Ultrahigh ship identification method and system based on adaptive Norenz matrix

Abstract

The invention provides an ultrahigh ship identification method and system based on a self-adaptive Norenz matrix, and relates to the field of ship safety monitoring. The first matrix is a sea wave adaptive Norenz matrix which adapts to sea wave environment and ship height measurement requirements through dynamic phase adjustment and beam angle grading; correcting the deviation of the detection wave beam in real time according to the sea wave monitoring data to obtain a corrected detection wave beam; and finally, receiving a reflected light beam formed by reflecting the corrected detection wave beam through a ship, analyzing the reflected light beam to obtain the height of the ship, and generating early warning information in combination with the average height of the sea waves. Static angle grading adaptive ship height and dynamic phase adjustment offset sea wave interference can be realized, so that the accuracy of ultrahigh ship identification is improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of ship safety monitoring, in particular to a super-high ship identification method and system based on an adaptive Norlund matrix. BACKGROUND

[0002] In the existing super-high ship identification technology, the laser detection beam is easily offset by sea wave vibration, and the beam angle distribution is fixed, which cannot adapt to the measurement requirements of different height regions from the ship bottom to the mast, resulting in low identification accuracy of the ship height, poor environmental adaptability, and difficulty in meeting the precise identification requirements in complex sea conditions. SUMMARY

[0003] The purpose of the present application is to provide a super-high ship identification method and system based on an adaptive Norlund matrix to solve the existing problems raised in the background art: the laser detection beam is easily offset by sea wave vibration, and the beam angle distribution is fixed, which cannot adapt to the measurement requirements of different height regions from the ship bottom to the mast, resulting in low identification accuracy of the ship height, poor environmental adaptability, and difficulty in meeting the precise identification requirements in complex sea conditions.

[0004] To achieve the above purpose, the present application provides the following technical scheme: a super-high ship identification method based on an adaptive Norlund matrix, comprising the following steps:

[0005] The laser output by the laser source is split by the first matrix to form a detection beam covering different height regions of the ship and emitted to the ship. The first matrix is a sea wave adaptive Norlund matrix that dynamically adjusts the phase and classifies the beam angle to adapt to the sea wave environment and ship height measurement requirements.

[0006] The offset of the detection beam is corrected in real time according to the sea wave monitoring data to obtain a corrected detection beam.

[0007] The reflected beam formed by the corrected detection beam reflected by the ship is received, and the reflected beam is analyzed to obtain the height of the ship. Warning information is generated in combination with the average height of the sea wave and sent.

[0008] Optionally, the laser output by the laser source is split by the first matrix to form a detection beam covering different height regions of the ship and emitted to the ship, comprising:

[0009] The single beam of laser output by the laser source is split into N beams of laser by a beam splitter, wherein N is a positive integer not less than 8.

[0010] The N laser beams are input into the input end of the first matrix, and the detection beams output by the first matrix through topological reconstruction are divided into a first angle group and a second angle group, wherein the first angle group is an angle beam covering the area from the ship bottom to the water surface, and the second angle group is an angle beam covering the area from the ship bridge to the mast.

[0011] The detection beams of the first angle group and the second angle group are synchronously transmitted to the corresponding height area of the ship.

[0012] Optionally, the output of the detection beams divided into the first angle group and the second angle group through the topological reconstruction of the first matrix comprises:

[0013] The beam parameters of the first angle group are adjusted through a second coupling coefficient of a first directional coupler in the first matrix, so that the beam interval of the first angle group is smaller than that of the second angle group, and the beam power of the first angle group is higher than that of the second angle group, wherein the second coupling coefficient is a proportional parameter in the first directional coupler for distributing the beam power of the first angle group;

[0014] The beam parameters of the second angle group are adjusted through a third coupling coefficient of a second directional coupler in the first matrix, so that the coverage range of the second angle group is larger than that of the first angle group, wherein the third coupling coefficient is a proportional parameter in the second directional coupler for distributing the beam power of the second angle group.

[0015] Optionally, the real-time correction of the beam offset of the detection beam according to the sea wave monitoring data comprises:

[0016] The sea wave vibration data is obtained in real time by a sea wave monitoring module, wherein the sea wave vibration data comprises a first parameter and a second parameter, the first parameter is a sea wave vibration frequency, and the second parameter is a sea wave vibration amplitude;

[0017] The first parameter and the second parameter are input into a first phase shifter of the first matrix, the first phase shifter is a MEMS piezoelectric phase shifter, and a phase adjustment amount is calculated according to a first compensation relationship;

[0018] The first phase shifter adjusts the phase of the detection beam according to the phase adjustment amount to offset the beam offset caused by the sea wave vibration, and obtains the corrected detection beam.

[0019] Optionally, the obtaining process of the first compensation relationship comprises:

[0020] Sea wave vibration samples corresponding to different first parameters and second parameters are collected;

[0021] The phase adjustment amount that makes the beam offset amount within a preset accuracy range is tested for each sea wave vibration sample, and a correlation between the phase adjustment amount and the first parameter and the second parameter is determined through fitting to obtain the first compensation relationship.

[0022] Optionally, the analyzing the reflected light beams to obtain the ship height comprises:

[0023] recording a first time from a time of emitting the first group of detection beams to receiving the reflected light beams thereof and a second time from a time of emitting the second group of detection beams to receiving the reflected light beams thereof;

[0024] calculating a first propagation distance of the first group of detection beams according to a laser propagation speed and the first time and a second propagation distance of the second group of detection beams according to the laser propagation speed and the second time;

[0025] obtaining a beam included angle between the first group of detection beams and the second group of detection beams, the beam included angle being determined by a topological structure of the first matrix, and calculating the ship height according to the first propagation distance, the second propagation distance and the beam included angle.

