Data association method, device, electronic device and computer readable storage medium

Abstract

The present invention provides a data association method, device, electronic device and computer-readable storage medium, the method comprising: when receiving a device signal sent by a ship, determining the device message data corresponding to the device signal, and determining the corresponding ship type according to the device information; determining the corresponding data to be processed based on the device message data, and locating the target echo area corresponding to the ship based on the data to be processed; determining the radar echo raw data and meteorological and hydrological data of the target echo area, and associating the radar echo raw data, device message data, ship type and meteorological and hydrological data. The present invention automatically associates the radar echo raw data, device message data, ship type and meteorological and hydrological data through automatic acquisition and analysis, and automatically constructs the corresponding ship characteristic database without manual participation in database construction, thereby improving the accuracy of the constructed ship characteristic database.

Description

Technical Field

[0001] The present invention relates to the field of data processing technology, and in particular to a data association method, device, electronic device and computer-readable storage medium. Background Art

[0002] Ship detection and identification has always been a hot and difficult research field. Ship detection and identification requires the support of a ship characteristic database. At present, the main method for constructing a ship characteristic database is the manual construction method, which relies on human experience to construct a ship characteristic database. Due to the large number and variety of ships, as well as the differences in human experience, the accuracy of the constructed ship characteristic database is low. Summary of the invention

[0003] The present invention provides a data association method, device, electronic device and computer-readable storage medium, aiming to improve the accuracy of a ship characteristic database.

[0004] The present invention provides a data association method, comprising:

[0005] When receiving a device signal sent by a ship, determining device message data corresponding to the device signal, and determining the corresponding ship type according to the device information;

[0006] Determining corresponding data to be processed based on the device message data, and locating a target echo area corresponding to the vessel based on the data to be processed;

[0007] The radar echo raw data and meteorological and hydrological data of the target echo area are determined, and the radar echo raw data, the equipment message data, the vessel type and the meteorological and hydrological data are associated.

[0008] The present invention provides a data association method, wherein the device signal includes a radar track signal, and the steps of determining corresponding data to be processed based on the device message data, and locating a target echo area corresponding to the ship based on the data to be processed include:

[0009] If the device signal is the radar track signal, determining that the device message data is radar track message data, and analyzing the radar track message data to obtain first ship position information and first ship distance information corresponding to the ship;

[0010] Calculating a first pulse number corresponding to the ship based on the first ship position information and the number of radar position quantizations, and calculating a sampling unit number corresponding to the ship based on the first ship distance information and the radar distance sampling rate;

[0011] A radar scanning period and a radar pulse repetition frequency are determined, and a target echo area corresponding to the ship is located based on the radar scanning period, the radar pulse repetition frequency, the first pulse number and the sampling unit number.

[0012] The present invention provides a data association method, wherein the step of determining a radar scanning period and a radar pulse repetition frequency, and locating a target echo area corresponding to the ship based on the radar scanning period, the radar pulse repetition frequency, the first pulse number and the sampling unit number comprises:

[0013] The position corresponding to the first pulse number and the sampling unit number is determined as the center position of the preset radar detection area on the two-dimensional plane, and a fan-shaped annular area is constructed with the center position as the center and the preset arc length as the distance direction and the azimuth direction;

[0014] Determining a sector angle of the sector annular area based on the preset arc length and the first ship distance information, and determining a second pulse number of the sector annular area based on the sector angle, the radar scanning period and the radar pulse repetition frequency;

[0015] Determine the number of sampling points in the fan-shaped area in the range direction based on the preset arc length and the radar range sampling rate, and determine the number of area sampling points in the fan-shaped area based on the second pulse number and the number of sampling points in the range direction;

[0016] Based on the fan-shaped area and the number of sampling points in the area, the target echo area corresponding to the ship is located.

[0017] The data association method provided by the present invention comprises the steps of locating the target echo area corresponding to the ship based on the fan-shaped area and the number of sampling points in the area, comprising:

[0018] Performing constant false alarm processing on the sector ring area through the distance dimension to determine a first target sampling point among the sampling points in the area, wherein a threshold factor corresponding to the first target sampling point is greater than or equal to a first preset constant false alarm threshold factor;

[0019] Performing constant false alarm processing on the sector ring area through the azimuth dimension to determine a second target sampling point among the sampling points in the area, wherein a threshold factor corresponding to the second target sampling point is greater than or equal to a second preset constant false alarm threshold factor;

[0020] Performing a preset logic operation on the first target sampling point and the second target sampling point to obtain a corresponding final target sampling point, and determining a corresponding plurality of connected areas based on the final sampling point;

[0021] The target connected area containing the largest number of the final target sampling points among the multiple connected areas is positioned as the target echo area corresponding to the ship.

[0022] The present invention provides a data association method, wherein the device signal further includes an AIS signal of an automatic identification system for ships, and the step of determining corresponding data to be processed based on the device message data, and locating a target echo area corresponding to the ship based on the data to be processed, further includes:

[0023] If the device signal is the AIS signal, determining that the device message data is AIS dynamic message data, and analyzing the AIS dynamic message data to obtain the ship longitude coordinate information and the ship latitude coordinate information corresponding to the ship;

[0024] Determine the radar longitude coordinate information and the radar latitude coordinate information, and determine the second ship azimuth information and the second ship distance information corresponding to the ship based on a preset coordinate system and based on the ship longitude coordinate information, the ship latitude coordinate information, the radar longitude coordinate information and the radar latitude coordinate information;

[0025] interpolating the second ship position information and the second ship distance information to obtain corresponding target ship position information and target ship distance information;

[0026] Based on the target ship position information and the target ship distance information, a target echo area corresponding to the ship is located.

[0027] In a data association method provided by the present invention, the step of interpolating the second ship position information and the second ship distance information to obtain corresponding target ship position information and target ship distance information comprises:

[0028] The second ship position information and the second ship distance information are interpolated and timed by a preset degree spline interpolation method to obtain a plurality of interpolation points carrying the time and the corresponding position information and distance information;

[0029] Acquire radar intermediate frequency echo data, wherein the radar intermediate frequency echo data includes multiple pulse times and their corresponding pulse azimuth information;

[0030] Determine a target pulse time among the multiple pulse times, wherein the target pulse time is the same as the timing time of a certain interpolation point among the multiple interpolation points, and the pulse azimuth information corresponding to the target pulse time is the same as the azimuth information corresponding to the certain interpolation point;

[0031] The pulse azimuth information corresponding to the target pulse time is determined as the target ship azimuth information, and the distance information corresponding to the certain interpolation point is determined as the target ship distance information.

