A fusion system and method for marine radar targets and AIS targets

Abstract

The present invention discloses a fusion system and method for a marine radar target and an AIS target, belonging to the field of radar technology. After collecting marine radar data, the fusion system is additionally provided with a radar data correction module. When detecting the presence of dirt on the surface of a mirror, the mirror is made movable, the position of the dirt on the mirror can be changed, the reflected light intensity at two or more preset positions can be measured, and the dirt can be judged more accurately. In order to adapt to the movement of the mirror, a spiral conduit 1 and a spiral conduit 2 are further provided in the closed box, which can replenish gas inside the closed box. The spiral conduit 1 and the spiral conduit 2 can also guide the movement of a rotating lens. The radar data correction module also includes a cleaning module, which can adapt to the movement of the mirror to clean the dirt outside the rotating lens.

Description

Technical Field

[0001] The present invention relates to the field of radar technology, and in particular to a system and method for fusing marine radar targets and AIS targets. Background Art

[0002] Radar is a commonly used device for maritime navigation and surveillance. It has the advantage of fast information update speed, but it cannot provide static information such as the target's identity and destination. AIS (Automatic Identification System) can regularly receive information such as shipping number, ship position, speed and heading. It can only receive information from other ships and has a slow update speed. Radar and AIS each have their own advantages and disadvantages. In the existing technology, there are many ways to integrate radar targets and AIS targets to improve ship navigation accuracy. For example, Patent Document 1 (CN117556376A) relates to a method for predicting and tracking the dynamic trajectory of a ship based on multi-source data fusion, which integrates the radar system and AIS target data, effectively avoiding the limitation of using only AIS data for trajectory prediction. In addition, an algorithm based on a combination of deep learning and Bayesian optimization is used to predict the dynamic trajectory of the ship, which well realizes the fusion of radar targets and AIS targets. However, it does not take into account that the radar system may sometimes have errors in the data collected due to dirt, dust or water droplets on the radar surface, and it does not correct the radar data; for example, Patent Document 2 (CN117761661A) relates to a laser radar adjustment device, which includes a mounting box and a piston cylinder, a laser radar is arranged inside the mounting box, and the piston cylinder is connected to the mounting box to pass the air source into the mounting box body. At the same time, the movement of the piston cylinder can also drive the cleaning plate of the cleaning mechanism to move, which can adjust the detection window. Cleaning further ensures the accuracy of laser radar detection. Although it can improve the detection accuracy of the laser radar, the action of the cleaning plate is only performed when the air pressure is adjusted, and the detection window cannot move relative to the main body of the installation box. If there is dirt in the detection window, the detection data is also inaccurate; for example, patent document 3 (CN115359121A) relates to a laser radar occlusion judgment and cleaning method and device. When there is dirt in the laser radar window, the original point cloud data collected by the laser radar is converted into a depth map, and the position of the laser radar surface that needs to be cleaned is determined by the shadow part of the depth map, and then the corresponding nozzle is controlled for cleaning, so as to clean the radar in a targeted manner, ensuring the normal operation of the laser radar and the timely and efficient cleaning of the obstruction. However, the data of other objects to be collected that are obscured by the obstruction are not collected, and the collected data may be distorted due to the obstruction of dirt on the laser radar surface mirror.

[0003] In summary, although the data of maritime radar targets and AIS targets are fused in the prior art, the fused data does not take into account the problem of data distortion in the data collected by the radar, nor does it take into account the problem that the collected data may be incorrect due to dirt, dust or water droplets on the surface of the view mirror when the laser radar is collecting data. Moreover, although cleaning equipment exists for the laser radar in the prior art, it is still considered how to ensure that the laser radar can perform normal data collection work, and does not take into account the problem that the view mirror may block the accuracy of the data collected by the laser radar. Based on this, the present invention provides a system and method for fusing maritime radar targets and AIS targets that can process more accurate radar data and ensure the cleanliness of the laser radar surface. Summary of the Invention

[0004] The technical problem to be solved by the present invention is to provide a fusion system of marine radar targets and AIS targets, the fusion system comprising:

[0005] A maritime radar target acquisition module, a radar data correction module, an AIS target acquisition module, and a data fusion module. The maritime radar target acquisition module acquires ship data through a laser radar to obtain radar raw data. The AIS target acquisition module acquires ship AIS data to obtain ship automatic identification system raw data. The radar raw data is corrected by the radar data correction module and then fused with the ship automatic identification system raw data through a data fusion module to obtain radar and AIS system fusion data.

[0006] The marine radar target acquisition module includes a rotating chassis and a closed box. A laser radar is installed inside the closed box. An open cylinder is opened on one side of the closed box. A rotating lens is movably installed in the open cylinder. The laser radar transmits and receives laser light through the rotating lens to collect ship data and form point cloud data.

[0007] The radar data correction module includes a processor, a rotation drive source, a cleaning module and a sending module. The rotation drive source, cleaning module and sending module are all connected to the processor. When the processor detects that there is lens dirt at a position on the rotating lens, it can control the rotation drive source to drive the rotating lens to move, so that the lens dirt moves to another position, accurately finds the position of the lens dirt, and then removes the point cloud data of the lens dirt. Finally, the processor transmits the point cloud data with the lens dirt removed to the data fusion module through the sending module. The cleaning module can clean the lens dirt when the rotating lens returns.

[0008] Preferably, spiral duct one and spiral duct two are respectively installed at the left and right ends of the inner wall of the open tube, and the spiral duct one and spiral duct two both include a first straight section and a second spiral section. The rotating lens includes a lens body and a mounting ring seat, and the lens body is installed inside the mounting ring seat. The left and right sides of the mounting ring seat are respectively provided with a left accommodating groove and a right accommodating groove, the left accommodating groove is used to accommodate the spiral duct two, and the right accommodating groove is used to accommodate the spiral duct one. Blowing pipe one and blowing pipe two are respectively provided at the upper and lower ends of the mounting ring seat, and the blowing pipe one and blowing pipe two form the cleaning module.

[0009] Preferably, the rotational driving source includes a fixing rod 1 and a fixing rod 2 respectively fixedly arranged at the left and right ends of the inner side of the mounting ring seat, a driving ring is rotatably connected to the upper end of the fixing rod 1 and the upper end of the fixing rod 2, and a driving cylinder 1 and a driving cylinder 2 are respectively fixed on the left and right sides of the upper end of the driving ring, and the driving cylinder 1 and the driving cylinder 2 are both fixedly connected to the inner side of the opening tube.