[0026] Optionally, the calculating the ship height according to the first propagation distance, the second propagation distance and the beam included angle comprises:

[0027] taking the first propagation distance and the second propagation distance as two sides of a triangle and taking the beam included angle as an included angle of the two sides;

[0028] calculating a length of a side opposite to the included angle according to a side-angle relationship of the triangle and taking the length of the side opposite to the included angle as the ship height.

[0029] Optionally, the generating the early warning information in combination with the average sea wave height comprises:

[0030] obtaining the average sea wave height by a sea wave monitoring module, the average sea wave height being an average value of sea wave heights of a plurality of monitoring points in a preset time period;

[0031] calculating a net ship height according to the ship height and the average sea wave height, the net ship height being a difference between the ship height and the average sea wave height;

[0032] if the net ship height exceeds a preset safety threshold, generating early warning information containing the ship position and the net ship height and sending the early warning information to the ship and a monitoring center.

[0033] Optionally, the obtaining the average sea wave height by the sea wave monitoring module comprises:

[0034] collecting seawater pressure data at different monitoring points by a plurality of pressure sensors of the sea wave monitoring module;

[0035] calculating real-time sea wave heights of the monitoring points according to the seawater pressure data;

[0036] The real-time sea wave heights of each monitoring point in the preset time period are averaged to obtain a sea wave average height.

[0037] The application also provides a super-high ship identification system based on an adaptive Noren matrix, comprising:

[0038] A laser beam splitting and emitting module is configured to perform beam splitting processing on laser output by a laser source through a first matrix to form a detection beam covering different height regions of a ship and emit the detection beam to the ship, wherein the first matrix is a sea wave adaptive Noren matrix adapted to sea wave environment and ship height measurement requirements through dynamic phase adjustment and beam angle grading.

[0039] A beam correction module is configured to perform real-time correction on the offset of the detection beam according to sea wave monitoring data to obtain a corrected detection beam.

[0040] A reflection analysis and early warning module is configured to receive a reflected beam formed by reflection of the corrected detection beam on the ship, analyze the reflected beam to obtain the height of the ship, generate early warning information in combination with the sea wave average height, and send the early warning information.

[0041] Compared with the prior art, the application has the following beneficial effects:

[0042] The application provides a super-high ship identification method and system based on an adaptive Noren matrix, which first performs beam splitting processing on laser output by a laser source through a first matrix, wherein the first matrix is a sea wave adaptive Noren matrix adapted to sea wave environment and ship height measurement requirements through dynamic phase adjustment and beam angle grading; then performs real-time correction on the offset of the detection beam according to sea wave monitoring data to obtain a corrected detection beam; finally receives a reflected beam formed by reflection of the corrected detection beam on the ship, analyzes the reflected beam to obtain the height of the ship, and generates early warning information in combination with the sea wave average height. Through the above improvements, the sea wave adaptive Noren matrix is different from a traditional Noren matrix, can realize static angle grading to adapt to the height of the ship and dynamic phase adjustment to offset sea wave interference, and thus improves the accuracy of super-high ship identification. BRIEF DESCRIPTION OF DRAWINGS

[0043] Figure 1 A flowchart of a super-high ship identification method based on an adaptive Noren matrix is shown in FIG. 1.

[0044] Figure 2 A scene schematic diagram of a super-high ship identification method based on an adaptive Noren matrix is shown in FIG. 2. DETAILED DESCRIPTION

[0045] With reference to the accompanying drawings, the technical solutions in the embodiments of the present application will be clearly and completely described below. Obviously, the described embodiments are only a part of the embodiments of the present application, instead of all the embodiments of the present application. It should be pointed out that the following detailed description is exemplary and is intended to provide further explanation of the present application. Unless otherwise specified, all the technical and scientific terms used herein have the same meaning as that generally understood by those skilled in the art to which the present application belongs.

[0046] It should be noted that the terms used herein are only intended to describe specific embodiments, and are not intended to limit the exemplary embodiments according to the present application.

[0047] In the case of no conflict, the embodiments in the present application and the features in the embodiments can be combined with each other.

[0048] As shown in Figure 1 and Figure 2 The present application provides a super-high ship identification method based on an adaptive Noren matrix, comprising the following steps:

[0049] (1) The laser output by the laser source is subjected to beam splitting processing through a first matrix to form a detection beam covering different height regions of the ship and is emitted to the ship, wherein the first matrix is a sea wave adaptive Noren matrix adapted to sea wave environment and ship height measurement requirements through dynamic phase adjustment and beam angle grading;

[0050] (2) The offset of the detection beam is corrected in real time according to the sea wave monitoring data to obtain a corrected detection beam;

[0051] (3) The reflected beam formed by the corrected detection beam reflected by the ship is received, the reflected beam is analyzed to obtain the height of the ship, and warning information is generated in combination with the average height of the sea wave and is sent.

[0052] In the present application, the super-high ship identification method based on the adaptive Noren matrix realizes accurate identification and early warning of the super-high ship through three core steps. It should be noted that the core of the present application is to utilize the characteristics of a specific matrix, in combination with real-time correction and reflection analysis, to form a complete identification link.

