Methods, devices, electronic equipment and storage media for measuring ship trajectory similarity

Abstract

This invention provides a method, apparatus, electronic device, and storage medium for measuring ship trajectory similarity, relating to the field of marine observation technology. The method includes: reconstructing data from the original trajectory information of a first ship trajectory and the original trajectory information of a second ship trajectory to obtain target trajectory information for both the first and second ship trajectories; obtaining a target correlation coefficient between the first and second ship trajectories based on the target trajectory information; and obtaining a similarity measurement value between the first and second ship trajectories based on the target correlation coefficient. The ship trajectory similarity measurement method, apparatus, electronic device, and storage medium provided by this invention can perform ship trajectory similarity measurement more comprehensively and adaptably, and can more accurately obtain similarity measurement values ​​for ship trajectories in diverse scenarios.

Description

Technical Field

[0001] This invention relates to the field of marine observation technology, and in particular to a method, apparatus, electronic device, and storage medium for measuring ship trajectory similarity. Background Technology

[0002] Similarity measurement is a measure that comprehensively assesses the degree of similarity between two things. The closer two things are, the greater their similarity measurement; conversely, the more distant two things are, the smaller their similarity measurement.

[0003] Effective and accurate measurement of ship trajectory similarity is helpful for the characteristic analysis of ship trajectories, which is of great significance for shipping safety supervision, route planning, and economic analysis of ship operations.

[0004] Existing methods for measuring ship trajectory similarity have significant limitations, making it difficult to accurately obtain similarity values ​​for ship trajectories in diverse scenarios. Therefore, improving the applicability of ship trajectory similarity measurement to obtain more accurate similarity values ​​in diverse scenarios is a pressing technical problem that needs to be solved in this field. Summary of the Invention

[0005] This invention provides a method, apparatus, electronic device, and storage medium for measuring ship trajectory similarity, which addresses the limitations of existing ship trajectory similarity measurement methods and their difficulty in accurately obtaining similarity values ​​of ship trajectories in diverse scenarios. This invention improves the adaptability of ship trajectory similarity measurement, thereby enabling more accurate acquisition of similarity values ​​of ship trajectories in diverse scenarios.

[0006] This invention provides a method for measuring ship trajectory similarity, comprising:

[0007] Obtain the original trajectory information of the first ship's trajectory and the original trajectory information of the second ship's trajectory;

[0008] Data reconstruction is performed on the original trajectory information of the first ship trajectory and the original trajectory information of the second ship trajectory to obtain the target trajectory information of the first ship trajectory and the target trajectory information of the second ship trajectory.

[0009] Based on the target trajectory information of the first ship trajectory and the target trajectory information of the second ship trajectory, the target correlation coefficient between the first ship trajectory and the second ship trajectory is obtained;

[0010] Based on the target correlation coefficient, a similarity metric between the first ship trajectory and the second ship trajectory is obtained;

[0011] The original trajectory information includes: time information, position information, speed information and heading information of the ship at each trajectory point in the ship's trajectory;

[0012] The target trajectory information includes the ship's position, speed, and heading at each target time point in the ship's trajectory; the time interval between any two adjacent target time points in the ship's trajectory is the same;

[0013] The target correlation coefficient includes at least one of spatial distance correlation coefficient, directional distance correlation coefficient, and / or speed distance correlation coefficient; the spatial distance correlation coefficient is used to describe the correlation between the spatial distance of the first ship trajectory and the second ship trajectory; the directional distance correlation coefficient is used to describe the correlation between the directional distance of the first ship trajectory and the second ship trajectory; the speed distance correlation coefficient is used to describe the correlation between the speed distance of the first ship trajectory and the second ship trajectory.

[0014] According to a method for measuring ship trajectory similarity provided by the present invention, after obtaining the target correlation coefficient between the first ship trajectory and the second ship trajectory, the method further includes:

[0015] Obtain the time delay coefficient corresponding to the target correlation coefficient;

[0016] Based on the time delay coefficient, the time delay between the first ship trajectory and the second ship trajectory is obtained.

[0017] According to the present invention, a method for measuring the similarity of ship trajectories, based on the target trajectory information of a first ship trajectory and the target trajectory information of a second ship trajectory, obtains a spatial distance correlation coefficient between the first ship trajectory and the second ship trajectory, including:

[0018] Based on the number of target time points in the first ship trajectory, the location information of each target time point in the first ship trajectory, and the location information of each target time point in the second ship trajectory, a spatial distance correlation coefficient between the first ship trajectory and the second ship trajectory is obtained; the number of target time points in the first ship trajectory is determined based on a preset time interval and the time taken to form the first ship trajectory; the time taken to form the first ship trajectory is the same as the time taken to form the second ship trajectory.

[0019] According to a method for measuring ship trajectory similarity provided by the present invention, when the target correlation coefficient includes the directional distance correlation coefficient, the directional distance correlation coefficient between the first ship trajectory and the second ship trajectory is obtained based on the target trajectory information of the first ship trajectory and the target trajectory information of the second ship trajectory, including:

[0020] Based on the number of target time points in the first ship trajectory, the heading information of each target time point in the first ship trajectory, and the heading information of each target time point in the second ship trajectory, the directional distance correlation coefficient between the first ship trajectory and the second ship trajectory is obtained.

[0021] According to a method for measuring ship trajectory similarity provided by the present invention, when the target correlation coefficient includes the speed-distance correlation coefficient, the method obtains the speed-distance correlation coefficient between the first ship trajectory and the second ship trajectory based on the target trajectory information of the first ship trajectory and the target trajectory information of the second ship trajectory, including:

[0022] Based on the number of target time points in the first ship trajectory, the speed information of each target time point in the first ship trajectory, and the speed information of each target time point in the second ship trajectory, the speed-distance correlation coefficient between the first ship trajectory and the second ship trajectory is obtained.

[0023] According to a method for measuring ship trajectory similarity provided by the present invention, the step of reconstructing the original trajectory information of a first ship trajectory and the original trajectory information of a second ship trajectory to obtain target trajectory information of the first ship trajectory and the target trajectory information of the second ship trajectory includes:

[0024] Based on the preset time interval, each target time point in the first ship trajectory and each target time point in the second ship trajectory are determined;

[0025] Based on the preset time interval and each target time point in the first ship trajectory, the target data corresponding to each target time point in the first ship trajectory is determined in the original trajectory information of the first ship trajectory. Based on the preset time interval and each target time point in the second ship trajectory, the target data corresponding to each target time point in the second ship trajectory is determined in the original trajectory information of the second ship trajectory.

[0026] Based on the target data corresponding to each target time point in the first ship trajectory and the target data corresponding to each target time point in the second ship trajectory, the target trajectory information of the first ship trajectory and the target trajectory information of the second ship trajectory are obtained by using the polynomial least squares fitting method.

