CN117857671A - Multi-source AIS data perfection processing method based on ship message - Google Patents
Multi-source AIS data perfection processing method based on ship message Download PDFInfo
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Abstract
The invention relates to the technical field of multisource AIS data fusion perfection processing, in particular to a multisource AIS data perfection processing method based on ship messages, which comprises the following steps: receiving current AIS data after the pre-fusion processing; judging whether the current AIS data is a dynamic ship message or a static ship message according to the message ID in the current AIS data; when the dynamic ship message is determined, sequentially performing message time sequence adjustment processing, message segment verification processing and position verification processing on the dynamic ship message to obtain output AIS data; and when the static ship message is determined, sequentially performing message segment verification processing and information difference compensation processing on the static ship message to obtain output AIS data. By adopting the method, the accuracy, the rationality and the integrity of AIS data output can be improved.
Description
Technical Field
The invention relates to the technical field of multisource AIS data fusion perfection processing, in particular to a multisource AIS data perfection processing method based on ship messages.
Background
With the rapid development of the maritime shipping industry, AIS (Automatic Identification System, automatic ship identification system) has become an important means for guaranteeing the navigation safety of ships, protecting the marine environment and improving the traffic efficiency. At present, an AIS shore-based network system is built in China, and the whole process and all-weather monitoring on coastal and inland vessels is realized.
The AIS shore-based network system is limited in AIS signal radiation range, and can only receive ship information nearby coasts, but cannot monitor and manage ocean-going ships. The satellite AIS technology breaks through the geographic limitation of a shore-based system, utilizes a low-orbit near-earth satellite to carry an AIS receiver to realize dynamic and static information receiving of a ship, transmits the information to a ground receiving station through a satellite downlink, and transmits the information to a national data center and a user terminal through an AIS data private network after being subjected to fusion perfection processing with shore-based data, wherein the multi-source AIS data fusion perfection processing flow is shown in figure 1.
In the flow, the AIS data perfection technology processing has important significance on the accuracy, rationality and integrity of AIS data output.
Currently, when maritime users and scientific research institutions use AIS data to conduct traffic control, maritime accident investigation and other maritime scientific research works, the integrity of time information, message content and static data on the data plays a key role in playing a great value on the AIS data. For example, in marine accident investigation, track information of a ship before collision and dynamic information of the ship at the time of collision are important bases for accident responsibility judgment; when the VTS (Vessel Traffic Service, ship traffic service) center monitors the ship in real time, the time sequence of dynamic information output is the key point of reasonable ship running track; in the ship history track backtracking, real-time matching of dynamic and static message information is a precondition for track backtracking to be normal. However, in the transmission process of the AIS data, due to different factors such as data characteristics and transmission paths, problems such as AIS data field errors, timing errors, track jump and the like may be caused.
Therefore, the multi-source AIS data perfection processing method based on the ship message is continuously provided.
Disclosure of Invention
The invention aims to provide a multi-source AIS data perfection processing method based on ship messages.
In order to solve the problems, the invention adopts the following technical scheme:
a multi-source AIS data integrity processing method based on ship messages, the method comprising:
s1, receiving current AIS data subjected to AIS data pre-fusion processing;
step S2, judging whether the current AIS data is a dynamic ship message or a static ship message according to the message ID in the current AIS data, and executing step S3 or step S4;
step S3, when the current AIS data is determined to be the dynamic ship message, sequentially performing message time sequence adjustment processing, dynamic message field verification processing and position verification processing on the current AIS data to obtain output AIS dynamic data; the position verification processing comprises rationality verification of front and rear positions and rationality verification of ship movement tracks;
and S4, when the static ship message is determined, sequentially performing static message field verification processing and information difference compensation processing on the current AIS data to obtain output AIS static data.
As an embodiment of the invention, the step S2 includes:
step S201, extracting a message ID in the current AIS data;
step S202, when judging that the message ID is 1, 2, 3, 18 or 27, determining that the current AIS data is a dynamic ship message; and when judging that the message ID is 5 or 24, determining that the AIS data is a static ship message.
As one embodiment of the present invention, step S3 includes:
step 301, when determining that the current AIS data is a dynamic ship message, determining a dynamic message receiving time based on a time stamp on the current AIS data, and implementing message time sequence adjustment processing on the current AIS data based on the dynamic message receiving time and the category of the current AIS data; the category of the current AIS data is real-time data or historical data;
step S302, carrying out message analysis on the current AIS data, and realizing dynamic message segment verification processing by judging whether the analysis value of each field after analysis exceeds the value range corresponding to the field; wherein the field includes: user ID, longitude, latitude, and heading to earth;
step S303, based on the dynamic message receiving time and the current analysis position coordinate corresponding to the current AIS data, and the first time when the same ship transmits AIS data and the analysis position coordinate corresponding to the AIS data are received at the last moment, the rationality verification of the front position and the rear position is realized; and verifying the rationality of the ship motion trail based on the distance difference value between the current analysis position coordinate and the analysis position coordinate.