[0053] The first step is to split the laser output by the laser source through the first matrix to form a detection beam covering different height regions of the ship and emit to the ship. The first matrix is a sea wave adaptive Noren matrix. Specifically, the first matrix is a Noren matrix that is topologically reconstructed and functionally optimized to adapt to sea wave environment and ship height measurement requirements by dynamic phase adjustment and beam angle grading. Specifically, to solve the problem of fixed beam angle in traditional laser detection, which cannot adapt to the measurement requirements of different height regions of the ship (such as the ship bottom and the mast), the first matrix is obtained by topologically reconstructing and functionally optimizing the traditional Noren matrix. In this way, a targeted detection basis is provided for subsequent identification, ensuring that the laser can cover the key height regions of the ship from the bottom to the top.

[0054] The second step is to correct the offset of the detection beam in real time according to the sea wave monitoring data to obtain the corrected detection beam. It should be noted that sea waves can cause the laser emission platform (such as a shore-based device or a buoy) to vibrate, thereby causing the detection beam to deviate from the target region. This step obtains sea wave monitoring data in real time and adjusts the beam parameters to offset the offset in the embodiments of the present application, ensuring that the beam always points stably to the ship.

[0055] The third step receives the reflected beam formed by the corrected detection beam reflected by the ship, analyzes the reflected beam to obtain the height of the ship, generates warning information in combination with the average height of the sea waves, and sends it. In this embodiment, the results of the previous two steps are input, the actual height of the ship is calculated by analyzing the reflected signal, and whether there is an overheight risk is judged in combination with the sea wave height, and finally the warning is realized.

[0056] Optionally, the splitting of the laser output by the laser source through the first matrix to form a detection beam covering different height regions of the ship and emit to the ship comprises:

[0057] (1.1) splitting a single beam of laser output by the laser source into N beams of laser through a beam splitter, wherein N is a positive integer not less than 8;

[0058] (1.2) inputting the N beams of laser into the input end of the first matrix, and outputting the detection beam split into a first angle group and a second angle group through topological reconstruction of the first matrix, wherein the first angle group is a low-angle beam covering the ship bottom to the water surface region, and the second angle group is a high-angle beam covering the ship bridge to the mast region;

[0059] (1.3) synchronously emitting the detection beams of the first angle group and the second angle group to the corresponding height regions of the ship.

[0060] In the embodiments of the present application, the process of splitting the laser output by the laser source through the first matrix to form a detection beam covering different height regions of the ship and emit to the ship comprises three sub-steps.

[0061] Firstly, the single laser output by the laser source is divided into N beams of laser by a beam splitter, where N is a positive integer not less than 8. It should be noted that the beam splitter can divide a single laser signal into multiple beams in order to form multiple direction detection beams subsequently; N is selected to be not less than 8 in order to ensure that a sufficient number of beams cover different height regions of the ship, and in practice, the specific value of N can be adjusted according to the type of the ship and the measurement accuracy requirement.

[0062] Secondly, the N beams of laser are input into the input end of the first matrix, and the detection beams divided into a first angle group and a second angle group are output through topological reconstruction of the first matrix. The first angle group is a low-angle beam covering the region from the ship bottom to the water surface, and the second angle group is a high-angle beam covering the region from the ship bridge to the mast. It should be noted that the topological reconstruction specifically refers to adjusting the circuit connection and element parameters (such as the coupling coefficient of the directional coupler) in the matrix to make the angle distribution of the output beams different; the grouping method in the embodiment of the present application is based on the fact that the measurement requirements of different height regions of the ship are different, specifically, the region from the ship bottom to the water surface is greatly affected by the sea waves and needs more intensive beams to cover, while the region from the ship bridge to the mast is wide and needs a larger coverage angle, so targeted detection is achieved through grouping.

[0063] Finally, the detection beams of the first angle group and the second angle group are synchronously transmitted to the corresponding height regions of the ship. Synchronous transmission can ensure that the beams of the two angle groups reach the ship at the same time, avoid measurement errors caused by time difference, and ensure the accuracy of subsequent analysis of the reflected signals.

[0064] Optionally, the output of the detection beams divided into the first angle group and the second angle group through the topological reconstruction of the first matrix comprises:

[0065] (1.2.1) adjusting the beam parameters of the first angle group through a second coupling coefficient of a first directional coupler in the first matrix, so that the beam interval of the first angle group is smaller than that of the second angle group, and the beam power of the first angle group is higher than that of the second angle group, the second coupling coefficient being a proportional parameter in the first directional coupler for distributing the beam power of the first angle group;

[0066] (1.2.2) adjusting the beam parameters of the second angle group through a third coupling coefficient of a second directional coupler in the first matrix, so that the coverage range of the second angle group is larger than that of the first angle group, the third coupling coefficient being a proportional parameter in the second directional coupler for distributing the beam power of the second angle group.

[0067] In the embodiment of the present application, the output of the detection beams divided into the first angle group and the second angle group through the topological reconstruction of the first matrix comprises two sub-steps, and the core is to realize the differentiation of beam characteristics through parameter adjustment of the directional coupler.

[0068] Firstly, the beam parameters of the first angle group are adjusted by the second coupling coefficient of the first directional coupler in the first matrix, so that the beam spacing of the first angle group is smaller than that of the second angle group, and the beam power of the first angle group is higher than that of the second angle group. The second coupling coefficient here is a proportional parameter in the first directional coupler for distributing the beam power of the first angle group, and its value determines the proportion of the input laser energy distributed to the first angle group. It should be noted that the first angle group covers the area from the ship bottom to the water surface, which is easily disturbed by sea foam, water splashes and the like, and the reflected signal is weak, so higher beam power is needed to enhance the signal strength; at the same time, the height variation of this area is subtle (affected by sea wave fluctuation), and smaller beam spacing is needed to improve the measurement resolution.

