, so that a corresponding triangulation network diagram is obtained, and the triangulation network diagram is a preliminary typical channel network diagram in practice.
Then, all line elements in the triangular network diagram and land elements are intersected and judged, and the specific judging mode is consistent with the above, and redundant description is omitted here; the method comprises the steps of reserving line elements which are not intersected with land, taking the line elements which are not intersected with land as final line elements, and creating an undirected network diagram for path planning according to all final line elements, wherein the undirected network diagram is a final typical channel network diagram.
As an example, after completing the DBSCAN spatial clustering denoising operation to obtain a high-density navigation point set, a user may set the number K of clusters of the K center point algorithm to 3000, and the completion system may divide the high-density navigation point set into 3000 clusters according to spatial aggregation and scattering, and obtain 3000 center point position information corresponding to 3000 clusters; then, taking 3000 central point position information as coordinates of each triangle vertex in the triangle network diagram, and performing triangulation operation to construct the triangle network diagram; and traversing each edge (line element) and land elements in the triangular network diagram, carrying out line-face intersected spatial query on each edge and the land elements, screening out 715 edges intersected by the line faces, reserving 8250 edges and 2966 network nodes which are not intersected with the land elements, and creating an undirected network diagram for path planning according to the 8250 edges and the 2966 network nodes.
Further, as shown in fig. 2, the invention further provides a ship track missing data complement system based on multi-algorithm coupling based on the above-mentioned ship track missing data complement method based on multi-algorithm coupling, wherein the ship track missing data complement system based on multi-algorithm coupling comprises:
The track subsection obtaining module 51 is used for obtaining navigation point position data of the ship to be processed and all land elements on the map, and obtaining a plurality of sections of ship track subsections according to the navigation point position data;
the abnormal track judging module 52 is configured to respectively perform intersection judgment on each section of the ship track subsections and all the land elements according to a space query method, so as to obtain a plurality of sections of abnormal track subsections;
the node information obtaining module 53 is configured to obtain endpoint information corresponding to each section of the abnormal track sub-section, and obtain network node information corresponding to the endpoint information of each section of the abnormal track sub-section according to a pre-constructed typical channel network diagram;
and the ship track completion module 54 is configured with an A star algorithm, performs path planning operation on each piece of network node information according to the A star algorithm, obtains an optimal path of each section of abnormal track subsection, and completes the ship track of the ship to be processed according to all the optimal paths.
Further, as shown in fig. 3, based on the above-mentioned method and system for supplementing missing data of ship track based on multi-algorithm coupling, the invention further provides a terminal correspondingly, which comprises a processor 10, a memory 20 and a display 30. Fig. 3 shows only some of the components of the terminal, but it should be understood that not all of the illustrated components are required to be implemented and that more or fewer components may alternatively be implemented.
The memory 20 may in some embodiments be an internal storage unit of the terminal, such as a hard disk or a memory of the terminal. The memory 20 may in other embodiments also be an external storage device of the terminal, such as a plug-in hard disk, a Smart Media Card (SMC), a Secure Digital (SD) Card, a Flash memory Card (Flash Card) or the like, which are provided on the terminal. Further, the memory 20 may also include both an internal storage unit and an external storage device of the terminal. The memory 20 is used for storing application software installed in the terminal and various data, such as program codes of the installation terminal. The memory 20 may also be used to temporarily store data that has been output or is to be output. In an embodiment, the memory 20 stores a ship track missing data complement program 40 based on multi-algorithm coupling, and the ship track missing data complement program 40 based on multi-algorithm coupling can be executed by the processor 10, so as to implement the ship track missing data complement method based on multi-algorithm coupling in the present application.
The processor 10 may in some embodiments be a central processing unit (Central Processing Unit, CPU), microprocessor or other data processing chip for executing program code or processing data stored in the memory 20, for example performing the multi-algorithm coupling based ship track loss data complement method, etc.
The display 30 may be an LED display, a liquid crystal display, a touch-sensitive liquid crystal display, an OLED (Organic Light-Emitting Diode) touch, or the like in some embodiments. The display 30 is used for displaying information at the terminal and for displaying a visual user interface. The components 10-30 of the terminal communicate with each other via a system bus.