As an embodiment of the present invention, in step S301, performing timing adjustment processing on the current AIS data based on the dynamic message receiving time and the class of the current AIS data, including:
step S3011, determining whether the current AIS data is real-time data or historical data, and executing step S3012 or step S3013;
step S3012, when the real-time data is determined, adding the current AIS data to a data window in the following manner; the window length of the data window is fixed, the right end of the window is an input end, and the left end of the window is an output end:
(1) Acquiring the data at the leftmost side in the data windowIs the earliest message time T of (a) start And the latest message time T corresponding to the rightmost data f ；
(2) The dynamic message receiving time T and the latest message time T are calculated f Ratio of T>T f Inserting the current AIS data from the right end of the data window according to the dynamic message receiving time T, and ejecting the leftmost data in the data window from the left side of the data window; if T<T f First, the dynamic message receiving time T and T start Comparison, if T<T start Directly discarding; if T>T start Inserting the current AIS data into a proper position of a window according to the dynamic message receiving time T, and ejecting the leftmost data in the data window from the left side of the data window;
step S3013, when it is determined that the current AIS data is historical data, the current AIS data is inserted into a proper location of the memory according to the dynamic message receiving time T.
As one embodiment of the invention, step S302 includes:
step S3021, performing message analysis on the current AIS data, and determining whether the analysis value of the user ID exceeds a first value range, whether the analysis value of the longitude exceeds a second value range, whether the analysis value of the latitude exceeds a third value range, and whether the analysis value of the earth heading exceeds a fourth value range;
step S3022, when it is determined that the resolution value of any field exceeds the corresponding value range, determining that the field is wrong, and discarding the current AIS data.
In step S303, the current analysis position coordinates are obtained after the message analysis in step S302;
and the analysis position coordinates corresponding to the first time and the AIS data are obtained from a buffer.
In step S303, when it is determined that the dynamic message receiving time is later than the first time, the current resolved position coordinate is located after the resolved position coordinate, and the front-back position is determined to be reasonable.
As an embodiment of the present invention, in step S303, the verifying the rationality of the ship motion trail based on the distance difference between the current resolved position coordinates and the resolved position coordinates includes:
(1) Judging whether the current AIS data are real-time data or historical data;
(2) When the current AIS data are determined to be real-time data, calculating to obtain a distance difference threshold value by combining with ship static information, judging whether the distance difference value is matched with the ship speed according to the distance difference threshold value, and if so, indicating that the track is normal; if the current AIS data are not matched, the track is described as abnormal, and the current AIS data are discarded;
(3) Judging whether the distance difference between the current AIS data and the front and rear data is reasonable or not when the current AIS data is determined to be historical data, and storing the current AIS data if the distance difference is reasonable; discarding the current AIS data if it is not reasonable.
As an embodiment of the present invention, in step S4, a method for sequentially performing static message field verification processing on the current AIS data includes:
carrying out message analysis on the current AIS data, and realizing static message segment verification processing by judging whether the analysis value of each field after analysis exceeds the value range corresponding to the field; wherein the field includes: user ID and IMO number.
As an embodiment of the present invention, in step S4, a method for performing information difference compensation processing on the static ship message includes:
when the message ID is determined to be 5 according to the message ID in the current AIS data, determining static message receiving time based on a time stamp on the current AIS data, acquiring a time difference between the static message receiving time and a second time when the same ship transmitting AIS data is received at the last moment, and if the time difference is 6min, considering the current AIS data to be valid and outputting the current AIS data;
and when the message ID is determined to be 24 according to the message ID in the current AIS data, judging whether the current AIS data is complete (whether a message B part is missing or not), if not, acquiring AIS data transmitted by the same ship at the previous moment, intercepting the missing part of the AIS data, splicing the current AIS data and the intercepted part by adopting a message splicing processing mode to obtain a complete message, and repeatedly outputting the spliced message at nominal intervals of 6 minutes by taking the spliced message as a reference.
