CN207742335U - A kind of intelligence maritime affairs tracking radar - Google Patents
A kind of intelligence maritime affairs tracking radar Download PDFInfo
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- CN207742335U CN207742335U CN201820201368.8U CN201820201368U CN207742335U CN 207742335 U CN207742335 U CN 207742335U CN 201820201368 U CN201820201368 U CN 201820201368U CN 207742335 U CN207742335 U CN 207742335U
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Abstract
The utility model discloses a kind of intelligent maritime affairs tracking radar, and the intelligence maritime affairs tracking radar carries out target following for controlling electron-light cameraing head, and the electron-light cameraing head is arranged on holder, and the intelligence maritime affairs tracking radar includes：Radar transmit-receive antenna, microwave transceiver, servo-drive system, master server and navigator；The master server is connect with the servo-drive system, and the servo-drive system is connect with the microwave transceiver, and the microwave transceiver is connect with the radar transmit-receive antenna；The master server is connect with the navigator；The navigator is used to obtain the position signal and speed signal for obtaining ship.The complementary characteristic of the utility model combination optics and microwave, can be well solved electron-light cameraing head climate influences big, the slow painstaking problem of target search, and the function of electron-light cameraing head is allowed to be played to the greatest extent.
Description
Technical field
The utility model is related to field of radar, more particularly to a kind of intelligent maritime affairs tracking radar.
Background technology
Maritime Law Enforcement, coordinative command search and rescue the public affair occasions waterborne such as salvaging, national defence patrol and some specific waters surface prisons
Viewed area, the Light Electrical camera with cradle head control can play an important role, such as evidence obtaining, observation, monitoring etc., general meeting
It is a kind of or next real using several cameras simultaneously using Laser video camera head, visible light/infrared camera, thermal imaging camera etc.
Now to the observation in region or target.
Camera belongs to optical device, its advantage is that picture detail it is abundant, convenient for observation, but optical device penetrability it is poor,
The influence of climate is serious, and holder rotating speed is slower, does not accomplish the real-time monitoring at round-the-clock, comprehensive no dead angle, once by
Monitoring target disappears from picture, in the case where climatic environment is bad, is sometimes difficult to search again for back former tracking target, natural nothing
Method again shoots it storage.When water surface ship or object mark is various, in the case of bad weather, becomes ten to the search of specific objective
Divide difficulty, affects the using effect of camera.
Maritime affairs radar utilizes microwave technology, stronger to the penetrability of water mist, can be found on the water surface and track target.
Target following (ARPA) function of maritime affairs radar can capture multiple targets, or setting specific region automatic capture mesh manually
Then mark carries out the target of capture, from motion tracking, exporting the track datas such as number, position, speed, the course of target.Radar
It can accomplish real-time 360 ° omni-directional, and not influenced substantially by weather such as misty rains, but the imaging effect of microwave radar compares pumping
As the specific visual pattern not as optical imagery.
Utility model content
The purpose of this utility model is to provide a kind of intelligent maritime affairs tracking radar, improves naval target in the presence of a harsh environment
The accuracy rate of tracking.
To achieve the above object, the utility model provides following scheme：
A kind of intelligence maritime affairs tracking radar, the intelligence maritime affairs tracking radar for control electron-light cameraing head carry out target with
Track, the electron-light cameraing head are arranged on holder, and the intelligence maritime affairs tracking radar includes：Radar transmit-receive antenna, microwave
Transceiver, servo-drive system, master server and navigator；The master server is connect with the servo-drive system, the servo-drive system
It is connect with the microwave transceiver, the microwave transceiver is connect with the radar transmit-receive antenna；The master server with it is described
Navigator connects；The navigator is used to obtain the position signal and speed signal for obtaining ship.
Optionally, the intelligent maritime affairs tracking radar further includes：Compass, the compass are used to obtain the orientation of ship
Signal, the compass are connect with the master server.
Optionally, the intelligent maritime affairs tracking radar further includes：Automatic recognition system, the automatic recognition system is for obtaining
The kinematic parameter of other ships, the automatic recognition system is taken to be connect with the master server.
Optionally, the intelligent maritime affairs tracking radar further includes：Attitude test instrument, the attitude test instrument is for ship
Posture information；The attitude test instrument is connect with the master server.
Optionally, the posture information includes：Azimuth, roll angle, hangs high and position at pitch angle.
Optionally, the intelligent maritime affairs tracking radar further includes：Display, the display connect with the master server
It connects, the master server determines interesting target on the display, and controls optical camera and track the mesh interested
Mark.