[0027] According to a method for measuring ship trajectory similarity provided by the present invention, obtaining the original trajectory information of a first ship trajectory and the original trajectory information of a second ship trajectory includes:

[0028] Acquire first AIS information and second AIS information, wherein the first AIS information is published by the shipborne automatic identification system of the first vessel, and the second AIS information is published by the shipborne automatic identification system of the second vessel, wherein the trajectory of the first vessel is the driving trajectory of the first vessel, and the trajectory of the second vessel is the driving trajectory of the second vessel;

[0029] Based on the first AIS information, the original trajectory information of the first ship's trajectory is obtained; based on the second AIS information, the original trajectory information of the second ship's trajectory is obtained.

[0030] The present invention also provides a device for measuring the similarity of ship trajectories, comprising:

[0031] The data acquisition module is used to acquire the original trajectory information of the first ship's trajectory and the original trajectory information of the second ship's trajectory;

[0032] The data reconstruction module is used to reconstruct the original trajectory information of the first ship trajectory and the original trajectory information of the second ship trajectory to obtain the target trajectory information of the first ship trajectory and the target trajectory information of the second ship trajectory.

[0033] The first calculation module is used to obtain the target correlation coefficient between the first ship trajectory and the second ship trajectory based on the target trajectory information of the first ship trajectory and the target trajectory information of the second ship trajectory.

[0034] The second calculation module is used to obtain a similarity metric between the first ship trajectory and the second ship trajectory based on the target correlation coefficient.

[0035] The original trajectory information includes: time information, position information, speed information and heading information of the ship at each trajectory point in the ship's trajectory;

[0036] The target trajectory information includes the ship's position, speed, and heading information at each target time point in the ship's trajectory; the time interval between any two adjacent target time points in the ship's trajectory is the same.

[0037] The target correlation coefficient includes at least one of spatial distance correlation coefficient, directional distance correlation coefficient, and / or speed distance correlation coefficient; the spatial distance correlation coefficient is used to describe the correlation between the spatial distance of the first ship trajectory and the second ship trajectory; the directional distance correlation coefficient is used to describe the correlation between the directional distance of the first ship trajectory and the second ship trajectory; the speed distance correlation coefficient is used to describe the correlation between the speed distance of the first ship trajectory and the second ship trajectory.

[0038] The present invention also provides an electronic device, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the program to implement the ship trajectory similarity measurement method as described above.

[0039] The present invention also provides a non-transitory computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the ship trajectory similarity measurement method as described above.

[0040] The present invention also provides a computer program product, including a computer program that, when executed by a processor, implements the ship trajectory similarity measurement method as described above.

[0041] The ship trajectory similarity measurement method, device, electronic device, and storage medium provided by this invention reconstruct the original trajectory information of a first ship trajectory and the original trajectory information of a second ship trajectory to obtain the target trajectory information of the first ship trajectory and the target trajectory information of the second ship trajectory. Based on the target trajectory information of the first ship trajectory and the target trajectory information of the second ship trajectory, a target correlation coefficient between the first ship trajectory and the second ship trajectory is obtained. Then, based on the target correlation coefficient, a similarity measurement value between the first ship trajectory and the second ship trajectory is obtained. This method can more comprehensively and adaptably measure ship trajectory similarity, and can more accurately obtain the similarity measurement value of ship trajectories in diverse scenarios. It can provide data support for shipping safety supervision, route planning, and economic analysis of ship operations. Attached Figure Description

[0042] To more clearly illustrate the technical solutions in this invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of this invention. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0043] Figure 1 This is a flowchart illustrating the ship trajectory similarity measurement method provided by the present invention;

[0044] Figure 2 This is one of the schematic diagrams of the first and second ship trajectories in the ship trajectory similarity measurement method provided by the present invention;

[0045] Figure 3 This is a second schematic diagram of the first and second ship trajectories in the ship trajectory similarity measurement method provided by the present invention;

[0046] Figure 4This is the third schematic diagram of the first and second ship trajectories in the ship trajectory similarity measurement method provided by the present invention;

[0047] Figure 5 This is a schematic diagram of the structure of the ship trajectory similarity measurement device provided by the present invention;

[0048] Figure 6 This is a schematic diagram of the structure of the electronic device provided by the present invention. Detailed Implementation

[0049] To make the objectives, technical solutions, and advantages of this invention clearer, the technical solutions of this invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of this invention. All other embodiments obtained by those skilled in the art based on the embodiments of this invention without creative effort are within the scope of protection of this invention.

[0050] In the description of the invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0051] It should be noted that traditional ship trajectory similarity measurement methods have significant limitations. They are typically only applicable to scenarios where ship trajectories do not exhibit significant changes in direction, and are difficult to accurately measure ship trajectory similarity in scenarios where ship trajectories exhibit significant changes in direction.

[0052] To address this issue, the present invention provides a method for measuring ship trajectory similarity. The ship trajectory similarity measurement method provided by the present invention is more comprehensive and adaptable, and can more accurately obtain similarity values ​​of ship trajectories in diverse scenarios.

[0053] Figure 1 This is a flowchart illustrating the ship trajectory similarity measurement method provided by the present invention. The following is a summary of the process. Figure 1 This invention describes the ship trajectory similarity measurement method. For example... Figure 1 As shown, the method includes: step 101, obtaining the original trajectory information of the first ship trajectory and the original trajectory information of the second ship trajectory;

[0054] The original trajectory information includes: the time, position, speed, and heading information of the ship at each point in its trajectory.

[0055] It should be noted that the execution subject of this embodiment of the invention is a ship trajectory similarity measurement device.

[0056] Specifically, the ship trajectory in this embodiment of the invention is the trajectory of the ship during navigation.

[0057] The first and second ship trajectories are the similarity measurement objects of the ship trajectory similarity measurement method provided by this invention. Based on the ship trajectory similarity measurement method provided by this invention, a similarity measurement value between the first and second ship trajectories can be obtained, thereby expressing the degree of similarity between the first and second ship trajectories through the aforementioned similarity measurement value.

[0058] It should be noted that the first and second ship trajectories in this embodiment of the invention can be ship trajectories generated by the same ship at different times, ship trajectories generated by different ships at the same time, or ship trajectories generated by different ships at different times. In this embodiment of the invention, the ship forming the first ship trajectory is referred to as the first ship, and the ship forming the second ship trajectory is referred to as the second ship. It is understood that the first ship and the second ship can be the same or different.

[0059] Optionally, in this embodiment of the invention, the time for forming the first ship trajectory is the same as the time for forming the second ship trajectory.

[0060] It is understandable that both the first and second vessel tracks include multiple track points. These multiple track points can be predefined or determined based on the AIS information published by the first and second vessels.

[0061] It should be noted that the location information in the embodiments of the present invention may include longitude and latitude; the speed information may include speed over ground; and the heading information may include course over ground.

