Fishing vessel alarm method and system based on dynamic ocean environment simulation

Abstract

The invention discloses a fishing boat alarm method and system based on dynamic ocean environment simulation, comprising: obtaining navigation information and real-time ocean environment information of a target fishing boat, and performing data preprocessing on the navigation information and real-time ocean environment information of the target fishing boat; constructing a six-degree-of-freedom kinematic model of the target fishing boat, simulating the ocean environment of the current sea area according to the real-time ocean environment information, and performing navigation response analysis in combination with the navigation information of the target fishing boat; performing navigation hazard assessment to determine whether the current navigation strategy of the target fishing boat can safely pass through the target sea area, and if not, obtaining the navigation capability information of the target fishing boat, and analyzing whether the target fishing boat has the navigation capability to safely pass through the current sea area; when the navigation capability of the target fishing boat cannot safely pass through the target sea area, adjusting the current navigation route, formulating a navigation route adjustment plan to avoid danger, and improving the safety and economic benefits of fishing operations.

Description

Technical Field

[0001] The present invention relates to the technical field of fishing vessel early warning, and in particular to a fishing vessel alarm method and system based on dynamic ocean environment simulation. Background Art

[0002] With global climate change and the increasing complexity of the marine environment, traditional fishing activities are facing more and more uncertainties and potential dangers. The dynamic changes in the marine environment, including storms, waves, ocean currents and tsunamis, and the frequent occurrence of natural disasters have brought great challenges to the navigation and operation of fishing vessels. Traditional fishery alarm systems usually rely on static data and preset thresholds, which are difficult to cope with the rapidly changing and complex marine environment. There are problems such as untimely alarms, false alarms and missed alarms, which affect the safety and economic benefits of fishing operations.

[0003] In order to improve the safety of fishing vessel operations and emergency response capabilities, a more advanced and intelligent fishing vessel alarm method is urgently needed, which can warn of dangerous areas and formulate corresponding navigation avoidance routes to ensure the safety of fishing vessels. Summary of the invention

[0004] The present invention overcomes the defects of the prior art and provides a fishing vessel alarm method and system based on dynamic ocean environment simulation, the important purpose of which is to improve the navigation safety of fishing vessels during operation.

[0005] To achieve the above-mentioned purpose, the first aspect of the present invention provides a fishing boat alarm method based on dynamic ocean environment simulation, comprising:

[0006] Acquire target fishing boat navigation information and real-time ocean environment information, and perform data preprocessing on the target fishing boat navigation information and real-time ocean environment information;

[0007] Constructing a six-degree-of-freedom kinematic model of the target fishing boat, simulating the marine environment of the current sea area according to the real-time marine environment information, and performing a navigation response analysis in combination with the navigation information of the target fishing boat to obtain navigation response analysis information;

[0008] Perform navigation hazard assessment based on the navigation response analysis information to determine whether the current navigation strategy of the target fishing vessel can safely pass through the target sea area. If not, obtain the navigation capability information of the target fishing vessel to analyze whether the target fishing vessel has the navigation capability to safely pass through the current sea area;

[0009] When the navigation capability of the target fishing vessel is not able to safely pass through the target sea area, the current navigation route is adjusted and a navigation route adjustment plan is formulated to avoid danger.

[0010] In this solution, the acquisition of target fishing boat navigation information and real-time ocean environment information, and data preprocessing of the target fishing boat navigation information and real-time ocean environment information specifically include:

[0011] Acquiring the navigation information of the target fishing vessel based on the navigation monitoring equipment, wherein the navigation information of the target fishing vessel includes the real-time position information of the fishing vessel, the heading information of the fishing vessel, the speed information of the fishing vessel, the wading information of the fishing vessel and the route information of the fishing vessel;

[0012] Acquire real-time ocean environment information, including wave information, wind direction and speed information, water flow speed information and regional meteorological information;

[0013] Performing data cleaning on the target fishing boat navigation information and the real-time ocean environment information, and respectively calculating the data standard deviation of the target fishing boat navigation data stream and the real-time ocean environment data stream;

[0014] The data standard deviation of the target fishing vessel navigation data stream and the real-time ocean environment data stream is judged against the preset standard deviation range, and the data standard deviation that is not within the preset standard deviation range is defined as an abnormal value, and the abnormal value is removed;

[0015] The data points after outliers are removed from the target fishing vessel navigation data stream and the real-time ocean environment data stream are analyzed, and difference compensation is performed on the data points after outliers are removed to obtain preprocessing information.

