A semantic modeling method for navigation behavior of mobile targets at sea

Abstract

The present invention discloses a method for semantic modeling of navigation behavior of a mobile target at sea, which finally realizes abstract expression and modeling of the motion behavior of a mobile target at sea from a semantic level by sequentially establishing a semantic expression structure of the navigation behavior of a mobile target at sea and a hierarchical semantic expression model of the navigation behavior of a mobile target at sea that is abstracted layer by layer. The present invention realizes effective organization and expression of the behaviors of mobile targets at sea, such as ships and military vessels, from simple low-level to complex high-order behaviors in the form of a hierarchical structure that is abstracted layer by layer, which can effectively overcome the problems of incomplete semantic enrichment and insufficient deep-level cognition in the modeling and expression of the motion behavior of mobile targets at sea in the prior art, and can better provide support for analyzing and tracking the spatiotemporal dynamic evolution of the behaviors of mobile targets at sea.

Description

Technical Field

[0001] The present invention belongs to the field of spatiotemporal data organization expression and modeling, and in particular relates to a method for semantic modeling of navigation behavior of a mobile target at sea. Background Art

[0002] The semantic expression and modeling of the navigation behavior of various types of civil ships, military ships and other mobile targets at sea is the basis for realizing intelligent cognition and predictive reasoning of situations such as maritime traffic and military situation. Due to the gradual enrichment and opening of big data of trajectories of mobile targets on land, the research on motion behavior modeling and behavior semantic organization expression for group / single pedestrian behavior, taxi and other behavior trajectories is relatively mature. However, for various types of civil ships, military ships and other mobile targets at sea, there is still a lack of relatively mature motion behavior semantic models to abstract and express them.

[0003] Existing research on the modeling and analysis of the motion behavior of mobile targets at sea focuses on modeling the navigation process of mobile targets at sea from the perspectives of spatiotemporal dimensions and semantic enrichment, which has improved the understanding of the target motion behavior to varying degrees. However, the following problems still exist:

[0004] (1) Expressing and modeling maritime mobile targets only from the spatial and temporal dimensions will result in the loss of information such as the implicit physical constraints of maritime mobile targets such as ships, making it difficult to achieve a deeper understanding of the navigation behavior of ships;

[0005] (2) Only semantic enrichment of the overall navigation process of a mobile target at sea will affect the real-time behavior prediction and reasoning of subsequent mobile targets. Summary of the invention

[0006] In view of this, the present invention proposes a semantic modeling method for the navigation behavior of mobile targets at sea, which establishes a semantic expression model of the navigation behavior of mobile targets at sea by constructing a hierarchical and step-by-step abstract semantic expression structure of navigation behavior, realizes the cognition and modeling of mobile targets at sea at the semantic level, and makes up for the problem that the existing expression model is insufficient in the semantic cognition of the navigation behavior of mobile targets at sea such as ships and warships.

[0007] In order to achieve the above object, the present invention adopts the following technical solutions:

[0008] A method for semantic modeling of navigation behavior of a marine mobile target comprises the following steps:

[0009] Establish the semantic expression structure of navigation behavior of mobile targets at sea;

[0010] Based on the semantic expression structure of the navigation behavior of the mobile target at sea, a semantic expression model of the navigation behavior of the mobile target at sea is established; the semantic expression model of the navigation behavior is a hierarchical model with gradual abstraction.

[0011] Furthermore, the establishment of the navigation behavior semantic expression structure of the maritime mobile target includes:

[0012] A navigation behavior semantic expression structure consisting of basic behavior semantics, cognitive behavior semantics, and complex navigation behavior semantics is established for mobile targets at sea; among them:

[0013] The basic behavior semantics is used to abstract the motion attribute characteristics of the navigation process of the mobile target at sea, and define the basic semantic unit through the common constraints of the four attributes of position, speed, heading and time, corresponding to the sub-track segment;

[0014] The cognitive behavior semantics is used to abstractly describe the target navigation behavior obtained by combining the basic behavior semantics in time sequence, corresponding to a track sequence composed of multiple sub-track segments;

[0015] The complex navigation behavior semantics is used to characterize the navigation motion behavior of a mobile target at sea, and is expressed as a temporal combination of multiple cognitive behavior semantics, corresponding to the complete navigation process trajectory of the mobile target at sea.