[0032] The data association method provided by the present invention further comprises the steps of determining corresponding data to be processed based on the device message data, and locating a target echo area corresponding to the vessel based on the data to be processed:

[0033] If the device signal is an AIS signal and a radar track signal, determining that the device message data is radar track message data and AIS dynamic message data;

[0034] Based on the longitude coordinate information and latitude coordinate information of the ship in the AIS dynamic message data, the ship distance information and the ship orientation information in the radar track signal are corrected to obtain corresponding third ship orientation information and third ship distance information;

[0035] Based on the third ship position information and the third ship distance information, a target echo area corresponding to the ship is located.

[0036] The present invention also provides a data association device, comprising:

[0037] A determination module, configured to, upon receiving a device signal sent by a ship, determine device message data corresponding to the device signal, and determine a corresponding ship type according to the device information;

[0038] A positioning module, used to determine corresponding data to be processed based on the device message data, and locate a target echo area corresponding to the vessel based on the data to be processed;

[0039] The association module is used to determine the radar echo raw data and meteorological and hydrological data of the target echo area, and associate the radar echo raw data, the equipment message data, the ship type and the meteorological and hydrological data.

[0040] The present invention also provides an electronic device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein when the processor executes the program, the steps of any of the above-mentioned data association methods are implemented.

[0041] The present invention also provides a non-transitory computer-readable storage medium on which a computer program is stored. When the computer program is executed by a processor, the steps of any of the above-mentioned data association methods are implemented.

[0042] The present invention also provides a computer program product, which includes a computer program. When the computer program is executed by the processor, the steps of any one of the above data association methods are implemented.

[0043] The data association method, device, electronic device and computer-readable storage medium provided by the present invention, when receiving the device signal sent by the ship, determine the device message data corresponding to the device signal, and determine the corresponding ship type according to the device information; determine the corresponding data to be processed based on the device message data, and locate the target echo area corresponding to the ship based on the data to be processed; determine the radar echo raw data and meteorological and hydrological data of the target echo area, and associate the radar echo raw data, device message data, ship type and meteorological and hydrological data. It can be seen that the present invention automatically associates the radar echo raw data, device message data, ship type and meteorological and hydrological data through automatic acquisition and analysis, and automatically constructs the corresponding ship characteristics database without manual participation, thereby improving the accuracy of the constructed ship characteristics database. BRIEF DESCRIPTION OF THE DRAWINGS

[0044] In order to more clearly illustrate the technical solutions in the present invention or the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0045] Figure 1 It is one of the flow charts of the data association method provided by the present invention;

[0046] Figure 2 This is the second flow chart of the data association method provided by the present invention;

[0047] Figure 3 It is a schematic diagram of a fan-shaped ring area of ​​the data association method provided by the present invention;

[0048] Figure 4 This is the third flow chart of the data association method provided by the present invention;

[0049] Figure 5 This is the fourth flow chart of the data association method provided by the present invention;

[0050] Figure 6 It is a structural schematic diagram of the data association device provided by the present invention;

[0051] Figure 7 It is a structural schematic diagram of the electronic device provided by the present invention. DETAILED DESCRIPTION

[0052] In order to make the purpose, technical solution and advantages of the present invention clearer, the technical solution of the present invention will be clearly and completely described below in conjunction with the drawings of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0053] Combine the following Figures 1 to 7 The present invention describes a data association method, device, electronic device, and computer-readable storage medium.

[0054] Specifically, the present invention provides a data association method, referring to Figure 1 , Figure 1 This is one of the flow charts of the data association method provided by the present invention.

[0055] The embodiment of the present invention provides an embodiment of the data association method. It should be noted that although a logical order is shown in the flow chart, under certain data, the steps shown or described may be completed in an order different from that shown here.

[0056] The method of the embodiment of the present invention takes an electronic device as an example of an execution subject. The data association method provided by the embodiment of the present invention includes:

[0057] Step S10, when receiving a device signal sent by a ship, determining the device message data corresponding to the device signal, and determining the corresponding ship type according to the device information.

[0058] It should be noted that the data association system in the embodiment of the present invention is one of the manifestations of electronic equipment and does not limit the electronic equipment. The equipment in the ship in this embodiment includes but is not limited to radar equipment and AIS (Automatic Identification System). Therefore, when the ship is running, the radar equipment and / or AIS need to continuously send radar track signals and / or AIS signals.

[0059] When the data association system receives a device signal sent by a ship, it needs to determine the type of signal in the device signal, that is, determine whether the device signal is a radar track signal or an AIS signal, or a radar track signal and an AIS signal. Next, the data association system determines the corresponding device message data based on the device signal, that is, if the device signal is a radar track signal, the device message data corresponding to the radar track signal is the radar track message data. If the device signal is an AIS signal, the device message data corresponding to the AIS signal is the AIS dynamic message data. Furthermore, the data association system needs to determine the ship type of the ship based on the device information. The methods for determining the ship type for different device signals are also different. The specific method for determining the ship type of the ship based on the device information is described as follows.

[0060] If the device signal is an AIS signal, the ship type can be obtained by directly parsing the AIS static message. The ship types include but are not limited to cargo ships, cruise ships, container ships, cruise ships and coast guard ships.

[0061] If the device signal is a radar track signal, the type of ship needs to be determined with the assistance of a visible light sensor or / and an infrared sensor. Specifically, the ship image is collected by a visible light sensor or / and an infrared sensor to obtain a visible light or / and infrared ship image, and then the ship image is judged by the trained convolutional neural network model. It should be noted that the training and testing of the convolutional neural network model in this embodiment are carried out using a large number of ship image libraries that have been annotated. 70% of the images in the ship image library are randomly selected for training, and 30% of the images are used for testing. The specific training process is the same as the training process of most neural network models, and this embodiment will not be repeated. At the same time, it is necessary to continuously update the ship image library, train and iteratively update the convolutional neural network model. The trained convolutional neural network model mainly realizes the judgment of the ship type and the judgment of the presence or absence of ships on the ship images obtained in real time by the visible light sensor or / and the infrared sensor.