[0062] In this embodiment of the invention, i can be used to identify trajectory points in the ship's trajectory; the original trajectory information Tra1 of the first ship's trajectory can be represented as:

[0063]

[0064] in, This represents the original trajectory information of the i-th trajectory point in the first ship's trajectory; This represents the time information of the first vessel at the i-th trajectory point in the first vessel's trajectory; This represents the longitude of the first vessel at the i-th trajectory point in the first vessel's trajectory; This represents the latitude of the first vessel at the i-th trajectory point in the first vessel's trajectory. This represents the ground speed of the first vessel at the i-th trajectory point in the first vessel's trajectory; This represents the heading towards the ground at the i-th trajectory point in the first vessel's trajectory; Num1 represents the total number of trajectory points in the first vessel's trajectory.

[0065] The original trajectory information Tra2 of the second ship's trajectory can be represented as:

[0066]

[0067] in, This represents the original trajectory information of the i-th trajectory point in the second ship's trajectory; This indicates the time information of the second vessel at the i-th trajectory point in the second vessel's trajectory; This represents the longitude of the second vessel at the i-th trajectory point in the second vessel's trajectory; This represents the latitude of the second vessel at the i-th trajectory point in the second vessel's trajectory. This represents the ground speed of the second vessel at the i-th trajectory point in the second vessel's trajectory; This represents the heading towards the ground at the i-th trajectory point in the second vessel's trajectory; Num2 represents the total number of trajectory points in the second vessel's trajectory.

[0068] In this embodiment of the invention, the original trajectory information Tra1 of the first ship trajectory and the original trajectory information Tra2 of the second ship trajectory can be obtained in various ways. For example, in this embodiment of the invention, the original trajectory information Tra1 of the first ship trajectory and the original trajectory information Tra2 of the second ship trajectory can be obtained based on user input; or, the original trajectory information Tra1 of the first ship trajectory and the original trajectory information Tra2 of the second ship trajectory can be received from other electronic devices.

[0069] As an optional embodiment, obtaining the original trajectory information of the first vessel trajectory and the original trajectory information of the second vessel trajectory includes: obtaining first AIS information and second AIS information, wherein the first AIS information is published by the first vessel's onboard automatic identification system and the second AIS information is published by the second vessel's onboard automatic identification system, the first vessel trajectory is the driving trajectory of the first vessel, and the second vessel trajectory is the driving trajectory of the second vessel.

[0070] It should be noted that the Automatic Identification System (AIS) is a ship navigation system that integrates a large amount of ship information and rich maritime traffic information. Shipborne AIS typically issues a message every 2 seconds to 6 minutes.

[0071] Each AIS message published by a shipborne AIS typically contains two types of information: static information and dynamic information. Static information may include the ship's name, call sign, Maritime Mobile Service Identifier (MMSI) number, length, beam, and type. Dynamic information may include latitude and longitude coordinates, heading, speed, turning rate, and voyage-related information, such as cargo type, port of origin, and port of arrival.

[0072] Specifically, embodiments of the present invention can receive AIS information published by the shipborne AIS of a first vessel as first AIS information, and can also receive AIS information published by the shipborne AIS of a second vessel as second AIS information.

[0073] Based on the first AIS information, the original trajectory information of the first ship's trajectory is obtained; based on the second AIS information, the original trajectory information of the second ship's trajectory is obtained.

[0074] It should be noted that after obtaining the first and second AIS information, some AIS information may contain obvious errors or defects; furthermore, due to factors such as information collection, transmission, decoding, and error removal, some AIS information may also contain obvious noise and missing information.

[0075] Therefore, in this embodiment of the invention, after obtaining the first AIS information and the second AIS information, data preprocessing can be performed on the first AIS information and the second AIS information, and the original trajectory information of the first ship trajectory can be extracted from the data preprocessed first AIS information, and the original trajectory information of the second ship trajectory can be extracted from the data preprocessed second AIS information.

[0076] Optionally, the above data preprocessing may include, but is not limited to: deleting duplicate AIS information in the first AIS information and the second AIS information; after determining abnormal AIS information by judging whether it exceeds a reasonable value, removing or correcting the abnormal AIS information.

[0077] It is understood that, in the embodiments of the present invention, the trajectory points in the first ship trajectory can be determined based on the first AIS information; the trajectory points in the second ship trajectory can be determined based on the second AIS information.

[0078] This invention obtains the original trajectory information of a first ship's trajectory based on the first AIS data published by the ship's onboard AIS of the first ship, and obtains the original trajectory information of a second ship's trajectory based on the second AIS data published by the ship's onboard AIS of the second ship. This method can obtain the original trajectory information of the first ship's trajectory and the original trajectory information of the second ship's trajectory more efficiently and accurately, thereby improving the measurement accuracy and efficiency of ship trajectory similarity measurement.

[0079] Step 102: Reconstruct the original trajectory information of the first ship trajectory and the original trajectory information of the second ship trajectory to obtain the target trajectory information of the first ship trajectory and the target trajectory information of the second ship trajectory.

[0080] The target trajectory information includes the ship's position, speed, and heading at each target time point in the ship's trajectory; the time interval between any two adjacent target time points in the ship's trajectory is the same.

[0081] It should be noted that, due to factors such as ship type and speed, the time at which shipborne AIS broadcasts AIS information varies among different ships. Therefore, this embodiment of the invention requires data reconstruction to reconstruct the sequence of trajectory point information in the original trajectory information into a sequence of target time points in the target trajectory information.

[0082] It should be noted that each target time point in the first ship trajectory and each target time point in the second ship trajectory can be determined based on a preset time interval ΔT. This preset time interval ΔT can be determined based on prior knowledge and / or actual circumstances.

[0083] It should be noted that since the time it takes to form the first ship trajectory is the same as the time it takes to form the second ship trajectory, and the time interval between any two adjacent target time points in the first ship trajectory and the second ship trajectory is ΔT, the number of target time points in the first ship trajectory is the same as the number of target time points in the second ship trajectory, and the target time points in the first ship trajectory correspond one-to-one with the target time points in the second ship trajectory.

[0084] Figure 2 This is one of the schematic diagrams of the first and second ship trajectories in the ship trajectory similarity measurement method provided by the present invention. Figure 3 This is the second schematic diagram of the first and second ship trajectories in the ship trajectory similarity measurement method provided by the present invention. Figure 4 This is the third schematic diagram of the first and second ship trajectories in the ship trajectory similarity measurement method provided by the present invention.

[0085] Figures 2 to 4The numerical identifiers in the data are used to identify target time points in the ship's trajectory. The first and second ship trajectories under different scenarios are as follows: Figures 2 to 4 As shown. Figure 2 Both the first and second ship trajectories show obvious changes in direction. Figure 3 The trajectory of the first ship in the middle shows a clear change.