The beneficial effects of adopting above-mentioned technical scheme to produce lie in:
the invention provides a multisource AIS data perfection processing method based on ship messages, which is characterized by receiving current AIS data subjected to preposed fusion processing, judging whether the current AIS data is a dynamic ship message or a static ship message according to a message ID in the current AIS data, and executing different steps: when the current AIS data is determined to be the dynamic ship message, sequentially performing message time sequence adjustment processing, dynamic message segment verification processing and position verification processing on the current AIS data to obtain output AIS dynamic data; the position verification processing comprises rationality verification of front and rear positions and rationality verification of ship movement tracks; and when the current AIS data is determined to be the static ship message, sequentially performing static message field verification processing and information difference compensation processing on the current AIS data to obtain output AIS static data. According to the invention, different perfection processing steps are adopted according to different types of ship messages, so that the accuracy, rationality and integrity of AIS data output can be ensured.
In the invention, the message time sequence adjustment processing ensures the reasonability of AIS data time sequence and ensures that output data does not jump back and forth in time; message segment verification processing (including dynamic message segment verification processing and static message segment verification processing) filters out message information of transmission errors, and ensures the accuracy of AIS data output; the unreasonable ship motion trail is deleted by the position verification processing, and more accurate and reasonable ship running states are provided for subsequent data call; static information difference value compensation processing ensures the integrity and compliance of AIS static data output, and provides necessary conditions for better application and matching of subsequent terminal software.
In addition, a common AIS application system needs timely and continuous AIS static information input to support display of ship information, and the information interpolation compensation processing adopted by the invention can ensure that the ship static information is output in a nominal value, especially for CS application terminal software such as a VTS system.
Drawings
Fig. 1 is a schematic diagram of a multi-source AIS data fusion perfection flow provided in the prior art.
Fig. 2 is a basic flow chart of AIS data perfection techniques provided by an embodiment of the present invention.
FIG. 3 is a flow chart of dynamic data timing verification according to an embodiment of the present invention.
Fig. 4 is a flowchart for verifying a ship track according to an embodiment of the present invention.
Fig. 5 is a flow chart of static information interpolation compensation according to an embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention will be clearly and completely described in connection with the following specific embodiments.
The embodiment of the invention provides a multi-source AIS data perfection processing method based on ship messages, and referring to fig. 1, multi-source AIS data in the invention refers to a plurality of data sources transmitted by an AIS shore base and an AIS satellite, and the AIS data are subjected to AIS data pre-fusion processing and AIS data perfection processing in sequence, and in the process, AIS data obtained in real time are sequentially processed.
As shown in fig. 2, the method includes:
and step S1, receiving current AIS data subjected to AIS data pre-fusion processing.
The AIS data pre-fusion processing comprises the following two steps: firstly, converting two data source formats of an AIS satellite and an AIS shore base, so as to realize consistency in data form; and secondly, performing deduplication processing, namely, because ship messages can be received by a satellite and a shore-based system or a plurality of AIS shore-based sources at the same time, a large number of repeated received messages summarized together exist, the deduplication processing is required to be performed on the data, and the uniqueness of data output is ensured. The aim of the AIS data pre-fusion processing is to provide convenience for subsequent AIS data perfection processing.
And S2, judging whether the current AIS data is a dynamic ship message or a static ship message according to the message ID in the current AIS data, and executing the step S3 or the step S4.
The method comprises the following steps:
step S201, extracting a message ID in the current AIS data;
in the transmission of the AIS data process, the AIS data is generally called data in the transmission process and called a message at a receiving and transmitting end, so that each AIS data carries message ID information, and the message ID corresponding to the current AIS data can be obtained according to the current AIS data.
Step S202, when judging that the message ID is 1, 2, 3, 18 or 27, determining that the current AIS data is a dynamic ship message; and when judging that the message ID is 5 or 24, determining that the AIS data is a static ship message.
The ship message comprises No. 1, 2, 3, 5, 18, 24 and 27 messages, wherein the No. 1, 2, 3, 18 and 27 messages are dynamic information messages, and the No. 27 message is a remote application position message aiming at a satellite; 5. and the number 24 is a static information message.
Therefore, in this step, whether the received current AIS data is a dynamic ship message or a static ship message can be determined based on the message ID, so as to facilitate different processing flows after distinguishing the dynamic and static information.
And step S3, when the current AIS data is determined to be the dynamic ship message, sequentially performing message time sequence adjustment processing, dynamic message field verification processing and position verification processing on the current AIS data to obtain output AIS dynamic data.
Specifically, the method comprises the following steps:
step S301, message timing adjustment processing
When the current AIS data is determined to be the dynamic ship message, determining the dynamic message receiving time based on the timestamp on the current AIS data, and realizing message time sequence adjustment processing on the current AIS data based on the dynamic message receiving time and the class of the current AIS data, wherein the class of the current AIS data is real-time data or historical data;
for a dynamic ship message, the basis of message time sequence adjustment processing is the receiving time of the dynamic message (particularly the dynamic ship message), and a plurality of dynamic messages are sequenced according to the receiving time, so that accurate information can be obtained. Therefore, in this step, accurate dynamic message receiving time needs to be obtained first, and then message timing adjustment processing is performed.