[0062] The convolutional neural network model first determines whether there is a ship through the ship image. If it is determined that there is no ship in the ship image, the corresponding feedback information is fed back to the visible light sensor or / and the infrared sensor. After receiving the feedback information, the visible light sensor or / and the infrared sensor adjusts the orientation according to the feedback information and re-collects the ship image. If it is determined that there is a ship in the ship image, the ship type of the ship is determined according to the ship features in the ship image. The ship features include but are not limited to the overall shape of the ship, the hull characteristics and the bow characteristics. At the same time, it is necessary to perform edge detection on the ship in the ship image through the edge detection algorithm, extract the contour information of the ship, and calculate the pixel ratio of the pixel point to which the ship belongs in all the pixel points of the ship image according to the contour information. If the pixel ratio is less than 1 / 3, the corresponding feedback information is fed back to the visible light sensor or / and the infrared sensor, and the visible light sensor or / and the infrared sensor closes the focal distance with the ship according to the feedback information. If the pixel ratio is higher than 4 / 5, the corresponding feedback information is fed back to the visible light sensor and / or the infrared sensor, and the visible light sensor and / or the infrared sensor zooms out the focal distance from the ship according to the feedback information, thereby controlling the pixel ratio of the pixel point belonging to the ship in all the pixel points of the ship image to be within the range of 1 / 3 to 4 / 5.

[0063] It should be further explained that, since the range of visible light sensors and / or infrared sensors is relatively small compared to that of radar equipment, data can be obtained synchronously for areas that can be observed by radar equipment, visible light sensors and infrared sensors (installed at the same location as the radar equipment). For areas that can be observed by radar equipment but cannot be observed by visible light sensors and / or infrared sensors, it is necessary to rely on drones with visible light sensors and / or infrared sensors to approach the ship to collect ship images, and then perform judgments on the presence of ships, ship types and ship pixel ratios.

[0064] If the device signal is an AIS signal and a radar track signal, the vessel type can be obtained by directly parsing the AIS static message.

[0065] Step S20, determining corresponding data to be processed based on the device message data, and locating a target echo area corresponding to the vessel based on the data to be processed.

[0066] If the device message data is radar track message data, the data association system analyzes the radar track message data to obtain the corresponding ship position information and ship distance information (data to be processed), and then locates the target echo area corresponding to the ship based on the ship position information and ship distance information. If the device message data is AIS dynamic message data, the data association system analyzes the AIS dynamic message data to obtain the corresponding ship longitude coordinate information and ship latitude coordinate information (data to be processed), and then locates the target echo area corresponding to the ship based on the ship longitude coordinate information and ship latitude coordinate information. If the device message data is radar track message data and AIS dynamic message data, the data association system jointly locates the target echo area corresponding to the ship based on the radar track message data and AIS dynamic message data.

[0067] Step S30, determining the radar echo raw data and meteorological and hydrological data of the target echo area, and associating the radar echo raw data, the equipment message data, the vessel type and the meteorological and hydrological data.

[0068] The data association system extracts the original radar echo data in the target echo area, and determines the meteorological and hydrological data of the target echo area. It should be noted that after obtaining the original radar echo data, it is necessary to perform time-frequency transformation (including but not limited to short-time Fourier transformation, WVD transformation and smooth pseudo-WVD transformation), fractional Fourier transformation, and Hilbert-Huang transformation on the sequence of sampling points of all azimuth dimensions of each distance unit of the original radar echo data, and obtain the time-frequency spectrum slice, fractional spectrum slice, and Hilbert-Huang transform spectrum slice of the ship. Further, the method for determining the meteorological and hydrological data of the target echo area is specifically described as follows.

[0069] If the device signal is an AIS signal, the data association system searches for the nearest longitude and latitude grid point based on the ship's longitude and latitude coordinate information parsed from the AIS dynamic message data, and determines the wind speed, wind direction, wave height, wave direction, wave period, temperature, and humidity data at the grid point as the meteorological and hydrological data of the target echo area. If the device signal is a radar track signal, that is, only the ship's azimuth information and ship's distance information in the radar track data message, the data association system needs to calculate the ship's longitude and latitude coordinate information of the radar through the radar longitude coordinate information, radar latitude coordinate information, ship's azimuth information and ship's distance information and the WGS84 coordinate system, and then searches for the nearest longitude and latitude grid point based on the ship's longitude and latitude coordinate information, and determines the wind speed, wind direction, wave height, wave direction, wave period, temperature, and humidity data at the grid point as the meteorological and hydrological data of the target echo area.

[0070] Finally, the data association system associates and packages the radar echo raw data, equipment message data (AIS dynamic message data or / and radar track data message), ship type and meteorological and hydrological data to obtain the corresponding ship characteristic database. It should be further explained that in addition to the above data, the ship size information and the ship observation angle information are also associated. Other information is also included, which will not be described one by one in this embodiment.

[0071] This embodiment provides a data association method. When receiving a device signal sent by a ship, the device message data corresponding to the device signal is determined, and the corresponding ship type is determined according to the device information; the corresponding data to be processed is determined based on the device message data, and the target echo area corresponding to the ship is located based on the data to be processed; the radar echo raw data and meteorological and hydrological data of the target echo area are determined, and the radar echo raw data, device message data, ship type and meteorological and hydrological data are associated. It can be seen that this embodiment automatically associates the radar echo raw data, device message data, ship type and meteorological and hydrological data through automatic acquisition and analysis, and automatically constructs the corresponding marine ship characteristic database without manual participation in database construction, thereby improving the accuracy of the constructed ship characteristic database. Furthermore, the ship characteristic database with high accuracy in this embodiment can accurately detect and identify marine targets, providing a guarantee for the research on the detection and identification of marine targets.

[0072] Further, refer to Figure 2 , Figure 2 FIG. 2 is a second flow chart of the data association method provided by the present invention, wherein step 20 comprises:

[0073] Step S201, if the device signal is the radar track signal, determining that the device message data is radar track message data, and analyzing the radar track message data to obtain first ship position information and first ship distance information corresponding to the ship;

[0074] Step S202, calculating the first pulse number corresponding to the ship based on the first ship position information and the number of radar position quantizations, and calculating the number of sampling units corresponding to the ship based on the first ship distance information and the radar distance sampling rate;

[0075] Step S203, determining a radar scanning period and a radar pulse repetition frequency, and locating a target echo area corresponding to the ship based on the radar scanning period, the radar pulse repetition frequency, the first pulse number and the sampling unit number.