[0016] In this solution, the six-degree-of-freedom kinematic model of the target fishing boat is constructed, the sea environment of the current sea area is simulated according to the real-time marine environment information, and the navigation response analysis is performed in combination with the navigation information of the target fishing boat, specifically including:

[0017] Acquire structural information of the target fishing vessel, and build a digital twin model of the target fishing vessel based on the digital twin technology and the structural information of the target fishing vessel;

[0018] A six-degree-of-freedom kinematic model of the target fishing vessel is constructed based on the constructed digital twin model, including translational degrees of freedom and rotational degrees of freedom, wherein the translational degrees of freedom are sway, swing and heave, and the rotational degrees of freedom are roll, pitch and bow pitch;

[0019] The Pearson-Moscovich spectrum is used to describe irregular waves, and the linear wave theory is combined to simulate the velocity components of the wave speed in the x-axis and z-axis directions of the coordinate system to construct an ocean environment analysis model.

[0020] Acquire real-time ocean environment information, set initial simulation parameters and boundary conditions according to the real-time ocean environment information, perform numerical simulation using CFD software, and use a standard k-ε turbulence model to discretize and solve control equations to obtain ocean environment simulation information;

[0021] The navigation information of the target fishing boat is obtained, and combined with the sea environment simulation information, the six-degree-of-freedom kinematic model of the target fishing boat is input to simulate the navigation response of the target fishing boat under the current sea conditions to obtain the navigation response analysis information.

[0022] In this solution, the navigation hazard assessment is performed based on the navigation response analysis information to determine whether the current navigation strategy of the target fishing boat can safely pass through the target sea area. If not, the navigation capability information of the target fishing boat is obtained to analyze whether the target fishing boat has the navigation capability to safely pass through the current sea area, specifically including:

[0023] Acquire navigation response analysis information, and generate a navigation simulation response diagram of the target fishing vessel when it is sailing in the current sea area according to the navigation response analysis information;

[0024] Extracting the navigation response characteristics of the target fishing boat when sailing in the current sea area according to the navigation simulation response diagram, wherein the navigation response characteristics include the navigation angle change characteristics and the navigation force change characteristics, and obtaining the navigation response characteristic information;

[0025] Setting navigation hazard assessment indicators, and setting corresponding assessment weights for each assessment indicator, constructing navigation hazard assessment rules, and combining the navigation response characteristic information to assess the navigation hazard of the target fishing vessel passing through the current sea area, to obtain navigation hazard assessment information;

[0026] Determine whether the current navigation control parameters of the target fishing vessel can safely pass through the target sea area according to the navigation hazard assessment information; if not, obtain the navigation capability information of the target fishing vessel to analyze whether the target fishing vessel has the navigation capability to safely pass through the current sea area;

[0027] Acquire sea environment simulation information, set initial simulation parameters according to the navigation capability information of the target fishing vessel, simulate the navigation response under the change of the navigation control parameters of the fishing vessel through the six-degree-of-freedom kinematic model of the target fishing vessel, and conduct navigation hazard assessment;

[0028] The simulation parameter change range and the single change degree are preset, and iterative simulation is performed until the simulation parameter cannot continue to change or the navigation hazard assessment information indicates that it is safe to pass, thereby obtaining the first analysis information;

[0029] Determine whether the target fishing boat can safely pass through the current sea area after changing the navigation control parameters of the fishing boat according to the first analysis information; if the result of the determination is that the target fishing boat can safely pass through the current sea area, extract the corresponding navigation simulation parameters to generate a driving plan for recommendation;

[0030] If the judgment result is that it is not possible to safely pass through the current sea area, it means that the navigation capability of the target fishing boat is not able to safely pass through the target sea area, and an early warning message is generated to issue a navigation hazard warning.