In one embodiment, the processor 10 when executing the multi-algorithm coupled ship track loss data complement program 40 in the memory 20 implements the following steps:
acquiring navigation point position data of a ship to be processed and all land elements on a map, and acquiring a plurality of sections of ship track subsections according to the navigation point position data;
according to a space query method, each ship track subsection is intersected with all land elements to obtain a plurality of abnormal track subsections;
acquiring endpoint information corresponding to each abnormal track sub-segment, and acquiring network node information corresponding to the endpoint information of each abnormal track sub-segment according to a pre-constructed typical channel network diagram;
and configuring an A star algorithm, carrying out path planning operation on each network node information according to the A star algorithm to obtain an optimal path of each abnormal track subsection, and complementing the ship track of the ship to be processed according to all the optimal paths.
The method for obtaining the navigation point position data of the ship to be processed and all land elements on the map, and obtaining a plurality of sections of ship track subsections according to the navigation point position data specifically comprises the following steps:
acquiring navigation point position data of the ship to be processed from a preset ship track database, and acquiring all land elements from the map;
acquiring all navigation points of the navigation point data, and acquiring a time stamp corresponding to each navigation point;
and sequencing all the navigation points according to all the timestamps, and connecting two navigation points with adjacent timestamps to obtain a plurality of sections of ship track subsections.
The method for determining the ship track subsection comprises the steps of respectively intersecting and judging each ship track subsection with all land elements according to a space query method to obtain a plurality of abnormal track subsections, and specifically comprises the following steps:
according to the space query method, respectively carrying out space query on line-plane intersection of each ship track subsection and all land elements, and judging whether the ship track subsection is intersected with the land elements or not;
if the ship track subsections are intersected with the land elements, performing abnormal marking processing on the corresponding ship track subsections;
And after the ship track subsections are processed, taking all the ship track subsections with the abnormal marks as abnormal track subsections.
The obtaining endpoint information corresponding to the abnormal track subsections of each section, and obtaining network node information corresponding to the endpoint information of the abnormal track subsections of each section according to a pre-constructed typical channel network diagram specifically comprises the following steps:
acquiring endpoint information corresponding to each abnormal track subsection, wherein the endpoint information comprises a starting endpoint and an ending endpoint;
respectively carrying out matching operation on a starting endpoint and an ending endpoint of each abnormal track subsection according to a pre-constructed typical channel network diagram to obtain a starting network node with the shortest distance from the starting endpoint of each abnormal track subsection and an ending network node with the shortest distance from the ending endpoint of each abnormal track subsection;
integrating the starting network node and the ending network node corresponding to each abnormal track sub-segment to obtain the network node information corresponding to each abnormal track sub-segment.
The configuration of the A star algorithm, and the path planning operation on each network node information according to the A star algorithm, to obtain an optimal path of each abnormal track subsection, specifically includes:
Taking Euclidean distance as a cost function of an A star algorithm, and taking Manhattan distance as a heuristic function of the A star algorithm to finish configuration of the A star algorithm;
acquiring a plurality of first connection nodes directly connected with the starting network node of each abnormal track subsection, respectively calculating first Euclidean distances between the starting network node of each abnormal track subsection and each first connection node, and calculating first Manhattan distances between the ending network node and each first connection node;
calculating a first total cost corresponding to each first connecting node according to a first Euclidean distance and a first Manhattan distance corresponding to each first connecting node, and acquiring a first target point of each abnormal track subsection according to all the first total costs;
and acquiring a plurality of second connecting nodes which are directly connected with the first target points of the abnormal track subsections of each section, … …, and completing the path planning operation of the abnormal track subsections of each section until reaching the end network node, so as to obtain the optimal path of the abnormal track subsections of each section.
The method for completing the ship track of the ship to be processed according to all the optimal paths specifically comprises the following steps:
Connecting the starting end point of each abnormal track subsection with the corresponding starting network node of the optimal path;
connecting the end point of each abnormal track subsection with the corresponding end network node of the optimal path;
and after the starting end points and the ending end points of all the abnormal track subsections are respectively connected with the corresponding optimal paths, completing the completion of the ship track of the ship to be processed.
The construction process of the typical channel network diagram specifically comprises the following steps:
acquiring navigation point position data of all ships from a preset ship track database, and performing data cleaning operation on all the navigation point position data to obtain an initial navigation point set;
performing spatial clustering denoising operation on the initial navigation point set to obtain a high-density navigation point set corresponding to the initial navigation point set;
dividing the high-density navigation point set into a preset number of clusters according to a clustering algorithm, and acquiring the central point position information of each cluster;
performing triangulation operation according to all the central point position information to obtain a triangular network diagram;
and judging the intersection of all line elements in the triangular network diagram and all land elements, taking the line elements which do not intersect with all land elements as final line elements, and constructing a typical channel network diagram according to all the final line elements.
