A method and device for detecting ship positioning signal

Abstract

The present invention discloses a method and device for detecting a ship positioning signal, the method comprising: obtaining a positioning data set in a detected sea area network according to a collection time interval, the positioning data set comprising one or more positioning signals; calculating the signal delay duration corresponding to the positioning signal in the current sea area network, and the delay threshold duration corresponding to the ship in the current sea area network; if the signal delay duration is less than the delay threshold duration or multiple signal delay durations are less than the delay threshold duration, the signal is determined to be a normal signal; if the signal delay duration is greater than the delay threshold duration or multiple signal delay durations are greater than the delay threshold duration, the signal is determined to be an abnormal signal. The present invention can obtain the positioning signal of a ship in the detected sea area network, and determine whether the positioning signal is abnormal based on the comparison result of the actual delay duration of the positioning signal and the delayable threshold duration corresponding to the sea area, thereby reducing the detection error and improving the detection accuracy.

Description

Background Art

[0002] The Automatic Identification System (AIS) is a digital navigation aid system and equipment based on network, communication, computing and display technologies. It can collect various ship navigation dynamic information by connecting to the ship's GPS locator, depth sounder, gyrocompass, etc., and display it on the electronic screen to provide the operator with real-time navigation information of the ship; it can also send the static and dynamic information of the ship to nearby shore base stations or satellites, so that surrounding ships and monitoring centers can receive the information, so that the monitoring center can supervise and direct the standardized operation of ships to avoid collisions between ships.

[0003] However, in order to evade supervision, some ships may deliberately turn off AIS equipment or tamper with AIS equipment information, resulting in the monitoring center being unable to identify their navigation path, increasing the risk of each ship's navigation. In order to avoid the above situation, the monitoring center will perform real-time detection of the ship's positioning signal. The commonly used detection method is: collect the positioning signal of the ship at two adjacent time nodes, calculate the trajectory of the ship within the two time nodes based on the positions of the two positioning signals, and if the calculated driving trajectory is different from the dynamic trajectory of the ship, it is determined that the positioning signal is abnormal.

[0004] However, the commonly used detection methods currently have the following technical problems: When a ship sails in different sea areas, it may be affected by various environmental factors, resulting in signal loss (for example, there is no fixed base station service in the navigation grid or the satellite coverage timeliness is low, etc.), and only the positioning signals of the ship in two different sea areas are collected. The timeliness of the positioning signals in different sea areas is different (for example, a signal loss of 10 minutes in the nearshore area is abnormal, while a signal loss of 3 hours in the open sea is normal). If two positioning signals with different timeliness are used for signal detection, the detection error is large and the accuracy is low. Summary of the invention

[0005] The present invention proposes a method and device for detecting a ship positioning signal. After acquiring the ship's positioning signal in real time, the method calculates the actual delay time of the positioning signal and the delay threshold time corresponding to the sea area where the positioning signal is located, and determines whether the positioning signal is abnormal based on the comparison result between the actual delay time and the delay threshold time, so as to reduce the detection error and improve the detection accuracy.

[0006] A first aspect of an embodiment of the present invention provides a method for detecting a ship positioning signal, the method comprising:

[0007] According to a preset collection time interval, a positioning data set is obtained in the detected sea area network, wherein the positioning data set includes one or more positioning signals, wherein the positioning signals include: AIS signals and Beidou signals, and the sea area network is obtained after grid planning of the sea area to be detected;

[0008] Calculating the signal delay duration of the positioning signal corresponding to the current sea area network, and calculating the delay threshold duration corresponding to the ship to be detected in the current sea area network;

[0009] If the signal delay duration is less than the delay threshold duration or multiple signal delay durations are all less than the delay threshold duration, it is determined that the positioning signal is a normal signal;

[0010] If the signal delay duration is greater than the delay threshold duration or multiple signal delay durations are greater than the delay threshold duration, it is determined that the positioning signal is an abnormal signal.

[0011] In a possible implementation manner of the first aspect, calculating the delay threshold duration corresponding to the ship to be detected in the current sea area network includes:

[0012] Determine the grid position of the positioning signal in the sea area network, and extract the grid number corresponding to the grid position;

[0013] Finding a corresponding delay function based on the grid number;

[0014] The delay threshold duration is calculated according to the delay function.