[0031] In this scheme, the navigation hazard assessment index is set, and the corresponding assessment weight is set for each assessment index, and the navigation hazard assessment rule is constructed. The navigation hazard of the target fishing vessel passing through the current sea area is assessed in combination with the navigation response characteristic information, specifically including:

[0032] Based on big data retrieval, various navigation hazard assessment instances are obtained, navigation hazard assessment indicators in each navigation hazard assessment instance are extracted, and the Pearson correlation coefficient between each assessment indicator and navigation hazard is calculated to form a Pearson correlation coefficient matrix;

[0033] Preset a Pearson correlation coefficient threshold, perform threshold processing on the data in the Pearson correlation coefficient matrix, set the data less than the threshold to zero, select a navigation hazard assessment index according to the Pearson correlation coefficient matrix after the threshold processing, and obtain navigation hazard assessment index information;

[0034] Based on the expert knowledge method, the impact score of each evaluation index is obtained according to the navigation hazard assessment index information, and the intuitive fuzzy analysis method is introduced to allocate subjective weights to each evaluation index, and the intuitive fuzzy evaluation matrix is ​​constructed according to the impact score.

[0035] Calculating the intuitionistic fuzzy entropy of each evaluation indicator according to the intuitionistic fuzzy evaluation matrix, calculating the intuitionistic fuzzy number of each evaluation indicator through the intuitionistic fuzzy entropy, assigning subjective weights to each evaluation indicator, and obtaining subjective weight information;

[0036] Objective weight allocation is performed based on the entropy weight method, a decision matrix is ​​constructed according to the navigation hazard assessment index information, the decision matrix is ​​standardized to obtain a standardized matrix, information entropy and information entropy redundancy of each assessment index are calculated according to the standardized matrix, objective weight calculation is performed, and objective weight information is obtained;

[0037] The navigation hazard assessment rules are constructed in combination with the subjective weight information and the objective weight information, and the navigation hazard of the target fishing boat passing through the current sea area is assessed based on the navigation response characteristic information to obtain navigation hazard assessment information.

[0038] In this scheme, when the navigation capability of the target fishing vessel is not able to safely pass through the target sea area, the current navigation route is adjusted and a navigation route adjustment plan is formulated to avoid danger, specifically including:

[0039] Acquire target fishing vessel structural information, define grid size according to the target fishing vessel structural information, and construct a grid environment map using GIS technology;

[0040] Acquire a vector electronic nautical chart of a target area, extract obstacle information according to the vector electronic nautical chart of the target area, and perform free space marking and non-free space marking on the grid environment map;

[0041] Extracting regional water depth data according to the vector electronic chart of the target area, using the spline function interpolation method to predict the water depth of unknown grid cells, constructing a cubic spline function, and presetting boundary conditions;

[0042] Obtaining the coordinates of the unknown grid cell, obtaining the water depth data of the neighboring grid cells according to the coordinates of the unknown grid cell, forming an interpolation interval of the unknown grid cell, and establishing a spline equation of the interpolation interval;

[0043] Solving the spline equation of the interpolation interval to obtain the spline coefficients and constructing a spline function corresponding to the target interpolation interval, predicting the water depth of the unknown grid unit, and marking the grid environment map to obtain a marked grid environment map;

[0044] The starting point of the route change is set according to the real-time position of the target fishing boat, the restriction conditions are set according to the original route and the turning ability of the fishing boat, the departure area is marked based on the detection range corresponding to the environmental monitoring equipment, and the ant colony algorithm is used to optimize the path;

[0045] The initial pheromone of the ant colony is preset, and each grid unit in the free space is taken as a node. The state transition probability of each node is calculated, and the avoidance path is obtained according to the state transition probability. The avoidance path is penalized by the set restriction conditions, and the candidate avoidance path information is obtained by iterative optimization.

[0046] Extracting water depth data of grid cells of each path according to the candidate avoidance path information, constructing a wading risk assessment rule based on the real-time wading depth of the target fishing boat, evaluating each candidate avoidance path, selecting the optimal avoidance path according to the evaluation result, generating a navigation route adjustment plan for risk avoidance, and performing real-time monitoring and risk assessment on the departure area;

[0047] If the target fishing boat determines through real-time monitoring and risk assessment that the departure area meets the conditions for passage during the process of danger avoidance, the preset avoidance path will be adjusted in real time.