The time for determining the receiving time of the dynamic ship message is mainly based on a time stamp carried when the dynamic ship message is received, wherein the time stamp is a time stamp of the message by taking the UTC time of the time stamp as a standard when the AIS message is received by a shore-based or satellite system, and the time stamp is reference time information for subsequent data storage and user use.
Therefore, when determining that the current AIS data is a dynamic ship message, determining the message receiving time according to the timestamp on the current AIS data, and performing time sequence adjustment by adopting the following steps after obtaining the message receiving time:
step S3011, determining whether the current AIS data is real-time data or historical data, and executing step S3012 or step S3013, as shown in fig. 3:
step S3012, when the real-time data is determined, adding the current AIS data to a data window in the following manner; the window length of the data window is fixed, the right end of the window is an input end, and the left end of the window is an output end;
(1) Acquiring earliest message time T corresponding to leftmost data in the data window start And the latest message time T corresponding to the rightmost data f ；
(2) The dynamic message receiving time T and the latest message time T are calculated f Ratio of T>T f Inserting the current AIS data from the right end of the data window according to the dynamic message receiving time T, and ejecting the leftmost data in the data window from the left side of the data window; if T<T f First, the dynamic message receiving time T and T start Comparison, if T<T start Directly discarding; if T>T start Inserting the current AIS data into a proper position of a window according to the dynamic message receiving time T, and ejecting the leftmost data in the data window from the left side of the data window;
the method for inserting the window into the window can be determined according to the dynamic message receiving time corresponding to all data in the data window, the data are sequentially arranged from left to right according to the dynamic message receiving time, and the current AIS data are inserted into the window according to the size comparison between the dynamic message receiving time T and the dynamic message receiving time corresponding to each data.
Step S3013, when it is determined to be history data (delay data), according to the dynamic message receiving timeThe current AIS data is inserted into the memory at the appropriate location.
The AIS data stored in the memory are arranged in sequence according to the message receiving time, so that the current AIS data can be inserted into a proper position in the memory according to the size comparison between the message receiving time T and the message receiving time corresponding to each AIS data.
Step S302, dynamic message segment verification process
Carrying out message analysis on the current AIS data, and realizing dynamic message segment verification processing by judging whether the analysis value of each field in the analyzed message exceeds the value range corresponding to the field; wherein the field includes: user ID, longitude, latitude, and heading to earth;
after time sequence verification is completed on AIS data, dynamic message segment rationality verification is performed by analyzing message content. Because the user ID, longitude, latitude and the information bits of the ground heading are more, when the information content of the sending end is unexpected input or error occurs in data transmission, but the CRC of the receiving end passes, abnormal information messages exist. The analysis value of the abnormal message information may exceed the value limit of the corresponding field, so that the accuracy verification of the message field is realized by judging whether the analysis value exceeds the value range specified by the field.
The method comprises the following steps:
step S3021, performing message analysis on the current AIS data, and determining whether the analysis value of the user ID exceeds a first value range, whether the analysis value of the longitude exceeds a second value range, whether the analysis value of the latitude exceeds a third value range, and whether the analysis value of the earth heading exceeds a fourth value range;
the first value range is 0-999999999, the second value range is + -108000000 and 108600000, the third value range is + -54000000 and 54600000, and the fourth value range is 3601-4095.
Step S3022, when it is determined that the resolution value of any field exceeds the corresponding value range, determining that the field is wrong, and discarding the current AIS data.
Specifically, for the user ID, the bit length is 30 bits, and the maximum usable range is 0-2 30 At present, IMO prescribes that the effective range is 0-999999999, so when the user ID analysis value is 1000000000 to (2 30-1 ) When any value is in between, the error of the user ID field of the message is indicated, and the data is discarded; a longitude field with bit length of 28bit, legal range of + -108000000 and 108600000, when the analysis value is 108000001-2 27 (removal of 108600000), or-2 27 When any value is between-108000001, indicating that the field of the report Wen Jingdu is wrong, and discarding the data; the bit length of the latitude field is 27 bits, the effective range is + -54000000 and 54600000, and when the analysis value is 54000000-2 26 (removal of 54600000), or-2 26 When any value is between-54600000, indicating that the latitude field is wrong, and discarding the data; the bit length of the ground course field is 12 bits, the effective range is 0-3600, and when the analysis value is any value between 3601-4095, the error of the ground course field of the message is indicated, and the data is discarded.