[0015] In a possible implementation manner of the first aspect, after the step of determining that the positioning signal is an abnormal signal, the method further includes:

[0016] Calculate the difference between the signal delay duration and the delay threshold duration to obtain a duration difference;

[0017] When the duration difference is greater than a preset comparison threshold, the function weight and function constant of the delay function are adjusted.

[0018] In a possible implementation manner of the first aspect, the calculating a signal delay duration corresponding to the positioning signal in the current sea area network includes:

[0019] Calculate the difference between the acquisition time node of the positioning signal in the current sea area network and the current time node to obtain the signal delay duration;

[0020] or;

[0021] Taking the acquisition time node of the positioning signal as the starting point, multiple positioning signals are received in the current sea area network according to the preset collection time interval and the average delay of the multiple positioning signals is calculated to obtain the signal delay duration.

[0022] In a possible implementation manner of the first aspect, acquiring a positioning signal of a ship to be detected in the detected sea area network includes:

[0023] After determining the detected sea area network, grid clustering and grading are performed on the sea area network to obtain a sea area grid divided into multiple levels of grids, wherein each grid corresponds to a grid number;

[0024] A grid parameter set of each grid in the sea area grid is obtained, and one or more positioning signals are extracted from the grid parameter set.

[0025] In a possible implementation of the first aspect, the classification method includes: classification based on distance from the coastline, classification based on administrative jurisdiction, classification based on cluster analysis results, classification according to relevant experience, or classification based on AIS base station service range;

[0026] The grid clustering method includes: density-based ship AIS track clustering, statistics-based ship AIS track clustering method or distance-based ship AIS track clustering method.

[0027] In a possible implementation manner of the first aspect, after the step of determining that the positioning signal is an abnormal signal, the method further includes:

[0028] Obtain the abnormal signal of each grid and obtain multiple abnormal signals;

[0029] The multiple abnormal signals are edited into a corresponding abnormal list, and the ships corresponding to the abnormal signals are marked in the abnormal list for professional personnel to study and judge.

[0030] A second aspect of an embodiment of the present invention provides a device for detecting a ship positioning signal, the device comprising:

[0031] An acquisition module is used to acquire a positioning data set in the detected sea area network according to a preset collection time interval, wherein the positioning data set includes one or more positioning signals, wherein the positioning signals include: AIS signals and Beidou signals, and the sea area network is obtained after grid planning of the sea area to be detected;

[0032] A calculation module, used to calculate the signal delay duration of the positioning signal corresponding to the current sea area network, and calculate the delay threshold duration corresponding to the ship to be detected in the current sea area network;

[0033] A normal detection module, configured to determine that the positioning signal is a normal signal if the signal delay duration is less than the delay threshold duration or multiple signal delay durations are all less than the delay threshold duration;

[0034] The abnormality detection module is used to determine that the positioning signal is an abnormal signal if the signal delay time length is greater than the delay threshold time length or multiple signal delay time lengths are greater than the delay threshold time length.

[0035] Compared with the prior art, the method and device for detecting a ship positioning signal provided by an embodiment of the present invention have the beneficial effect that: the present invention can acquire the positioning signals of each ship in the detected sea area network in real time, and respectively calculate the actual delay duration of the positioning signal and the delayable threshold duration corresponding to the sea area where the positioning signal is located, and determine whether the positioning signal is abnormal based on the comparison result between the actual delay duration and the delayable threshold duration, thereby reducing the detection error and improving the detection accuracy. BRIEF DESCRIPTION OF THE DRAWINGS

[0036] Figure 1 It is a flow chart of a method for detecting a ship positioning signal provided by an embodiment of the present invention;

[0037] Figure 2 The present invention is a schematic diagram of the structure of a device for detecting a ship positioning signal provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0038] 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.

[0039] The Automatic Identification System (AIS) is a digital navigation aid system and equipment based on network, communication, computing and display technologies. It can collect various ship navigation dynamic information by connecting to the ship's GPS locator, depth sounder, gyrocompass, etc., and display it on the electronic screen to provide the operator with real-time navigation information of the ship; it can also send the static and dynamic information of the ship to nearby shore base stations or satellites, so that surrounding ships and monitoring centers can receive the information, so that the monitoring center can supervise and direct the standardized operation of ships to avoid collisions between ships.