[0086] Specifically, after obtaining the original trajectory information Tra1 of the first ship trajectory and the original trajectory information Tra2 of the second ship trajectory, the original trajectory information Tra1 of the first ship trajectory can be reconstructed through mathematical statistics, numerical calculation and other methods to obtain the target trajectory information Tra′1 of the first ship trajectory, and the original trajectory information Tra2 of the second ship trajectory can be reconstructed to obtain the target trajectory information Tra′2 of the second ship trajectory.

[0087] In this embodiment of the invention, j can be used to identify the target time point in the ship's trajectory; the target trajectory information Tra′1 of the first ship's trajectory can be represented as:

[0088]

[0089] in, This represents the target trajectory information at the j-th target time point in the first ship's trajectory; This represents the time information of the j-th target time point in the trajectory of the first ship; This represents the longitude of the first vessel at the j-th target time point in the trajectory of the first vessel; This represents the latitude of the first vessel at the j-th target time point in the trajectory of the first vessel. This represents the ground speed of the first vessel at the j-th target time point in the first vessel's trajectory; This represents the heading toward the ground of the first vessel at the j-th target time point in the first vessel's trajectory; Num′1 represents the total number of target time points in the first vessel's trajectory.

[0090] The target trajectory information Tra′2 of the second ship trajectory can be represented as:

[0091]

[0092] in, This represents the target trajectory information at the j-th target time point in the second ship's trajectory; This represents the time information of the j-th target time point in the trajectory of the second vessel; This represents the longitude of the second vessel at the j-th target time point in the trajectory of the second vessel; This represents the latitude of the second vessel at the j-th target time point in the trajectory of the second vessel. This represents the ground speed of the second vessel at the j-th target time point in the second vessel's trajectory; This represents the heading toward the ground of the second vessel at the j-th target time point in the second vessel's trajectory; Num′2 represents the total number of target time points in the second vessel's trajectory.

[0093] It is understandable that the total number of target time points Num′1 in the first ship trajectory is the same as the total number of target time points Num′2 in the second ship trajectory.

[0094] As an optional embodiment, data reconstruction is performed on the original trajectory information of the first ship trajectory and the original trajectory information of the second ship trajectory to obtain the target trajectory information of the first ship trajectory and the target trajectory information of the second ship trajectory, including: determining each target time point in the first ship trajectory and each target time point in the second ship trajectory based on a preset time interval.

[0095] Based on a preset time interval and each target time point in the first ship trajectory, target data corresponding to each target time point in the first ship trajectory is determined from the original trajectory information of the first ship trajectory. Based on a preset time interval and each target time point in the second ship trajectory, target data corresponding to each target time point in the second ship trajectory is determined from the original trajectory information of the second ship trajectory.

[0096] Specifically, after determining each target time point in the first ship trajectory and each target time point in the second ship trajectory, for the j-th target time point in the first ship trajectory, the original trajectory information Tra1 of the first ship trajectory can be traversed, and the time information in the first ship trajectory can be placed in the correct position. The trajectory point within is determined as the target trajectory point corresponding to the j-th target time point in the first ship trajectory; where n is a constant;

[0097] If the number of target trajectory points is less than the threshold, the original trajectory information Tra1 of the first ship trajectory can be re-traversed, and the time information in the first ship trajectory can be placed in the correct position. The trajectory point within is determined as the target trajectory point corresponding to the j-th target time point in the trajectory of the first ship.

[0098] For the j-th target time point in the second ship trajectory, we can iterate through the original trajectory information Tra2 of the second ship trajectory and place the time information in the second ship trajectory at... The trajectory points within the range are determined as the target trajectory points corresponding to the j-th target time point in the second ship trajectory;

[0099] If the number of target trajectory points is less than the threshold, the original trajectory information Tra2 of the second ship trajectory can be re-traversed, and the time information in the second ship trajectory can be set to... The trajectory point within is determined as the target trajectory point corresponding to the j-th target time point in the second ship trajectory.

[0100] In this embodiment of the invention, the target trajectory point can be identified by p; This represents the number of target trajectory points corresponding to the j-th target time point in the first ship's trajectory; (using...) This represents the number of target trajectory points corresponding to the j-th target time point in the second ship trajectory. The target data corresponding to the j-th target time point in the first ship trajectory. It can be represented as:

[0101]

[0102] Target data corresponding to the j-th target time point in the second ship trajectory It can be represented as:

[0103]

[0104] Based on the target data corresponding to each target time point in the first ship trajectory and the target data corresponding to each target time point in the second ship trajectory, the target trajectory information of the first ship trajectory and the target trajectory information of the second ship trajectory are obtained by using the polynomial least squares fitting method.

[0105] Specifically, obtain the target data corresponding to the j-th target time point in the trajectory of the first ship. Then, the target data corresponding to the j-th target time point in the first ship trajectory can be used. The target trajectory information at the j-th target time point in the first ship trajectory is obtained by solving the problem using a polynomial least squares fitting method. The specific formula is as follows:

[0106]

[0107] Obtain the target data corresponding to the j-th target time point in the second ship trajectory. Then, the target data corresponding to the j-th target time point in the second ship trajectory can be used. The target trajectory information at the j-th target time point in the first ship trajectory is obtained by solving the problem using a polynomial least squares fitting method. The specific formula is as follows:

[0108]

[0109] Where b0, b1, and b2 are fitting coefficients.

[0110] Step 103: Based on the target trajectory information of the first ship trajectory and the target trajectory information of the second ship trajectory, obtain the target correlation coefficient between the first ship trajectory and the second ship trajectory;

[0111] The target correlation coefficient includes at least one of spatial distance correlation coefficient, directional distance correlation coefficient, and / or speed distance correlation coefficient; the spatial distance correlation coefficient is used to describe the correlation between the spatial distance of the first ship trajectory and the second ship trajectory; the directional distance correlation coefficient is used to describe the correlation between the directional distance of the first ship trajectory and the second ship trajectory; and the speed distance correlation coefficient is used to describe the correlation between the speed distance of the first ship trajectory and the second ship trajectory.

[0112] It should be noted that spatial distance refers to the straight-line distance between two locations, used to measure the difference in position between the first and second ship trajectories; directional distance is used to measure the difference in direction between the first and second ship trajectories; and speed distance is used to measure the difference in speed between the first and second ship trajectories.

[0113] Specifically, after obtaining the target trajectory information Tra′1 of the first ship trajectory and the target trajectory information Tra′2 of the second ship trajectory, the spatial distance correlation coefficient d between the first ship trajectory and the second ship trajectory can be calculated through numerical calculations and other methods. SPL (1,2), and the directional distance correlation coefficient d COG (1,2) and / or speed-distance correlation coefficient d SOG At least one of (1,2) is used as the target correlation coefficient between the first ship trajectory and the second ship trajectory.