[0048] A second aspect of the present invention provides a fishing boat alarm system based on dynamic ocean environment simulation, the system comprising: a memory, a processor, the memory containing a fishing boat alarm method program based on dynamic ocean environment simulation, the fishing boat alarm method program based on dynamic ocean environment simulation when executed by the processor implements the following steps:

[0049] Acquire target fishing boat navigation information and real-time ocean environment information, and perform data preprocessing on the target fishing boat navigation information and real-time ocean environment information;

[0050] Constructing a six-degree-of-freedom kinematic model of the target fishing boat, simulating the marine environment of the current sea area according to the real-time marine environment information, and performing a navigation response analysis in combination with the navigation information of the target fishing boat to obtain navigation response analysis information;

[0051] Perform navigation hazard assessment based on the navigation response analysis information to determine whether the current navigation strategy of the target fishing vessel can safely pass through the target sea area. If not, obtain the navigation capability information of the target fishing vessel to analyze whether the target fishing vessel has the navigation capability to safely pass through the current sea area;

[0052] When the navigation capability of the target fishing vessel is not able to safely pass through the target sea area, the current navigation route is adjusted and a navigation route adjustment plan is formulated to avoid danger.

[0053] The invention discloses a fishing boat alarm method and system based on dynamic ocean environment simulation, comprising: obtaining navigation information and real-time ocean environment information of a target fishing boat, and performing data preprocessing on the navigation information and real-time ocean environment information of the target fishing boat; constructing a six-degree-of-freedom kinematic model of the target fishing boat, simulating the ocean environment of the current sea area according to the real-time ocean environment information, and performing navigation response analysis in combination with the navigation information of the target fishing boat; performing navigation hazard assessment to determine whether the current navigation strategy of the target fishing boat can safely pass through the target sea area, and if not, obtaining the navigation capability information of the target fishing boat, and analyzing whether the target fishing boat has the navigation capability to safely pass through the current sea area; when the navigation capability of the target fishing boat cannot safely pass through the target sea area, adjusting the current navigation route, formulating a navigation route adjustment plan to avoid danger, and improving the safety and economic benefits of fishing operations. BRIEF DESCRIPTION OF THE DRAWINGS

[0054] In order to more clearly illustrate the technical solutions in the embodiments or exemplary embodiments of the present invention, the drawings required for use in the embodiments or exemplary descriptions will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained according to the drawings without paying creative work.

[0055] Figure 1 A flow chart of a fishing boat alarm method based on dynamic ocean environment simulation provided by one embodiment of the present invention;

[0056] Figure 2 A flowchart of dangerous sea area avoidance analysis provided by an embodiment of the present invention;

[0057] Figure 3 A block diagram of a fishing boat alarm system based on dynamic ocean environment simulation provided by one embodiment of the present invention;

[0058] The realization of the purpose, functional features and advantages of the present invention will be further explained in conjunction with embodiments and with reference to the accompanying drawings. DETAILED DESCRIPTION

[0059] In order to more clearly understand the above-mentioned purpose, features and advantages of the present invention, the present invention is further described in detail below in conjunction with the accompanying drawings and specific embodiments. It should be noted that the embodiments of the present application and the features in the embodiments can be combined with each other without conflict.

[0060] In the following description, many specific details are set forth to facilitate a full understanding of the present invention. However, the present invention may also be implemented in other ways different from those described herein. Therefore, the protection scope of the present invention is not limited to the specific embodiments disclosed below.

[0061] Figure 1 A flow chart of a fishing boat alarm method based on dynamic ocean environment simulation provided by one embodiment of the present invention;

[0062] like Figure 1 As shown, the present invention provides a flow chart of a fishing boat alarm method based on dynamic ocean environment simulation, comprising:

[0063] S102, obtaining navigation information of the target fishing vessel and real-time ocean environment information, and performing data preprocessing on the navigation information of the target fishing vessel and the real-time ocean environment information;

[0064] S104, constructing a six-degree-of-freedom kinematic model of the target fishing boat, simulating the marine environment of the current sea area according to the real-time marine environment information, and performing navigation response analysis in combination with the navigation information of the target fishing boat to obtain navigation response analysis information;

[0065] S106, performing navigation hazard assessment based on the navigation response analysis information to determine whether the current navigation strategy of the target fishing vessel can safely pass through the target sea area; if not, obtaining navigation capability information of the target fishing vessel to analyze whether the target fishing vessel has the navigation capability to safely pass through the current sea area;

[0066] S108, when the navigation capability of the target fishing boat is not able to safely pass through the target sea area, the current navigation route is adjusted and a navigation route adjustment plan is formulated to avoid danger.