[0016] Furthermore, the basic behavior semantics include: start, go straight, stay, detour, return, circle, and end;

[0017] The starting semantics is described as the starting state of the current target track. The time attribute of the track point with this semantics is the very beginning moment of the current target navigation track. It is located in a port, anchorage or island in space, and the speed is approximately 0.

[0018] The ending semantics is described as the termination state of the current target track. The time attribute of the track point with this semantics is the final moment of the current target movement trajectory. It is located in a port, anchorage or island in space, and the speed is approximately 0.

[0019] The stop semantics is described as the temporary stop state of the current target. The time attribute of the track point with this semantics is the middle moment of the current target's moving trajectory. It is located in a port, anchorage or island in space, with a speed of approximately 0, and it lasts for a certain period of time in this state.

[0020] The detour semantics is described as the state where the current target deviates from the original heading. The time attribute of the track point with this semantics is the middle moment of the current target's moving trajectory. The spatial position is not fixed. The heading has the same deviation from the headings of the two moments before and after it, and maintains a certain speed. If the cumulative deflection angle of multiple consecutive track points that meet this condition reaches a certain value, then the above track points constitute a detour behavior, and the track points involved are marked as detour semantics.

[0021] The return semantics is described as the state where the current target returns to the original route in the opposite direction of the original heading. The track points with this semantics first meet the detour semantics condition, and when the cumulative deviation angle of multiple track points that meet the detour semantics is close to 180°, the above track points constitute a return behavior, and the track points involved are marked as return semantics;

[0022] The surround semantics is described as the state in which the current target continuously drives around a fixed location or area. The track points with this semantics first meet the conditions of the bypass semantics, and the cumulative deviation angle of multiple consecutive track points that meet the bypass semantics is greater than 360°. When the center of the circle determined by every three adjacent track points does not change significantly, the above track points constitute a surround behavior, and the track points involved are marked as the surround semantics.

[0023] The straight description is the remaining state of the current target excluding the above-mentioned behavior semantics. The time attribute of the track point with this semantics is the middle moment of the current target's moving trajectory. The spatial position is not fixed, and the heading and speed are basically consistent with the heading and speed of the track points before and after it.

[0024] Furthermore, the navigation behavior semantic expression model of the maritime mobile target is established based on the navigation behavior semantic expression structure of the maritime mobile target, including:

[0025] Based on the semantic expression structure of the motion behavior of the mobile target at sea, a basic semantic expression framework of the behavior of the mobile target at sea is constructed, which includes a basic behavior semantic layer, a cognitive behavior semantic layer and a complex navigation behavior semantic layer; the basic semantic expression framework of the behavior of the mobile target at sea includes three types of nodes: basic behavior semantic nodes, cognitive behavior semantic nodes and complex navigation behavior semantic nodes, which are respectively used to organize and express the basic behavior semantics of the corresponding sub-track segment, the cognitive behavior semantics of the corresponding track sequence, and the complex behavior semantics of the corresponding complete track, and are respectively in the basic behavior semantic layer, the cognitive behavior semantic layer and the complex navigation behavior semantic layer;

[0026] Based on the inclusion relationship between complex navigation behavior semantic nodes and cognitive behavior semantic nodes, between cognitive behavior semantic nodes and basic behavior semantic nodes, and the temporal connection relationship between basic behavior semantic nodes within the cognitive behavior semantic layer, a hierarchical expression model for the step-by-step abstraction of the navigation behavior semantics of maritime mobile targets is constructed.

[0027] The beneficial effects of the present invention are:

[0028] 1. The present invention establishes the semantic expression structure of the navigation behavior of mobile targets at sea and the hierarchical semantic expression model of the navigation behavior of mobile targets at sea that is abstracted step by step, and finally realizes the abstract expression and modeling of the motion behavior of mobile targets at sea from the semantic level.

