A marine ship monitoring method based on over-the-horizon radar and AIS

Abstract

The present invention discloses a method for monitoring ships at sea based on over-the-horizon radar and AIS, comprising the following steps: constructing an AIS data transceiver group and a radar monitoring group; obtaining ship longitude and latitude information and ship position information based on the AIS data transceiver group and the radar monitoring group respectively; identifying the position of ships beyond the monitoring range of the AIS data transceiver group based on a convolutional neural network and the ship position information. The present invention combines AIS with over-the-horizon radar technology, significantly improves the effectiveness of ship monitoring and positioning through the integrated monitoring point setting of "land, sea, air and space", and makes up for the disadvantage of AIS monitoring range through the application of neural networks.

Description

Technical Field

[0001] The invention belongs to the field of ship detection, and in particular relates to a marine ship monitoring method based on over-the-horizon radar and AIS. Background Art

[0002] The COSCO SEA waters under the jurisdiction of the maritime department are not only an important hub of the East China Sea North-South Corridor, but also an important part of the East China Sea section of the Maritime Silk Road. The maritime freight trade is busy, and the water environment and support and guarantee conditions are complex and changeable. With the development of my country's import and export trade, the rapid growth of maritime ship transportation, the complexity of geographical factors in the COSCO SEA waters and the diversity of transport ship types have brought huge challenges to the monitoring and supervision of maritime ships.

[0003] At present, the mainstream technical means for ship monitoring include coastal CDMA network monitoring, satellite monitoring, marine detection radar monitoring and coastal AIS system monitoring; the disadvantage of using CDMA network is that the monitoring range of ships depends on the signal coverage of CDMA, and ship monitoring cannot be achieved in areas without CDMA signals. Satellite monitoring is costly and not suitable for long-term monitoring, and the detection range of marine detection radar is often limited by sea level.

[0004] The satellite AIS system receives AIS message information sent by ships through low-orbit satellites, and forwards the received ship AIS message information to the corresponding ground station by using the satellite's orbital laws and information relay capabilities, so that the land management agency can grasp the relevant dynamic information of the ship, which is not affected by sea level. When the system is running, if the ground station is within the current satellite coverage, the information will be forwarded to the ground station immediately, otherwise the file will be saved in the satellite solid-state memory and will be forwarded when the satellite flies over the ground station. Therefore, satellite AIS has the ability to monitor global waters, but it is a non-real-time communication, that is, the system's coverage of the ship's location is not continuous. Therefore, the single application of the above technology cannot properly solve the technical problems of ship monitoring. Summary of the invention

[0005] The purpose of the present invention is to provide a method for monitoring marine vessels based on over-the-horizon radar and AIS to solve the problems existing in the above-mentioned prior art.

[0006] To achieve the above object, the present invention provides a method for monitoring marine vessels based on over-the-horizon radar and AIS, comprising the following steps:

[0007] Establish AIS data sending and receiving group and radar monitoring group;

[0008] Acquire the ship's longitude and latitude information and the ship's position information based on the AIS data transceiver group and the radar monitoring group respectively;

[0009] Based on the convolutional neural network and the ship position information, the position of the ship beyond the monitoring range of the AIS data transceiver group is identified.

[0010] Optionally, the AIS data transceiver group includes a ship-based AIS, an air-based AIS, a shore-based AIS, and a commercial satellite AIS, and the process of constructing the AIS data transceiver group includes:

[0011] Install AIS monitoring equipment on ships and patrol aircraft respectively to construct the ship-based AIS and the air-based AIS;

[0012] Install AIS data transceiver equipment on monitoring stations and commercial satellites respectively to construct the shore-based AIS and the commercial satellite AIS;

[0013] Acquiring the longitude and latitude information of the ship based on the ship-based AIS and the air-based AIS;

[0014] The longitude and latitude information of the ship is received based on the commercial satellite AIS and sent to the shore-based AIS.