In addition, the fields of the dynamic ship message include true heading except for the 27 # message, and step S3021 further includes: judging whether the analysis value of the true heading exceeds a fifth value range.
The true heading field bit length is 9 bits, the effective range (fifth value range) is 0-359 and 511, when the analysis value is any value between 360-510, the true heading field error is indicated, and the data is discarded.
Step S303, a position verification process, which includes: verifying rationality of front and rear positions and rationality of ship motion trail;
in order to avoid unreasonable jump of the ship track at the user side, position verification is carried out on the current AIS data after message time sequence adjustment processing and dynamic message segment verification, and unreasonable position information is deleted. The data position verification comprises two parts, namely, the reasonability verification of the front and rear positions and the reasonability verification of the ship movement track.
The method comprises the following steps:
step S3031, based on the dynamic message receiving time and the current analysis position coordinate corresponding to the current AIS data, and the first time when the same ship transmits AIS data and the analysis position coordinate corresponding to the AIS data are received at the last moment, the rationality verification of the front position and the rear position is realized;
the current analysis position coordinates are obtained after the message analysis is performed in the step S302;
the first time and the analysis position coordinates are obtained from a buffer, in the data processing process, related information (such as a plurality of ship MMSI codes and first time and analysis positions corresponding to each ship MMSI one by one) at the last moment is buffered in the buffer, when the current AIS data is determined to meet the requirement and is available based on the information at the last moment, the related information at the last moment is stored in a memory, and the related information of the current AIS data is buffered in the buffer instead of the related information at the last moment so as to verify the AIS data at the next moment.
Regarding the manner of acquiring the first time and analyzing the position, the ship MMSI code for transmitting the current AIS data may be obtained first, and then the first time when the ship transmits the AIS data and the analyzed position coordinate corresponding to the AIS data are searched in the buffer.
When the dynamic message receiving time is determined to be later than the first time, the current analysis position coordinate is positioned in theAfter the position coordinates are analyzed, the positions before and after the position coordinates are determined reasonably. Wherein, whether the dynamic message receiving time is later than the first time can be judged according to the values of time, minute, second and millisecond; in addition, the current analysis position coordinate and the analysis position coordinate are expressed in a mode of (x, y), and can be expressed by the x of the current analysis position coordinate 1 Value and analysis of x in position coordinates 2 Value, and y of the current resolved position coordinates 1 Value and analysis of y in position coordinates 2 And judging whether the current analysis position coordinate is positioned behind the analysis position coordinate or not by the value.
For example: taking the ship shipping direction as the positive direction of x and y as an example, in determining x 1 ≥x 2 And/or y 1 ≥y 2 And x is 1 ≠x 2 、y 1 ≠y 2 And determining that the current analysis position coordinate is positioned behind the analysis position coordinate.
Step S3032, implementing rationality verification on the ship motion trail based on the distance difference between the current resolved position coordinates and the resolved position coordinates, as shown in fig. 4.
The method specifically comprises the following steps:
(1) Judging whether the current AIS data are real-time data or historical data;
(2) When the current AIS data are determined to be real-time data, calculating to obtain a distance difference threshold value by combining with ship static information, judging whether the distance difference value is matched with the ship speed according to the distance difference threshold value, and if so, indicating that the track is normal; if there is no match, the trace exception is declared and discarded (current AIS data).
In the step, the ship static information corresponding to the ship MMSI code can be searched in a memory by firstly obtaining the ship MMSI code for transmitting the current AIS data; the ship and cargo information fields in the static information can be used for determining the type of the ship, and when the ship and cargo information fields can be obtained from the static information, the static information can be used for determining the type of the ship; and if the ship and cargo information fields cannot be obtained from the static information, the static information is indicated that the ship type cannot be clarified.
In addition, the distance difference s is obtained by adopting a distance formula between two points, taking the ship shipping direction as the positive direction of x and y as an example, and the distance difference s is obtained by the following formula:the distance difference threshold is obtained by the following two ways:
the first mode is that for the ship and cargo information fields in the static information, the type of the ship can be clearly determined, the calculation of the distance difference threshold is obtained by multiplying the maximum sailing speed by the updating interval of the position report (namely, the time interval between two adjacent messages) by taking the maximum sailing speed as a standard; when the distance difference is greater than the distance difference threshold, the ship speed is considered to be not matched with the ship speed, namely the ship track is abnormal.