[0029] 2. The present invention realizes the effective organization and expression of the behaviors of mobile targets at sea, such as ships and military vessels, from low-order to high-order in a hierarchical structure with layer-by-layer abstraction, which can effectively overcome a series of problems existing in the prior art in the modeling and expression of the motion behaviors of mobile targets at sea, and can better provide support for the analysis and tracking of the spatiotemporal dynamic evolution of mobile targets at sea. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on the provided drawings without paying creative work.

[0031] Figure 1 It is a flow chart of a method according to an embodiment of the present invention.

[0032] Figure 2 Schematic diagram of the semantics of seven basic motion behaviors in an embodiment of the present invention.

[0033] Figure 3 It is a flow chart of establishing a semantic expression structure of navigation behavior of a mobile target at sea in an embodiment of the present invention.

[0034] Figure 4 Schematic diagram of the semantic expression model of the navigation behavior of a mobile target at sea in this embodiment. DETAILED DESCRIPTION

[0035] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only 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.

[0036] A method for semantic modeling of navigation behavior of a marine mobile target comprises the following steps:

[0037] Establish the semantic expression structure of navigation behavior of mobile targets at sea;

[0038] Based on the semantic expression structure of the navigation behavior of the mobile target at sea, a semantic expression model of the navigation behavior of the mobile target at sea is established; the semantic expression model of the navigation behavior is a hierarchical model that is abstracted step by step.

[0039] The step of establishing a semantic expression structure of the navigation behavior of a mobile target at sea includes:

[0040] A navigation behavior semantic expression structure of "basic behavior semantics → cognitive behavior semantics → complex navigation behavior semantics" is established for mobile targets at sea; among which:

[0041] The basic behavior semantics is used to abstract the basic motion attribute characteristics of the navigation process of the mobile target at sea, and define the basic semantic unit through the common constraints of the four attributes of position, speed, heading and time, corresponding to the sub-track segment;

[0042] The cognitive behavior semantics is used to abstractly describe the target navigation behavior obtained based on the temporal combination of basic behavior semantics, which conforms to the human cognitive basis of the behavior of a moving target at sea in a certain navigation environment, and corresponds to a track sequence composed of multiple sub-track segments;

[0043] The complex navigation behavior semantics is used to characterize the more abstract navigation motion behavior of the mobile target at sea, which is expressed as a temporal combination of multiple cognitive behavior semantics, corresponding to the complete navigation process trajectory of the mobile target at sea.

[0044] The basic behavior semantics include: start, go straight, stay, detour, return, circle, and end.

[0045] The semantic description of "start" is the starting state of the current target track. The time attribute of the track point with this semantic is the very beginning moment of the current target navigation track. It is generally located in a port, anchorage, island or other place in space, and the speed is generally 0 or a smaller value.

[0046] The "end" semantics is described as the termination state of the current target track. The time attribute of the track point with this semantics is the final moment of the current target movement trajectory. It is generally located in a port, anchorage, island or other place in space, and the speed is generally 0 or a smaller value;

[0047] The semantic description of "stay" is that the current target is temporarily docked. The time attribute of the track point with this semantic is the middle moment of the current target's moving trajectory. It is generally located in a port, anchorage, island or other place in space. The speed is generally 0 or a small value, and it lasts for a certain period of time in this state.

[0048] The "detour" semantics is described as the state where the current target deviates from the original heading. The time attribute of the track point with this semantics is the middle moment of the current target's moving trajectory. The spatial position is not fixed. The heading has the same deviation from the headings of the two moments before and after it, and maintains a certain speed. If the cumulative deflection angle of multiple consecutive track points that meet this condition reaches a certain value, then the above track points constitute a detour behavior, and the track points involved are marked as detour semantics.