[0015] Optionally, the radar monitoring group includes a ship-based radar station, an air-based radar station, and a shore-based radar station, and the process of constructing the radar monitoring group includes:

[0016] Installing over-the-horizon radars on ships and patrol aircraft respectively to construct the ship-based radar station and the air-based radar station;

[0017] Adopting multiple groups of over-the-horizon radar combinations, constructing the shore-based radar station based on islands, reefs and offshore lighthouse platforms;

[0018] The ship position information is acquired based on the ship-based radar station and the air-based radar station, and transmitted to the shore-based radar station.

[0019] Optionally, the ship's longitude and latitude information is the ship's longitude and latitude information, and the ship's position information is the straight-line distance between the ship and a shore-based radar station.

[0020] Optionally, the process of acquiring the ship's longitude and latitude information and the ship's position information based on the AIS data transceiver group and the radar monitoring group respectively includes:

[0021] Constructing the monitoring ranges of the AIS data transceiver group and the radar monitoring group respectively, and obtaining an AIS monitoring area map and a radar monitoring area map;

[0022] Acquire the overlapping area between the AIS monitoring area map and the radar monitoring area map;

[0023] Acquire the longitude and latitude information and the position information of the ship in the overlapped area;

[0024] The longitude and latitude information of the ship in the overlapping area is fused and identified with the ship position information.

[0025] Optionally, the process of respectively constructing the monitoring ranges of the AIS data transceiver group and the radar monitoring group includes:

[0026] Acquire the real-time positions of the ship-based AIS and the air-based AIS in the AIS data transceiver group, and acquire the AIS monitoring area map based on the monitoring range of the AIS monitoring device and the real-time positions of the ship-based AIS and the air-based AIS;

[0027] The real-time positions of the ship-based radar station and the air-based radar station in the radar monitoring group are obtained, and the radar monitoring area map is obtained based on the coverage of the over-the-horizon radar and the real-time positions of the ship-based radar station and the air-based radar station.

[0028] Optionally, the process of fusing and identifying the longitude and latitude information of the ship and the ship position information in the overlapped area includes:

[0029] Acquiring the longitude and latitude coordinates of the ship based on the longitude and latitude information of the ship;

[0030] Acquire the straight-line distance between the ship and the shore-based radar station based on the ship position information;

[0031] The position of the ship in the overlapping area is obtained based on the latitude and longitude coordinates and the straight-line distance.

[0032] Optionally, the process of identifying the position of a ship beyond the monitoring range of the AIS data transceiver group based on a convolutional neural network and the ship position information includes:

[0033] Get the current ship position information outside multiple sets of overlapping areas;

[0034] Constructing multiple groups of ship distribution images outside the overlapping area based on multiple groups of current ship position information outside the overlapping area;

[0035] constructing a ship motion curve based on the multiple groups of ship distribution images outside the overlapping area;

[0036] A ship recognition model is constructed based on a convolutional neural network, the ship motion curve is input into the ship recognition model for recognition, the navigation law of the ship and the longitude and latitude information of the ship that was last in the overlapped area are obtained, and the current longitude and latitude information of the ship is obtained based on the navigation law and the longitude and latitude information of the ship that was last in the overlapped area;

[0037] The ship position outside the overlapping area is acquired based on the current longitude and latitude information and the current ship position information.

[0038] The technical effects of the present invention are:

[0039] The present invention combines AIS with over-the-horizon radar technology, significantly improves the effectiveness of ship monitoring and positioning through the integrated "land, sea, air and space" monitoring point setting, and makes up for the disadvantage of AIS's monitoring range through the application of neural networks. BRIEF DESCRIPTION OF THE DRAWINGS

[0040] The drawings constituting a part of the present application are used to provide a further understanding of the present application. The illustrative embodiments and descriptions of the present application are used to explain the present application and do not constitute an improper limitation on the present application. In the drawings:

[0041] Figure 1 The figure is a flow chart of a method for monitoring marine vessels based on over-the-horizon radar and AIS in an embodiment of the present invention. DETAILED DESCRIPTION

[0042] It should be noted that, in the absence of conflict, the embodiments and features in the embodiments of the present application can be combined with each other. The present application will be described in detail below with reference to the accompanying drawings and in combination with the embodiments.