[0076] If the device signal is a radar track signal, the data association system determines that the device message data is radar track message data, and analyzes the radar track message data to obtain the first ship position information and the first ship distance information corresponding to the ship carried in the radar track message data, wherein the first ship position information is the position information of the ship relative to the radar installation position, and the first ship distance information is the distance information of the ship relative to the radar installation position.

[0077] A range of distances of ship targets relative to the radar installation location.

[0078] At the same time, the data association system determines the number of quantized radar azimuths. In this embodiment, the number of quantized radar azimuths is the number of quantized radar 360° azimuths N. θ , according to the first ship position information θ t (degrees) and the number of radar azimuth quantizations N θ , calculate the first pulse number N corresponding to the ship θt , the first pulse number N θt The counting method is to start counting from a preset direction. In this embodiment, the preset direction is the north direction. The first pulse number N θt The expression is as follows,

[0079] in, Indicates rounding up.

[0080] The data association system then determines the radar range sampling rate f s (MHz), according to the first ship distance information R t (m) Radar range sampling rate f s , calculate the number of sampling units N corresponding to the ship Rt , the number of sampling units N Rt The expression is as follows,

[0081]

[0082] The data association system then determines the radar scanning period T SC (seconds) and radar pulse repetition frequency f PRF (Hertz, Hz), according to the radar scanning period T SC , radar pulse repetition frequency f PRF 、The first pulse number N θt and the number of sampling units N Rt , locate the target echo area corresponding to the ship, and the specific process is as described in steps S2031 to S2034.

[0083] Further, the specific description of step S2031 to step S2034 is as follows:

[0084] Step S2031, determining the position corresponding to the first pulse number and the sampling unit number as the center position of the preset radar detection area on the two-dimensional plane, and constructing a fan-shaped ring area with the center position as the center and the preset arc length as the distance direction and the azimuth direction;

[0085] Step S2032, determining a sector angle of the sector annular area based on the preset arc length and the first ship distance information, and determining a second pulse number of the sector annular area based on the sector angle, the radar scanning period and the radar pulse repetition frequency;

[0086] Step S2033, determining the number of sampling points in the fan-shaped area in the range direction based on the preset arc length and the radar range sampling rate, and determining the number of area sampling points in the fan-shaped area based on the second pulse number and the number of sampling points in the range direction;

[0087] Step S2034: locating the target echo area corresponding to the ship based on the fan-shaped area and the number of sampling points in the area.

[0088] It should be noted that the preset radar detection area two-dimensional plane in this embodiment is a radar detection area distance-azimuth two-dimensional plane.

[0089] Specifically, the data association system converts the first pulse number N θt and the number of sampling units N Rt The corresponding position is determined as the center position of the radar detection area on the distance-azimuth two-dimensional plane, and the center position is recorded as Ω T Next, the data association system is constructed with the center position Ω T The fan-shaped area is centered and has a preset arc length in the distance and azimuth directions. The preset arc length is set according to the actual situation. In this embodiment, the preset arc length is set to 2*L T (m), i.e. the center position Ω T The center is 2L in both distance and azimuth. T The distance-azimuth fan annular area, such as Figure 3 As shown, Figure 3 2L is a schematic diagram of a fan-shaped area of ​​the data association method provided by the present invention. T The distance information R between the first ship and the t , calculate the fan angle ψ of the fan ring area LT , sector angle ψ LT =(2L T / R t )*(180 / π), and according to the sector angle ψ LT , radar scanning period T SC and the radar pulse repetition frequency f PRF, determine the second pulse number NAZ of the sector ring area LT , the second pulse number NAZ LT The expression is as follows,

[0090]

[0091] Then, the data association system uses the preset arc length 2L T and the radar range sampling rate f s , calculate the number of sampling points NDS in the fan ring area LT , the number of sampling points in the distance direction NDS LT The expression is as follows,

[0092]

[0093] Finally, the data association system will count the second pulse as NAZ LT And the number of sampling points in the distance direction NDS LT Multiply them to get the corresponding product value NAZ LT *NDS LT The product value is the number of sampling points in the fan ring area, that is, the fan ring area is composed of NAZ LT *NDS LT The target echo area corresponding to the ship is located according to the sector ring area and the number of sampling points in the area, as described in steps S20341 to S20344.

[0094] This embodiment constructs a corresponding fan-shaped area and determines the number of relevant regional sampling points in the fan-shaped area. The target echo area corresponding to the ship is accurately located through the fan-shaped area and the number of relevant regional sampling points.

[0095] Further, the specific description of step S20341 to step S20344 is as follows:

[0096] Step S20341, performing constant false alarm processing on the sector ring area through the distance dimension, and determining a first target sampling point among the sampling points in the area, wherein a threshold factor corresponding to the first target sampling point is greater than or equal to a first preset constant false alarm threshold factor;

[0097] Step S20342, performing constant false alarm processing on the sector ring area according to the azimuth dimension, and determining a second target sampling point among the sampling points in the area, wherein a threshold factor corresponding to the second target sampling point is greater than or equal to a second preset constant false alarm threshold factor;

[0098] Step S20343, performing a preset logic operation on the first target sampling point and the second target sampling point to obtain a corresponding final target sampling point, and determining a corresponding plurality of connected areas based on the final sampling point;

[0099] Step S20344: locate the target connected area containing the largest number of the final target sampling points among the multiple connected areas as the target echo area corresponding to the ship.

[0100] Specifically, the data association system performs two-dimensional constant false alarm processing from the distance dimension and the azimuth dimension for the above-mentioned fan-shaped area.

[0101] First, the data association system determines the first target sampling point in the number of regional sampling points by performing constant false alarm processing along the distance dimension in the fan-shaped ring area, wherein the threshold factor corresponding to the first target sampling point is greater than or equal to the first preset constant false alarm threshold factor. It should be noted that this embodiment adopts the CA-CFAR constant false alarm processing method, and adopts the reference unit screening method when selecting the reference unit to eliminate the influence of the distance unit suspected of being a target or interference in the reference unit on the power level estimation. At the same time, the first preset constant false alarm threshold factor in this embodiment is set to 6dB (decibel), wherein the false alarm probability is 10 -4 , the threshold factor corresponding to the discovery probability of 90% is 12.5dB, to ensure that all echoes belonging to the ship can pass the threshold.