For example: for a large container ship, the maximum navigational speed is 52km/h, when the position report updating rate is 2s, the distance difference threshold is 28.8m (the distance difference of 2s is 28.8m when the 52km/h corresponds to 14.4 m/s), so the distance difference s cannot be more than 28.8m, and when the distance difference s is more than 28.8m, the ship track is considered to be abnormal. Of course, the distance difference threshold is calculated at a default value of 2s for the location report update rate (location report update interval), and when the location report update rate changes (e.g., becomes larger), the distance difference threshold changes accordingly.
And for the ship with the static information not definitely defined, calculating a distance difference threshold value by taking the section 102.2 of the maximum value of the speed-to-ground SOG (Speed Over Ground, speed-to-ground) in the current AIS data as a standard, multiplying the section 102.2 of the maximum value of the SOG by the update rate of the position report, and considering that the distance difference value is not matched with the ship speed, namely the ship track is abnormal when the distance difference value is larger than the distance difference threshold value.
For example: section 102.2 corresponds to 189.27km/h, when the update rate of the position report is 2s, the distance difference threshold is 105.15m (189.27 km/h is 52.575m/s, the distance difference of 2s is 105.15 m), and when the distance difference is greater than 105.15m, the ship track is considered to be abnormal.
(3) When the current AIS data is determined to be historical data, judging whether the distance difference between the current AIS data and the front and rear data is reasonable or not, and if so, storing the current AIS data; discarding the current AIS data if it is not reasonable.
Step S3013 indicates that the current AIS data is inserted into a proper position in the memory, and distance differences between the current AIS data and the previous and subsequent AIS data are calculated respectively; the distance difference is also obtained by referring to step S3031 by referring to the current analysis position coordinates and the analysis position coordinates of the previous and subsequent data.
If the distance difference value is reasonable, comparing the two distance difference values obtained between the current AIS data and the front and rear data with a distance difference threshold value respectively to judge if the two distance difference values are reasonable; the calculating manner of the distance difference threshold and the manner of judging whether the distance difference is reasonable or not can be both the foregoing step (2), and the invention is not repeated here.
And S4, when the static ship message is determined, sequentially performing static message field verification processing and information difference compensation processing on the current AIS data to obtain output AIS static data.
Step S401, static message segment verification process
When the current AIS data is determined to be a static ship message, carrying out message analysis on the current AIS data, and realizing static message segment verification processing by judging whether the analysis value of each field in the analyzed message exceeds the value range corresponding to the field; wherein the field includes: user ID and IMO number;
the step is similar to step S302, and the difference is only that in this step, when the resolution value of the IMO number is any value between 0000000001 and 0000999999, it indicates that the content of the IMO field of the static message is wrong, which is not described herein.
Step S402, information difference compensation processing
For the message No. 5 broadcast by the class A ship, the message occupies 2 time slots. When the ship is at the edge of the coverage area of the base station or sails in ocean, the receiving capacity of the receiving equipment for the multi-slot AIS message is reduced, and the receiving and outputting interval of the No. 5 message can be far higher than the nominal value of 6 min; in addition, the 24 # message carrying the static information of the class B ship is composed of a part A and a part B, the part B of the 24 # message needs to be transmitted within 1min after 24A, for an AIS satellite system, the success rate of receiving the class B device message is lower, the success rate of continuous receiving of the 24 # message cannot be guaranteed, and when the class B CS or SO sends the 24 # message, the AIS device needs to respond correspondingly, SO that the receiving and outputting frequency of the receiving device to the 24 # message is also low. The common AIS application system needs to input the static information of the AIS timely and continuously to support the display of the ship information, and particularly the application terminal software of CS (virtual switch) systems and the like, so that the static information of the ship is ensured to be output in a nominal value by adopting information interpolation compensation processing.
The method comprises the following steps:
step S4021, when determining that the message ID is 5 according to the message ID in the current AIS data, determining a static message receiving time based on a time stamp on the current AIS data, acquiring a time difference between the static message receiving time and a second time when receiving the same ship transmitting AIS data at the previous time, and if the time difference is 6min, considering the current AIS data to be valid, and outputting the current AIS data;
step S4022, when the message ID is determined to be 24 according to the message ID in the current AIS data, judging whether the current AIS data is complete (whether a message B part is missing), if not, obtaining AIS data transmitted by the same ship at the last moment, intercepting the missing part of the AIS data, splicing the current AIS data and the intercepted part by adopting a message splicing processing mode to obtain a complete message, and repeatedly outputting the spliced message at nominal intervals of 6 minutes based on the spliced message.
And searching the static information message transmitted at the previous moment in the historical data according to the ship MMSI code for transmitting the static ship message.