[0049] The "return" semantics is described as the state where the current target returns to the original route in the opposite direction of the original course. The track points with this semantics should first meet the "detour" semantic conditions, and when the cumulative deviation angle of multiple track points that meet the detour semantics is close to 180°, the above track points constitute a return behavior, and the track points involved are marked as return semantics;

[0050] The "surround" semantics is described as the state in which the current target continuously drives around a fixed location or area. Track points with this semantics should first meet the conditions of the "detour" semantics, and the cumulative deviation angle of multiple track points that meet the detour semantics is greater than 360°. When the center of the circle determined by every three adjacent track points does not change significantly, the above track points constitute a surround behavior, and the track points involved are marked as surround semantics.

[0051] The "straight forward" description is the remaining state of the current target excluding the above-mentioned behavior semantics. The time attribute of the track point with this semantics is the middle moment of the current target's moving trajectory. The spatial position is not fixed, and the heading and speed are consistent with the heading and speed of the track points before and after it or there is a small difference.

[0052] The step of establishing a semantic expression model of the navigation behavior of the maritime mobile target based on the navigation behavior semantic expression structure of the maritime mobile target comprises:

[0053] Based on the semantic expression structure of the motion behavior of the mobile target at sea, a basic semantic expression framework of the behavior of the mobile target at sea is constructed, which includes a basic behavior semantic layer, a cognitive behavior semantic layer and a complex navigation behavior semantic layer; the basic semantic expression framework of the behavior of the mobile target at sea includes three types of nodes: basic behavior semantic nodes, cognitive behavior semantic nodes and complex navigation behavior semantic nodes, and the three types of nodes are respectively used to organize and express the basic behavior semantics of the corresponding sub-track segment, the cognitive behavior semantics of the corresponding track sequence, and the complex behavior semantics of the corresponding complete track, and are respectively in the basic behavior semantic layer, the cognitive behavior semantic layer and the complex navigation behavior semantic layer;

[0054] Based on the inclusion relationship between complex navigation behavior semantic nodes and cognitive behavior semantic nodes, between cognitive behavior semantic nodes and basic behavior semantic nodes, and the temporal connection relationship between basic behavior semantic nodes within the cognitive behavior semantic layer, a hierarchical expression model for the step-by-step abstraction of the navigation behavior semantics of maritime mobile targets is constructed.

[0055] This method overcomes the problems existing in the existing technology in modeling the motion behavior of mobile targets at sea, and can better analyze the motion behavior laws of targets at sea.

[0056] Here is a more specific example:

[0057] like Figure 1As shown, a method for semantic modeling of navigation behavior of a maritime target comprises the following steps:

[0058] Step 1: Establish the semantic expression structure of the navigation behavior of the mobile target at sea.

[0059] Mobile targets at sea refer to targets such as civilian ships and military vessels that have motion properties on the sea surface. The essence of navigation behavior refers to the changes in the motion properties of mobile targets at sea under different sea conditions or scenarios. This method models and expresses the navigation behavior of mobile targets at sea at the semantic level. Based on the principle of step-by-step abstraction, the hierarchical structure of "basic behavior semantics → cognitive behavior semantics → complex navigation behavior semantics" is used to describe the navigation behavior of mobile targets at sea.

[0060] This step can specifically establish a semantic expression structure of "basic behavior semantics → cognitive behavior semantics → complex navigation behavior semantics" for the navigation behavior semantics of mobile targets at sea.

[0061] The following introduces the basic behavior semantics, cognitive behavior semantics, and complex navigation behavior semantics in the semantic expression structure:

[0062] 1) Basic behavior semantics

[0063] The basic behavior semantics is an abstract description of the basic motion attribute characteristics of the navigation process of a mobile target at sea. The basic semantic unit is defined by the common constraints of the four attributes of position, speed, heading, and time, corresponding to the sub-track segment. In practical applications, the three consecutive mobile states (i.e., track points) of the mobile target at i-1, i, and i+1 can be identified as t i-1 , t i and t i+1 , t i+T With t i-T For i The moving state of the mobile target at sea at a time difference of T, t i-T With t i+T The state of moving targets at sea is continuous.