Optionally, the intelligent maritime affairs tracking radar further includes：Mouse-keyboard, the mouse-keyboard and the master server
Connection.
Optionally, the intelligent maritime affairs tracking radar sets tracing area by setting polygonal head position.
Optionally, the intelligent maritime affairs tracking radar is realized by Ethernet interface or UART serial ports to the photoelectric camera
As the control of head.
According to specific embodiment provided by the utility model, the utility model discloses following technique effects：
The utility model proposes a kind of intelligent maritime affairs tracking radars that can control cradle head camera, can be well solved light
Electric camera climate influences big, the slow painstaking problem of target search, and the function of electron-light cameraing head is allowed to obtain to the greatest extent
It plays.
Description of the drawings
In order to illustrate the embodiment of the utility model or the technical proposal in the existing technology more clearly, below will be to embodiment
Needed in attached drawing be briefly described, it should be apparent that, the accompanying drawings in the following description is only the utility model
Some embodiments for those of ordinary skill in the art without having to pay creative labor, can also basis
These attached drawings obtain other attached drawings.
Fig. 1 is the structure chart of the embodiment 1 of the utility model intelligence maritime affairs tracking radar；
Fig. 2 is the structure chart of the embodiment 2 of the utility model intelligence maritime affairs tracking radar；
Fig. 3 is the coordinate transition diagram of radar monitoring point and camera point of observation.
Specific implementation mode
The following will be combined with the drawings in the embodiments of the present invention, carries out the technical scheme in the embodiment of the utility model
Clearly and completely describe, it is clear that the described embodiments are only a part of the embodiments of the utility model, rather than whole
Embodiment.Based on the embodiments of the present invention, those of ordinary skill in the art are without making creative work
The every other embodiment obtained, shall fall within the protection scope of the present invention.
The purpose of this utility model is to provide a kind of intelligent maritime affairs tracking radar, in conjunction with the complementary characteristic of optics and microwave,
Can be well solved electron-light cameraing head climate influences big, target search slowly painstaking problem, allows the function of electron-light cameraing head
It is played to the greatest extent.
To keep the above objects, features, and advantages of the utility model more obvious and easy to understand, below in conjunction with the accompanying drawings and have
Body embodiment is described in further detail the utility model.
Embodiment 1
Intelligence maritime affairs tracking radar provided by the utility model carries out target following, the light for controlling electron-light cameraing head
Electric camera is arranged on holder.Fig. 1 is the structure chart of the embodiment 1 of the utility model intelligence maritime affairs tracking radar.Such as Fig. 1 institutes
Show, the intelligence maritime affairs tracking radar includes：
Master server 1, servo-drive system 2, microwave transceiver 3, radar transmit-receive antenna 4 and navigator 5；Master server 1 with watch
Dress system 2 connects, and servo-drive system 2 is connect with microwave transceiver 3, and microwave transceiver 3 is connect with radar transmit-receive antenna 4；Main service
Device 5 is connect with navigator 5；Navigator 5 is used to obtain the position signal and speed signal for obtaining ship.
The utility model can capture multiple targets, or setting specific region automatic capture target manually according to radar,
Then the target of capture is carried out, from motion tracking, the track datas such as number, position, speed, the course of target being exported, to draw
Holder tracks and focuses optical camera, and optical pickup record is carried out to selected target.
Embodiment 2
Intelligence maritime affairs tracking radar provided by the utility model carries out target following, the light for controlling electron-light cameraing head
Electric camera is arranged on holder.Fig. 2 is the structure chart of the embodiment 1 of the utility model intelligence maritime affairs tracking radar.Such as Fig. 2 institutes
Show, the intelligence maritime affairs tracking radar includes：
Master server 1, servo-drive system 2, microwave transceiver 3, radar transmit-receive antenna 4, navigator 5, compass 6, automatic knowledge
Other system 7, attitude test instrument 8；Master server 1 is connect with servo-drive system 2, and servo-drive system 2 is connect with microwave transceiver 3, microwave
Transceiver 3 is connect with radar transmit-receive antenna 4；Master server 5 is connect with navigator 5；Navigator 5 is used to obtain the position for obtaining ship
Confidence number and speed signal.
Compass 6 is used to obtain the bearing signal of ship, and compass 6 is connect with master server 1.
Automatic recognition system 7 (Association forInformation Systems, AIS) is for obtaining other ships
Kinematic parameter.