[0102] Secondly, the data association system performs constant false alarm processing along the azimuth dimension in the sector ring area. The constant false alarm processing method is the same as the above-mentioned CA-CFAR constant false alarm processing method, which is not described in detail in this embodiment. The second target sampling point in the number of regional sampling points is determined, wherein the threshold factor corresponding to the second target sampling point is greater than or equal to the second preset constant false alarm threshold factor. It should be noted that the second preset constant false alarm threshold factor in this embodiment is also set to 6dB.

[0103] Finally, the data association system performs a preset logical operation on the first target sampling point and the second target sampling point to obtain the corresponding final target sampling point, that is, for a certain distance unit, as long as the first target sampling point or the second target sampling point exists, the distance unit is determined to be the final target sampling point. Next, the data association system determines whether the target echo area is connected through the final target sampling point, as follows: the data association system obtains a certain final target sampling point among the final target sampling points, and determines eight adjacent sampling points in eight directions (up, down, left, right, upper left, upper right, lower left, and lower right) around the certain final target sampling point, and determines whether there is a target adjacent sampling point among the eight adjacent sampling points, wherein the target adjacent sampling point also belongs to the final target sampling point. If there is a target adjacent sampling point, the data association system determines that the target adjacent sampling point and the certain final target sampling point belong to the same ship, that is, the target adjacent sampling point and the certain final target sampling point are connected. If there is no target adjacent sampling point, the data association system determines that the certain final target sampling point belongs to a single ship and there is no connection. Each of the above-mentioned final target sampling points is judged one by one to obtain one or more connected areas. Generally, the number of final target sampling points contained in each connected area is generally different. The connected area containing the largest number of final target sampling points is selected and determined as the target echo area in the fan-shaped area, that is, the target echo area corresponding to the ship. Furthermore, if there are multiple connected areas containing the largest number of final target sampling points, any one of the connected areas is determined as the target echo area.

[0104] At this point, the data association system has obtained all the echo sampling points belonging to the ship in the fan-shaped area. It should be noted that the number of sampling points of the ship in the azimuth direction in the target echo area must not be less than N θB , N θB is the number of pulses in a beam, N θB The expression is as follows,

[0105] Among them, ψ B is the radar beam width.

[0106] If the number of sampling points of the ship in the azimuth direction in the target echo area is less than N θB , the data association system is based on the center position Ω T As the center, expand to both sides of the center along the azimuth, and take (N θB / 2) sampling points are added to the acquired target echo area.

[0107] This embodiment obtains multiple connected areas through constant false alarm processing in the azimuth dimension and the distance dimension, and then obtains the target echo area in combination with the number of final target sampling points in the connected areas, thereby accurately obtaining the target echo area.

[0108] This embodiment provides a data association method. If the device signal is a radar track signal, the device message data is determined to be radar track message data, and the radar track message data is analyzed to obtain the first ship azimuth information and the first ship distance information corresponding to the ship; based on the first ship azimuth information and the number of radar azimuth quantizations, the first pulse number corresponding to the ship is calculated, and based on the first ship distance information and the radar distance sampling rate, the number of sampling units corresponding to the ship is calculated; the radar scanning period and the radar pulse repetition frequency are determined, and based on the radar scanning period, the radar pulse repetition frequency, the first pulse number and the number of sampling units, the target echo area corresponding to the ship is located. It can be seen that this embodiment automatically locates the target echo area corresponding to the ship through the radar scanning period, the radar pulse repetition frequency, the first pulse number and the number of sampling units, thereby accurately obtaining the target echo area.

[0109] Further, refer to Figure 4 , Figure 4 This is the third flow chart of the data association method provided by the present invention, wherein step S20 further includes:

[0110] Step S204: if the device signal is the AIS signal, determine that the device message data is AIS dynamic message data, and analyze the AIS dynamic message data to obtain the ship longitude coordinate information and the ship latitude coordinate information corresponding to the ship;

[0111] Step S205, determining the radar longitude coordinate information and the radar latitude coordinate information, and determining the second ship orientation information and the second ship distance information corresponding to the ship based on the preset coordinate system and based on the ship longitude coordinate information, the ship latitude coordinate information, the radar longitude coordinate information and the radar latitude coordinate information;

[0112] Step S206, interpolating the second ship position information and the second ship distance information to obtain corresponding target ship position information and target ship distance information;

[0113] Step S207: locating a target echo area corresponding to the ship based on the target ship position information and the target ship distance information.

[0114] If the device signal is an AIS signal, the data association system determines that the device message data is AIS dynamic message data, and analyzes the AIS dynamic message data to obtain the ship longitude coordinate information and ship latitude coordinate information corresponding to the ship in the AIS dynamic message data. At the same time, the data association system needs to determine the radar longitude coordinate information and radar latitude coordinate information of the radar installation location, and calculate the ship longitude coordinate information, ship latitude coordinate information, radar longitude coordinate information and radar latitude coordinate information through a preset coordinate system (WGS84 coordinate system) to obtain the second ship azimuth information and second ship distance information of the ship relative to the radar installation location. It should be noted that since the AIS signal is updated slowly, the update cycle is about 6 seconds to 2 minutes. Therefore, the data association system needs to interpolate the second ship azimuth information and the second ship distance information to obtain the target ship azimuth information and target ship distance information corresponding to the ship, as described in steps S2071 to S2074. Furthermore, the data association system locates the target echo area corresponding to the ship according to the target ship position information and the target ship distance information. The specific process is the same as step S201 to step S203, which will not be described in detail in this embodiment.

[0115] Further, the specific description of step S2071 to step S2074 is as follows:

[0116] Step S2071, interpolating and timing the second ship's azimuth information and the second ship's distance information by a preset degree spline interpolation method, to obtain a plurality of interpolation points carrying timing time and corresponding azimuth information and distance information;

[0117] Step S2072, acquiring radar intermediate frequency echo data, wherein the radar intermediate frequency echo data includes multiple pulse times and their corresponding pulse azimuth information;

[0118] Step S2073, determining a target pulse time among the multiple pulse times, wherein the target pulse time is the same as the timing time of a certain interpolation point among the multiple interpolation points, and the pulse azimuth information corresponding to the target pulse time is the same as the azimuth information corresponding to the certain interpolation point;

[0119] Step S2074: determine the pulse azimuth information corresponding to the target pulse time as the target ship azimuth information, and determine the distance information corresponding to the certain interpolation point as the target ship distance information.

[0120] It should be noted that the preset degree spline interpolation method in this embodiment is a cubic spline interpolation method.