[0114] As an optional embodiment, based on the target trajectory information of the first ship trajectory and the target trajectory information of the second ship trajectory, the spatial distance correlation coefficient between the first ship trajectory and the second ship trajectory is obtained, including: obtaining the spatial distance correlation coefficient between the first ship trajectory and the second ship trajectory based on the number of target time points in the first ship trajectory, the position information of each target time point in the first ship trajectory, and the position information of each target time point in the second ship trajectory; the number of target time points in the first ship trajectory is determined based on a preset time interval and the time spent forming the first ship trajectory; the time spent forming the first ship trajectory is the same as the time spent forming the second ship trajectory.

[0115] Specifically, after obtaining the target trajectory information Tra′1 of the first ship trajectory and the target trajectory information Tra′2 of the second ship trajectory, the spatial distance correlation coefficient d between the first ship trajectory and the second ship trajectory can be calculated using the following formula. SPL (1,2):

[0116]

[0117] Where s and k are independent variables used to identify different target time points; Nm = Num′1 = Num′2; z is an independent variable;

[0118] (x,y) represents the ship's planar coordinates; This represents the x-coordinate of the first vessel at the s-th target time point in the trajectory of the first vessel. This represents the ordinate of the first vessel at the s-th target time point in the trajectory of the first vessel; This represents the x-coordinate of the second vessel at the k-th target time point in the second vessel's trajectory; This represents the ordinate of the second vessel at the k-th target time point in the trajectory of the second vessel.

[0119] Optionally, in this embodiment of the invention, the ship's latitude and longitude coordinates (L,B) can be converted into planar coordinates (x,y) based on the basic ellipsoid parameters using the Gaussian projection forward calculation formula. The ship's latitude and longitude coordinates (L,B) are determined based on the ship's longitude (LON) and latitude (LAT).

[0120] The basic ellipsoidal parameters include: semi-major axis *a*, ellipsoidal flattening *f*, semi-minor axis *b* = *a(1-f*), and first eccentricity of the ellipsoid. Second eccentricity of the ellipsoid

[0121] The formula for the forward calculation of Gaussian projection is as follows:

[0122]

[0123]

[0124] Where the angles are all in radians, B is latitude, L is longitude, l" = L - L0, L0 is the longitude of the central meridian, and N is the radius of curvature of the meridian circle. t = tanB, η 2 =e′ 2 cos 2 B, X is the length of the meridian arc, which can be calculated using the following formula:

[0125]

[0126] It should be noted that the spatial distance correlation coefficient d between the first ship trajectory and the second ship trajectory in this embodiment of the invention... SPL (1,2) takes into account scenarios where the first and / or second ship trajectories have significant changes, and has strong applicability to ship trajectories in different scenarios.

[0127] As an optional embodiment, when the target correlation coefficient includes the directional distance correlation coefficient, the directional distance correlation coefficient between the first ship trajectory and the second ship trajectory is obtained based on the target trajectory information of the first ship trajectory and the target trajectory information of the second ship trajectory. This includes obtaining the directional distance correlation coefficient between the first ship trajectory and the second ship trajectory based on the number of target time points in the first ship trajectory, the heading information of each target time point in the first ship trajectory, and the heading information of each target time point in the second ship trajectory.

[0128] Specifically, after obtaining the target trajectory information Tra′1 of the first ship trajectory and the target trajectory information Tra′2 of the second ship trajectory, the directional distance correlation coefficient d between the first ship trajectory and the second ship trajectory can be calculated using the following formula. COG (1,2):

[0129]

[0130] Where s and k are independent variables used to identify different target time points; Nm = Num′1 = Num′2; z is an independent variable.

[0131] It is understandable that the directional distance correlation coefficient d between the first ship trajectory and the second ship trajectory is... COG (1,2) can be used to describe the consistency of the heading of the first ship trajectory and the second ship trajectory.

[0132] As an optional embodiment, when the target correlation coefficient includes the speed-distance correlation coefficient, the speed-distance correlation coefficient between the first ship trajectory and the second ship trajectory is obtained based on the target trajectory information of the first ship trajectory and the target trajectory information of the second ship trajectory. This includes obtaining the speed-distance correlation coefficient between the first ship trajectory and the second ship trajectory based on the number of target time points in the first ship trajectory, the speed information of each target time point in the first ship trajectory, and the speed information of each target time point in the second ship trajectory.

[0133] Specifically, after obtaining the target trajectory information Tra′1 of the first ship trajectory and the target trajectory information Tra′2 of the second ship trajectory, the speed-distance correlation coefficient d between the first ship trajectory and the second ship trajectory can be calculated using the following formula. SOG (1,2):

[0134]

[0135] Where s and k are independent variables used to identify different target time points; Nm = Num′1 = Num′2; z is an independent variable.

[0136] It is understandable that, since the time interval between any two adjacent target time points in the first ship trajectory and the time interval between any two adjacent target time points in the second ship trajectory are both ΔT, the similarity between the first and second ship trajectories will be significantly reduced when there is a large difference in the speed of the first ship when it forms the first ship trajectory and the speed of the second ship when it forms the second ship trajectory. Therefore, in this embodiment of the invention, the speed-distance correlation coefficient d between the first and second ship trajectories is... SOG (1,2) takes into account the scenario where the speed of the first ship when forming the first ship trajectory is significantly different from that of the second ship when forming the second ship trajectory, and has strong applicability to ship trajectories in different scenarios.

[0137] Step 104: Based on the target correlation coefficient, obtain the similarity measure between the first ship trajectory and the second ship trajectory.

[0138] Specifically, after obtaining the target correlation coefficient between the first ship trajectory and the second ship trajectory, the target correlation coefficient includes the spatial distance correlation coefficient d. SPL (1,2) and the directional distance correlation coefficient d COG In the case of (1,2), the similarity metric D(1,2) between the first and second ship trajectories can be calculated using the following formula:

[0139]

[0140] The aforementioned target correlation coefficient includes the spatial distance correlation coefficient d. SPL (1,2) and the correlation coefficient d between speed and distance SOG In the case of (1,2), the similarity metric D(1,2) between the first and second ship trajectories can be calculated using the following formula:

[0141]

[0142] The aforementioned target correlation coefficient includes the spatial distance correlation coefficient d. SPL (1,2), Directional distance correlation coefficient d COG (1,2) and the correlation coefficient d between speed and distance SOG In the case of (1,2), the similarity metric D(1,2) between the first and second ship trajectories can be calculated using the following formula:

[0143]

[0144] Where k1, k2, and k3 are constants.

[0145] It should be noted that the above-mentioned target correlation coefficients include the spatial distance correlation coefficient d. SPL (1,2), Directional distance correlation coefficient d COG (1,2) and the correlation coefficient d between speed and distance SOG In the case of (1,2), the similarity metric D(1,2) between the first and second ship trajectories has the highest accuracy.