[0040] However, in order to evade supervision, some ships may deliberately turn off AIS equipment or tamper with AIS equipment information, resulting in the monitoring center being unable to identify their navigation path, increasing the risk of each ship's navigation. In order to avoid the above situation, the monitoring center will perform real-time detection of the ship's positioning signal. The commonly used detection method is: collect the positioning signal of the ship at two adjacent time nodes, calculate the trajectory of the ship within the two time nodes based on the positions of the two positioning signals, and if the calculated driving trajectory is different from the dynamic trajectory of the ship, it is determined that the positioning signal is abnormal.

[0041] However, the commonly used detection methods currently have the following technical problems: When a ship sails in different sea areas, it may be affected by various environmental factors, resulting in signal loss (for example, there is no fixed base station service in the navigation grid or the satellite coverage timeliness is low, etc.), and only the positioning signals of the ship in two different sea areas are collected. The timeliness of the positioning signals in different sea areas is different (for example, the signal loss in the nearshore area for more than 10 minutes is abnormal, while the signal loss in the open sea for more than 3 hours is normal). If two positioning signals with different timeliness are used for signal detection, the detection error is large and the accuracy is low.

[0042] For example, a signal loss of more than 10 minutes in area A is abnormal, and a signal loss of more than 1 hour in area B is abnormal. When the ship is in area A, the collected signal only includes the signal at the 15th minute, which is an abnormal signal in area A. After 15 minutes, the ship sails to area B and collects the signal again. This signal is a normal signal in area B. Using an abnormal signal and a normal signal for detection, the detection standards of the signals are different, the error is large, and the accuracy is low.

[0043] In order to solve the above problems, a method for detecting a ship positioning signal provided in an embodiment of the present application will be introduced and explained in detail through the following specific embodiments.

[0044] In one embodiment, the method is applicable to a background management system of a ship monitoring center, which can collect, monitor and manage ship signals to determine the ship's form, route and safety planning.

[0045] Reference Figure 1 , shows a flow chart of a method for detecting a ship positioning signal provided by an embodiment of the present invention.

[0046] Wherein, as an example, the method for detecting the ship positioning signal may include:

[0047] S11. According to a preset collection time interval, a positioning data set is obtained in the detected sea area network, where the positioning data set includes one or more positioning signals, and the positioning signals include: AIS signals and Beidou signals. The sea area network is obtained after grid planning of the sea area to be detected.

[0048] The sea area network is a network managed by the ship monitoring center to monitor the sea area, and the network is grid-planned. Through grid planning, the entire sea area can be divided into different grids, and different grids can have different delay thresholds, so that the delay threshold can be compared with the delay of its positioning signal to accurately detect whether the signal is wrong. The system can collect the positioning signal of each ship in the network it monitors, and the positioning signal can specifically include but is not limited to AIS signals or Beidou signals or other types of different positioning signals.

[0049] In an optional practical manner, the system can detect the monitored sea area network once every 15 minutes or 1 hour to collect one or more positioning signals. It should be noted that the preset collection time interval can be adjusted according to actual needs.

[0050] In actual operation, one positioning signal can be collected for detection and processing in a preset time interval; multiple signals can be collected for detection and processing in a preset time interval; one signal can be collected for detection and processing in each of multiple preset time intervals; multiple signals can be collected for detection and processing in each of multiple preset time intervals. The specific adjustment can be made according to the requirements of the sea area or the actual application needs.

[0051] Since the sea area managed by the monitoring center may include nearshore and offshore areas, in order to distinguish different sea areas, as an example, step S11 may include the following sub-steps:

[0052] S111. After determining the detected sea area network, grid clustering and grading are performed on the sea area network to obtain a sea area grid divided into multiple levels of grids, wherein each grid corresponds to a grid number.

[0053] S112: Obtain a grid parameter set of each grid in the sea area grid, and extract one or more positioning signals from the grid parameter set.

[0054] In actual operation, the sea area can be divided into several different small sea areas by gridding and grading the monitored sea area network, and each small sea area can correspond to a delay time. The signals collected in the area can be detected for abnormalities according to the delay time of the area, thereby avoiding detection errors caused by different signal detection standards and effectively improving the accuracy of detection.

[0055] After gridding, clustering and grading, a grid number can be set for each network in order to distinguish each divided grid.