[0067] It should be noted that the present invention provides a fishing boat alarm method and system based on dynamic ocean environment simulation, which performs dynamic ocean environment simulation through navigation information of target fishing boats and real-time ocean environment information, builds a six-degree-of-freedom kinematic model based on the structural information of the target fishing boat, uses CFD software to simulate the ocean environment, and analyzes the navigation response of the target fishing boat in the current sea environment. According to the analysis results of the navigation response, a navigation hazard assessment is performed to determine whether the target fishing boat is in danger in the current sea area. At the same time, when there is a navigation hazard, it is determined whether the target fishing boat can pass safely within the navigation capability range by changing the navigation strategy. If so, the corresponding navigation parameters are pushed and navigation suggestions are generated. If not, the current navigation route is adjusted, and a navigation route adjustment plan is formulated to avoid danger. Thereby improving the safety and hazard response capabilities of fishing boats when operating at sea.

[0068] Further, in a preferred embodiment of the present invention, the obtaining of the target fishing boat navigation information and the real-time ocean environment information, and the data preprocessing of the target fishing boat navigation information and the real-time ocean environment information specifically include:

[0069] Acquiring the navigation information of the target fishing vessel based on the navigation monitoring equipment, wherein the navigation information of the target fishing vessel includes the real-time position information of the fishing vessel, the heading information of the fishing vessel, the speed information of the fishing vessel, the wading information of the fishing vessel and the route information of the fishing vessel;

[0070] Acquire real-time ocean environment information, including wave information, wind direction and speed information, water flow speed information and regional meteorological information;

[0071] Performing data cleaning on the target fishing boat navigation information and the real-time ocean environment information, and respectively calculating the data standard deviation of the target fishing boat navigation data stream and the real-time ocean environment data stream;

[0072] The data standard deviation of the target fishing vessel navigation data stream and the real-time ocean environment data stream is judged against the preset standard deviation range, and the data standard deviation that is not within the preset standard deviation range is defined as an abnormal value, and the abnormal value is removed;

[0073] The data points after outliers are removed from the target fishing vessel navigation data stream and the real-time ocean environment data stream are analyzed, and difference compensation is performed on the data points after outliers are removed to obtain preprocessing information.

[0074] It should be noted that the navigation information of the target fishing boat is obtained based on the navigation monitoring equipment, which includes the real-time position information, heading information, speed information, wading information and route information of the fishing boat. At the same time, real-time marine environmental information is obtained, involving wave information, wind direction and speed information, water flow speed information and regional meteorological information, such as obtaining wave information through a wave monitor, and obtaining wind direction and speed information and water flow speed information through environmental monitoring equipment. After obtaining the data, the navigation information and real-time marine environmental information of the target fishing boat are cleaned to ensure the accuracy and reliability of the data. Then the standard deviation of the navigation data stream of the target fishing boat and the real-time marine environmental data stream are calculated respectively. The standard deviation reflects the fluctuation of the data, thereby identifying outliers. The calculated standard deviation is compared with the preset standard deviation range. Any standard deviation that is not within the preset standard deviation range is defined as an outlier, and these outliers are eliminated to eliminate noise and abnormal fluctuations in the data. After eliminating the outliers, the data points after the outliers are removed are difference compensated to ensure the continuity and integrity of the data. Difference compensation can fill in the gaps in the data through interpolation or other methods to make the data stream smoother and more coherent. It provides a reliable data foundation for subsequent analysis and decision-making.