Attitude test instrument 8 is used for the posture information of ship；Attitude test instrument 8 is connect with master server 1.The posture information
Including：Azimuth, roll angle, hangs high and position at pitch angle.Optionally, attitude test instrument 8 is the Satellite Compass instrument of triantennary.
It is described intelligence maritime affairs tracking radar further include：Display 9, display 9 are connect with master server 1, and master server 1 exists
Interesting target is determined on display 9, and is controlled optical camera and tracked the interesting target.
It is described intelligence maritime affairs tracking radar further include：Mouse-keyboard 10, mouse-keyboard 10 are connect with master server 1.Mouse
Keyboard 10 is used to be manually entered the approximate location of target.
The intelligence maritime affairs tracking radar sets tracing area by setting polygonal head position.
The intelligence maritime affairs tracking radar is realized by Ethernet interface or UART serial ports to the electron-light cameraing head
Control.
Radar will need compass 6 to provide orientation, the offer of navigator 5 position, in addition AIS is provided to target into line trace
The track data that target is actively sent improves the reliability to target following, simultaneously for being merged with target following (TT)
In order to control the pitching of camera, the posture for obtaining hull is needed, for example, the Satellite Compass instrument of triantennary can obtain
Obtain the pitch parameter of ship, naturally it is also possible to other attitude of ship testers.Intelligent maritime affairs radar by network or
RS422/485 serial ports reaches camera shooting tracking purpose orientation, pitching and the focusing etc. that control Light Electrical camera.
Radar is the physical basis of target following, and microwave transceiver 3 produces sodar signals, emitted by radar transmit-receive antenna 4
It goes out, then again by 4 receives echo-signal of radar transmit-receive antenna, and shows on the display 9.Sea clutter refers to reflectance of sea wave
Caused clutter can be realized by means such as echo-signal, the clutter recognitions of proximal end of decaying；Rain clutter is referred to due to gas
Reflection caused by time factor, including steam cloud cluster, sleet mist etc., show as large stretch of echo area on echo.Due to echo
Signal includes sea clutter and rain clutter, it is therefore desirable to be handled echo-signal.Master server 1 includes that maritime affairs radar is important
The treatment technologies such as the inhibition of sea clutter and rain clutter can weaken its influence by technologies such as differential, substrate difference.
Master server 1 will on the display 9 show after echo signal processing, user can select one it is tracked
The information such as number, position, speed, course are passed to master server 1 by target (the first target manually or automatically tracked), main
Server 1 sends out control command traction holder and tracks and focus camera, and optical pickup record is carried out to selected target.
Target following is the most important function of intelligent maritime affairs tracking radar, and radar captures manually or setting regions is caught automatically
Target is obtained, target is then tracked, obtains number, position, speed, course, nearest binding time (TCPA) and the remittance recently of target
The collision preventions data such as accumulation (CPA).AIS systems on ship can passively receive his ship maritime mobile service mark (MMSI),
The information such as position, speed, course can also participate in target following.The tracking cell of intelligent maritime affairs tracking radar can to TT and
AIS information is merged, and according to target location, speed, course information, the judgement of the same target is made to consistent target,
Three category informations are exported, existing AIS has the fusion target of TT, the only target of the target of TT and only AIS again, to improve target following
Reliability.
The pitch information of the target information of holder and camera control unit reception tracking cell, attitude of ship, or even take the photograph
As the image of head, holder is controlled by two processes of coarse adjustment and fine tuning, wherein coarse tuning process is determined by the orientation of radar target
The distance in the orientation of holder, radar target determines that the focal length of holder, the posture of hull determine the pitching of holder；Fine tuning is then by taking the photograph
Focal length is finely tuned as the clarity of head, whether target imaging finely tunes orientation positioned at center, and according to the movement of target and this ship,
Ceaselessly to adjust camera holder and focal length so that camera can accurately track the selected target of alignment, carry out shooting note
Record.
Since radar antenna is as servo-drive system 2 is with 4 rotary scanning of radar receiving antenna, the refreshing of whole coil imaging
Time is exactly the sweep time of radar, it is discrete without being continuous, and the renewal time of radar TT targets is exactly that radar is swept
Retouch the time；In addition, the transmission interval time of AIS is then long, and it is general related to the ship's speed of message is sent, therefore exist
The time synchronization problem of AIS and radar TT；And the control of camera is wished to accomplish that comparison is coherent, rather than shake of jumping
Process, it is therefore desirable to be filtered according to the output of target tracking unit as a result, carrying out smooth and interpolation fitting to cradle head control, be one
A optimal control process.