[0043] It should be noted that the steps shown in the flowcharts of the accompanying drawings can be executed in a computer system such as a set of computer executable instructions, and that, although a logical order is shown in the flowcharts, in some cases, the steps shown or described can be executed in an order different from that shown here.

[0044] Embodiment 1

[0045] This embodiment provides an implementation scheme of a marine ship monitoring method based on over-the-horizon radar and AIS, the specific contents of which are as follows:

[0046] Insufficient ability to obtain ship dynamic AIS information

[0047] Shore-based AIS is mainly used to monitor the dynamic status of ships in near-shore waters, but lacks the ability to obtain dynamic information on ships in mid- and far-sea waters between 30 and 200 nautical miles away.

[0048] Insufficient active radar monitoring capabilities of land, sea and air platforms

[0049] Coast guard ships are generally equipped with basic monitoring equipment such as AIS and CCTV, but lack active detection equipment such as over-the-horizon long-range radar.

[0050] Surveillance aircraft rely on passive AIS information and CCTV equipment to monitor ships in COSCO SEA waters, and lack the technical means for long-range, large-scale active radar monitoring.

[0051] The coordinated monitoring capabilities of regional sea and air patrol platforms are insufficient

[0052] The maritime patrol helicopter is equipped with a helicopter platform and hangar, but is not yet equipped with carrier-based aircraft, which makes it impossible to conduct regional "sea and air" collaborative three-dimensional patrols, limiting its patrol monitoring effectiveness.

[0053] In summary, the existing maritime monitoring capabilities cannot meet the monitoring needs of ships in COSCO SEA waters. The dynamic monitoring capabilities of ships in COSCO SEA waters should be strengthened in the following aspects.

[0054] (1) Incorporate commercial satellite AIS, ship-based AIS, and shore-based AIS data information into the maritime AIS comprehensive data analysis system, improve the functions of the AIS system in the jurisdiction, meet the real-time collection and dynamic tracking of ship positioning information in COSCO waters, and improve system stability and data integrity.

[0055] (2) Strengthen the construction of active radar monitoring capabilities for water vessels, and use over-the-horizon radar technology in conjunction with offshore fulcrums and island platforms to improve active monitoring coverage.

[0056] Construction of ship dynamic AIS monitoring mechanism

[0057] AIS transmits information through high-frequency radio antennas. The AIS information obtained by shore-based base stations is passively received, which relies on ships to send AIS information. AIS shipborne equipment is a standard equipment. The equipment itself is limited by the line-of-sight transmission principle of radio and is difficult to expand further. The use of satellite-mounted AIS transceiver equipment for space relay transmission combined with AIS mobile stations carried by ships and patrol aircraft at sea can solve the problem of distance connection. That is, the integration of shore-based fixed base stations, ship-mounted mobile base stations, air-based mobile stations, and satellite base stations can achieve efficient AIS information acquisition. The information is aggregated to the shore-based command and support center, and the integration of ship AIS information monitoring, management, command and dispatch in COSCO waters is completed with the big data processing capabilities of the shore-based center.

[0058] Construction of ship dynamic active radar monitoring mechanism

[0059] It is not possible to fully grasp the navigation status of ships in COSCO waters by relying solely on AIS data information. If the ship is not equipped with AIS or does not keep AIS in a normally open state, the AIS ship monitoring method will not be able to fully grasp the information of the sailing ship. Therefore, it is necessary to monitor the sailing ships actively. Various types of new-system sea detection radars have become the first choice for improving the active monitoring of ship dynamics in COSCO waters. Unlike the sending and receiving of AIS signals, the active detection properties of radars determine that they are easily interfered by obstacles and external environmental factors. In order to realize a high-efficiency and high-coverage active radar monitoring network, the platform conditions of various types of radars are fully considered. Make full use of the advantages of "land, sea, air and space" integration to realize the efficient establishment and operation of the active radar monitoring system at sea.