[0056] In one embodiment, the sea area managed by the system may be divided into a plurality of grids, each grid corresponding to a number (eg, 800, 801, 802, etc.). Figure 2 Each point in is a sea area grid.

[0057] Next, the grid parameter set of each grid can be obtained. The parameter set can include different navigation parameters of one or more ships in the grid, such as AIS positioning signal; Ri: grid parameter; Tt: time parameter; Dimed: median delay of AIS signal in the grid; Dimean: average delay of AIS signal in the grid; Dimin: minimum delay of AIS signal in the grid; Dimax, maximum delay of AIS signal in the grid, etc.

[0058] Next, the corresponding AIS positioning signal is extracted from the parameter set.

[0059] In one embodiment, the classification method includes, but is not limited to: classification based on distance from the coastline, classification based on administrative jurisdiction, classification based on cluster analysis results, classification according to relevant experience, and / or classification based on AIS base station service range.

[0060] In one embodiment, the grid clustering method includes, but is not limited to: density-based ship AIS track clustering method, statistics-based ship AIS track clustering method or distance-based ship AIS track clustering method.

[0061] It should be noted that the one or more positioning signals included in each grid parameter set may be one or more positioning signals of a ship, or may be multiple positioning signals corresponding to multiple ships.

[0062] Specifically, there may be multiple ships sailing in the grid of the sea area network, and each ship may generate a positioning signal within a preset collection time interval, so that the collected grid parameter set may include one or more positioning signals of a ship, or multiple positioning signals corresponding to multiple ships.

[0063] S12, calculating the signal delay duration of the positioning signal corresponding to the current sea area network, and calculating the delay threshold duration corresponding to the ship to be detected in the current sea area network.

[0064] After obtaining the corresponding positioning signal, the delay of the positioning signal in the grid corresponding to the current sea area network can be calculated to obtain the signal delay duration. At the same time, the acceptable delay duration of the current sea area network where the positioning signal is located can also be calculated to obtain the delay threshold duration.

[0065] For example, in a certain grid area of ​​the A sea area network, a signal that lasts more than 5 minutes is abnormal, and a signal that lasts less than or equal to 5 minutes is normal, then 5 minutes is the delay threshold duration.

[0066] In order to improve the accuracy of calculating the signal delay duration, in an optional embodiment, step S12 may include the following sub-steps:

[0067] S121. Calculate the difference between the acquisition time node of the positioning signal in the current sea area network and the current time node to obtain the signal delay duration.

[0068] Specifically, the time node at which the positioning signal is acquired in the current sea area network can be determined to obtain the acquisition time node, and the current time node can be determined, and the difference between the acquisition time node and the current time node can be calculated to obtain the signal delay duration.

[0069] S122. Taking the acquisition time node of the positioning signal as the starting point, receiving multiple positioning signals in the current sea area network according to the preset collection time interval and calculating the average delay of the multiple positioning signals to obtain the signal delay duration.

[0070] In one embodiment, the calculation can be performed by an average algorithm. Specifically, the time node at which the positioning signal is obtained can be used as the starting time node, and then multiple positioning signals obtained within a preset collection time interval are counted, and the signal delay time of each positioning signal is calculated respectively, and then the average of multiple signal delay time lengths is calculated to obtain the final signal delay time length.

[0071] For example, the time node of obtaining the positioning signal is taken as the starting time node, the positioning signals (AIS signals) of the ship in one hour are counted, the interval delay time of each AIS signal in the period is calculated, and finally the average is calculated.

[0072] In order to accurately calculate the delay threshold duration, in an optional embodiment, step S12 may include the following sub-steps:

[0073] S123: Determine the grid position of the positioning signal in the sea area network, and extract the grid number corresponding to the grid position.

[0074] S124. Searching for a corresponding delay function based on the grid number.

[0075] S125. Calculate the delay threshold duration according to the delay function.

[0076] Specifically, the sea grid of the positioning signal in the sea network can be determined to obtain the grid position; then the previously set grid number corresponding to the grid position is extracted, for example, 801. According to this number, the delay function corresponding to this sea grid can be found, and finally the delay function is used to calculate the corresponding delay threshold duration.

[0077] Optionally, the calculation formula of the delay function can be as shown below:

[0078] Thx=Con+We*D imed .