Since ship rocks, the holder for needing orientation and pitching that can control, by knowing that the posture of ship can
To compensate the offset of camera pitch angle.The horizontal direction of holder is controlled by the target bearing of radar tracking unit, is bowed
It faces upward, the measurement of Attitude perceives to control, and focuses and then does the calibration of distance-amplification factor by tracking the distance of target
It realizes, whether this is the coarse tuning process of an open loop, clear by being imaged, and whether photographic subjects are located at center, can carry out
Relatively good imaging effect is realized in holder fine tuning.
Since radar monitoring point is different with the point of observation of camera, need to do coordinate conversion.Fig. 3 is radar monitoring point and takes the photograph
As the coordinate transition diagram of head point of observation.As shown in figure 3,
Assuming that radar antenna is in position o, electron-light cameraing head in position m, if under the coordinate system of radar antenna for (xm,
Ym), have target t, under the coordinate system of radar antenna be (xt, yt), then coordinates of the target t at electron-light cameraing head m be (x ˊ t,
Y ˊ t), then the relationship of the two is：
X ˊ t=xt-xm
Y ˊ t=yt-ym.
Furthermore it is also possible to which dedicated server is arranged, the video and photo of camera shooting are recorded, while can remember
The targetpath information for recording AIS and TT tracking, to investigate afterwards.
It, can be by the data transfer of storage to control centre meanwhile if there is external network access conditions.
The intelligent maritime affairs tracking radar of control cradle head camera provided by the utility model, has the characteristics that：
1, by capturing or setting monitor area automatic capture target manually, and to target into line trace, obtain target with
The flight paths information such as number, position, speed, the course of track (TT).
2, it receives and shows automatic recognition system (AIS) signal, as the supplement of radar target tracking (TT), TT and AIS
Collectively form the information source that radar actively and passively identifies target ship.
3, fusion treatment is carried out to the track data of TT and AIS, according to data such as position, speed, courses, for the two one
The target-recognition of cause is the same target, and to obtain three classes data, i.e. TT+AIS merges target, individual TT targets, and
Individual AIS targets.
4, interpolation filtering is carried out to the information of AIS according to the scan period of TT, obtained using the radar scanning period as time base
Base when the unified target of standard.
5, inhibited by effective wave and misty rain restrainable algorithms, improve the detection probability of TT, reduce TT false-alarm probabilities.
6, the monitoring area for supporting arbitrary polygon sets the region of tracking by setting polygon vertex position.
7, by controlling the holder of Light Electrical camera, camera quick rotation is drawn to interested according to the orientation of target
In the orientation of target, camera focal length is allowed to be directed at the target of radar tracking by focusing according to the distance of target.
8, by the azimuth-range of target, control holder carries out coarse adjustment to radar lock on, may further combine
Imaging effect carries out fine tuning to orientation and focal length, to reach best imaging effect as criterion.
9, it supports directly to select interested target on radarscope, this is focused to by radar control optical camera
In target, the work of shooting monitoring is carried out.
10, different with the position of camera observation point according to radar observation point, it is coordinately transformed, is missed with eliminating control
Difference.
11, since targetpath data are the centrifugal pumps with radar scanning time correlation, and the control of holder preferably connects
The mode of continuous tracking, control holder intelligence maritime affairs tracking radar are supported the smothing filtering controlled electron-light cameraing head, are taken the photograph with realizing
As the steady control of head.
12, it supports the input to Attitude, controls the pitch angle of electron-light cameraing head holder, rocked with compensating hull to taking the photograph
The influence focused as head.
Each embodiment is described by the way of progressive in this specification, the highlights of each of the examples are with other
The difference of embodiment, just to refer each other for identical similar portion between each embodiment
Specific case used herein is expounded the principles of the present invention and embodiment, above example
Explanation be merely used to help understand the method and its core concept of the utility model；Meanwhile for the general technology of this field
Personnel, according to the thought of the utility model, there will be changes in the specific implementation manner and application range.In conclusion
The content of the present specification should not be construed as a limitation of the present invention.
Claims (8)
1. a kind of intelligence maritime affairs tracking radar, which is characterized in that the intelligence maritime affairs tracking radar is for controlling electron-light cameraing head
Target following is carried out, the electron-light cameraing head is arranged on holder, and the intelligence maritime affairs tracking radar includes：Radar transmit-receive day
Line, microwave transceiver, servo-drive system, master server and navigator；The master server is connect with the servo-drive system, described to watch
Dress system is connect with the microwave transceiver, and the microwave transceiver is connect with the radar transmit-receive antenna；The master server
It is connect with the navigator；The navigator is used to obtain the position signal and speed signal for obtaining ship.