[0010] Preferably, the upper ends of the fixed rod 1 and the fixed rod 2 are both provided with sliding blocks, the lower end of the driving ring is provided with a dovetail groove, and the sliding block is stuck in the dovetail groove. The spiral conduit 1 and the spiral conduit 2 both include a tube body and a plurality of one-way opening valves provided on the side wall of the tube body. One end of the tube body is connected to an air supply pump, and the one-way opening valve is provided in a side wall close to the mounting ring seat. The one-way opening valve makes the tube body a closed state, and when the rotating lens slides outward along the spiral conduit 1 and the spiral conduit 2, the one-way opening valve opens, and the gas in the tube body enters the enclosed space formed by the rotating lens and the closed box.

[0011] Preferably, the air blowing pipe 1 and the air blowing pipe 2 both include a straight pipe 1 and a straight pipe 2, the left end of the straight pipe 1 passes through the inner side of the mounting ring seat, and the right end of the straight pipe 1 is connected to the straight pipe 2, the straight pipe 1 and the straight pipe 2 form an L-shaped structure, and the air outlet end of the straight pipe 2 faces the outer side of the lens body. A one-way valve is provided at the inner end of the air blowing pipe 1 and the air blowing pipe 2, and the one-way valve is in a closed state when the rotating lens slides outward and is in an open state when the rotating lens slides inward. When the rotating lens slides inward and returns, the gas in the closed box is ejected from the end of the straight pipe 2 to clean the lens dirt on the outside of the rotating lens.

[0012] Preferably, the first straight section is located on one side of the open cylinder close to the closed box body, and the second spiral section is located on the other side of the open cylinder away from the closed box body. The first straight section and the second spiral section extend continuously in the open cylinder.

[0013] Preferably, the origin of the laser radar is denoted as O, the direction of the closed box along the open tube is denoted as the Y axis, the other lateral direction of the closed box is denoted as the X axis, the vertical direction of the closed box is denoted as the Z axis, and the center of the lens body is denoted as O1. A rectangular coordinate system is established. The x-axis in the rectangular coordinate system is parallel to the X axis, the z-axis is parallel to the Z axis, the y-axis and the Y axis are concentric, and the distance between the centers O and O1 is denoted as s. If the reflected light intensity of the lens dirt at a distance of s±0.5mm from the laser radar is greater than the first preset light intensity, it is preliminarily determined that there is lens dirt on the rotating lens. The angle between the line connecting the lens dirt and the center O in the XOY plane and the X axis is denoted as the first deflection angle, the angle between the line connecting the lens dirt and the center O in the Z axis direction and the XOY plane is denoted as the second deflection angle, and the angle between the line connecting the lens dirt and the center O1 and the x axis is denoted as the third deflection angle. Angle, then the first deflection angle is β, the second deflection angle is γ, and the third deflection angle is α1, so that the lens body rotates a certain angle at a certain speed, so that the third deflection angle becomes α2. Then, when collecting the next frame of point cloud data, if the first deflection angle is β1, the second deflection angle is γ1, and the reflected light intensity at a distance of s±0.5mm from the laser radar is still greater than the first preset light intensity, it is determined that there is lens dirt, and the point cloud data collected at a distance of s±0.5mm from the laser radar, with the first deflection angle of β1, the second deflection angle of γ1, and the third deflection angle of α2 are cleared, and the point cloud data collected in the previous frame at a distance of s±0.5mm from the laser radar with the first deflection angle of β, the second deflection angle of γ, the third deflection angle of α1 and the distance of s±0.5mm from the laser radar are cleared.

[0014] Preferably, the origin of the laser radar is recorded as O, the direction of the closed box along the open tube is recorded as the Y axis, the other lateral direction of the closed box is recorded as the X axis, the vertical direction of the closed box is recorded as the Z axis, and the center of the lens body is recorded as O1. A rectangular coordinate system is established. The x axis in the rectangular coordinate system is parallel to the X axis, the z axis is parallel to the Z axis, and the y axis and the Y axis are concentric. The distance between the center O and O1 is recorded as s. If there is a reflection of lens dirt at a distance of s±0.5mm from the laser radar, If the light intensity is greater than the first preset light intensity, it is preliminarily determined that there is lens dirt on the rotating lens. The angle between the line connecting the lens dirt and the circle center O in the XOY plane and the X axis is the first deflection angle, the angle between the line connecting the lens dirt and the circle center O in the Z axis direction and the XOY plane is the second deflection angle, and the angle between the line connecting the lens dirt and the circle center O1 and the x axis is the third deflection angle. At this time, the first deflection angle is β, the second deflection angle is γ, and the third deflection angle is α1. The lens can slide to the right at a certain speed relative to the laser radar. The center of the rotating lens after sliding to the right is O2, and the distance between the centers O1 and O2 is s2. At this time, the first deflection angle is β2, the second deflection angle is γ2, and the third deflection angle is α1. If the reflected light intensity at ±0.5mm from the laser radar is still greater than the first preset light intensity, it is determined that there is lens dirt, and the point cloud data collected at ±0.5mm from the laser radar, the first deflection angle is β2, the second deflection angle is γ2, and the third deflection angle is α1 are cleared. The point cloud data collected in the previous frame at the first deflection angle β, the second deflection angle γ, the third deflection angle α1, and the distance from the laser radar at s±0.5mm are cleared, and the point cloud data collected at the first deflection angle β1, the second deflection angle γ1, and the third deflection angle α1 are supplemented to the point cloud data cleared in the previous frame.

[0015] Preferably, after the rotating lens slides the distance s2, it also rotates at a certain angle, so that the angle between the lens dirt and the x-axis is α3. At this time, the first deflection angle is β3, and the second deflection angle is γ3. If the reflected light intensity at ±0.5mm from the laser radar is still greater than the first preset light intensity, it is determined that there is lens dirt, and the point cloud data collected at ±0.5mm from the laser radar, with the first deflection angle of β3, the second deflection angle of γ3, and the third deflection angle of α3 are cleared, and the point cloud data collected at this time with the first deflection angle of β2 and the second deflection angle of γ2 are supplemented to the point cloud data cleared in the previous frame.