[0146] It is understandable that the larger the similarity metric D(1,2) between the first and second ship trajectories, the lower the similarity between the first and second ship trajectories; the smaller the similarity metric D(1,2) between the first and second ship trajectories, the higher the similarity between the first and second ship trajectories.

[0147] This invention reconstructs the original trajectory information of a first ship trajectory and the original trajectory information of a second ship trajectory to obtain the target trajectory information of the first and second ship trajectories. Based on the target trajectory information of the first and second ship trajectories, a target correlation coefficient is obtained between the first and second ship trajectories. Then, based on the target correlation coefficient, a similarity measurement value between the first and second ship trajectories is obtained. This method can measure ship trajectory similarity more comprehensively and adaptably, and can obtain the similarity measurement value of ship trajectories more accurately in diverse scenarios. It can provide data support for shipping safety supervision, route planning, and economic analysis of ship operations.

[0148] Based on the above embodiments, after obtaining the target correlation coefficient between the first ship trajectory and the second ship trajectory, the method further includes: obtaining the time delay coefficient corresponding to the target correlation coefficient.

[0149] Specifically, the spatial distance correlation coefficient d between the first ship trajectory and the second ship trajectory is calculated based on formula (3). SPL After (1,2), the value of the independent variable z when formula (3) reaches its minimum value can be denoted as z1.

[0150] Correspondingly, the spatial distance correlation coefficient d between the first ship trajectory and the second ship trajectory SPL The time delay factor ΔT1 corresponding to (1,2) can be calculated using the following formula:

[0151] ΔT1=ΔT*z1 (12)

[0152] The target correlation coefficient between the first and second ship trajectories also includes the directional distance correlation coefficient d. COGIn the case of (1,2), the directional distance correlation coefficient d between the first ship trajectory and the second ship trajectory is calculated based on formula (7). COG After (1,2), the value of the independent variable z when formula (7) reaches its minimum value can be denoted as z2.

[0153] Correspondingly, the directional distance correlation coefficient d between the first ship trajectory and the second ship trajectory COG The time delay factor ΔT2 corresponding to (1,2) can be calculated using the following formula:

[0154] ΔT2=ΔT*z2 (13)

[0155] The target correlation coefficient between the first and second ship trajectories also includes the speed-distance correlation coefficient d. SOG In the case of (1,2), the speed-distance correlation coefficient d between the first ship trajectory and the second ship trajectory is calculated based on formula (8). SOG After (1,2), the value of the independent variable z when formula (8) reaches its minimum value can be denoted as z3.

[0156] Correspondingly, the speed-distance correlation coefficient d between the first and second ship trajectories SOG The time delay factor ΔT3 corresponding to (1,2) can be calculated using the following formula:

[0157] ΔT3=ΔT*z3 (14)

[0158] Based on the time delay coefficient, the time delay between the first ship trajectory and the second ship trajectory is obtained.

[0159] It is understandable that the time delay ΔT0 between the first ship trajectory and the second ship trajectory can be used to describe the time delay between the time when the first ship forms the first ship trajectory and the time when the second ship forms the second ship trajectory.

[0160] Specifically, the target correlation coefficient between the first ship trajectory and the second ship trajectory includes the spatial distance correlation coefficient d. SPL (1,2) and the directional distance correlation coefficient d COG In the case of (1,2), the time delay ΔT0 between the first and second ship trajectories can be calculated using the following formula:

[0161]

[0162] The target correlation coefficient between the first and second ship trajectories includes the spatial distance correlation coefficient d. SPL (1,2) and the correlation coefficient d between speed and distance SOGIn the case of (1,2), the time delay ΔT0 between the first and second ship trajectories can be calculated using the following formula:

[0163]

[0164] The aforementioned target correlation coefficient includes the spatial distance correlation coefficient d. SPL (1,2), Directional distance correlation coefficient d COG (1,2) and the correlation coefficient d between speed and distance SOG In the case of (1,2), the time delay ΔT0 between the first and second ship trajectories can be calculated using the following formula:

[0165]

[0166] Where k1, k2, and k3 are constants.

[0167] It should be noted that the above-mentioned target correlation coefficients include the spatial distance correlation coefficient d. SPL (1,2), Directional distance correlation coefficient d COG (1,2) and the correlation coefficient d between speed and distance SOG In the case of (1,2), the time delay ΔT0 between the first and second ship trajectories has the highest accuracy.

[0168] This invention provides data support for the feature analysis of ship trajectories by obtaining the target correlation coefficient between the first ship trajectory and the second ship trajectory, then obtaining the time delay coefficient corresponding to the target correlation coefficient, and finally obtaining the time delay between the first ship trajectory and the second ship trajectory based on the time delay coefficient.

[0169] Figure 5 This is a schematic diagram of the ship trajectory similarity measurement device provided by the present invention. The following is in conjunction with... Figure 5 The ship trajectory similarity measurement device provided by this invention is described below. The ship trajectory similarity measurement device described below can be referred to in correspondence with the ship trajectory similarity measurement method provided by this invention described above. For example... Figure 5 As shown, there are a data acquisition module 501, a data reconstruction module 502, a first calculation module 503, and a second calculation module 504.

[0170] The data acquisition module 501 is used to acquire the original trajectory information of the first ship trajectory and the original trajectory information of the second ship trajectory;

[0171] The data reconstruction module 502 is used to reconstruct the original trajectory information of the first ship trajectory and the original trajectory information of the second ship trajectory to obtain the target trajectory information of the first ship trajectory and the target trajectory information of the second ship trajectory.

[0172] The first calculation module 503 is used to obtain the target correlation coefficient between the first ship trajectory and the second ship trajectory based on the target trajectory information of the first ship trajectory and the target trajectory information of the second ship trajectory.

[0173] The second calculation module 504 is used to obtain a similarity measure between the first ship trajectory and the second ship trajectory based on the target correlation coefficient.

[0174] The original trajectory information includes: the time, position, speed, and heading information of the ship at each point in the ship's trajectory;

[0175] The target trajectory information includes the ship's position, speed, and heading at each target time point in the ship's trajectory; the time interval between any two adjacent target time points in the ship's trajectory is the same.

[0176] The target correlation coefficient includes at least one of spatial distance correlation coefficient, directional distance correlation coefficient and / or speed distance correlation coefficient; the spatial distance correlation coefficient is used to describe the correlation between the spatial distance of the first ship trajectory and the second ship trajectory; the directional distance correlation coefficient is used to describe the correlation between the directional distance of the first ship trajectory and the second ship trajectory; the speed distance correlation coefficient is used to describe the correlation between the speed distance of the first ship trajectory and the second ship trajectory.

[0177] Specifically, the data acquisition module 501, the data reconstruction module 502, the first calculation module 503, and the second calculation module 504 are electrically connected.