[0060] Considerations for setting up island, reef and shore-based radar base stations

[0061] When setting up island and reef-based and shore-based radar stations, the focus is on the obstruction of ship radar signals by obstacles such as mountains, buildings, and surrounding islands and reefs in the monitoring area. The ship monitoring range of conventional shore-based radars is often within a line of sight of 50km. This is because when monitoring inland waterways or waterways near the coast, there are often dense islands and buildings within the monitoring range. Although regional calibration of the radar detection spectrum can reduce the interference of factors such as terrain and obstacles on ship radar signals to a certain extent and increase the effective recognition rate of the radar, the combination of multiple sets of conventional line-of-sight radars can often achieve better water coverage effects.

[0062] When monitoring the mid- and far-sea waters, radar base stations are usually built on islands and reefs and offshore lighthouse platforms. The surrounding waters are relatively open, and the island and reef radar construction sites are usually located at high geographical locations, overlooking the hot waterways in the mid- and far-sea waters. In view of the good geographical and marine conditions of islands and reefs and offshore lighthouses, the site selection and construction of new-system over-the-horizon radar base stations can play a good role in in-depth monitoring of mid- and far-sea waters, and enhance the active ship monitoring capabilities of island and reef, lighthouse and offshore platform radar base stations.

[0063] Sea-based cruise platform radar mobile station

[0064] When the radar monitoring stations based on shore and islands and reefs are affected by terrain factors and cannot fully cover the mid- and far-sea waters, large-scale sea-based cruise ship platforms equipped with new-system over-the-horizon radars can serve as mobile monitoring stations at sea. The over-the-horizon radar has a monitoring range radius of 200km. It is carried on the ship platform and utilizes its far-sea waters cruising capability. By reasonably planning the water cruise route, the radar monitoring network can achieve full coverage of the mid- and far-sea waters.

[0065] Airborne cruise platform radar mobile station

[0066] Air patrol aircraft platforms fly at a high altitude, so radar detection will not be limited by the curvature of the earth. Equipped with sea detection radar, it can achieve better active ship monitoring effects. Equipping large air patrol platforms with high-power conventional sea-penetrating radars can achieve the monitoring capabilities of sea-based over-the-horizon radars.

[0067] Cross-platform and cross-technology data fusion method

[0068] For ships in complex waters of COSCO SEA, their distribution area is wide, the number of ships is large, and the characteristics of ships are complex. To track and monitor the situation of ships, we must first start with their distribution at sea, that is, combine AIS information acquisition with active radar detection. On the electronic chart of the monitored waters, the longitude and latitude data of the ships at the same time are superimposed with the ship radar position signal, and the longitude and latitude targets within a certain distance range are identified and integrated, and the targets that are not within the close range are regarded as separate targets. This process requires repeated superposition and calibration of multiple sets of data, because there are cross-channels for ships sailing at sea. If two ships traveling at a close distance both turn on AIS, it is relatively easy to distinguish. If only one is turned on, or both are not turned on, it is difficult to identify on a radar reflection spectrum. At this time, it is necessary to superimpose multiple sets of AIS and radar data, use the navigation laws of ships to distinguish, and then use convolutional neural networks for further identification and calibration.

[0069] Embodiment 2

[0070] like Figure 1 As shown, in this embodiment, a method for monitoring marine vessels based on over-the-horizon radar and AIS is provided, including:

[0071] Constructing AIS data sending and receiving groups

[0072] Specifically, the AIS data transceiver group includes ship-based AIS, air-based AIS, shore-based AIS, and commercial satellite AIS. The process of building the AIS data transceiver group includes:

[0073] AIS monitoring equipment is installed on ships and patrol aircraft respectively to complete the construction of ship-based AIS and air-based AIS; AIS data transceiver equipment is installed on monitoring stations and commercial satellites respectively to complete the construction of shore-based AIS and commercial satellite AIS.

[0074] The data transmission mode of the AIS data receiving and sending group is: obtaining the longitude and latitude information of the ship based on the ship-based AIS and the air-based AIS; receiving the longitude and latitude information of the ship based on the commercial satellite AIS and sending it to the shore-based AIS.

[0075] Building a radar monitoring group

[0076] Specifically, the radar monitoring group includes ship-based radar stations, air-based radar stations, and shore-based radar stations. The process of constructing the radar monitoring group includes: installing over-the-horizon radars on ships and patrol aircraft respectively to construct the ship-based radar stations and the air-based radar stations; using a combination of multiple groups of over-the-horizon radars, and constructing shore-based radar stations based on islands, reefs, and offshore lighthouse platforms.