[0016] In addition, a method for fusing marine radar targets and AIS targets is also provided, the method comprising the following steps:

[0017] 1. Marine ship radar data collection:

[0018] The marine radar target acquisition module collects ship data to form point cloud data;

[0019] 2. Radar data correction:

[0020] If the reflected light intensity of lens dirt at a distance of s±0.5mm from the laser radar is greater than the first preset light intensity, it is preliminarily determined that there is lens dirt, and the rotation drive source is activated to drive the rotating lens to slide outward along the open tube. The gas enters the closed box through the spiral conduit 1 and the spiral conduit 2 and is sprayed toward the inner side of the rotating lens. After the rotating lens moves a certain distance, if the reflected light intensity of lens dirt at a distance of s±0.5mm from the laser radar is still detected in a specific area and is greater than the first preset light intensity, it is determined that there is lens dirt on the rotating lens, and the collected point cloud data of the lens dirt is deleted to achieve radar data correction; in addition, the rotating lens is slid back to its original position along the open tube. At this time, the gas in the closed box is blown out through the blowing pipe 1 and the blowing pipe 2 to remove the lens dirt on the outside of the rotating lens;

[0021] 3. AIS Ship Data Collection:

[0022] Collect ship data through the AIS target acquisition module to complete AIS ship data collection;

[0023] 4. Fusion of radar ship data and AIS ship data:

[0024] Coordinate transformation:

[0025] Using the geocentric coordinate system as the system coordinate system, the Gauss-Krüger projection method is first used to convert the AIS ship data into a rectangular coordinate system. Then, the radar polar coordinate data is converted into a rectangular coordinate system. The two are added together to obtain the sum of the coordinate values ​​of the AIS system target data and the radar target data in the system coordinate system.

[0026] Time synchronization:

[0027] The radar sampling time is used as the sampling reference time of the system, and the target position information of the AIS system corresponding to the radar sampling time is calculated by using the interpolation method;

[0028] Track correlation and data fusion:

[0029] The confidence method is used for track correlation, and then the weighted average method based on the minimum variance principle is used to fuse the radar and AIS system data.

[0030] Due to the application of the above technical solution, the present invention has the following advantages compared with the prior art:

[0031] 1. The present invention's marine radar target and AIS target fusion system, with respect to collected radar data, takes into account that laser radar data collection is significantly affected by the smoothness of the mirror surface, and that there is a high probability of dirt on the mirror surface during marine radar data collection. Therefore, after collecting marine radar data, the present invention further provides a radar data correction module. When dirt is detected on the mirror surface, the radar data correction module makes the mirror movable, thereby changing the position of the dirt on the mirror. This allows for the measurement of reflected light intensity at two or more preset positions, enabling more accurate determination of the presence of dirt.

[0032] 2. The view mirror of the present invention is configured as a rotating lens, which is driven to move by a rotating drive source. In order to adapt to the movement of the view mirror, a spiral conduit 1 and a spiral conduit 2 are further provided in the closed box for replenishing gas inside the closed box. In addition to replenishing gas, the spiral conduit 1 and the spiral conduit 2 can also guide the movement of the rotating lens. The spiral conduit 1 and the spiral conduit 2 cooperate with the action of the rotating drive source to realize the movement of the rotating lens. At the same time, the radar data correction module also includes a cleaning module. The cleaning module can adapt to the size change of the enclosed space in the closed box when the view mirror moves, so as to clean the dirt outside the rotating lens. This can ensure the operation of the laser radar while improving the working efficiency of the laser radar.

[0033] 3. When the radar data correction module of the present invention determines that there is dirt on the surface of the view mirror, it can delete the point cloud data collected by the radar, thereby preventing the dirt from affecting the normal data collected by the radar. In addition, due to the presence of dirt, it is very likely to block other useful data that needs to be detected at the same position. For example, other important point cloud data of the ship that needs to be collected may be blocked behind the dirt. In this case, since the view mirror of the present invention is configured to rotate, the position of the dirt relative to the laser radar is different at different times. Therefore, the dirt is in different positions relative to the laser radar at different times. Therefore, the point cloud data of the next frame can be used to compensate for the cleared point cloud data of the previous frame.

[0034] 4. In addition, in order to make the judgment of dirt more accurate, the spiral conduit 1 and the spiral conduit 2 both include a first straight section and a second spiral section. As a result, the dirt on the view mirror first slides laterally relative to the laser radar, and then slides while rotating. At this time, the movement path of the dirt is a relatively specific path. At this time, the probability that other data to be collected and the movement path of the dirt data are the same is very low. Therefore, the dirt on the surface of the view mirror can be judged more accurately. Moreover, since the probability of dust and the like existing in the closed box is low, the dirt generally exists on the outside of the view mirror. Therefore, the present invention provides a blow pipe 1 and a blow pipe 2 at the rotating lens. One-way valves are provided inside the blow pipe 1 and the blow pipe 2. Only when the rotating lens returns to its original position and the enclosed space in the closed box becomes smaller, can air be blown out from the blow pipe 1 and the blow pipe 2 to remove the dirt. In this way, the subsequent work of the laser radar can be prevented from being delayed.

[0035] 5. Finally, in order to adapt to the movement of the rotating lens along the spiral guide tube 1 and the spiral guide tube 2 inside the open tube, the rotation drive source is set to a structure including a drive ring. The drive ring can slide under the drive of the drive cylinder 1 and the drive cylinder 2. In addition, a circle of dovetail grooves is provided at the lower end of the drive ring, and sliders are provided at the upper ends of the fixed rod 1 and the fixed rod 2 connected to the mounting ring seat. The sliders are stuck in the dovetail grooves, so that when the drive cylinder 1 and the drive cylinder 2 are extended, the lens body can slide and rotate relative to the open tube through the mounting ring seat. In addition, the outer diameter of the drive ring is larger than the outer diameter of the lens body, thereby avoiding the drive ring blocking the working range of the laser radar. BRIEF DESCRIPTION OF THE DRAWINGS

[0036] Figure 1 This is a simplified structural diagram of the maritime radar target and AIS target fusion system;

[0037] Figure 2 This is a simplified diagram of the radar data correction module structure;

[0038] Figure 3 This is a schematic diagram of the structure of the marine radar target acquisition module;

[0039] Figure 4 This is the main view of the open tube;

[0040] Figure 5 for Figure 4 AA section view;

[0041] Figure 6 for Figure 5 Enlarged schematic diagram C and enlarged schematic diagram D;

[0042] Figure 7 for Figure 4 BB cross-sectional view;

[0043] Figure 8 This is a schematic diagram for identifying lens dirt;

[0044] Figure 9-10 This is a schematic diagram of lens dirt identification according to another embodiment.