[0069] Secondly, the beam parameters of the second angle group are adjusted by the third coupling coefficient of the second directional coupler in the first matrix, so that the coverage range of the beams of the second angle group is larger than that of the first angle group. The third coupling coefficient is a proportional parameter in the second directional coupler for distributing the beam power of the second angle group. For example, the second angle group covers the area from the ship bridge to the mast, which has a large height range but a strong reflected signal (mostly metal structure), so it does not need too high power, but needs a larger coverage range to ensure complete coverage of the upper structure of the ship. By adjusting the third coupling coefficient, this feature can be achieved.

[0070] Optionally, the offset of the detection beam is corrected in real time according to the sea wave monitoring data to obtain a corrected detection beam, including:

[0071] (2.1) Real-time acquisition of sea wave vibration data by a sea wave monitoring module, the sea wave vibration data including a first parameter and a second parameter, wherein the first parameter is a sea wave vibration frequency, and the second parameter is a sea wave vibration amplitude;

[0072] (2.2) Inputting the first parameter and the second parameter into a first phase shifter of a first matrix, the first phase shifter being a MEMS piezoelectric phase shifter, i.e. a micro-electro-mechanical system phase shifter that realizes phase adjustment through piezoelectric effect, and calculating a phase adjustment amount according to a first compensation relationship;

[0073] (2.3) Adjusting the phase of the detection beam according to the phase adjustment amount by the first phase shifter to offset the beam offset caused by sea wave vibration, and obtaining a corrected detection beam.

[0074] In the embodiments of the present application, the offset of the detection beam is corrected in real time according to the sea wave monitoring data to obtain a corrected detection beam, which includes three sub-steps, aiming to offset the beam offset caused by sea wave vibration.

[0075] Firstly, the sea wave vibration data is acquired in real time by the sea wave monitoring module, and the data includes a first parameter and a second parameter, wherein the first parameter is a sea wave vibration frequency, and the second parameter is a sea wave vibration amplitude. It should be noted that the sea wave monitoring module is usually composed of a sensor array (such as an acceleration sensor and a pressure sensor), and the vibration frequency (the number of vibrations per unit time) and the amplitude (the maximum displacement amount of vibration) are calculated by collecting the vibration signal of the platform or the change of the sea water pressure, which directly reflects the interference intensity of the sea wave to the laser emission platform.

[0076] Secondly, the first parameter and the second parameter are input into a first phase shifter of a first matrix, the first phase shifter is a MEMS piezoelectric phase shifter (i.e. a micro-electro-mechanical system phase shifter that realizes phase adjustment through the piezoelectric effect), and the phase adjustment amount is calculated according to a first compensation relationship. It should be noted that the working principle of the MEMS piezoelectric phase shifter is to use the inverse piezoelectric effect of the piezoelectric material, when a voltage is applied, the material deforms, and then the propagation path length of the laser is changed, realizing phase adjustment; the first compensation relationship refers to the correlation between the phase adjustment amount and the first parameter and the second parameter, and the sea wave vibration parameters are converted into specific values that can be directly used to adjust the phase of the beam through the correlation.

[0077] Finally, the first phase shifter adjusts the phase of the detection beam according to the phase adjustment amount to offset the beam deviation caused by the sea wave vibration, and obtains the corrected detection beam. For example, if the sea wave vibration makes the beam deviate in a certain direction, the phase of the beam is adjusted by the phase shifter to make the beam deviate in the opposite direction by the same angle, so as to ensure that the beam always points to the ship target area.

[0078] Optionally, the first compensation relationship is obtained by:

[0079] (5.1) collecting sea wave vibration samples corresponding to different first parameters and second parameters;

[0080] (5.2) testing the phase adjustment amount that makes the beam deviation amount within a preset accuracy range for each sea wave vibration sample, determining the correlation between the phase adjustment amount and the first parameter and the second parameter by fitting, and obtaining the first compensation relationship.

[0081] In the embodiment of the application, the process of obtaining the first compensation relationship includes two sub-steps, and the core is to establish the correlation between the vibration parameters and the phase adjustment amount through experiments and fitting.

[0082] Firstly, sea wave vibration samples corresponding to different first parameters and second parameters are collected. It should be noted that the sample collection needs to cover the actual possible sea wave environment (such as vibration conditions under different wind speeds and tides), the first parameter (vibration frequency) and the second parameter (vibration amplitude) are changed by the method of controlling variables, and the corresponding platform vibration state is recorded to ensure the comprehensiveness of the samples.

[0083] Secondly, for each sea wave vibration sample, the phase adjustment amount is tested to make the beam offset amount within a preset accuracy range, and the correlation between the phase adjustment amount and the first parameter and the second parameter is determined by fitting to obtain a first compensation relationship. For example, for each sample, the phase adjustment amount is adjusted step by step and the beam offset amount is measured until the beam offset amount meets the preset accuracy (such as less than a threshold value), and the phase adjustment amount at this time is recorded. Then, a mathematical fitting method (such as linear regression, polynomial fitting) is used to analyze the first parameter, the second parameter and the phase adjustment amount data to obtain the functional relationship among them, that is, the first compensation relationship. It should be noted that the function of the relationship is to provide a calculation basis for real-time correction, so as to ensure that the phase adjustment amount can accurately offset the influence of sea wave vibration.