[0077] Data Reception

[0078] The AIS data receiving and sending group and the radar monitoring group constructed according to the above steps respectively acquire data, including the ship's longitude and latitude information and the ship's position information. Specifically, the ship's longitude and latitude information is the longitude and latitude information of the ship, and the ship's position information is the straight-line distance between the ship and the shore-based radar station.

[0079] To make up for the disadvantage that the AIS monitoring range cannot cover a large area, this embodiment provides the following solutions:

[0080] Construct the monitoring ranges of the AIS data receiving and sending group and the radar monitoring group respectively, and obtain the AIS monitoring area map and the radar monitoring area map;

[0081] Acquire the overlapping area between the AIS monitoring area map and the radar monitoring area map;

[0082] Acquire the longitude and latitude information and the position information of the ship in the overlapped area;

[0083] fusing and identifying the longitude and latitude information of the ship and the position information of the ship in the overlapped area;

[0084] The position of the ship beyond the monitoring area of ​​the AIS data receiving and sending group is identified based on the convolutional neural network.

[0085] As a preferred embodiment of the present application, the process of respectively constructing the monitoring range of the AIS data transceiver group and the radar monitoring group includes: obtaining the real-time position of the ship-based AIS and the air-based AIS in the AIS data transceiver group, and obtaining the AIS monitoring area map based on the monitoring range of the AIS monitoring device and the real-time position of the ship-based AIS and the air-based AIS;

[0086] The real-time positions of the ship-based radar station and the air-based radar station in the radar monitoring group are obtained, and the radar monitoring area map is obtained based on the coverage of the over-the-horizon radar and the real-time positions of the ship-based radar station and the air-based radar station.

[0087] As a preferred embodiment of the present application, the process of fusing and identifying the longitude and latitude information of the ship and the ship position information in the overlapping area includes: obtaining the longitude and latitude coordinates of the ship based on the longitude and latitude information of the ship; obtaining the straight-line distance between the ship and the shore-based radar station based on the ship position information; and finally obtaining the position of the ship in the overlapping area based on the longitude and latitude coordinates and the straight-line distance from the ship to the shore-based radar station.

[0088] As a preferred embodiment of the present application, the process of identifying the position of a ship beyond the monitoring range of the AIS data transceiver group based on a convolutional neural network includes:

[0089] Acquire the current ship position information outside the multiple sets of overlapping areas and construct the multiple sets of ship distribution images outside the overlapping areas; construct the ship motion curve according to the multiple sets of ship distribution images outside the overlapping areas;

[0090] A ship recognition model is constructed based on a convolutional neural network. The obtained ship motion curve is input into the ship recognition model for recognition. The ship motion curve is feature extracted in the convolution layer to obtain a feature map representing the change of ship motion. Downsampling operation is performed in the pooling layer to reduce the amount of data operation and obtain the feature map that best represents the ship's navigation law. Sampling and recognition are repeated. Finally, the navigation law of the ship and the longitude and latitude information of the ship in the overlapping area at the last time are output in the output layer.

[0091] The current longitude and latitude information of the ship can be obtained by calculating according to the navigation law output by the model and the longitude and latitude information of the ship in the overlapped area at the last time; finally, the ship position outside the overlapped area is obtained based on the current longitude and latitude information and the current ship position information.

[0092] The above is only a preferred specific implementation of the present application, but the protection scope of the present application is not limited thereto. Any changes or substitutions that can be easily thought of by a person skilled in the art within the technical scope disclosed in the present application should be included in the protection scope of the present application. Therefore, the protection scope of the present application should be based on the protection scope of the claims.