[0045] Among them, 1. Maritime radar target acquisition module; 2. Rotating chassis; 3. Closed box; 4. Open tube; 5. Rotating lens; 7. Lens dirt; 8. Spiral guide tube 1; 9. Spiral guide tube 2; 10. Lens body; 11. Mounting ring seat; 12. Rotating drive source; 13. Tube body; 14. One-way opening valve; 15. Closing block 1; 16. Closing block 2; 17. Fixing rod 1; 18. Fixing rod 2; 19. Driving ring; 20. Driving cylinder 1; 21. Driving cylinder 2; 22. Dovetail groove; 23. Sliding block; 24. Fixing seat 1; 25. Fixing seat 2; 26. Mounting protrusion; 27. Mounting groove; 28. Blowing pipe 1; 29. ​​Blowing pipe 2; 30. Straight pipe 1; 31. Branch pipe 2; 32. First straight section; 33. Second spiral section; 34. Left accommodating groove; 35. Right accommodating groove. DETAILED DESCRIPTION

[0046] The present invention is further described below with reference to the following examples. However, the present invention is not limited to the following examples. The implementation conditions used in the examples may be further adjusted according to the specific requirements of the application. Unspecified implementation conditions are conventional conditions in the industry. The technical features involved in the various embodiments of the present invention may be combined with each other as long as they do not conflict with each other.

[0047] Hereinafter, only certain exemplary embodiments are briefly described. As will be appreciated by those skilled in the art, the described embodiments may be modified in various ways without departing from the spirit or scope of the embodiments of the present invention. Therefore, the drawings and description are to be regarded as illustrative in nature and not restrictive.

[0048] The disclosure below provides many different embodiments or examples for implementing different structures of the embodiments of the present invention. In order to simplify the disclosure of the embodiments of the present invention, the components and configurations of specific examples are described below. Of course, these are merely examples and are not intended to limit the embodiments of the present invention. In addition, the embodiments of the present invention may repeat reference numerals and / or reference letters in different examples. Such repetition is for the purpose of simplicity and clarity and does not in itself indicate the relationship between the various embodiments and / or configurations discussed.

[0049] The embodiments of the present invention are described in detail below with reference to the accompanying drawings. Example

[0050] like Figures 1-8As shown, a fusion system of maritime radar targets and AIS targets includes: a maritime radar target acquisition module 1, a radar data correction module, an AIS target acquisition module and a data fusion module. The maritime radar target acquisition module 1 collects ship data through a laser radar to obtain radar raw data. The AIS target acquisition module obtains ship AIS data to obtain ship automatic identification system raw data. After the radar raw data is corrected by the radar data correction module, it is fused with the ship automatic identification system raw data by the data fusion module to obtain radar and AIS system fusion data. The fusion data includes dynamic information of the ship, such as ship position, heading, speed, etc., and also includes static information of the ship, such as the name, identification code, length, width, ship type and direction of the target ship. The marine radar target acquisition module 1 includes a rotating chassis 2 and a closed box 3. A laser radar is provided inside the closed box 3. An open tube 4 is provided on one side of the closed box 3. A rotating lens 5 is movably installed in the open tube 4. The laser radar transmits and receives laser light through the rotating lens 5 to collect ship data and form point cloud data. The radar data correction module includes a processor, a rotation drive source 12, a cleaning module and a sending module. The rotation drive source, the cleaning module and the sending module are all connected to the processor. When the processor detects that there is lens dirt 7 at a certain position on the rotating lens 5, it can control the rotation drive source to drive the rotating lens 5 to move so that the lens dirt 7 moves to another position, thereby accurately finding the position of the lens dirt 7, and then removing the point cloud data of the lens dirt 7. Finally, the processor transmits the point cloud data after removing the lens dirt 7 to the data fusion module through the sending module. The cleaning module can clean the lens dirt 7 when the rotating lens 5 returns, thereby ensuring the accuracy of the data collected by the radar target acquisition module 1. When collecting data, there is no need to stop the radar target acquisition module 1 to clean the lens dirt 7.

[0051] like Figure 3-Figure 7 As shown, a spiral conduit 1 8 and a spiral conduit 2 9 are respectively installed at the left and right ends of the inner wall of the open tube 4. The spiral conduit 1 8 and the spiral conduit 2 9 have the same structure and both include a first straight section 32 and a second spiral section 33. The rotating lens 5 includes a lens body 10 and a mounting ring seat 11. The lens body 10 is installed inside the mounting ring seat 11. The left and right sides of the mounting ring seat 11 are respectively provided with a left accommodating groove 34 and a right accommodating groove 35. The left accommodating groove 34 is used to accommodate the spiral conduit 2 9, and the right accommodating groove 35 is used to accommodate the spiral conduit 1 8. An air blowing pipe 1 28 and an air blowing pipe 2 29 are respectively provided at the upper and lower ends of the mounting ring seat 11. The air blowing pipe 1 28 and the air blowing pipe 2 29 form the cleaning module.

[0052] like Figure 5As shown, the rotation driving source 12 includes a fixing rod 17 and a fixing rod 2 18 respectively fixedly arranged on the left and right ends of the inner side of the mounting ring seat 11, and a driving ring 19 is rotatably connected to the upper end of the fixing rod 17 and the upper end of the fixing rod 2 18. A driving cylinder 1 20 and a driving cylinder 2 21 are respectively fixed on the left and right sides of the upper end of the driving ring 19, and the driving cylinder 1 20 and the driving cylinder 2 21 are both fixedly connected to the inner side of the opening tube 4.

[0053] like Figure 6 As shown, the upper ends of the fixing rod 17 and the fixing rod 2 18 are both provided with a sliding block 23, and the lower end of the driving ring 19 is provided with a dovetail groove 22, and the sliding block 23 is stuck in the dovetail groove 22. The spiral conduit 1 8 and the spiral conduit 2 9 both include a tube body 13 and a plurality of one-way opening valves 14 opened on the side wall of the tube body 13, one end of the tube body 13 is connected to an air supply pump (not shown in the figure), and the one-way opening valve 14 is opened in a side wall near the mounting ring seat 11, and the one-way opening valve 14 includes a closing block 15 and a closing block 2 16. The closing block 15 and the closing block 2 16 make the tube body 13 in a closed state. When the rotating lens 5 slides outward along the spiral conduit 1 8 and the spiral conduit 2 9, the closing block 15 and the closing block 2 16 are opened, and the gas in the tube body 13 enters the enclosed space formed by the rotating lens 5 and the enclosed box 3, thereby ensuring the pressure change in the enclosed box 3 and ensuring the safe use of the laser radar. In addition, in order to prevent the formation of mist on the surface of the rotating lens 5 and affect the operation of the laser radar, an air heating device can be provided in the tube body 13, thereby allowing hot air to be introduced into the closed box 3.