Of course, considering that there may be a case where the static data of the ship is interrupted, step S4 further includes:
after the current AIS data is obtained, timing is carried out, when the timing duration reaches the preset duration and new AIS data is not received yet, interruption of ship static data is judged, as shown in fig. 5, at the moment, a ship MMSI code corresponding to the current AIS data is extracted, historical data inquiry is carried out in a buffer based on the MMSI code so as to obtain complete message information of the same ship at the last moment, the complete message information is used as latest received data, and the message is repeatedly output at nominal intervals of 6min (namely, normal frequency) until the latest AIS data (namely, latest static data) of the ship corresponding to the current AIS data is received; when the historical data is queried, not only the shore-based data but also the satellite data are queried.
When the message ID in the current AIS data is 5, the new AIS data is a No. 5 message; when the message ID in the current AIS data is 24, the new AIS data is a No. 24 message.
Therefore, the invention adopts the complementation of the shore-based data and the satellite data to obtain the complete 24 # message and the complete 5 # message, and simultaneously repeatedly outputs a complete static information message which is recently acquired (can be received or spliced) at the nominal frequency of 6 min.
The invention provides a multisource AIS data perfection processing method based on ship messages, which is characterized by receiving current AIS data subjected to preposed fusion processing, judging whether the current AIS data is a dynamic ship message or a static ship message according to a message ID in the current AIS data, and executing different steps: when the current AIS data is determined to be the dynamic ship message, sequentially performing message time sequence adjustment processing, dynamic message segment verification processing and position verification processing on the current AIS data to obtain output AIS dynamic data; the position verification processing comprises rationality verification of front and rear positions and rationality verification of ship movement tracks; and when the current AIS data is determined to be the static ship message, sequentially performing static message field verification processing and information difference compensation processing on the current AIS data to obtain output AIS static data. According to the invention, different perfection processing steps are adopted according to different types of ship messages, so that the accuracy, rationality and integrity of AIS data output can be ensured.
In the invention, the message time sequence adjustment processing ensures the reasonability of AIS data time sequence and ensures that output data does not jump back and forth in time; message segment verification processing (including dynamic message segment verification processing and static message segment verification processing) filters out message information of transmission errors, and ensures the accuracy of AIS data output; the unreasonable ship motion trail is deleted by the position verification processing, and more accurate and reasonable ship running states are provided for subsequent data call; static information difference value compensation processing ensures the integrity and compliance of AIS static data output, and provides necessary conditions for better application and matching of subsequent terminal software.
In addition, a common AIS application system needs timely and continuous AIS static information input to support display of ship information, and the information interpolation compensation processing adopted by the invention can ensure that the ship static information is output in a nominal value, especially for CS application terminal software such as a VTS system.
Claims (10)
1. A method for processing multisource AIS data integrity based on ship messages, the method comprising:
s1, receiving current AIS data subjected to AIS data pre-fusion processing;
step S2, judging whether the current AIS data is a dynamic ship message or a static ship message according to the message ID in the current AIS data, and executing step S3 or step S4;
step S3, when the current AIS data is determined to be the dynamic ship message, sequentially performing message time sequence adjustment processing, dynamic message field verification processing and position verification processing on the current AIS data to obtain output AIS dynamic data; the position verification processing comprises rationality verification of front and rear positions and rationality verification of ship movement tracks;
and S4, when the static ship message is determined, sequentially performing static message field verification processing and information difference compensation processing on the current AIS data to obtain output AIS static data.
2. The method for processing the integrity of the multi-source AIS data based on the ship message according to claim 1, wherein the step S2 comprises:
step S201, extracting a message ID in the current AIS data;
step S202, when judging that the message ID is 1, 2, 3, 18 or 27, determining that the current AIS data is a dynamic ship message; and when judging that the message ID is 5 or 24, determining that the AIS data is a static ship message.
3. The method for processing the integrity of the multi-source AIS data based on the ship message according to claim 1, wherein the step S3 comprises:
step 301, when determining that the current AIS data is a dynamic ship message, determining a dynamic message receiving time based on a time stamp on the current AIS data, and implementing message time sequence adjustment processing on the current AIS data based on the dynamic message receiving time and the category of the current AIS data; the category of the current AIS data is real-time data or historical data;
step S302, carrying out message analysis on the current AIS data, and realizing dynamic message segment verification processing by judging whether the analysis value of each field after analysis exceeds the value range corresponding to the field; wherein the field includes: user ID, longitude, latitude, and heading to earth;
step S303, based on the dynamic message receiving time and the current analysis position coordinate corresponding to the current AIS data, and the first time when the same ship transmits AIS data and the analysis position coordinate corresponding to the AIS data are received at the last moment, the rationality verification of the front position and the rear position is realized; and verifying the rationality of the ship motion trail based on the distance difference value between the current analysis position coordinate and the analysis position coordinate.