[0079] In the above formula, Thx is the delay threshold duration, Con is the calculation constant, We is the weight; Dimed is the median delay, which can be extracted from the grid parameter set.

[0080] S13: If the signal delay duration is less than the delay threshold duration or multiple signal delay durations are all less than the delay threshold duration, it is determined that the positioning signal is a normal signal.

[0081] The signal delay duration and the delay threshold duration can be compared. If the signal delay duration is less than the delay threshold duration, it means that the signal is normal in the corresponding sea area grid, and the signal is determined to be a normal signal.

[0082] Specifically, if a positioning signal is obtained, and the signal delay duration of the positioning signal is less than the delay threshold duration, the positioning signal is determined to be a normal signal. If multiple positioning signals are obtained, and the signal delay durations of the multiple positioning signals are all less than the delay threshold duration, the multiple positioning signals are determined to be normal signals. If multiple positioning signals are obtained, and the number of signals whose signal delay durations are less than the delay threshold duration is less than a preset number value, the multiple positioning signals are determined to be normal signals; otherwise, the multiple positioning signals are determined to be abnormal signals.

[0083] S14: If the signal delay duration is greater than the delay threshold duration or multiple signal delay durations are greater than the delay threshold duration, determine that the positioning signal is an abnormal signal.

[0084] If the signal delay duration is greater than the delay threshold duration, it means that the signal is abnormal in the corresponding sea area grid, and the signal is determined to be an abnormal signal.

[0085] Specifically, if a positioning signal is obtained, and the signal delay duration of the positioning signal is greater than the delay threshold duration, the positioning signal is determined to be an abnormal signal. If multiple positioning signals are obtained, and the signal delay durations of the multiple positioning signals are all greater than the delay threshold duration, the multiple positioning signals are determined to be abnormal signals. If multiple positioning signals are obtained, and the number of signals whose signal delay durations are greater than the delay threshold duration is greater than a preset number value, the multiple positioning signals are determined to be abnormal signals, otherwise, they are determined to be normal signals.

[0086] Since the delay threshold duration is calculated by a delay function, and the delay function is set by the user, in order to make the delay function closer to the actual situation of the corresponding sea area grid, as an example, after step S14, the method may further include:

[0087] S21. Calculate the difference between the signal delay duration and the delay threshold duration to obtain a duration difference.

[0088] S22: When the duration difference is greater than a preset comparison threshold, adjust the function weight and function constant of the delay function.

[0089] Specifically, if the duration difference is greater than the preset comparison threshold, it means that the deviation between the signal delay duration and the delay threshold duration is large. It may be that the delay function deviates greatly from the communication environment of the sea area grid, and the calculated delay threshold duration also has a large error with the actual one.

[0090] In order to correct the above error, the function weight and function constant of the delay function may be adjusted.

[0091] Continuing with the above example, if the calculation formula of the delay function is: Thx = Con + We * D imed .

[0092] Correspondingly, the calculation constant Con and the weight We can be adjusted.

[0093] In one embodiment, there may be multiple abnormal signals in the sea area network. In order to facilitate the user to view multiple abnormal signals, as an example, after step S14, the method may further include:

[0094] S31. Acquire the abnormal signal of each grid to obtain multiple abnormal signals.

[0095] S32, compiling the multiple abnormal signals into a corresponding abnormal list, and marking the ships corresponding to the abnormal signals in the abnormal list for professional personnel to study and judge.

[0096] In actual operation, multiple abnormal signals within a period of time (for example, 3 hours, half a day or a day) can be obtained, and the multiple abnormal signals can be integrated into a list, and the ship corresponding to the signal can be marked in the list. Finally, it is displayed on the system display screen or sent to the manager's smart terminal for technicians or managers to view, or to conduct key inspections on the marked ships.

[0097] In this embodiment, an embodiment of the present invention provides a method for detecting a ship positioning signal, and its beneficial effect is that the present invention can acquire the positioning signals of each ship in the detected sea area network in real time, and respectively calculate the actual delay duration of the positioning signal and the delayable threshold duration corresponding to the sea area where the positioning signal is located, and determine whether the positioning signal is abnormal based on the comparison result between the actual delay duration and the delayable threshold duration, thereby reducing the detection error and improving the detection accuracy.