[0054] Furthermore, the first and second sealing blocks 15, 16 can be hingedly mounted on the sidewall of the tube body 13 via a hinge shaft, and a torsion spring can be mounted on the hinge shaft. When the rotating lens 5 slides outward, the pressure in the enclosed space decreases, overcoming the torsion force of the torsion spring, causing the first and second sealing blocks 15, 16 to open, allowing gas to be ejected and achieving a stable air pressure. Alternatively, the one-way opening valve 14 can be a solenoid-controlled opening and closing structure. By installing a pressure sensor within the closed box 3, when the pressure within the closed box 3 drops to a certain value, the solenoid valve is activated, causing the one-way opening valve 14 to open, allowing the gas within the tube body 13 to flow through the one-way opening valve 14 into the closed box 3.

[0055] Furthermore, the driving cylinder 1 20 is arranged on the inner side wall of the open tube 4 through the fixing seat 1 24 , and the driving cylinder 2 21 is arranged on the inner side wall of the open tube 4 through the fixing seat 2 25 .

[0056] Furthermore, the driving ring 19 is a circular ring structure, and the inner ring diameter of the circular ring is greater than or equal to the diameter of the lens body 10, so as to avoid the driving ring 19 blocking the working range of the laser radar.

[0057] Furthermore, a plurality of mounting grooves 27 are provided on the inner side of the mounting ring seat 11 , and a plurality of mounting protrusions 26 are installed on the inner side of the lens body 10 . The mounting protrusions 26 are clamped in the mounting grooves 27 , so that the lens body 10 is fixedly installed on the inner side of the mounting ring seat 11 .

[0058] like Figure 7 As shown, the air blowing pipe 1 28 and the air blowing pipe 2 29 both include a straight pipe 1 30 and a straight pipe 2 31. The left end of the straight pipe 1 30 passes through the inner side of the mounting ring seat 11, and the right end of the straight pipe 1 30 is connected to the straight pipe 2 31. The straight pipe 1 30 and the straight pipe 2 31 form an L-shaped structure. The air outlet end of the straight pipe 2 31 faces the outer side of the lens body 10. A one-way valve (not shown in the figure) is provided at the inner end of the air blowing pipe 1 28 and the air blowing pipe 2 29. The one-way valve is in a closed state when the rotating lens 5 slides outward and is in an open state when the rotating lens 5 slides inward. In this way, when the rotating lens 5 returns, the gas in the closed box 3 can be ejected from the end of the straight pipe 2 31, thereby cleaning the lens dirt 7 on the outside of the rotating lens 5, and enabling the laser radar to continue working without stopping for cleaning, thereby ensuring the accuracy and continuity of the laser radar data acquisition.

[0059] Furthermore, the first straight section 32 is located on one side of the open tube 4 close to the closed box 3, and the second spiral section 33 is located on the other side of the open tube 4 away from the closed box 3. The first straight section 32 and the second spiral section 33 extend continuously in the open tube 4.

[0060] like Figure 8As shown, the origin of the laser radar is denoted as O, the direction of the closed box 3 along the open tube 4 is denoted as the Y axis, the other lateral direction of the closed box 3 is denoted as the X axis, the vertical direction of the closed box 3 is denoted as the Z axis, and the center of the lens body 10 is denoted as O1. A rectangular coordinate system is established. The x-axis in the rectangular coordinate system is parallel to the X axis, the z-axis is parallel to the Z axis, and the y-axis and the Y axis are concentric. The distance between the centers O and O1 is denoted as s. If the reflected light intensity of the lens dirt 7 is greater than the first preset light intensity (the first preset light intensity can be tested in advance, such as 1uw) at a distance of s±0.5mm from the laser radar, it is preliminarily determined that there is lens dirt 7 on the rotating lens 5. The angle between the line connecting the lens dirt 7 and the center O in the XOY plane and the X axis is denoted as the first deflection angle, the angle between the line connecting the lens dirt 7 and the center O in the Z axis direction and the XOY plane is denoted as the second deflection angle, and the angle between the line connecting the lens dirt 7 and the center O1 and the x axis is denoted as the second deflection angle. The angle is the third deflection angle, then the first deflection angle is β, the second deflection angle is γ, and the third deflection angle is α1. In order to avoid laser radar detection errors and improve the detection accuracy of the laser radar, the lens body 10 is rotated at a certain speed and a certain angle, so that the third deflection angle becomes α2. Then, when collecting the next frame of point cloud data, if the first deflection angle is β1, the second deflection angle is γ1, and the reflected light intensity at a distance of s±0.5mm from the laser radar is still greater than the first preset light intensity, it is determined that there is lens dirt 7, and the point cloud data collected at a distance of s±0.5mm from the laser radar, with the first deflection angle of β1, the second deflection angle of γ1, and the third deflection angle of α2 are cleared. The point cloud data collected in the previous frame at the first deflection angle of β, the second deflection angle of γ, the third deflection angle of α1, and the distance of s±0.5mm from the laser radar are cleared. In this way, the problem of inaccurate data collection caused by dirt and other factors when the lidar collects data can be eliminated. Example

[0061] As attached Figure 9-10 As shown, the main difference between Example 2 and Example 1 is that the rotating lens 5 of Example 2 can also be moved horizontally left and right relative to the laser radar. In addition, when lens dirt 7 is found on the lens body 10, it can also compensate for the data loss caused by the obstruction of the lens dirt 7. Specifically:

[0062] The origin of the laser radar is recorded as O, the direction of the closed box 3 along the open tube 4 is recorded as the Y axis, the other lateral direction of the closed box 3 is recorded as the X axis, the vertical direction of the closed box 3 is recorded as the Z axis, and the center of the lens body 10 is recorded as O1. A rectangular coordinate system is established. The x axis in the rectangular coordinate system is parallel to the X axis, the z axis is parallel to the Z axis, and the y axis and the Y axis are concentric. The distance between the center O and O1 is recorded as s. If the reflected light intensity of the lens dirt 7 is greater than the first preset light intensity (the first preset light intensity) at a distance of s±0.5mm from the laser radar, Assuming that the light intensity can be measured in advance, for example, 1uw), it is preliminarily determined that there is lens dirt 7 on the rotating lens 5. The angle between the line connecting the lens dirt 7 and the circle center O in the XOY plane and the X-axis is the first deflection angle, the angle between the line connecting the lens dirt 7 and the circle center O and the XOY plane in the Z-axis direction is the second deflection angle, and the angle between the line connecting the lens dirt 7 and the circle center O1 and the x-axis is the third deflection angle. At this time, the first deflection angle is β, the second deflection angle is γ, and the third deflection angle is α1. In addition, if Figure 9 As shown, the rotating lens 5 can slide to the right at a certain speed relative to the laser radar. The center of the rotating lens 5 after sliding to the right is O2, and the distance between the centers O1 and O2 is s2. At this time, the first deflection angle is β2, the second deflection angle is γ2, and the third deflection angle is α1. If the reflected light intensity at a distance of (s+s2)±0.5mm from the laser radar is still greater than the first preset light intensity, it is determined that there is lens dirt 7, and the distance from the laser radar to the first preset light intensity is (s+s2)±0.5mm. The point cloud data collected with a deflection angle of β2, a second deflection angle of γ2, and a third deflection angle of α1 are cleared. The point cloud data collected in the previous frame with a first deflection angle of β, a second deflection angle of γ, and a third deflection angle of α1 at a distance of s±0.5mm from the lidar are cleared. In addition, since the distance s2 is relatively small, the point cloud data collected with a first deflection angle of β1, a second deflection angle of γ1, and a third deflection angle of α1 can be used to make up for the point cloud data cleared in the previous frame.