2. intelligence maritime affairs tracking radar according to claim 1, which is characterized in that the intelligence maritime affairs tracking radar also wraps
It includes：Compass, the compass are used to obtain the bearing signal of ship, and the compass is connect with the master server.
3. intelligence maritime affairs tracking radar according to claim 1, which is characterized in that the intelligence maritime affairs tracking radar also wraps
It includes：Automatic recognition system, the automatic recognition system are used to obtain the kinematic parameters of other ships, the automatic recognition system with
The master server connection.
4. intelligence maritime affairs tracking radar according to claim 1, which is characterized in that the intelligence maritime affairs tracking radar also wraps
It includes：Attitude test instrument, the attitude test instrument are used for the posture information of ship；The attitude test instrument connects with the master server
It connects.
5. intelligence maritime affairs tracking radar according to claim 4, which is characterized in that the posture information includes：Azimuth,
Pitch angle, hangs high and position at roll angle.
6. intelligence maritime affairs tracking radar according to claim 1, which is characterized in that the intelligence maritime affairs tracking radar also wraps
It includes：Display, the display are connect with the master server, and the master server determines mesh interested on the display
Mark, and control optical camera and track the interesting target.
7. intelligence maritime affairs tracking radar according to claim 1, which is characterized in that the intelligence maritime affairs tracking radar also wraps
It includes：Mouse-keyboard, the mouse-keyboard are connect with the master server.
8. intelligence maritime affairs tracking radar according to claim 1, which is characterized in that the intelligence maritime affairs tracking radar passes through
Ethernet interface or UART serial ports realize the control to the electron-light cameraing head.
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| CN201820201368.8U CN207742335U (en) | 2018-02-06 | 2018-02-06 | A kind of intelligence maritime affairs tracking radar |
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| CN201820201368.8U CN207742335U (en) | 2018-02-06 | 2018-02-06 | A kind of intelligence maritime affairs tracking radar |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108020831A (en) * | 2018-02-06 | 2018-05-11 | 上海圆舟电子科技有限公司 | A kind of intelligence maritime affairs tracking radar |
| CN109840916A (en) * | 2019-01-22 | 2019-06-04 | 中国海洋大学 | The assessment method of high-frequency ground wave radar Ship Trakding Algorithm |
| CN111103899A (en) * | 2018-10-25 | 2020-05-05 | 杭州海康威视数字技术股份有限公司 | Holder positioning method and device |
| CN113253619A (en) * | 2021-07-13 | 2021-08-13 | 北京海兰信数据科技股份有限公司 | Ship data information processing method and device |
| CN114089299A (en) * | 2021-09-01 | 2022-02-25 | 中船航海科技有限责任公司 | Marine target detection and identification method based on situation awareness multi-source sensor linkage |
| CN114613037A (en) * | 2022-02-15 | 2022-06-10 | 中国电子科技集团公司第十研究所 | Onboard fusion information guided sensor prompt searching method and device |
-
2018
- 2018-02-06 CN CN201820201368.8U patent/CN207742335U/en active Active
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108020831A (en) * | 2018-02-06 | 2018-05-11 | 上海圆舟电子科技有限公司 | A kind of intelligence maritime affairs tracking radar |
| CN111103899A (en) * | 2018-10-25 | 2020-05-05 | 杭州海康威视数字技术股份有限公司 | Holder positioning method and device |
| CN109840916A (en) * | 2019-01-22 | 2019-06-04 | 中国海洋大学 | The assessment method of high-frequency ground wave radar Ship Trakding Algorithm |
| CN109840916B (en) * | 2019-01-22 | 2019-12-13 | 中国海洋大学 | Evaluation method of high-frequency ground wave radar ship target tracking algorithm |
| CN113253619A (en) * | 2021-07-13 | 2021-08-13 | 北京海兰信数据科技股份有限公司 | Ship data information processing method and device |
| CN113253619B (en) * | 2021-07-13 | 2021-10-12 | 北京海兰信数据科技股份有限公司 | Ship data information processing method and device |
| CN114089299A (en) * | 2021-09-01 | 2022-02-25 | 中船航海科技有限责任公司 | Marine target detection and identification method based on situation awareness multi-source sensor linkage |
| CN114613037A (en) * | 2022-02-15 | 2022-06-10 | 中国电子科技集团公司第十研究所 | Onboard fusion information guided sensor prompt searching method and device |
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