[0064] According to the joint changes of the motion attributes of mobile targets at sea, they can be divided into 7 basic behavior semantics:

[0065] "Start" semantics: t i-1 does not exist, i+1 If exists, then t i is the starting semantics. For a certain track, there is only one starting semantics, such as Figure 2 (a)

[0066] "End" semantics: t i+1 does not exist, i-1 If exists, then t iFor the end semantics, there is only one end semantics for a certain track, such as Figure 2 (b)

[0067] "Stay" semantics: t i-T to i+T The navigation speed is 0 or close to 0, then t i For a certain track, there may be multiple stop semantics, such as Figure 2 (c)

[0068] "Detour" semantics: t i-T to i+T The headings of all have deviations in the same direction and maintain a certain navigation speed, and the cumulative deviation angle is greater than 30°, then ti is a detour semantics. There can be multiple detour semantics for a certain track, such as Figure 2 (e)

[0069] "Wraparound" semantics: t i-T to i+T There is a difference of nearly 180° in the heading and a certain navigation speed is maintained, then ti is the return semantics. There can be multiple return semantics for a certain track, such as Figure 2 (f)

[0070] "Wrap around" semantics: t i-T to i+T If the center of the circle determined by every three consecutive track points does not change significantly and the cumulative deviation angle is greater than 360°, then ti is a wraparound semantics. There can be multiple wraparound semantics for a certain track, such as Figure 2 (g) as shown;

[0071] "Straight" semantics: t i-1 , t i and t i+1 If the heading and speed of ti remain slightly different, then ti is a straight-line semantics, or the remaining states after removing the first 6 semantics can be defined as straight-line semantics. There can be multiple straight-line semantics for a certain track, such as Figure 2 (d) as shown.

[0072] 2) Cognitive behavioral semantics

[0073] Cognitive behavioral semantics is used to abstractly describe the target navigation behavior obtained based on the temporal combination of basic behavioral semantics. It conforms to the human cognitive basis of the behavior of mobile targets at sea in a certain navigation environment, and corresponds to a track sequence composed of multiple sub-track segments.

[0074] 3) Complex navigation behavior semantics

[0075] Complex navigation behavior semantics is used to characterize the more abstract navigation motion behavior of mobile targets at sea. It is expressed as a temporal combination of multiple cognitive behavior semantics, corresponding to the complete navigation process trajectory of mobile targets at sea.

[0076] Step 2: Based on the semantic expression structure of the navigation behavior of the mobile target at sea, a semantic expression model of the navigation behavior of the mobile target at sea is established; the semantic expression model of the navigation behavior is a hierarchical model with gradual abstraction.

[0077] After establishing a semantic expression structure for the motion behavior of a mobile target at sea, a semantic expression model for the motion behavior of a mobile target at sea may be further established based on the semantic expression structure.

[0078] Taking the navigation behavior of civilian fishing vessels as an example, according to Figure 3 The schematic diagram of the establishment process of the semantic expression model of the behavior of a mobile target at sea is given. The construction of the current semantic expression model of the navigation behavior of civil fishing vessels can be realized through the following processing:

[0079] Step 201, constructing a semantic expression framework for the motion behavior of a mobile target at sea, including a basic behavior semantic layer, a cognitive behavior semantic layer, and a complex navigation behavior semantic layer.

[0080] Among them, the basic semantic expression framework of maritime mobile target behavior, which includes the semantic layers of basic behavior semantic layer, cognitive behavior semantic layer and complex navigation behavior semantic layer, includes three types of nodes: basic behavior semantic node, cognitive behavior semantic node and complex navigation behavior semantic node, the three types of nodes are respectively used to organize and express the basic behavior semantics of the corresponding sub-track segment, the cognitive behavior semantics of the corresponding track sequence, and the complex behavior semantics of the corresponding complete track, and are respectively in the basic behavior semantic layer, the cognitive behavior semantic layer and the complex navigation behavior semantic layer;

[0081] Step 202, based on the basic behavior semantics definition and according to the target motion attribute characteristics, the basic behavior semantics contained in the track is identified, and a basic behavior semantic layer is constructed.