The invention also provides a computer readable storage medium, wherein the computer readable storage medium stores a ship track missing data complement program based on multi-algorithm coupling, and the ship track missing data complement program based on multi-algorithm coupling realizes the steps of the ship track missing data complement method based on multi-algorithm coupling when being executed by a processor.
In summary, the invention provides a ship track missing data complement method and system based on multi-algorithm coupling, wherein the method comprises the following steps: acquiring navigation point position data of a ship to be processed and all land elements on a map, and acquiring a plurality of sections of ship track subsections according to the navigation point position data; according to a space query method, each ship track subsection is intersected with all land elements to obtain a plurality of abnormal track subsections; acquiring endpoint information corresponding to each abnormal track sub-segment, and acquiring network node information corresponding to the endpoint information of each abnormal track sub-segment according to a pre-constructed typical channel network diagram; and configuring an A star algorithm, carrying out path planning operation on each network node information according to the A star algorithm to obtain an optimal path of each abnormal track subsection, and complementing the ship track of the ship to be processed according to all the optimal paths. According to the invention, heuristic search and optimal preferential search are realized through the A star algorithm, so that an optimal path can be quickly and efficiently found, the processing efficiency of missing data completion on a ship track with large data volume is improved, more accurate support can be provided for data completion by constructing a typical channel network diagram, a great amount of time and effort consumed by manually setting channels are avoided, the data completion efficiency is further improved, and the data completion accuracy is also improved.
It should be noted that, in this document, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or terminal that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or terminal. Without further limitation, an element defined by the phrase "comprising one … …" does not exclude the presence of other like elements in a process, method, article or terminal comprising the element.
Of course, those skilled in the art will appreciate that implementing all or part of the above described methods may be accomplished by a computer program for instructing relevant hardware (e.g., processor, controller, etc.), the program may be stored on a computer readable storage medium, and the program may include the above described methods when executed. The computer readable storage medium may be a memory, a magnetic disk, an optical disk, etc.
It is to be understood that the invention is not limited in its application to the examples described above, but is capable of modification and variation in light of the above teachings by those skilled in the art, and that all such modifications and variations are intended to be included within the scope of the appended claims.
Claims (10)
1. The ship track missing data complement method based on the multi-algorithm coupling is characterized by comprising the following steps of:
acquiring navigation point position data of a ship to be processed and all land elements on a map, and acquiring a plurality of sections of ship track subsections according to the navigation point position data;
according to a space query method, each ship track subsection is intersected with all land elements to obtain a plurality of abnormal track subsections;
acquiring endpoint information corresponding to each abnormal track sub-segment, and acquiring network node information corresponding to the endpoint information of each abnormal track sub-segment according to a pre-constructed typical channel network diagram;
and configuring an A star algorithm, carrying out path planning operation on each network node information according to the A star algorithm to obtain an optimal path of each abnormal track subsection, and complementing the ship track of the ship to be processed according to all the optimal paths.
2. The method for supplementing missing ship track data based on multi-algorithm coupling according to claim 1, wherein the steps of obtaining navigation point position data of a ship to be processed and all land elements on a map, and obtaining a plurality of ship track subsections according to the navigation point position data comprise the following steps:
Acquiring navigation point position data of the ship to be processed from a preset ship track database, and acquiring all land elements from the map;
acquiring all navigation points of the navigation point data, and acquiring a time stamp corresponding to each navigation point;
and sequencing all the navigation points according to all the timestamps, and connecting two navigation points with adjacent timestamps to obtain a plurality of sections of ship track subsections.
3. The method for supplementing missing data of ship track based on multi-algorithm coupling according to claim 1, wherein the intersecting judgment is performed on each ship track subsection and all land elements according to a space query method to obtain a plurality of abnormal track subsections, and the method specifically comprises the following steps:
according to the space query method, respectively carrying out space query on line-plane intersection of each ship track subsection and all land elements, and judging whether the ship track subsection is intersected with the land elements or not;
if the ship track subsections are intersected with the land elements, performing abnormal marking processing on the corresponding ship track subsections;
and after the ship track subsections are processed, taking all the ship track subsections with the abnormal marks as abnormal track subsections.