[0084] Optionally, the analyzing the reflected light beams to obtain the ship height comprises:

[0085] (3.1) recording a first time from the emission time of the first angle group of detection beams to the reception of the reflected light beams thereof, and a second time from the emission time of the second angle group of detection beams to the reception of the reflected light beams thereof;

[0086] (3.2) calculating a first propagation distance of the first angle group of detection beams according to the laser propagation speed and the first time, and calculating a second propagation distance of the second angle group of detection beams according to the laser propagation speed and the second time;

[0087] (3.3) obtaining a beam included angle of the first angle group and the second angle group, the beam included angle being determined by the topological structure of the first matrix, and calculating the ship height according to the first propagation distance, the second propagation distance and the beam included angle.

[0088] In the embodiments of the present application, analyzing the reflected light beams to obtain the ship height comprises three sub-steps, and the ship height is calculated based on the laser propagation characteristics and geometric relationship.

[0089] Firstly, a first time from the emission time of the first angle group of detection beams to the reception of the reflected light beams thereof, and a second time from the emission time of the second angle group of detection beams to the reception of the reflected light beams thereof are recorded. It should be noted that the time recording is realized by a high-precision timer, the emission time is the time when the beam leaves the laser source, the reception time is the time when the reflected light beam reaches the detector, and the difference between the two is the time for the light beam to propagate back and forth.

[0090] Next, the first propagation distance of the first angle group's detection beam is calculated based on the laser propagation velocity and the first time. The second propagation distance of the second angle group's detection beam is calculated based on the laser propagation velocity and the second time. It should be noted that the laser propagation velocity in air is a known constant, and the propagation distance is: propagation velocity × propagation time ÷ 2. The division by 2 is because the time recorded is the round-trip propagation time, and the one-way distance is half the round-trip distance. The first propagation distance is the straight-line distance from the emission point of the first angle group's detection beam to the corresponding reflection point on the ship. The same applies to the second propagation distance.

[0091] Finally, the beam angle between the first and second angle groups is obtained. This angle is determined by the topological structure of the first matrix. The ship's altitude is calculated based on the first and second propagation distances, as well as the beam angle. It should be noted that the beam angle refers to the spatial angle between the beams of the two angle groups. Its value is predetermined by the topological structure of the first matrix (such as the arrangement and parameters of the internal elements) and is a fixed value. Using this angle and the two propagation distances, a geometric relationship can be used to calculate the vertical distance between two reflection points on the ship, i.e., the ship's altitude.

[0092] Optionally, calculating the ship height according to the first propagation distance, the second propagation distance, and the beam angle includes:

[0093] (7.1) The first propagation distance and the second propagation distance are used as two sides of a triangle, and the beam angle is used as the angle between the two sides;

[0094] (7.2) Based on the relationship between the sides and angles of the triangle, calculate the length of the opposite side corresponding to the angle and use this length as the height of the ship.

[0095] In an embodiment of the present application, calculating the height of the ship according to the first propagation distance, the second propagation distance and the beam angle includes two sub-steps, which are implemented based on the relationship between the sides and angles of the triangle.

[0096] First, consider the first and second propagation distances as the two sides of a triangle, and the beam angle as the angle between them. It should be noted that, with the laser emission point as the vertex, and the reflection points corresponding to the first and second propagation distances as the other two vertices, a triangle can be formed. The angle at the laser emission point is the beam angle, and the lengths of the two sides are the first and second propagation distances, respectively.

[0097] Secondly, according to the triangle edge angle relationship, the length of the opposite side corresponding to the included angle is calculated, and the length of the opposite side is taken as the ship height. For example, the vertical distance between the two reflection points on the ship (i.e. the ship height) corresponds to the length of the opposite side of the beam included angle in the above triangle, and thus can be calculated by the edge angle relationship of the triangle (such as the cosine theorem). It should be noted that the principle of this calculation method is to convert the distance and angle of laser propagation into the actual height of the ship by using the spatial geometric relationship, so as to ensure the accuracy of the calculation result.

[0098] Optionally, the generating of the early warning information in combination with the average height of sea waves comprises:

[0099] (8.1) obtaining the average height of sea waves by the sea wave monitoring module, the average height of sea waves being the average value of the sea wave heights of a plurality of monitoring points in a preset time period;

[0100] (8.2) calculating the net height of the ship according to the ship height and the average height of sea waves, the net height of the ship being the difference between the ship height and the average height of sea waves;

[0101] (8.3) if the net height of the ship exceeds a preset safety threshold, generating early warning information containing the position of the ship and the net height of the ship, and sending the early warning information to the ship and the monitoring center.

[0102] In the embodiments of the present application, the generating of the early warning information in combination with the average height of sea waves comprises three sub-steps for judging whether the ship is overheight and issuing a warning.

[0103] Firstly, the average height of sea waves is obtained by the sea wave monitoring module, the average height of sea waves being the average value of the sea wave heights of a plurality of monitoring points in a preset time period. It should be noted that the preset time period can be set according to actual needs (such as 1 minute, 5 minutes), and a plurality of monitoring points are set to avoid the contingency of single-point measurement and ensure the representativeness of the sea wave height; the average processing can smooth the instantaneous fluctuations of the sea waves and obtain a more stable sea wave height reference value.

[0104] Secondly, the net height of the ship is calculated according to the ship height and the average height of sea waves, the net height of the ship being the difference between the ship height and the average height of sea waves. It should be noted that when the ship is actually navigating, the sea waves will raise the actual position of the ship, and thus the ship height needs to be subtracted by the average height of sea waves to obtain the true net height of the ship relative to the water surface, which is a key index for judging whether the ship is overheight.