[0082] Regarding fishing activities, such as Figure 4 As shown in the basic semantic layer, according to the definitions of the seven basic behaviors, the behaviors of turning back and going straight that are continuously alternating are identified. The basic behavior semantic layer in this model contains multiple semantic nodes of turning back and going straight basic behaviors, and the formal description method is sub-track segments.

[0083] Step 203: construct a cognitive behavior semantic layer based on the temporal connection relationship between the nodes of the basic behavior semantic layer and the inclusion relationship between the cognitive behavior semantic nodes and the basic behavior semantic nodes.

[0084] This method specifically uses the edge between two nodes to represent / carry the relationship between the two nodes. There are two types of relationships, specifically, the temporal connection relationship between nodes at the same level, and the inclusion relationship between the cognitive behavior semantic layer and the basic behavior semantic layer, and the complex navigation behavior semantic layer and the cognitive behavior semantic layer.

[0085] On this basis, if Figure 4 As shown in the figure, combined with the knowledge of domain experts, the basic behavior semantic nodes such as return and straight-ahead that are continuously alternating in the basic behavior semantic layer and the temporal connection relationships between them are abstracted to form the "fishing" node of the cognitive behavior semantic layer. Its formal description is the track sequence, that is, the temporal combination of multiple sub-track segments.

[0086] Step 204: construct a complex navigation behavior semantic layer based on the inclusion relationship between the complex navigation behavior semantic layer and the cognitive behavior semantic layer and the temporal connection relationship within the cognitive behavior semantic layer.

[0087] Similarly, the multiple cognitive behavior semantic nodes corresponding to the complete track of the mobile target at sea and the temporal connections between them are characterized more abstractly by combining the spatial and temporal constraints of the geographical environment, hydrology and meteorology, etc., to obtain the complex navigation behavior semantics and form complex navigation behavior semantic nodes, which are formally described as complete navigation tracks. Figure 4 As shown in the figure, the fishing behavior that occurred in a certain fishing ground during the fishing moratorium is identified as "illegal fishing". In this case, "illegal fishing" is the complex navigation behavior semantics, and the complex navigation behavior semantic node of the complex navigation behavior semantic layer is the "illegal fishing" behavior.

[0088] Step 205, the basic behavior semantic layer, the cognitive behavior semantic layer, and the complex navigation behavior semantic layer constitute the maritime mobile target navigation behavior semantic expression model.

[0089] After completing the construction of the basic behavior semantic layer, cognitive behavior semantic layer, and complex navigation behavior semantic layer, a hierarchical expression model of the navigation behavior semantics of the mobile target at sea can be obtained.

[0090] The present invention realizes the effective organization and expression of simple low-level to complex high-level behaviors of mobile targets at sea, such as ships and military vessels, in a hierarchical structure with layer-by-layer abstraction. It can effectively overcome the problems of incomplete semantic richness and insufficient deep-level cognition in the modeling and expression of the motion behavior of mobile targets at sea in the prior art, and can better provide support for analyzing and tracking the spatiotemporal dynamic evolution of the behavior of mobile targets at sea.

[0091] The above is only a preferred embodiment of the present invention. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the principle of the present invention. These improvements and modifications should also be regarded as the scope of protection of the present invention.