4. The method for processing the integrity of the multi-source AIS data based on the ship message according to claim 3, wherein in step S301, the timing adjustment processing is performed on the current AIS data based on the dynamic message receiving time and the class of the current AIS data, including:
step S3011, determining whether the current AIS data is real-time data or historical data, and executing step S3012 or step S3013;
step S3012, when the real-time data is determined, adding the current AIS data to a data window in the following manner; the window length of the data window is fixed, the right end of the window is an input end, and the left end of the window is an output end:
(1) Acquiring earliest message time T corresponding to leftmost data in the data window start And the latest message time T corresponding to the rightmost data f ；
(2) The dynamic message receiving time T and the latest message time T are calculated f Ratio of T>T f Inserting the current AIS data from the right end of the data window according to the dynamic message receiving time T, and ejecting the leftmost data in the data window from the left side of the data window; if T<T f First, the dynamic message receiving time T and T start Comparison, if T<T start Directly discarding; if T>T start Inserting the current AIS data into a proper position of a window according to the dynamic message receiving time T, and ejecting the leftmost data in the data window from the left side of the data window;
step S3013, when it is determined that the current AIS data is historical data, the current AIS data is inserted into a proper location of the memory according to the dynamic message receiving time T.
5. A method for processing integrity of multi-source AIS data based on ship messages according to claim 3, wherein step S302 comprises:
step S3021, performing message analysis on the current AIS data, and determining whether the analysis value of the user ID exceeds a first value range, whether the analysis value of the longitude exceeds a second value range, whether the analysis value of the latitude exceeds a third value range, and whether the analysis value of the earth heading exceeds a fourth value range;
step S3022, when it is determined that the resolution value of any field exceeds the corresponding value range, determining that the field is wrong, and discarding the current AIS data.
6. The method for processing the integrity of the multi-source AIS data based on the ship message according to claim 3, wherein in the step S303, the current analysis position coordinate is obtained after the message analysis is performed in the step S302;
and the analysis position coordinates corresponding to the first time and the AIS data are obtained from a buffer.
7. The method for processing the integrity of the multi-source AIS data based on the ship message according to claim 3, wherein in step S303, when it is determined that the dynamic message receiving time is later than the first time, the current resolved position coordinates are located behind the resolved position coordinates, and the front and rear positions are determined to be reasonable.
8. The method for processing the integrity of the multi-source AIS data based on the ship message according to claim 3, wherein in step S303, the verification of the integrity of the ship motion trail based on the distance difference between the current resolved position coordinates and the resolved position coordinates is implemented, comprising:
(1) Judging whether the current AIS data are real-time data or historical data;
(2) When the current AIS data are determined to be real-time data, calculating to obtain a distance difference threshold value by combining with ship static information, judging whether the distance difference value is matched with the ship speed according to the distance difference threshold value, and if so, indicating that the track is normal; if the current AIS data are not matched, the track is described as abnormal, and the current AIS data are discarded;
(3) When the current AIS data is determined to be historical data, judging whether the distance difference between the current AIS data and the front and rear data is reasonable or not, and if so, storing the current AIS data; discarding the current AIS data if it is not reasonable.
9. The method for processing the integrity of the multi-source AIS data based on the ship message according to claim 1, wherein in the step S4, the manner of sequentially performing static message segment verification processing on the current AIS data comprises the following steps:
carrying out message analysis on the current AIS data, and realizing static message segment verification processing by judging whether the analysis value of each field after analysis exceeds the value range corresponding to the field; wherein the field includes: user ID and IMO number.
10. The method for processing the multi-source AIS data integrity based on the ship message according to claim 1, wherein in step S4, the manner of performing the information difference compensation processing on the static ship message comprises:
when the message ID is determined to be 5 according to the message ID in the current AIS data, determining static message receiving time based on a time stamp on the current AIS data, acquiring a time difference between the static message receiving time and a second time when the same ship transmitting AIS data is received at the last moment, and if the time difference is 6min, considering the current AIS data to be valid and outputting the current AIS data;
and when the message ID is determined to be 24 according to the message ID in the current AIS data, judging whether the current AIS data is complete, if not, acquiring AIS data transmitted by the same ship and received at the last moment, intercepting the missing part of the AIS data, splicing the current AIS data and the intercepted part by adopting a message splicing processing mode to obtain a complete message, and repeatedly outputting the spliced message at nominal intervals of 6 minutes by taking the spliced message as a reference.
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