[0063] In addition, in order to be able to further accurately test whether there is lens dirt 7, the rotating lens 5 is rotated at a certain angle after sliding the distance s2, so that the angle between the lens dirt 7 and the x-axis is α3. At this time, the first deflection angle is β3, and the second deflection angle is γ3. The reflected light intensity at a distance of (s+s2)±0.5mm from the laser radar is still greater than the first preset light intensity, then it is determined that there is lens dirt 7, and the point cloud data collected at a distance of (s+s2)±0.5mm from the laser radar, with a first deflection angle of β3, a second deflection angle of γ3, and a third deflection angle of α3 are cleared, and the point cloud data collected at this time with a first deflection angle of β2 and a second deflection angle of γ2 are supplemented to the point cloud data cleared in the previous frame.

[0064] In this way, the influence of lens dirt 7 on the laser radar data can be effectively eliminated, and the missing point cloud data that has not been collected can be compensated to a certain extent, making the collected data more comprehensive and accurate. Example

[0065] A method for fusing marine radar targets and AIS targets is also included, the method comprising:

[0066] 1. Marine ship radar data collection:

[0067] The marine radar target acquisition module 1 collects ship data to form point cloud data;

[0068] 2. Radar data correction:

[0069] If the reflected light intensity of lens dirt 7 at a distance of s±0.5mm from the laser radar is greater than the first preset light intensity, it is preliminarily determined that there is lens dirt 7, so that the rotating drive source 12 is activated, driving the rotating lens 5 to slide outward along the open tube 4, and the gas enters the closed box 3 through the spiral conduit 1 8 and the spiral conduit 2 9, and is sprayed to the inner side of the rotating lens 5, so as to maintain the pressure in the closed box 3 and prevent the surface of the rotating lens 5 from fogging. After the rotating lens 5 moves a certain distance, if the reflected light intensity of lens dirt 7 at a distance of s±0.5mm from the laser radar is still detected in a specific area, it is determined that there is lens dirt 7 on the rotating lens 5, and the collected point cloud data of the lens dirt 7 is deleted to achieve radar data correction; in addition, the rotating lens 5 is slid back inward along the open tube 4. At this time, the gas in the closed box 3 is blown outward by the blowing pipe 1 28 and the blowing pipe 2 29 to remove the lens dirt 7 on the outside of the rotating lens 5;

[0070] 3. AIS Ship Data Collection:

[0071] Collect ship data through the AIS target acquisition module to complete AIS ship data collection;

[0072] 4. Fusion of radar ship data and AIS ship data:

[0073] Coordinate transformation:

[0074] Using the geocentric coordinate system as the system coordinate system, the Gauss-Krüger projection method is first used to convert the AIS ship data into a rectangular coordinate system. Then, the radar polar coordinate data is converted into a rectangular coordinate system. The two are added together to obtain the sum of the coordinate values ​​of the AIS system target data and the radar target data in the system coordinate system.

[0075] Time synchronization:

[0076] The radar sampling time is used as the sampling reference time of the system. Since the radar scanning cycle is 2-4 seconds and the AIS system transmission cycle is 2-3 minutes, the target position information of the AIS system corresponding to the radar sampling time is calculated by using the interpolation method.

[0077] Track correlation and data fusion:

[0078] The confidence method is used for track correlation, and then the weighted average method based on the minimum variance principle is used to fuse the radar and AIS system data.

[0079] The data fusion process of the AIS system and the radar is common knowledge in the art, and details can also be found in Patent Document 1 (CN117556376A).

[0080] Furthermore, after the radar data is corrected, the point cloud data of the lens contamination 7 collected in step 2 is deleted. The point cloud data collected in the next frame at the location of the lens contamination 7 in the previous frame can be added to the point cloud data at the location of the deleted lens contamination 7 in the previous frame. For example, when deleting the point cloud data collected in the previous frame at a first deflection angle of β, a second deflection angle of γ, and a third deflection angle of α1, at a distance of s±0.5 mm from the lidar, the point cloud data collected at the first deflection angle of β1, the second deflection angle of γ1, and the third deflection angle of α1 can be added to the point cloud data cleared in the previous frame due to the relatively small distance s2. In this way, since the location of the lens contamination 7 in the next frame has changed compared to the previous frame, the point cloud data collected in the next frame can be used to compensate for the deleted point cloud data in the previous frame, thereby ensuring the integrity and accuracy of the radar data.