[0105] Finally, if the net height of the ship exceeds the preset safety threshold, an early warning information containing the position of the ship and the net height of the ship is generated and sent to the ship and the monitoring center. It should be noted that the preset safety threshold is set according to the height of the bridge and the height of the overhead cable in the navigation area and other limiting conditions; the content of the early warning information needs to contain the position of the ship (for easy positioning) and the net height of the ship (to clearly indicate the degree of overheight), which is sent to the ship to remind it to adjust in time, and is sent to the monitoring center to facilitate the overall scheduling of the regulatory department.

[0106] Optionally, the sea wave average height is obtained by the sea wave monitoring module, comprising:

[0107] (9.1) collecting sea water pressure data at different monitoring points by a plurality of pressure sensors of the sea wave monitoring module;

[0108] (9.2) calculating the real-time sea wave height of each monitoring point according to the sea water pressure data;

[0109] (9.3) performing average processing on the real-time sea wave height of each monitoring point in the preset time period to obtain the sea wave average height.

[0110] In the embodiments of the present application, obtaining the sea wave average height by the sea wave monitoring module includes three sub-steps, and the sea wave average height is calculated based on the pressure sensor data.

[0111] First, the sea water pressure data is collected at different monitoring points by a plurality of pressure sensors of the sea wave monitoring module. It should be noted that the pressure sensors are arranged at different positions underwater, such as different depths and different horizontal positions. The sea water pressure will change with the fluctuation of the sea wave, and the sensor outputs an electric signal by sensing the pressure change in the embodiments of the present application, i.e. the sea water pressure data.

[0112] Secondly, the real-time sea wave height of each monitoring point is calculated according to the sea water pressure data. For example, the relationship between sea water pressure and depth is: pressure = density × gravitational acceleration × depth. When the sea wave fluctuates, the actual water depth at a certain point changes, which causes the pressure to change. Therefore, the water depth change, i.e. the real-time sea wave height (relative to the height of the calm water surface), can be deduced from the pressure data.

[0113] Finally, the real-time sea wave height of each monitoring point in the preset time period is averaged to obtain the sea wave average height. It should be noted that the average processing includes two levels: one is to average the multiple real-time heights of the same monitoring point in the preset time period to obtain the average height of the point; the other is to average the average heights of all monitoring points to obtain the final sea wave average height, so as to further reduce the error and ensure the reliability of the data.

[0114] Specifically, the traditional Nolen matrix is an N × N passive network for beamforming, and its core function is to distribute input signals to different output ports through fixed phase relationship to form beams with uniform angles. Taking a 4 × 4 Nolen matrix as an example, its scattering matrix S can be expressed as:

[0115]

[0116] wherein, is a scattering parameter from port i to port j, and is a fixed value, wherein determines the signal distribution ratio and phase difference. The limitation of the traditional matrix is that the scattering parameter is fixed, resulting in uniform output beam angles (such as 4-port matrix beam interval 90°), which cannot adapt to the differentiated height measurement requirements of the ship “hull-mast”; and has no dynamic phase adjustment capability, which cannot offset the beam deviation caused by sea wave vibration.

[0117] In the embodiments of the present application, the sea wave adaptive Nolen matrix is embedded through topological reconstruction and dynamic phase adjustment unit, which breaks through the traditional limitation, and the core is to write the “beam angle grading” and “sea wave vibration compensation” characteristics into the scattering parameters and control logic of the matrix. Taking a 4 × 4 sea wave adaptive Nolen matrix as an example, its improved scattering matrix is:

[0118]

[0119] wherein, is a phase adjustment factor of the first angle group (low angle, hull area), which is determined by the second coupling coefficient of the first directional coupler, so that the phase difference of forms a dense angle interval; is a phase adjustment factor of the second angle group (high angle, mast area), which is determined by the third coupling coefficient of the second directional coupler, so that the phase difference of , , and forms a sparse angle interval; is a dynamic phase compensation factor, which is adjusted by the first phase shifter according to the sea wave vibration data (sea wave vibration frequency f, sea wave vibration amplitude A) in real time, i.e. wherein, , is a fitting coefficient, which realizes real-time offset of beam deviation.

[0120] The topological reconstruction in the embodiments of the present application is to change the traditional uniform beam distribution to a hierarchical distribution of “low angle dense + high angle sparse” through port grouping connection and coupling coefficient reconfiguration.

[0121] For example, first, the 4 output ports are divided into two groups:

[0122] Port 1-2: first angle group (low angle), responsible for covering the area from the bottom of the ship to the water surface;

[0123] Port 3-4: second angle group (high angle), responsible for covering the area from the bridge to the mast of the ship.

[0124] Then the coupling coefficients are differentiated. The first directional coupler (connecting the input port and port 1-2): set the second coupling coefficient (such as >0.5), so that the amplitude ratio of and is , ensuring that the first angle group beam power is higher, thereby resisting sea wave interference; at the same time, the phase difference is set to , corresponding to dense spacing.

[0125] The second directional coupler (connecting the input port and port 3-4): set the third coupling coefficient (such as ), so that the amplitude ratio of and is , reducing the beam power of the second angle group; set the phase difference to , corresponding to sparse spacing.

[0126] Finally, the dynamic phase compensation unit is embedded. A first phase shifter (MEMS piezoelectric phase shifter) is connected in series between the matrix input port and the coupler, and the phase adjustment amount , i.e. , modifies the phase term of the scattering parameter in real time, where is the initial phase.