[0098] The present invention also provides a device for detecting a ship positioning signal. Figure 2 , shows a schematic structural diagram of a ship positioning signal detection device provided by an embodiment of the present invention.

[0099] Wherein, as an example, the detection device of the ship positioning signal may include:

[0100] An acquisition module is used to acquire a positioning data set in the detected sea area network according to a preset collection time interval, wherein the positioning data set includes one or more positioning signals, wherein the positioning signals include: AIS signals and Beidou signals, and the sea area network is obtained after grid planning of the sea area to be detected;

[0101] A calculation module is used to calculate the signal delay duration of the positioning signal corresponding to the current sea area network, and calculate the delay threshold duration corresponding to the ship to be detected in the current sea area network;

[0102] A normal detection module, configured to determine that the positioning signal is a normal signal if the signal delay duration is less than the delay threshold duration or multiple signal delay durations are all less than the delay threshold duration;

[0103] The abnormality detection module is used to determine that the positioning signal is an abnormal signal if the signal delay time length is greater than the delay threshold time length or multiple signal delay time lengths are greater than the delay threshold time length.

[0104] Optionally, the computing module is further used for:

[0105] Determine the grid position of the positioning signal in the sea area network, and extract the grid number corresponding to the grid position;

[0106] Finding a corresponding delay function based on the grid number;

[0107] The delay threshold duration is calculated according to the delay function.

[0108] Optionally, after the step of determining that the positioning signal is an abnormal signal, the device further includes:

[0109] A duration difference module, used to calculate the difference between the signal delay duration and the delay threshold duration to obtain a duration difference;

[0110] The adjustment module is used to adjust the function weight and function constant of the delay function when the duration difference is greater than a preset comparison threshold.

[0111] Optionally, the computing module is further used for:

[0112] Calculate the difference between the acquisition time node of the positioning signal in the current sea area network and the current time node to obtain the signal delay duration;

[0113] or;

[0114] Taking the acquisition time node of the positioning signal as the starting point, multiple positioning signals are received in the current sea area network according to the preset collection time interval and the average delay of the multiple positioning signals is calculated to obtain the signal delay duration.

[0115] Optionally, the acquisition module is further used to:

[0116] After determining the detected sea area network, grid clustering and grading are performed on the sea area network to obtain a sea area grid divided into multiple levels of grids, wherein each grid corresponds to a grid number;

[0117] A grid parameter set of each grid in the sea area grid is obtained, and one or more positioning signals are extracted from the grid parameter set.

[0118] Optionally, the classification method includes: classification based on distance from the coastline, classification based on administrative jurisdiction, classification based on cluster analysis results, classification according to relevant experience, or classification based on AIS base station service range;

[0119] The grid clustering method includes: density-based ship AIS track clustering, statistics-based ship AIS track clustering method or distance-based ship AIS track clustering method.

[0120] Optionally, the device further comprises:

[0121] An abnormal signal module is used to obtain an abnormal signal of each grid and obtain multiple abnormal signals;

[0122] The list module is used to edit the multiple abnormal signals into a corresponding abnormal list, and mark the ships corresponding to the abnormal signals in the abnormal list for professional personnel to study and judge.

[0123] Those skilled in the art can clearly understand that, for the sake of convenience and brevity of description, the specific working process of the device described above can refer to the corresponding process in the aforementioned method embodiment, and will not be repeated here.

[0124] Furthermore, an embodiment of the present application 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 method for detecting a ship positioning signal as described in the above embodiment is implemented.

[0125] Furthermore, an embodiment of the present application also provides a computer-readable storage medium, wherein the computer-readable storage medium stores a computer-executable program, and the computer-executable program is used to enable a computer to execute the method for detecting a ship positioning signal as described in the above embodiment.

[0126] The above is a preferred embodiment of the present invention. It should be pointed out that a person skilled in the art can make several improvements and modifications without departing from the principle of the present invention. These improvements and modifications are also considered to be within the scope of protection of the present invention.