Claims

1. A fusion system of marine radar targets and AIS targets, characterized by: The fusion system comprises: A marine radar target acquisition module (1), a radar data correction module, an AIS target acquisition module and a data fusion module, wherein the marine radar target acquisition module (1) acquires ship data through a laser radar to obtain radar raw data, the AIS target acquisition module acquires ship AIS data to obtain ship automatic identification system raw data, the radar raw data is corrected by the radar data correction module, and then fused with the ship automatic identification system raw data by the data fusion module to obtain radar and AIS system fusion data; The marine radar target acquisition module (1) comprises a rotating chassis (2) and a closed box (3), a laser radar is arranged inside the closed box (3), an open tube (4) is opened on one side of the closed box (3), a rotating lens (5) is movably installed inside the open tube (4), and the laser radar transmits and receives laser through the rotating lens (5) to collect ship data to form point cloud data; The radar data correction module comprises a processor, a rotation drive source (12), a cleaning module and a sending module. The rotation drive source, the cleaning module and the sending module are all connected to the processor. When the processor detects that there is lens dirt (7) at a position on the rotating lens (5), it can control the rotation drive source (12) to drive the rotating lens (5) to move, so that the lens dirt (7) moves to another position, accurately finds the position of the lens dirt (7), and then removes the point cloud data of the lens dirt (7). Finally, the processor transmits the point cloud data after the lens dirt (7) is removed to the data fusion module through the sending module. The cleaning module can clean the lens dirt (7) when the rotating lens (5) returns. Spiral guide tubes are respectively installed at the left and right ends of the inner wall of the opening tube (4). One (8) and a spiral conduit two (9), the spiral conduit one (8) and the spiral conduit two (9) both include a first straight section (32) and a second spiral section (33), the rotating lens (5) includes a lens body (10) and a mounting ring seat (11), the lens body (10) is mounted inside the mounting ring seat (11), the mounting ring seat (11) is provided with a left accommodating groove (34) and a right accommodating groove (35) on the left and right sides respectively, the left accommodating groove (34) is used to accommodate the spiral conduit two (9), the right accommodating groove (35) is used to accommodate the spiral conduit one (8), and an air blowing pipe one (28) and an air blowing pipe two (29) are provided at the upper and lower ends of the mounting ring seat (11), the air blowing pipe one (28) and the air blowing pipe two (29) form the cleaning module; The origin of the laser radar is denoted as O, the direction of the closed box (3) along the open tube (4) is denoted as the Y axis, the other lateral direction of the closed box (3) is denoted as the X axis, the vertical direction of the closed box (3) is denoted as the Z axis, and the center of the lens body (10) is denoted as O1, and a rectangular coordinate system is established. The x axis in the rectangular coordinate system is parallel to the X axis, the z axis is parallel to the Z axis, and the y axis and the Y axis are concentric. The distance between the centers O and O1 is denoted as s. If the reflected light intensity of the lens dirt (7) is greater than the first preset light intensity at a distance of s±0.5 mm from the laser radar, it is preliminarily determined that the lens dirt (7) exists on the rotating lens (5). The angle between the line connecting the lens dirt (7) and the center O in the XOY plane relative to the X axis is denoted as the first deflection angle, the angle between the line connecting the lens dirt (7) and the center O in the Z axis direction and the XOY plane is denoted as the second deflection angle, and the angle between the line connecting the lens dirt (7) and the center O1 in the Z axis direction and the XOY plane is denoted as the second deflection angle. The angle between the line and the x-axis is the third deflection angle. At this time, the first deflection angle is β, the second deflection angle is γ, and the third deflection angle is α1, so that the lens body (10) rotates at a certain speed and a certain angle, so that the third deflection angle becomes α2. Then, when the next frame of point cloud data is collected, if the first deflection angle is β1, the second deflection angle is γ1, and the reflected light intensity at a distance of s±0.5mm from the laser radar is still greater than the first preset light intensity, it is determined that lens dirt (7) exists, and the point cloud data collected at a distance of s±0.5mm from the laser radar, the first deflection angle is β1, the second deflection angle is γ1, and the third deflection angle is α2 are cleared, and the point cloud data collected in the previous frame at the first deflection angle is β, the second deflection angle is γ, the third deflection angle is α1, and the distance of s±0.5mm from the laser radar is cleared.

2. A fusion system of marine radar targets and AIS targets, characterized by: The fusion system comprises: A marine radar target acquisition module (1), a radar data correction module, an AIS target acquisition module and a data fusion module, wherein the marine radar target acquisition module (1) acquires ship data through a laser radar to obtain radar raw data, the AIS target acquisition module acquires ship AIS data to obtain ship automatic identification system raw data, the radar raw data is corrected by the radar data correction module, and then fused with the ship automatic identification system raw data by the data fusion module to obtain radar and AIS system fusion data; The marine radar target acquisition module (1) comprises a rotating chassis (2) and a closed box (3), a laser radar is arranged inside the closed box (3), an open tube (4) is opened on one side of the closed box (3), a rotating lens (5) is movably installed inside the open tube (4), and the laser radar transmits and receives laser through the rotating lens (5) to collect ship data to form point cloud data; The radar data correction module comprises a processor, a rotation driving source (12), a cleaning module and a sending module. The rotation driving source, the cleaning module and the sending module are all connected to the processor. When the processor detects that there is lens dirt (7) at a position on the rotating lens (5), it can control the rotation driving source (12) to drive the rotating lens (5) to move, so that the lens dirt (7) moves to another position, accurately finds the position of the lens dirt (7), and then removes the point cloud data of the lens dirt (7). Finally, the processor transmits the point cloud data after the lens dirt (7) is removed to the data fusion module through the sending module. The cleaning module can clean the lens dirt (7) when the rotating lens (5) returns. A spiral conduit 1 (8) and a spiral conduit 2 (9) are respectively installed at the left and right ends of the inner wall of the open tube (4), and the spiral conduit 1 (8) and the spiral conduit 2 (9) both include a first straight section (32) and a second spiral section (33). The rotating lens (5) includes a lens body (10) and a mounting ring seat (11). The lens body (10) is mounted inside the mounting ring seat (11). A left accommodating groove (34) and a right accommodating groove (35) are respectively provided on the left and right sides of the mounting ring seat (11). The left accommodating groove (34) is used to accommodate the spiral conduit 2 (9), and the right accommodating groove (35) is used to accommodate the spiral conduit 1 (8). A blow pipe 1 (28) and a blow pipe 2 (29) are provided, and the blow pipe 1 (28) and the blow pipe 2 (29) form the cleaning module; the origin of the laser radar is recorded as O, the direction of the closed box (3) along the open tube (4) is recorded as the Y axis, the other lateral direction of the closed box (3) is recorded as the X axis, the vertical direction of the closed box (3) is recorded as the Z axis, and the center of the lens body (10) is recorded as O1, and a rectangular coordinate system is established. The x axis in the rectangular coordinate system is parallel to the X axis, the z axis is parallel to the Z axis, and the y axis and the Y axis are concentric. The distance between the center O and O1 is recorded as s. If the reflected light intensity of the lens dirt (7) is greater than the first preset light intensity at a distance of s±0.5mm from the laser radar, it is preliminarily determined that the lens is rotated. There is lens dirt (7) on (5), the angle between the line connecting the lens dirt (7) and the center O in the XOY plane relative to the X-axis is the first deflection angle, the angle between the line connecting the lens dirt (7) and the center O in the Z-axis direction and the XOY plane is the second deflection angle, and the angle between the line connecting the lens dirt (7) and the center O1 and the x-axis is the third deflection angle. At this time, the first deflection angle is β, the second deflection angle is γ, and the third deflection angle is α1. The rotating lens (5) can slide to the right at a certain speed relative to the laser radar. The center of the rotating lens (5) after sliding to the right is O2, and the distance between the centers O1 and O2 is s2. At this time, the first deflection angle is β2, the second deflection angle is γ2, and the third deflection angle is α1. If the reflected light intensity at a distance of (s+s2)±0.5mm from the laser radar is still greater than the first preset light intensity, it is determined that there is lens dirt (7), and the point cloud data collected at a distance of (s+s2)±0.5mm from the laser radar, with a first deflection angle of β2, a second deflection angle of γ2, and a third deflection angle of α1 are cleared, and the point cloud data collected in the previous frame at a first deflection angle of β, a second deflection angle of γ, and a third deflection angle of α1 and a distance of s±0.5mm from the laser radar are cleared, and the point cloud data collected at the first deflection angle of β1, the second deflection angle of γ1, and the third deflection angle of α1 are supplemented with the point cloud data cleared in the previous frame.