[0127] Taking the whole process of ship identification as an example, the laser source inputs a single beam signal to the matrix input, which is distributed by , and then port 1-2 outputs the first angle group detection beam (spacing 0.5°, high power), pointing to the bottom of the ship; port 3-4 outputs the second angle group detection beam (spacing 2°, low power), pointing to the mast. This process is realized through the topological reconstruction factor, solving the adaptability problem of traditional beam uniform distribution. The matrix compensates the phase by calculation, and the first phase shifter adjusts the phase term of , so that the beam pointing angle reversely shifts by , where is the wavelength of the laser, d is the port spacing, is the reverse shift angle, which offsets the shift caused by the sea wave, solving the defect of the traditional matrix without dynamic adjustment capability. The reflected beam is transmitted in reverse by the matrix (using reciprocity), and the data processing unit calculates and , and are respectively a first propagation distance and a second propagation distance, the beam angle determined in combination with the matrix topology , by calculating the ship height , and finally generating the warning in combination with the sea wave height.

[0128] It should be noted that in the embodiments of the present application, the first propagation distance refers to the one-way straight-line distance from the emission point to the corresponding reflection point of the ship (the reflection point of the ship bottom to the water surface area) of the first angle group detection beam. It is calculated by the laser propagation speed c and the round-trip propagation time of the first angle group detection beam, that is, . The calculation process is a known technology, and the present application will not be repeated.

[0129] The second propagation distance refers to the one-way straight-line distance from the emission point to the corresponding reflection point of the ship (the reflection point of the ship bridge to the mast area) of the second angle group detection beam. Its calculation method is similar to , which is calculated by the laser propagation speed c and the round-trip propagation time of the second angle group detection beam, that is, .

[0130] It can be seen that through the above improvement, the sea wave self-adaptive Norlen matrix realizes the static angle grading adaptive ship height and the dynamic phase adjustment to offset the sea wave interference, thereby improving the accuracy of the ultra-high ship identification.

[0131] The present application also provides an ultra-high ship identification system based on a self-adaptive Norlen matrix, comprising:

[0132] A laser beam splitting emission module is used to split the laser output by the laser source through a first matrix. It should be noted that in the embodiments of the present application, the detection beam covering different height areas of the ship is emitted to the ship, and the first matrix is a sea wave self-adaptive Norlen matrix which is adapted to the sea wave environment and the ship height measurement requirement through dynamic phase adjustment and beam angle grading;

[0133] A beam correction module is used to correct the offset of the detection beam in real time according to the sea wave monitoring data to obtain a corrected detection beam.

[0134] A reflection analysis and warning module is used to receive the reflected light beam formed by the corrected detection beam reflected by the ship, analyze the reflected light beam to obtain the ship height, generate warning information in combination with the average sea wave height, and send the warning information.

[0135] In the embodiment of the present application, the super-high ship identification system based on the adaptive Noren matrix comprises a laser beam splitting and emitting module, a beam correction module and a reflection analysis and early warning module, and each module cooperates to realize ship identification and early warning.

[0136] It should be noted that the laser beam splitting and emitting module is used to split the laser output by the laser source through the first matrix to form a detection beam covering different height regions of the ship and emit it to the ship. It should be noted that the core of this module is the first matrix, i.e., the sea wave adaptive Noren matrix, which integrates beam splitters, directional couplers and other elements inside, realizes angle grading and power adjustment of the beam through topological reconstruction, and provides the system with targeted detection signals.

[0137] It should be noted that the beam correction module is used to correct the offset of the detection beam in real time according to the sea wave monitoring data to obtain the corrected detection beam. In this embodiment, this module usually includes a data receiving unit for receiving sea wave monitoring data, and a phase adjustment unit such as a MEMS piezoelectric phase shifter, which calculates the phase adjustment amount through the first compensation relationship and performs correction to ensure that the beam stably points to the target.

[0138] It should be noted that the reflection analysis and early warning module is used to receive the reflected light beam formed by the corrected detection beam reflected by the ship, analyze the reflected light beam to obtain the height of the ship, generate early warning information in combination with the average height of the sea wave, and send it. It should be noted that this module includes a photodetector for receiving the reflected light beam, a data processing unit for calculating the height and net height of the ship, and a communication unit for sending early warning information.

[0139] Finally, it should be noted that the above-described embodiments are only specific implementations of the present application, which are used to illustrate the technical solutions of the present application, but not to limit them. The protection scope of the present application is not limited to this. Although the present application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that any person skilled in the art can modify or easily think of changes to the technical solutions recorded in the foregoing embodiments within the technical range disclosed by the present application, or make equivalent replacements to some technical features. These modifications, changes or replacements do not make the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present application, and should be covered within the protection scope of the present application. Therefore, the protection scope of the present application should be subject to the protection scope of the claims.

Claims

1. A super high ship identification method based on adaptive Noren matrix, characterized in that, The method comprises the following steps: The laser output by the laser source is split by a first matrix to form detection beams covering different height regions of the ship and emitted to the ship. The first matrix is a sea wave adaptive Noren matrix adapted to sea wave environment and ship height measurement requirements through dynamic phase adjustment and beam angle grading; The offset of the detection beam is corrected in real time according to the sea wave monitoring data to obtain a corrected detection beam; The reflected beam formed by the reflection of the corrected detection beam on the ship is received, and the ship height is obtained by analyzing the reflected beam. The warning information is generated in combination with the average height of the sea wave and sent.