[0121] Specifically, the data association system interpolates the second ship's azimuth information and the second ship's distance information by using a cubic spline interpolation method, and calculates a plurality of interpolation points carrying distance information and azimuth information within each radar pulse repetition interval. After the interpolation process, the plurality of interpolation points carrying distance information and azimuth information are timed. In this embodiment, the radar uses the positioning system (including but not limited to the GPS positioning system and the Beidou positioning system) time for time synchronization, that is, the radar and AIS time are unified to the same time reference, thereby obtaining a plurality of interpolation points carrying the timing time and the corresponding azimuth information and distance information.

[0122] Next, the data association system retrieves and obtains the radar intermediate frequency echo data according to the time and azimuth information, wherein the file header of the radar intermediate frequency echo data contains each pulse time and its corresponding pulse azimuth information. The data association system determines the target pulse time among the multiple pulse times, wherein the target pulse time is the same as the timing time of a certain interpolation point among the multiple interpolation points, and the pulse azimuth information corresponding to the target pulse time is the same as the azimuth information corresponding to the certain interpolation point. Finally, the data association system determines the pulse azimuth information corresponding to the target pulse time as the target ship azimuth information, and determines the distance information corresponding to the certain interpolation point as the target ship distance information.

[0123] This embodiment interpolates the analyzed second ship position information and second ship distance information, and corrects the ship's position information and distance information through interpolation processing, thereby obtaining accurate target ship position information and target ship distance information, providing a guarantee for accurately locating the target echo area of ​​the ship.

[0124] This embodiment provides a data association method. If the device signal is an AIS signal, the device message data is determined to be AIS dynamic message data, and the AIS dynamic message data is analyzed to obtain the ship longitude coordinate information and ship latitude coordinate information corresponding to the ship; the radar longitude coordinate information and radar latitude coordinate information are determined, and based on the preset coordinate system and based on the ship longitude coordinate information, ship latitude coordinate information, radar longitude coordinate information and radar latitude coordinate information, the second ship azimuth information and second ship distance information corresponding to the ship are determined; the second ship azimuth information and the second ship distance information are interpolated to obtain the corresponding target ship azimuth information and target ship distance information; based on the target ship azimuth information and target ship distance information, the target echo area corresponding to the ship is located. It can be seen that this embodiment automatically locates the target echo area through the ship longitude coordinate information, ship latitude coordinate information, radar longitude coordinate information and radar latitude coordinate information, thereby accurately obtaining the target echo area.

[0125] Further, refer to Figure 5 , Figure 5This is a fourth flow chart of the data association method provided by the present invention, wherein step S20 further includes:

[0126] Step S208: if the device signal is an AIS signal and a radar track signal, determining that the device message data is radar track message data and AIS dynamic message data;

[0127] Step S209, based on the longitude coordinate information and latitude coordinate information of the ship in the AIS dynamic message data, the ship distance information and the ship orientation information in the radar track signal are corrected to obtain corresponding third ship orientation information and third ship distance information;

[0128] Step S210: locating a target echo area corresponding to the ship based on the third ship position information and the third ship distance information.

[0129] If the device signal is an AIS signal and a radar track signal, the data association system determines that the device message data is radar track message data and AIS dynamic message data. Next, the data association system should first use multiple AIS signals in different directions within the field of view as a reference, and correct the ship distance information and ship azimuth information in the radar track signal through the ship longitude coordinate information and ship latitude coordinate information in each AIS dynamic message data, as well as the radar longitude coordinate information and radar latitude coordinate information, to obtain the corresponding third ship azimuth information and third ship distance information. The specific process is as described in steps S2071 to 2074, and this embodiment will not be repeated. Finally, the data association system locates the target echo area corresponding to the ship according to the third ship azimuth information and the third ship distance information. The specific process is the same as steps S201 to S203, and this embodiment will not be repeated.

[0130] This embodiment provides a data association method. If the device signal is an AIS signal and a radar track signal, the device message data is determined to be radar track message data and AIS dynamic message data; based on the ship longitude coordinate information and ship latitude coordinate information in the AIS dynamic message data, the ship distance information and ship orientation information in the radar track signal are corrected to obtain the corresponding third ship orientation information and third ship distance information; based on the third ship orientation information and third ship distance information, the target echo area corresponding to the ship is located. It can be seen that this embodiment automatically locates the target echo area through the radar track message data and the AIS dynamic message data, thereby accurately obtaining the target echo area.

[0131] Furthermore, the data association device provided by the present invention is described below. The data association device described below and the data association method described above can be referred to in correspondence with each other.

[0132] like Figure 6 As shown, Figure 6 : is a schematic diagram of the structure of a data association device provided by the present invention, the data association device comprises:

[0133] The determination module 601 is used to determine the device message data corresponding to the device signal when receiving the device signal sent by the ship, and determine the corresponding ship type according to the device information;

[0134] A positioning module 602, configured to determine corresponding data to be processed based on the device message data, and to locate a target echo area corresponding to the vessel based on the data to be processed;

[0135] The association module 603 is used to determine the radar echo raw data and meteorological and hydrological data of the target echo area, and associate the radar echo raw data, the equipment message data, the ship type and the meteorological and hydrological data.

[0136] Furthermore, the positioning module 602 is also used for:

[0137] If the device signal is the radar track signal, determining that the device message data is radar track message data, and analyzing the radar track message data to obtain first ship position information and first ship distance information corresponding to the ship;

[0138] Calculating a first pulse number corresponding to the ship based on the first ship position information and the number of radar position quantizations, and calculating a sampling unit number corresponding to the ship based on the first ship distance information and the radar distance sampling rate;

[0139] A radar scanning period and a radar pulse repetition frequency are determined, and a target echo area corresponding to the ship is located based on the radar scanning period, the radar pulse repetition frequency, the first pulse number and the sampling unit number.

[0140] Furthermore, the positioning module 602 is also used for:

[0141] The position corresponding to the first pulse number and the sampling unit number is determined as the center position of the preset radar detection area on the two-dimensional plane, and a fan-shaped annular area is constructed with the center position as the center and the preset arc length as the distance direction and the azimuth direction;

[0142] Determining a sector angle of the sector annular area based on the preset arc length and the first ship distance information, and determining a second pulse number of the sector annular area based on the sector angle, the radar scanning period and the radar pulse repetition frequency;

[0143] Determine the number of sampling points in the fan-shaped area in the range direction based on the preset arc length and the radar range sampling rate, and determine the number of area sampling points in the fan-shaped area based on the second pulse number and the number of sampling points in the range direction;

[0144] Based on the fan-shaped area and the number of sampling points in the area, the target echo area corresponding to the ship is located.