3. A fusion system of marine radar targets and AIS targets according to claim 1 or 2, characterized in that: The rotation driving source (12) comprises a fixing rod 1 (17) and a fixing rod 2 (18) respectively fixedly arranged at the left and right ends of the inner side of the mounting ring seat (11); a driving ring (19) is rotatably connected to the upper ends of the fixing rod 1 (17) and the fixing rod 2 (18); a driving cylinder 1 (20) and a driving cylinder 2 (21) are respectively fixed to the left and right sides of the upper end of the driving ring (19); and the driving cylinder 1 (20) and the driving cylinder 2 (21) are both fixedly connected to the inner side of the opening tube (4).

4. The fusion system of marine radar targets and AIS targets according to claim 3 is characterized in that: The upper ends of the fixing rod 1 (17) and the fixing rod 2 (18) are both provided with a sliding block (23); the lower end of the driving ring (19) is provided with a dovetail groove (22), and the sliding block (23) is inserted into the dovetail groove (22); the spiral conduit 1 (8) and the spiral conduit 2 (9) both comprise a tube body (13) and a plurality of one-way opening valves (14) provided on the side wall of the tube body (13); one end of the tube body (13) is connected with an air supply pump; the one-way opening valve (14) is provided in a side wall close to the mounting ring seat (11); the one-way opening valve (14) makes the tube body (13) in a closed state; and when the rotating lens (5) slides outward along the spiral conduit 1 (8) and the spiral conduit 2 (9), the one-way opening valve (14) is opened, and the gas in the tube body (13) enters the closed space formed by the rotating lens (5) and the closed box (3).

5. A fusion system of marine radar targets and AIS targets according to claim 1 or 2, characterized in that: The air blowing pipe 1 (28) and the air blowing pipe 2 (29) both comprise a straight pipe 1 (30) and a straight pipe 2 (31). The left end of the straight pipe 1 (30) passes through the inner side of the mounting ring seat (11), and the right end of the straight pipe 1 (30) is connected to the straight pipe 2 (31). The straight pipe 1 (30) and the straight pipe 2 (31) form an L-shaped structure. The air outlet end of the straight pipe 2 (31) faces the outer side of the lens body (10). A one-way valve is provided at the inner end of the air blowing pipe 1 (28) and the air blowing pipe 2 (29). The one-way valve is in a closed state when the rotating lens (5) slides outward, and is in an open state when the rotating lens (5) slides inward. When the rotating lens (5) slides inward and returns, the gas in the closed box (3) is ejected from the end of the straight pipe 2 (31) to clean the lens dirt (7) on the outer side of the rotating lens (5).

6. A fusion system of marine radar targets and AIS targets according to claim 1 or 2, characterized in that: The first straight section (32) is located on one side of the open tube (4) close to the closed box body (3), and the second spiral section (33) is located on the other side of the open tube (4) away from the closed box body (3). The first straight section (32) and the second spiral section (33) extend continuously in the open tube (4).

7. The marine radar target and AIS target fusion system according to claim 2, characterized in that: After the rotating lens (5) slides the distance s2, it also rotates at a certain angle, so that the angle between the lens dirt (7) and the x-axis is α3. At this time, the first deflection angle is β3, and the second deflection angle is γ3. If the reflected light intensity at a distance of (s+s2)±0.5mm from the laser radar is still greater than the first preset light intensity, it is determined that the lens dirt (7) exists, and the point cloud data collected at a distance of (s+s2)±0.5mm from the laser radar, with the first deflection angle of β3, the second deflection angle of γ3, and the third deflection angle of α3 are cleared, and the point cloud data collected at the first deflection angle of β2 and the second deflection angle of γ2 at this time are supplemented with the point cloud data cleared in the previous frame.

8. A method for fusing marine radar targets and AIS targets, characterized in that: The fusion method adopts the fusion system of the marine radar target and the AIS target according to any one of claims 2 to 7, and the fusion method comprises the following steps:

1. Marine ship radar data collection: The marine radar target acquisition module (1) is used to collect ship data to form point cloud data; 2. Radar data correction: If the reflected light intensity of lens dirt (7) is greater than the first preset light intensity at a distance of s±0.5mm from the laser radar, it is preliminarily determined that lens dirt (7) exists, so that the rotation drive source (12) is activated, driving the rotating lens (5) to slide outward along the open tube (4), and the gas enters the closed box (3) through the spiral conduit 1 (8) and the spiral conduit 2 (9), and is sprayed toward the inside of the rotating lens (5). After the rotating lens (5) moves a certain distance, if the distance to the laser radar is still detected in a specific area, the rotating lens (5) is detected. If the reflected light intensity of lens dirt (7) at the position of s±0.5mm is greater than the first preset light intensity, it is determined that lens dirt (7) exists on the rotating lens (5), and the collected point cloud data of the lens dirt (7) is deleted to achieve radar data correction; in addition, the rotating lens (5) is slid inwardly along the opening tube (4) to return to its original position, and at this time, the gas in the closed box (3) is blown outwardly by the blowing pipe 1 (28) and the blowing pipe 2 (29), so that the lens dirt (7) outside the rotating lens (5) is removed; 3. AIS Ship Data Collection: Collect ship data through the AIS target acquisition module to complete AIS ship data collection; 4. Fusion of radar ship data and AIS ship data: Coordinate transformation: Taking the geocentric coordinate system as the system coordinate system, the Gauss-Kruger projection method is first used to convert the AIS ship data into coordinates in the rectangular coordinate system, and then the data in the polar coordinate system of the radar is converted into the rectangular coordinate system; the two are added together to obtain the sum of the coordinate values ​​of the target data of the AIS system and the target data of the radar in the system coordinate system; Time Synchronization: Taking the radar sampling time as the system sampling reference time, the target position information of the AIS system corresponding to the radar sampling time is calculated by using the interpolation method; Track correlation and data fusion: The confidence method is used for track association, and then the weighted average method based on the minimum variance principle is used to fuse the radar and AIS system data.

Images