Claims

1. A method for semantic modeling of navigation behavior of a mobile target at sea, characterized in that: The following steps are involved: Step 1: Establish the semantic expression structure of the navigation behavior of the maritime mobile target; including: A navigation behavior semantic expression structure consisting of basic behavior semantics, cognitive behavior semantics, and complex navigation behavior semantics is established for mobile targets at sea; among them: The basic behavior semantics is used to abstract the motion attribute characteristics of the navigation process of the mobile target at sea, and define the basic semantic unit through the common constraints of the four attributes of position, speed, heading and time, corresponding to the sub-track segment; The cognitive behavior semantics is used to abstractly describe the target navigation behavior obtained by combining the basic behavior semantics in time sequence, corresponding to a track sequence composed of multiple sub-track segments; The complex navigation behavior semantics is used to characterize the navigation motion behavior of a mobile target at sea, and is expressed as a temporal combination of multiple cognitive behavior semantics, corresponding to the complete navigation process trajectory of the mobile target at sea; The basic behavior semantics include: start, go straight, stay, detour, return, circle, and end; The starting semantics is described as the starting state of the current target track. The time attribute of the track point with this semantics is the very beginning moment of the current target navigation track. It is located in a port, anchorage or island in space, and the speed is approximately 0. The ending semantics is described as the termination state of the current target track. The time attribute of the track point with this semantics is the final moment of the current target movement trajectory. It is located in a port, anchorage or island in space, and the speed is approximately 0. The stop semantics is described as the temporary stop state of the current target. The time attribute of the track point with this semantics is the middle moment of the current target's moving trajectory. It is located in a port, anchorage or island in space, with a speed of approximately 0, and it lasts for a certain period of time in this state. The detour semantics is described as the state where the current target deviates from the original heading. The time attribute of the track point with this semantics is the middle moment of the current target's moving trajectory. The spatial position is not fixed. The heading has the same deviation from the headings of the two moments before and after it, and maintains a certain speed. If the cumulative deflection angle of multiple consecutive track points that meet this condition reaches a certain value, then the above track points constitute a detour behavior, and the track points involved are marked as detour semantics. The return semantics is described as the state where the current target returns to the original route in the opposite direction of the original course. The track points with this semantics first meet the detour semantics condition, and when the cumulative deviation angle of multiple track points that meet the detour semantics is close to 180°, the above track points constitute a return behavior, and the track points involved are marked as return semantics; The description of the surround semantics is that the current target is continuously traveling around a fixed location or area. The track points with this semantics first meet the conditions of the bypass semantics, and the cumulative deviation angle of multiple consecutive track points that meet the bypass semantics is greater than 360°. When the center of the circle determined by every three adjacent track points does not change significantly, the above track points constitute a surround behavior, and the track points involved are marked as the surround semantics. The straight description is the remaining state of the current target excluding the above behavior semantics. The time attribute of the track point with this semantics is the middle moment of the current target's moving trajectory. The spatial position is not fixed, and the heading and speed are basically consistent with the heading and speed of the track points at the two moments before and after it. Step 2, based on the semantic expression structure of the navigation behavior of the maritime mobile target, establish a semantic expression model of the navigation behavior of the maritime mobile target; the semantic expression model of the navigation behavior is a hierarchical model with gradual abstraction; The method of establishing a semantic expression model of the navigation behavior of a mobile target at sea based on the semantic expression structure of the navigation behavior of the mobile target at sea includes: Based on the semantic expression structure of the motion behavior of the mobile target at sea, a basic semantic expression framework of the behavior of the mobile target at sea is constructed, which includes a basic behavior semantic layer, a cognitive behavior semantic layer and a complex navigation behavior semantic layer; the basic semantic expression framework of the behavior of the mobile target at sea includes three types of nodes: basic behavior semantic nodes, cognitive behavior semantic nodes and complex navigation behavior semantic nodes, which are respectively used to organize and express the basic behavior semantics of the corresponding sub-track segment, the cognitive behavior semantics of the corresponding track sequence, and the complex behavior semantics of the corresponding complete track, and are respectively in the basic behavior semantic layer, the cognitive behavior semantic layer and the complex navigation behavior semantic layer; Based on the inclusion relationship between complex navigation behavior semantic nodes and cognitive behavior semantic nodes, between cognitive behavior semantic nodes and basic behavior semantic nodes, and the temporal connection relationship between basic behavior semantic nodes within the cognitive behavior semantic layer, a hierarchical expression model for the step-by-step abstraction of the navigation behavior semantics of maritime mobile targets is constructed.

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