Claims

1. A method for monitoring marine vessels based on over-the-horizon radar and AIS, characterized in that: The following steps are involved: Establish AIS data sending and receiving group and radar monitoring group; Acquire the ship's longitude and latitude information and the ship's position information based on the AIS data transceiver group and the radar monitoring group respectively; Identifying the position of a ship beyond the monitoring range of the AIS data transceiver group based on a convolutional neural network and the ship position information; The process of acquiring the ship's longitude and latitude information and the ship's position information based on the AIS data transceiver group and the radar monitoring group respectively includes: Constructing the monitoring ranges of the AIS data transceiver group and the radar monitoring group respectively, and obtaining an AIS monitoring area map and a radar monitoring area map; Acquire the overlapping area between the AIS monitoring area map and the radar monitoring area map; Acquire the longitude and latitude information and the position information of the ship in the overlapped area; fusing and identifying the longitude and latitude information of the ship and the position information of the ship in the overlapped area; The process of fusing and identifying the longitude and latitude information of the ship and the position information of the ship in the overlapped area includes: Acquiring the longitude and latitude coordinates of the ship based on the longitude and latitude information of the ship; Acquire the straight-line distance between the ship and the shore-based radar station based on the ship position information; Acquire the position of the ship in the overlapped area based on the latitude and longitude coordinates and the straight-line distance; The process of identifying the position of a ship beyond the monitoring range of the AIS data transceiver group based on the convolutional neural network and the ship position information includes: Get the current ship position information outside multiple sets of overlapping areas; Constructing multiple groups of ship distribution images outside the overlapping area based on multiple groups of current ship position information outside the overlapping area; constructing a ship motion curve based on the multiple groups of ship distribution images outside the overlapping area; A ship recognition model is constructed based on a convolutional neural network, the ship motion curve is input into the ship recognition model for recognition, the navigation law of the ship and the longitude and latitude information of the ship that was last in the overlapped area are obtained, and the current longitude and latitude information of the ship is obtained based on the navigation law and the longitude and latitude information of the ship that was last in the overlapped area; The ship position outside the overlapping area is acquired based on the current longitude and latitude information and the current ship position information.

2. The method for monitoring marine vessels based on over-the-horizon radar and AIS according to claim 1, characterized in that: The AIS data transceiver group includes ship-based AIS, air-based AIS, shore-based AIS, and commercial satellite AIS. The process of constructing the AIS data transceiver group includes: Install AIS monitoring equipment on ships and patrol aircraft respectively to construct the ship-based AIS and the air-based AIS; Install AIS data transceiver equipment on monitoring stations and commercial satellites respectively to construct the shore-based AIS and the commercial satellite AIS; Acquiring the longitude and latitude information of the ship based on the ship-based AIS and the air-based AIS; The longitude and latitude information of the ship is received based on the commercial satellite AIS and sent to the shore-based AIS.

3. The method for monitoring marine vessels based on over-the-horizon radar and AIS according to claim 1, characterized in that: The radar monitoring group includes a ship-based radar station, an air-based radar station, and a shore-based radar station. The process of constructing the radar monitoring group includes: Installing over-the-horizon radars on ships and patrol aircraft respectively to construct the ship-based radar station and the air-based radar station; Adopting multiple groups of over-the-horizon radar combinations, constructing the shore-based radar station based on islands, reefs and offshore lighthouse platforms; The ship position information is acquired based on the ship-based radar station and the air-based radar station, and transmitted to the shore-based radar station.

4. The method for monitoring marine vessels based on over-the-horizon radar and AIS according to claim 1, characterized in that: The ship longitude and latitude information is the longitude and latitude information of the ship, and the ship position information is the straight-line distance between the ship and the shore-based radar station.

5. The method for monitoring marine vessels based on over-the-horizon radar and AIS according to claim 1, characterized in that: The process of respectively constructing the monitoring ranges of the AIS data transceiver group and the radar monitoring group includes: Acquire the real-time positions of the ship-based AIS and the air-based AIS in the AIS data transceiver group, and acquire the AIS monitoring area map based on the monitoring range of the AIS monitoring device and the real-time positions of the ship-based AIS and the air-based AIS; The real-time positions of the ship-based radar station and the air-based radar station in the radar monitoring group are obtained, and the radar monitoring area map is obtained based on the coverage of the over-the-horizon radar and the real-time positions of the ship-based radar station and the air-based radar station.

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