[0145] Furthermore, the positioning module 602 is also used for:

[0146] Performing constant false alarm processing on the sector ring area through the distance dimension to determine a first target sampling point among the sampling points in the area, wherein a threshold factor corresponding to the first target sampling point is greater than or equal to a first preset constant false alarm threshold factor;

[0147] Performing constant false alarm processing on the sector ring area through the azimuth dimension to determine a second target sampling point among the sampling points in the area, wherein a threshold factor corresponding to the second target sampling point is greater than or equal to a second preset constant false alarm threshold factor;

[0148] Performing a preset logic operation on the first target sampling point and the second target sampling point to obtain a corresponding final target sampling point, and determining a corresponding plurality of connected areas based on the final sampling point;

[0149] The target connected area containing the largest number of the final target sampling points among the multiple connected areas is positioned as the target echo area corresponding to the ship.

[0150] Furthermore, the positioning module 602 is also used for:

[0151] If the device signal is the AIS signal, determining that the device message data is AIS dynamic message data, and analyzing the AIS dynamic message data to obtain the ship longitude coordinate information and the ship latitude coordinate information corresponding to the ship;

[0152] Determine the radar longitude coordinate information and the radar latitude coordinate information, and determine the second ship azimuth information and the second ship distance information corresponding to the ship based on a preset coordinate system and based on the ship longitude coordinate information, the ship latitude coordinate information, the radar longitude coordinate information and the radar latitude coordinate information;

[0153] interpolating the second ship position information and the second ship distance information to obtain corresponding target ship position information and target ship distance information;

[0154] Based on the target ship position information and the target ship distance information, a target echo area corresponding to the ship is located.

[0155] Furthermore, the positioning module 602 is also used for:

[0156] The second ship position information and the second ship distance information are interpolated and timed by a preset degree spline interpolation method to obtain a plurality of interpolation points carrying the timing time and the corresponding position information and distance information;

[0157] Acquire radar intermediate frequency echo data, wherein the radar intermediate frequency echo data includes multiple pulse times and their corresponding pulse azimuth information;

[0158] Determine a target pulse time among the multiple pulse times, wherein the target pulse time is the same as the timing time of a certain interpolation point among the multiple interpolation points, and the pulse azimuth information corresponding to the target pulse time is the same as the azimuth information corresponding to the certain interpolation point;

[0159] The pulse azimuth information corresponding to the target pulse time is determined as the target ship azimuth information, and the distance information corresponding to the certain interpolation point is determined as the target ship distance information.

[0160] Furthermore, the positioning module 602 is also used for:

[0161] If the device signal is an AIS signal and a radar track signal, determining that the device message data is radar track message data and AIS dynamic message data;

[0162] Based on the longitude coordinate information and latitude coordinate information of the ship in the AIS dynamic message data, the ship distance information and the ship orientation information in the radar track signal are corrected to obtain corresponding third ship orientation information and third ship distance information;

[0163] Based on the third ship position information and the third ship distance information, a target echo area corresponding to the ship is located.

[0164] The specific embodiments of the data association device provided by the present invention are basically the same as the embodiments of the above-mentioned data association method, and will not be described in detail here.

[0165] Figure 7 An example of a physical structure diagram of an electronic device is shown in FIG. Figure 7As shown, the electronic device may include: a processor 710, a communication interface 720, a memory 730 and a communication bus 740, wherein the processor 710, the communication interface 720 and the memory 730 communicate with each other through the communication bus 740. The processor 710 may call the logic instructions in the memory 730 to execute the data association method, which includes:

[0166] When receiving a device signal sent by a ship, determining device message data corresponding to the device signal, and determining the corresponding ship type according to the device information;

[0167] Determining corresponding data to be processed based on the device message data, and locating a target echo area corresponding to the vessel based on the data to be processed;

[0168] The radar echo raw data and meteorological and hydrological data of the target echo area are determined, and the radar echo raw data, the equipment message data, the vessel type and the meteorological and hydrological data are associated.

[0169] In addition, the logic instructions in the above-mentioned memory 730 can be implemented in the form of a software functional unit and can be stored in a computer-readable storage medium when it is sold or used as an independent product. Based on such an understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art or the part of the technical solution, can be embodied in the form of a software product, and the computer software product is stored in a storage medium, including a number of instructions for a computer device (which can be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the method described in each embodiment of the present invention. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), disk or optical disk and other media that can store program codes.

[0170] On the other hand, the present invention further provides a computer program product, the computer program product comprising a computer program stored on a non-transitory computer-readable storage medium, the computer program comprising program instructions, and when the program instructions are executed by a computer, the computer can execute the data association method provided by the above methods, the method comprising:

[0171] When receiving a device signal sent by a ship, determining device message data corresponding to the device signal, and determining the corresponding ship type according to the device information;

[0172] Determining corresponding data to be processed based on the device message data, and locating a target echo area corresponding to the vessel based on the data to be processed;

[0173] The radar echo raw data and meteorological and hydrological data of the target echo area are determined, and the radar echo raw data, the equipment message data, the vessel type and the meteorological and hydrological data are associated.

[0174] In another aspect, the present invention further provides a non-transitory computer-readable storage medium having a computer program stored thereon, wherein when the computer program is executed by a processor, the computer program is implemented to perform the above-mentioned data association method, the method comprising:

[0175] When receiving a device signal sent by a ship, determining device message data corresponding to the device signal, and determining the corresponding ship type according to the device information;

[0176] Determining corresponding data to be processed based on the device message data, and locating a target echo area corresponding to the vessel based on the data to be processed;

[0177] The radar echo raw data and meteorological and hydrological data of the target echo area are determined, and the radar echo raw data, the equipment message data, the vessel type and the meteorological and hydrological data are associated.

[0178] The device embodiments described above are merely illustrative, wherein the units described as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units, that is, they may be located in one place, or they may be distributed on multiple network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the scheme of this embodiment. Ordinary technicians in this field can understand and implement it without paying creative labor.