Claims

1. A method for detecting a ship positioning signal, characterized in that: The method comprises: According to a preset collection time interval, a positioning data set is obtained in the detected sea area network, wherein the positioning data set includes one or more positioning signals, wherein the positioning signals include: AIS signals and Beidou signals, and the sea area network is obtained after grid planning of the sea area to be detected; Calculate the signal delay duration of the positioning signal in the current sea area network, and calculate the delay threshold duration of the ship to be detected in the current sea area network; If the signal delay duration is less than the delay threshold duration or multiple signal delay durations are all less than the delay threshold duration, it is determined that the positioning signal is a normal signal; If the signal delay duration is greater than the delay threshold duration or multiple signal delay durations are greater than the delay threshold duration, determining that the positioning signal is an abnormal signal; The calculation of the delay threshold duration corresponding to the current sea area network of the ship to be detected includes: Determine the grid position of the positioning signal in the sea area network, and extract the grid number corresponding to the grid position; Finding a corresponding delay function based on the grid number; Calculate the delay threshold duration according to the delay function; The calculation formula of the delay function is as follows: Thx=Con+We*Dimed; In the above formula, Thx is the delay threshold duration, Con is the calculation constant, We is the weight; Dimed is the median delay.

2. The method for detecting a ship positioning signal according to claim 1, characterized in that: After the step of determining that the positioning signal is an abnormal signal, the method further includes: Calculate the difference between the signal delay duration and the delay threshold duration to obtain a duration difference; When the duration difference is greater than a preset comparison threshold, the function weight and function constant of the delay function are adjusted.

3. The method for detecting a ship positioning signal according to claim 1, characterized in that: The calculating the signal delay time length corresponding to the positioning signal in the current sea area network includes: Calculate the difference between the acquisition time node of the positioning signal in the current sea area network and the current time node to obtain the signal delay duration; or; Taking the acquisition time node of the positioning signal as the starting point, multiple positioning signals are received in the current sea area network according to the preset collection time interval and the average delay of the multiple positioning signals is calculated to obtain the signal delay duration.

4. The method for detecting a ship positioning signal according to claim 1, characterized in that: The step of acquiring one or more positioning signals in the detected sea area network includes: After determining the detected sea area network, grid clustering and grading are performed on the sea area network to obtain a sea area grid divided into multiple levels of grids, wherein each grid corresponds to a grid number; A grid parameter set of each grid in the sea area grid is obtained, and one or more positioning signals are extracted from the grid parameter set.

5. The method for detecting a ship positioning signal according to claim 4, characterized in that: The classification method includes: classification based on distance from the coastline, classification based on administrative jurisdiction, classification based on cluster analysis results, classification based on relevant experience, and / or classification based on the service range of AIS base stations; The grid clustering method includes: density-based ship AIS track clustering, statistics-based ship AIS track clustering method or distance-based ship AIS track clustering method.

6. The method for detecting a ship positioning signal according to claim 4, characterized in that: After the step of determining that the positioning signal is an abnormal signal, the method further includes: Obtain the abnormal signal of each grid and obtain multiple abnormal signals; The multiple abnormal signals are edited into a corresponding abnormal list, and the ships corresponding to the abnormal signals are marked in the abnormal list for professional personnel to study and judge.

7. A device for detecting a ship positioning signal, characterized in that: The device comprises: An acquisition module is used to acquire one or more positioning signals in the detected sea area network according to a preset collection time interval, wherein the positioning signals include: AIS signals and Beidou signals, and the sea area network is obtained after grid planning of the sea area to be detected; A calculation module is used to calculate the signal delay duration of the positioning signal corresponding to the current sea area network, and calculate the delay threshold duration corresponding to the ship to be detected in the current sea area network; A normal detection module, configured to determine that the positioning signal is a normal signal if the signal delay duration is less than the delay threshold duration or multiple signal delay durations are all less than the delay threshold duration; An abnormality detection module, used for determining that the positioning signal is an abnormal signal if the signal delay duration is greater than the delay threshold duration or multiple signal delay durations are greater than the delay threshold duration; The computing module is further used for: Determine the grid position of the positioning signal in the sea area network, and extract the grid number corresponding to the grid position; Finding a corresponding delay function based on the grid number; Calculate the delay threshold duration according to the delay function; The calculation formula of the delay function is as follows: Thx=Con+We*Dimed; In the above formula, Thx is the delay threshold duration, Con is the calculation constant, We is the weight; Dimed is the median delay.

8. 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 method for detecting a ship positioning signal according to any one of claims 1 to 6 is implemented.

9. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a computer-executable program, and the computer-executable program is used to enable a computer to execute the method for detecting a ship positioning signal as described in any one of claims 1 to 6.

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