2. The method of claim 1, wherein the method is based on an adaptive Noren matrix. The laser output by the laser source is split by a first matrix to form detection beams covering different height regions of the ship and emitted to the ship. The first matrix is a sea wave adaptive Noren matrix adapted to sea wave environment and ship height measurement requirements through dynamic phase adjustment and beam angle grading; The single beam laser output by the laser source is split into N beams of laser by a beam splitter, wherein N is a positive integer not less than 8; The N beams of laser are input into the input end of the first matrix, and the topological reconstruction of the first matrix outputs the detection beams into a first angle group and a second angle group. The first angle group is an angle beam covering the region from the ship bottom to the water surface, and the second angle group is an angle beam covering the region from the ship bridge to the mast; The detection beams of the first angle group and the second angle group are synchronously emitted to the corresponding height regions of the ship.

3. The method of claim 2, wherein the method is based on an adaptive Noren matrix. The topological reconstruction of the first matrix outputs the detection beams into a first angle group and a second angle group, comprising: The beam parameters of the first angle group are adjusted by the second coupling coefficient of the first directional coupler in the first matrix, so that the beam interval of the first angle group is smaller than that of the second angle group, and the beam power of the first angle group is higher than that of the second angle group. The second coupling coefficient is a proportional parameter in the first directional coupler for distributing the beam power of the first angle group; The beam parameters of the second angle group are adjusted by the third coupling coefficient of the second directional coupler in the first matrix, so that the coverage range of the second angle group is larger than that of the first angle group. The third coupling coefficient is a proportional parameter in the second directional coupler for distributing the beam power of the second angle group.

4. The method of claim 1, wherein the method is based on an adaptive Noren matrix. The offset of the detection beam is corrected in real time according to the sea wave monitoring data to obtain a corrected detection beam, comprising: Real-time sea wave vibration data is obtained by a sea wave monitoring module. The sea wave vibration data includes a first parameter and a second parameter. The first parameter is the sea wave vibration frequency, and the second parameter is the sea wave vibration amplitude; The first parameter and the second parameter are input into a first phase shifter of the first matrix. The first phase shifter is a MEMS piezoelectric phase shifter. The phase adjustment amount is calculated according to a first compensation relationship; The first phase shifter adjusts the phase of the detection beam according to the phase adjustment amount to obtain a corrected detection beam.

5. The method for identifying ultra-high-altitude ships based on the adaptive Noren matrix according to claim 4 is characterized in that: The acquisition process of the first compensation relationship comprises: Collect sea wave vibration samples corresponding to different first parameters and second parameters; For each sea wave vibration sample, test the phase adjustment amount that makes the beam offset amount within a preset accuracy range, determine the correlation between the phase adjustment amount and the first parameter and the second parameter by fitting, and obtain the first compensation relationship.

6. The method of claim 1, wherein the method is based on an adaptive Noren matrix. The analysis of the reflected beam to obtain the ship height comprises: record the first time from the emission time of the first angle group detection beam to the reception of its reflected light beam, and the second time from the emission time of the second angle group detection beam to the reception of its reflected light beam; calculate the first propagation distance of the first angle group detection beam according to the laser propagation speed and the first time, and calculate the second propagation distance of the second angle group detection beam according to the laser propagation speed and the second time; obtain the beam included angle of the first angle group and the second angle group, which is determined by the topology of the first matrix, and calculate the ship height according to the first propagation distance, the second propagation distance and the beam included angle.

7. The super high-speed ship identification method based on the adaptive Noren matrix according to claim 6, characterized in that, The calculation of the ship height according to the first propagation distance, the second propagation distance and the beam included angle comprises: taking the first propagation distance and the second propagation distance as two sides of a triangle, and taking the beam included angle as the included angle of the two sides; calculating the length of the opposite side corresponding to the included angle according to the side-angle relationship of the triangle, and taking the length of the opposite side as the ship height.

8. The super high-speed ship identification method based on the adaptive Noren matrix according to claim 1, characterized in that, The generation of the early warning information in combination with the average height of sea waves comprises: obtaining the average height of sea waves through a sea wave monitoring module, the average height of sea waves being the average value of the sea wave heights of multiple monitoring points in a preset time period; calculating the net height of the ship according to the ship height and the average height of sea waves, the net height of the ship being the difference between the ship height and the average height of sea waves; if the net height of the ship exceeds a preset safety threshold, generating early warning information containing the position of the ship and the net height of the ship, and sending the early warning information to the ship and a monitoring center.

9. The super high-speed ship identification method based on the adaptive Noren matrix according to claim 8, characterized in that, The obtaining of the average height of sea waves through the sea wave monitoring module comprises: collecting seawater pressure data at different monitoring points through multiple pressure sensors of the sea wave monitoring module; calculating the real-time sea wave height of each monitoring point according to the seawater pressure data; averaging the real-time sea wave heights of each monitoring point in the preset time period to obtain the average height of sea waves.

10. An adaptive Norlund matrix based super high ship identification system for implementing the adaptive Norlund matrix based super high ship identification method of any one of claims 1-8, characterized in that, It comprises: a laser beam splitting emission module for splitting the laser output by a laser source through a first matrix to form detection beams covering different height regions of a ship and emitting to the ship, the first matrix being a sea wave self-adaptive Norlen matrix adapted to sea wave environment and ship height measurement requirements through dynamic phase adjustment and beam angle grading; a beam correction module for correcting the offset of the detection beams in real time according to sea wave monitoring data to obtain corrected detection beams; a reflection analysis and early warning module for receiving reflected light beams formed by the reflection of the corrected detection beams on the ship, analyzing the reflected light beams to obtain the height of the ship, generating early warning information in combination with the average height of sea waves and sending the early warning information.

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