[0179] Through the description of the above implementation methods, those skilled in the art can clearly understand that each implementation method can be implemented by means of software plus a necessary general hardware platform, and of course, it can also be implemented by hardware. Based on this understanding, the above technical solution is essentially or the part that contributes to the prior art can be embodied in the form of a software product, and the computer software product can be stored in a computer-readable storage medium, such as ROM / RAM, a disk, an optical disk, etc., including a number of instructions for a computer device (which can be a personal computer, a server, or a network device, etc.) to execute the methods described in each embodiment or some parts of the embodiments.

[0180] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A data association method, characterized in that: include: When receiving a device signal sent by a ship, determining device message data corresponding to the device signal, and determining the corresponding ship type according to the device signal; Determining corresponding data to be processed based on the device message data, and locating a target echo area corresponding to the vessel based on the data to be processed; Determine the radar echo raw data and meteorological and hydrological data of the target echo area, and associate the radar echo raw data, the device message data, the vessel type and the meteorological and hydrological data; The device signal includes a radar track signal, and the steps of determining corresponding data to be processed based on the device message data, and locating a target echo area corresponding to the vessel based on the data to be processed include: If the device signal is the radar track signal, determining that the device message data is radar track message data, and analyzing the radar track message data to obtain first ship position information and first ship distance information corresponding to the ship; Calculating a first pulse number corresponding to the ship based on the first ship position information and the number of radar position quantizations, and calculating a sampling unit number corresponding to the ship based on the first ship distance information and the radar distance sampling rate; Determine a radar scanning period and a radar pulse repetition frequency, and locate a target echo area corresponding to the ship based on the radar scanning period, the radar pulse repetition frequency, the first pulse number and the number of sampling units; the steps of determining a radar scanning period and a radar pulse repetition frequency, and locating a target echo area corresponding to the ship based on the radar scanning period, the radar pulse repetition frequency, the first pulse number and the number of sampling units include: The position corresponding to the first pulse number and the sampling unit number is determined as the center position of the preset radar detection area on the two-dimensional plane, and a fan-shaped annular area is constructed with the center position as the center and the preset arc length as the distance direction and the azimuth direction; Determining a sector angle of the sector annular area based on the preset arc length and the first ship distance information, and determining a second pulse number of the sector annular area based on the sector angle, the radar scanning period and the radar pulse repetition frequency; Determine the number of sampling points in the fan-shaped area in the range direction based on the preset arc length and the radar range sampling rate, and determine the number of area sampling points in the fan-shaped area based on the second pulse number and the number of sampling points in the range direction; Based on the fan-shaped area and the number of sampling points in the area, the target echo area corresponding to the ship is located.

2. The data association method according to claim 1, characterized in that: The step of locating the target echo area corresponding to the ship based on the fan-shaped area and the number of sampling points in the area includes: Performing constant false alarm processing on the sector ring area through the distance dimension to determine a first target sampling point among the sampling points in the area, wherein a threshold factor corresponding to the first target sampling point is greater than or equal to a first preset constant false alarm threshold factor; Performing constant false alarm processing on the sector ring area through the azimuth dimension to determine a second target sampling point among the sampling points in the area, wherein a threshold factor corresponding to the second target sampling point is greater than or equal to a second preset constant false alarm threshold factor; Performing a preset logic operation on the first target sampling point and the second target sampling point to obtain a corresponding final target sampling point, and determining a corresponding plurality of connected areas based on the final target sampling point; The target connected area containing the largest number of the final target sampling points among the multiple connected areas is located as the target echo area corresponding to the ship.

3. The data association method according to claim 1, characterized in that: The device signal also includes an AIS signal of an automatic identification system for ships. The step of determining corresponding data to be processed based on the device message data, and locating a target echo area corresponding to the ship based on the data to be processed, further includes: If the device signal is the AIS signal, determining that the device message data is AIS dynamic message data, and analyzing the AIS dynamic message data to obtain the ship longitude coordinate information and the ship latitude coordinate information corresponding to the ship; Determine the radar longitude coordinate information and the radar latitude coordinate information, and determine the second ship azimuth information and the second ship distance information corresponding to the ship based on a preset coordinate system and based on the ship longitude coordinate information, the ship latitude coordinate information, the radar longitude coordinate information and the radar latitude coordinate information; interpolating the second ship position information and the second ship distance information to obtain corresponding target ship position information and target ship distance information; Based on the target ship position information and the target ship distance information, locating the target echo area corresponding to the ship; The step of interpolating the second ship position information and the second ship distance information to obtain corresponding target ship position information and target ship distance information comprises: The second ship's azimuth information and the second ship's distance information are interpolated and timed by a preset degree spline interpolation method to obtain a plurality of interpolation points carrying the timing time and the corresponding azimuth information and distance information; Acquire radar intermediate frequency echo data, wherein the radar intermediate frequency echo data includes multiple pulse times and their corresponding pulse azimuth information; Determine a target pulse time among the multiple pulse times, wherein the target pulse time is the same as the timing time of a certain interpolation point among the multiple interpolation points, and the pulse azimuth information corresponding to the target pulse time is the same as the azimuth information corresponding to the certain interpolation point; The pulse azimuth information corresponding to the target pulse time is determined as the target ship azimuth information, and the distance information corresponding to the certain interpolation point is determined as the target ship distance information.

4. The data association method according to claim 1, characterized in that: The step of determining corresponding data to be processed based on the device message data, and locating a target echo area corresponding to the vessel based on the data to be processed, further includes: If the device signal is an AIS signal and a radar track signal, determining that the device message data is radar track message data and AIS dynamic message data; Based on the longitude coordinate information and latitude coordinate information of the ship in the AIS dynamic message data, the ship distance information and the ship orientation information in the radar track signal are corrected to obtain corresponding third ship orientation information and third ship distance information; Based on the third ship position information and the third ship distance information, a target echo area corresponding to the ship is located.

5. A data association device, characterized in that: The data association method according to claim 1 is applied, comprising: A determination module, configured to, upon receiving a device signal sent by a vessel, determine device message data corresponding to the device signal, and determine the corresponding vessel type according to the device signal; A positioning module, used to determine corresponding data to be processed based on the device message data, and locate a target echo area corresponding to the vessel based on the data to be processed; The association module is used to determine the radar echo raw data and meteorological and hydrological data of the target echo area, and associate the radar echo raw data, the equipment message data, the ship type and the meteorological and hydrological data.

6. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that: When the processor executes the program, the steps of the data association method according to any one of claims 1 to 4 are implemented.

7. A non-transitory computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the steps of the data association method according to any one of claims 1 to 4 are implemented.

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