[0178] The ship trajectory similarity measurement device in this embodiment of the invention reconstructs the original trajectory information of the first ship trajectory and the original trajectory information of the second ship trajectory to obtain the target trajectory information of the first ship trajectory and the target trajectory information of the second ship trajectory. Based on the target trajectory information of the first ship trajectory and the target trajectory information of the second ship trajectory, it obtains the target correlation coefficient between the first ship trajectory and the second ship trajectory. Then, based on the target correlation coefficient, it obtains the similarity measurement value between the first ship trajectory and the second ship trajectory. This device can perform ship trajectory similarity measurement more comprehensively and adaptably, and can obtain the similarity measurement value of ship trajectories more accurately in diverse scenarios. It can provide data support for shipping safety supervision, route planning, and economic analysis of ship operation.

[0179] Figure 6 An example is a schematic diagram of the physical structure of an electronic device, such as... Figure 6As shown, the electronic device may include: a processor 610, a communication interface 620, a memory 630, and a communication bus 640, wherein the processor 610, the communication interface 620, and the memory 630 communicate with each other through the communication bus 640. The processor 610 can call logical instructions in the memory 630 to execute a ship trajectory similarity measurement method. This method includes: acquiring original trajectory information of a first ship trajectory and original trajectory information of a second ship trajectory; performing data reconstruction on the original trajectory information of the first and second ship trajectories to acquire target trajectory information of the first and second ship trajectories; acquiring a target correlation coefficient between the first and second ship trajectories based on the target trajectory information of the first and second ship trajectories; and acquiring a similarity measurement value between the first and second ship trajectories based on the target correlation coefficient. The original trajectory information includes: the ship's trajectory in... The ship's trajectory includes time, position, speed, and heading information at each point along the trajectory; target trajectory information includes the ship's position, speed, and heading at each target time point along the trajectory; the time interval between any two adjacent target time points along the trajectory is the same; target correlation coefficients include spatial distance correlation coefficients, and at least one of directional distance correlation coefficients and / or speed distance correlation coefficients; the spatial distance correlation coefficient is used to describe the correlation between the spatial distance of the first ship's trajectory and the second ship's trajectory; the directional distance correlation coefficient is used to describe the correlation between the directional distance of the first ship's trajectory and the second ship's trajectory; the speed distance correlation coefficient is used to describe the correlation between the speed distance of the first ship's trajectory and the second ship's trajectory.

[0180] Furthermore, the logical instructions in the aforementioned memory 630 can be implemented as software functional units and, when sold or used as independent products, can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, essentially, or the part that contributes to the prior art, or a part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of the present invention. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0181] On the other hand, the present invention also provides a computer program product, which includes a computer program that can be stored on a non-transitory computer-readable storage medium. When the computer program is executed by a processor, the computer can execute the ship trajectory similarity measurement method provided by the above methods. This method includes: acquiring original trajectory information of a first ship trajectory and original trajectory information of a second ship trajectory; performing data reconstruction on the original trajectory information of the first ship trajectory and the original trajectory information of the second ship trajectory to acquire target trajectory information of the first ship trajectory and the target trajectory information of the second ship trajectory; acquiring a target correlation coefficient between the first ship trajectory and the second ship trajectory based on the target trajectory information of the first ship trajectory and the target trajectory information of the second ship trajectory; and acquiring the first ship trajectory based on the target correlation coefficient. The similarity measure between the first ship trajectory and the second ship trajectory; wherein, the original trajectory information includes: the time information, position information, speed information, and heading information of the ship at each trajectory point in the ship trajectory; the target trajectory information includes the position information, speed information, and heading information of the ship at each target time point in the ship trajectory; the time interval between any two adjacent target time points in the ship trajectory is the same; the target correlation coefficient includes a spatial distance correlation coefficient, and at least one of a directional distance correlation coefficient and / or a speed distance correlation coefficient; the spatial distance correlation coefficient is used to describe the correlation of the spatial distance between the first ship trajectory and the second ship trajectory; the directional distance correlation coefficient is used to describe the correlation of the directional distance between the first ship trajectory and the second ship trajectory; the speed distance correlation coefficient is used to describe the correlation of the speed distance between the first ship trajectory and the second ship trajectory.

[0182] In another aspect, the present invention also provides a non-transitory computer-readable storage medium storing a computer program thereon. When executed by a processor, the computer program implements the ship trajectory similarity measurement method provided by the methods described above. This method includes: acquiring original trajectory information of a first ship trajectory and original trajectory information of a second ship trajectory; performing data reconstruction on the original trajectory information of the first and second ship trajectories to acquire target trajectory information of the first and second ship trajectories; acquiring a target correlation coefficient between the first and second ship trajectories based on the target trajectory information of the first and second ship trajectories; and acquiring a similarity degree between the first and second ship trajectories based on the target correlation coefficient. The parameters are as follows: The original trajectory information includes: time, position, speed, and heading information of the vessel at each trajectory point; the target trajectory information includes: position, speed, and heading information of the vessel at each target time point; the time interval between any two adjacent target time points in the vessel trajectory is the same; the target correlation coefficient includes at least one of spatial distance correlation coefficient, directional distance correlation coefficient, and / or speed distance correlation coefficient; the spatial distance correlation coefficient describes the correlation between the spatial distance of the first vessel trajectory and the second vessel trajectory; the directional distance correlation coefficient describes the correlation between the directional distance of the first vessel trajectory and the second vessel trajectory; the speed distance correlation coefficient describes the correlation between the speed distance of the first vessel trajectory and the second vessel trajectory.

[0183] The device embodiments described above are merely illustrative. The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the modules can be selected to achieve the purpose of this embodiment according to actual needs. Those skilled in the art can understand and implement this without any creative effort.

[0184] Through the above description of the embodiments, those skilled in the art can clearly understand that each embodiment can be implemented by means of software plus necessary general-purpose hardware platforms, and of course, it can also be implemented by hardware. Based on this understanding, the above technical solutions, in essence or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product can be stored in a computer-readable storage medium, such as ROM / RAM, magnetic disk, optical disk, etc., and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute the methods described in the various embodiments or some parts of the embodiments.