4. The method for supplementing missing data of ship track based on multi-algorithm coupling according to claim 1, wherein the steps of obtaining endpoint information corresponding to each abnormal track subsection, and obtaining network node information corresponding to the endpoint information of each abnormal track subsection according to a pre-constructed typical channel network diagram specifically include:
acquiring endpoint information corresponding to each abnormal track subsection, wherein the endpoint information comprises a starting endpoint and an ending endpoint;
respectively carrying out matching operation on a starting endpoint and an ending endpoint of each abnormal track subsection according to a pre-constructed typical channel network diagram to obtain a starting network node with the shortest distance from the starting endpoint of each abnormal track subsection and an ending network node with the shortest distance from the ending endpoint of each abnormal track subsection;
integrating the starting network node and the ending network node corresponding to each abnormal track sub-segment to obtain the network node information corresponding to each abnormal track sub-segment.
5. The method for supplementing missing data of ship track based on multi-algorithm coupling according to claim 4, wherein the configuring an a-star algorithm and performing path planning operation on each network node information according to the a-star algorithm to obtain an optimal path of each abnormal track subsection specifically comprises:
Taking Euclidean distance as a cost function of an A star algorithm, and taking Manhattan distance as a heuristic function of the A star algorithm to finish configuration of the A star algorithm;
acquiring a plurality of first connection nodes directly connected with the starting network node of each abnormal track subsection, respectively calculating first Euclidean distances between the starting network node of each abnormal track subsection and each first connection node, and calculating first Manhattan distances between the ending network node and each first connection node;
calculating a first total cost corresponding to each first connecting node according to a first Euclidean distance and a first Manhattan distance corresponding to each first connecting node, and acquiring a first target point of each abnormal track subsection according to all the first total costs;
and acquiring a plurality of second connecting nodes which are directly connected with the first target points of the abnormal track subsections of each section, … …, and completing the path planning operation of the abnormal track subsections of each section until reaching the end network node, so as to obtain the optimal path of the abnormal track subsections of each section.
6. The multi-algorithm coupling-based ship track missing data complement method according to claim 5, wherein the complementing the ship track of the ship to be processed according to all the optimal paths specifically comprises:
Connecting the starting end point of each abnormal track subsection with the corresponding starting network node of the optimal path;
connecting the end point of each abnormal track subsection with the corresponding end network node of the optimal path;
and after the starting end points and the ending end points of all the abnormal track subsections are respectively connected with the corresponding optimal paths, completing the completion of the ship track of the ship to be processed.
7. The multi-algorithm coupling-based ship track missing data complement method according to claim 1, wherein the construction process of the typical channel network diagram specifically comprises the following steps:
acquiring navigation point position data of all ships from a preset ship track database, and performing data cleaning operation on all the navigation point position data to obtain an initial navigation point set;
performing spatial clustering denoising operation on the initial navigation point set to obtain a high-density navigation point set corresponding to the initial navigation point set;
dividing the high-density navigation point set into a preset number of clusters according to a clustering algorithm, and acquiring the central point position information of each cluster;
performing triangulation operation according to all the central point position information to obtain a triangular network diagram;
And judging the intersection of all line elements in the triangular network diagram and all land elements, taking the line elements which do not intersect with all land elements as final line elements, and constructing a typical channel network diagram according to all the final line elements.
8. The ship track missing data complement system based on the multi-algorithm coupling is characterized by comprising the following components:
the track subsection obtaining module is used for obtaining navigation point position data of the ship to be processed and all land elements on the map, and obtaining a plurality of sections of ship track subsections according to the navigation point position data;
the abnormal track judging module is used for respectively carrying out intersection judgment on each section of the ship track subsections and all the land elements according to a space query method to obtain a plurality of sections of abnormal track subsections;
the node information acquisition module is used for acquiring the endpoint information corresponding to each section of the abnormal track sub-section and acquiring the network node information corresponding to the endpoint information of each section of the abnormal track sub-section according to a pre-constructed typical channel network diagram;
and the ship track completion module is used for configuring an A star algorithm, carrying out path planning operation on the information of each network node according to the A star algorithm to obtain an optimal path of each abnormal track subsection, and completing the ship track of the ship to be processed according to all the optimal paths.
9. A terminal, the terminal comprising: the system comprises a memory, a processor and a multi-algorithm coupling-based ship track missing data complement program stored on the memory and capable of running on the processor, wherein the multi-algorithm coupling-based ship track missing data complement program realizes the steps of the multi-algorithm coupling-based ship track missing data complement method according to any one of claims 1-7 when being executed by the processor.
10. A computer readable storage medium, wherein the computer readable storage medium stores a multi-algorithm coupling based ship track loss data complement program, which when executed by a processor, implements the steps of the multi-algorithm coupling based ship track loss data complement method according to any one of claims 1-7.
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