[0185] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A method for measuring the similarity of ship trajectories, characterized in that, include: Obtain the original trajectory information of the first ship's trajectory and the original trajectory information of the second ship's trajectory; Data reconstruction is performed on the original trajectory information of the first ship trajectory and the original trajectory information of the second ship trajectory to obtain the target trajectory information of the first ship trajectory and the target trajectory information of the second ship trajectory. Based on the target trajectory information of the first ship trajectory and the target trajectory information of the second ship trajectory, the target correlation coefficient between the first ship trajectory and the second ship trajectory is obtained; Based on the target correlation coefficient, a similarity metric between the first ship trajectory and the second ship trajectory is obtained; The original trajectory information includes: time information, position information, speed information and heading information of the ship at each trajectory point in the ship's trajectory; The target trajectory information includes the ship's position, speed, and heading at each target time point in the ship's trajectory; the time interval between any two adjacent target time points in the ship's trajectory is the same; The target correlation coefficient includes at least one of spatial distance correlation coefficient, directional distance correlation coefficient, and / or speed distance correlation coefficient; the spatial distance correlation coefficient is used to describe the correlation between the spatial distance of the first ship trajectory and the second ship trajectory; the directional distance correlation coefficient is used to describe the correlation between the directional distance of the first ship trajectory and the second ship trajectory; the speed distance correlation coefficient is used to describe the correlation between the speed distance of the first ship trajectory and the second ship trajectory. The step of reconstructing the original trajectory information of the first ship trajectory and the original trajectory information of the second ship trajectory to obtain the target trajectory information of the first ship trajectory and the target trajectory information of the second ship trajectory includes: Based on a preset time interval, each target time point in the first ship trajectory and each target time point in the second ship trajectory are determined; Based on the preset time interval and each target time point in the first ship trajectory, the target data corresponding to each target time point in the first ship trajectory is determined in the original trajectory information of the first ship trajectory. Based on the preset time interval and each target time point in the second ship trajectory, the target data corresponding to each target time point in the second ship trajectory is determined in the original trajectory information of the second ship trajectory. Based on the target data corresponding to each target time point in the first ship trajectory and the target data corresponding to each target time point in the second ship trajectory, the target trajectory information of the first ship trajectory and the target trajectory information of the second ship trajectory are obtained by using the polynomial least squares fitting method.

2. The ship trajectory similarity measurement method according to claim 1, characterized in that, After obtaining the target correlation coefficient between the first ship trajectory and the second ship trajectory, the method further includes: Obtain the time delay coefficient corresponding to the target correlation coefficient; Based on the time delay coefficient, the time delay between the first ship trajectory and the second ship trajectory is obtained.

3. The ship trajectory similarity measurement method according to claim 1, characterized in that, Based on the target trajectory information of the first ship trajectory and the target trajectory information of the second ship trajectory, the spatial distance correlation coefficient between the first ship trajectory and the second ship trajectory is obtained, including: Based on the number of target time points in the first ship trajectory, the location information of each target time point in the first ship trajectory, and the location information of each target time point in the second ship trajectory, a spatial distance correlation coefficient between the first ship trajectory and the second ship trajectory is obtained; the number of target time points in the first ship trajectory is determined based on a preset time interval and the time taken to form the first ship trajectory; the time taken to form the first ship trajectory is the same as the time taken to form the second ship trajectory.

4. The ship trajectory similarity measurement method according to claim 3, characterized in that, When the target correlation coefficient includes the directional distance correlation coefficient, based on the target trajectory information of the first ship trajectory and the target trajectory information of the second ship trajectory, the directional distance correlation coefficient between the first ship trajectory and the second ship trajectory is obtained, including: Based on the number of target time points in the first ship trajectory, the heading information of each target time point in the first ship trajectory, and the heading information of each target time point in the second ship trajectory, the directional distance correlation coefficient between the first ship trajectory and the second ship trajectory is obtained.

5. The ship trajectory similarity measurement method according to claim 3, characterized in that, When the target correlation coefficient includes the speed-distance correlation coefficient, based on the target trajectory information of the first ship trajectory and the target trajectory information of the second ship trajectory, the speed-distance correlation coefficient between the first ship trajectory and the second ship trajectory is obtained, including: Based on the number of target time points in the first ship trajectory, the speed information of each target time point in the first ship trajectory, and the speed information of each target time point in the second ship trajectory, the speed-distance correlation coefficient between the first ship trajectory and the second ship trajectory is obtained.

6. The method for measuring ship trajectory similarity according to any one of claims 1 to 5, characterized in that, The acquisition of the original trajectory information of the first ship trajectory and the original trajectory information of the second ship trajectory includes: Acquire first AIS information and second AIS information, wherein the first AIS information is published by the shipborne automatic identification system of the first vessel and the second AIS information is published by the shipborne automatic identification system of the second vessel, and the trajectory of the first vessel is the driving trajectory of the first vessel and the trajectory of the second vessel is the driving trajectory of the second vessel. Based on the first AIS information, the original trajectory information of the first ship's trajectory is obtained; based on the second AIS information, the original trajectory information of the second ship's trajectory is obtained.

7. A device for measuring the similarity of ship trajectories, characterized in that, include: The data acquisition module is used to acquire the original trajectory information of the first ship's trajectory and the original trajectory information of the second ship's trajectory; The data reconstruction module is used to reconstruct the original trajectory information of the first ship trajectory and the original trajectory information of the second ship trajectory to obtain the target trajectory information of the first ship trajectory and the target trajectory information of the second ship trajectory. The first calculation module is used to obtain the target correlation coefficient between the first ship trajectory and the second ship trajectory based on the target trajectory information of the first ship trajectory and the target trajectory information of the second ship trajectory. The second calculation module is used to obtain a similarity metric between the first ship trajectory and the second ship trajectory based on the target correlation coefficient. The original trajectory information includes: time information, position information, speed information and heading information of the ship at each trajectory point in the ship's trajectory; The target trajectory information includes the ship's position, speed, and heading at each target time point in the ship's trajectory; the time interval between any two adjacent target time points in the ship's trajectory is the same; The target correlation coefficient includes at least one of spatial distance correlation coefficient, directional distance correlation coefficient, and / or speed distance correlation coefficient; the spatial distance correlation coefficient is used to describe the correlation between the spatial distance of the first ship trajectory and the second ship trajectory; the directional distance correlation coefficient is used to describe the correlation between the directional distance of the first ship trajectory and the second ship trajectory; the speed distance correlation coefficient is used to describe the correlation between the speed distance of the first ship trajectory and the second ship trajectory. The data reconstruction module reconstructs the original trajectory information of the first ship trajectory and the original trajectory information of the second ship trajectory to obtain the target trajectory information of the first ship trajectory and the target trajectory information of the second ship trajectory, including: Based on a preset time interval, each target time point in the first ship trajectory and each target time point in the second ship trajectory are determined; Based on the preset time interval and each target time point in the first ship trajectory, the target data corresponding to each target time point in the first ship trajectory is determined in the original trajectory information of the first ship trajectory. Based on the preset time interval and each target time point in the second ship trajectory, the target data corresponding to each target time point in the second ship trajectory is determined in the original trajectory information of the second ship trajectory. Based on the target data corresponding to each target time point in the first ship trajectory and the target data corresponding to each target time point in the second ship trajectory, the target trajectory information of the first ship trajectory and the target trajectory information of the second ship trajectory are obtained by using the polynomial least squares fitting method.

8. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that, When the processor executes the program, it implements the ship trajectory similarity measurement method as described in any one of claims 1 to 6.

9. A non-transitory computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by the processor, it implements the ship trajectory similarity measurement method as described in any one of claims 1 to 6.

Images