[0075] Furthermore, in a preferred embodiment of the present invention, the six-degree-of-freedom kinematic model of the target fishing boat is constructed, the marine environment of the current sea area is simulated according to the real-time marine environment information, and the navigation response analysis is performed in combination with the navigation information of the target fishing boat, specifically including:

[0076] Acquire structural information of the target fishing vessel, and build a digital twin model of the target fishing vessel based on the digital twin technology and the structural information of the target fishing vessel;

[0077] A six-degree-of-freedom kinematic model of the target fishing vessel is constructed based on the constructed digital twin model, including translational degrees of freedom and rotational degrees of freedom, wherein the translational degrees of freedom are sway, swing and heave, and the rotational degrees of freedom are roll, pitch and bow pitch;

[0078] The Pearson-Moscovich spectrum is used to describe irregular waves, and the linear wave theory is combined to simulate the velocity components of the wave speed in the x-axis and z-axis directions of the coordinate system to construct an ocean environment analysis model.

[0079] Acquire real-time ocean environment information, set initial simulation parameters and boundary conditions according to the real-time ocean environment information, perform numerical simulation using CFD software, and use a standard k-ε turbulence model to discretize and solve control equations to obtain ocean environment simulation information;

[0080] The navigation information of the target fishing boat is obtained, and combined with the sea environment simulation information, the six-degree-of-freedom kinematic model of the target fishing boat is input to simulate the navigation response of the target fishing boat under the current sea conditions to obtain the navigation response analysis information.

[0081] It should be noted that digital twin technology creates a "mirror" in a virtual environment by replicating all the key characteristics and behaviors of physical entities with high precision. The digital twin model of the target fishing vessel is constructed in combination with the structural information of the target fishing vessel. Next, the constructed digital twin model is used to further construct a six-degree-of-freedom kinematic model of the target fishing vessel to describe the movement of the fishing vessel in the marine environment, including three translational degrees of freedom (surge, sway, and heave) and three rotational degrees of freedom (roll, pitch, and bow). In order to more accurately simulate the marine environment in which the fishing vessel is located, the Pearson-Moscovitch spectrum is used to describe irregular waves. At the same time, the linear wave theory is combined to simulate the velocity components of the wave speed in the x-axis and z-axis directions of the coordinate system to construct a marine environment analysis model. Then, by obtaining real-time marine environment information, the initial simulation parameters and boundary conditions are set. Numerical simulations are performed using CFD software, and the standard k-ε turbulence model is used to control the discretization solution of the equation. CFD software can simulate the behavior of fluids under complex geometric shapes and flow conditions, and the k-ε turbulence model can better describe the turbulence phenomenon in the fluid. Finally, the navigation information of the target fishing boat and the sea environment simulation information are input into the six-degree-of-freedom kinematic model to simulate the navigation response of the fishing boat under the current sea conditions. Taking into account the dynamic characteristics of the fishing boat itself and the impact of the marine environment on the movement of the fishing boat, the navigation response analysis information is obtained.

[0082] It should be noted that the wave propagation equation is:

[0083]

[0084] Where E is the wave energy density, c g is the group velocity, S is the source term, and t is the time variable.

[0085] Further, in a preferred embodiment of the present invention, the navigation risk assessment is performed based on the navigation response analysis information to determine whether the current navigation strategy of the target fishing boat can safely pass through the target sea area. If not, the navigation capability information of the target fishing boat is obtained to analyze whether the target fishing boat has the navigation capability to safely pass through the current sea area, specifically including:

[0086] Acquire navigation response analysis information, and generate a navigation simulation response diagram of the target fishing vessel when it is sailing in the current sea area according to the navigation response analysis information;

[0087] Extracting the navigation response characteristics of the target fishing boat when sailing in the current sea area according to the navigation simulation response diagram, wherein the navigation response characteristics include the navigation angle change characteristics and the navigation force change characteristics, and obtaining the navigation response characteristic information;

[0088] Setting navigation hazard assessment indicators, and setting corresponding assessment weights for each assessment indicator, constructing navigation hazard assessment rules, and combining the navigation response characteristic information to assess the navigation hazard of the target fishing vessel passing through the current sea area, to obtain navigation hazard assessment information;

[0089] Determine whether the current navigation control parameters of the target fishing vessel can safely pass through the target sea area according to the navigation hazard assessment information; if not, obtain the navigation capability information of the target fishing vessel to analyze whether the target fishing vessel has the navigation capability to safely pass through the current sea area;

[0090] Acquire sea environment simulation information, set initial simulation parameters according to the navigation capability information of the target fishing vessel, simulate the navigation response under the change of the navigation control parameters of the fishing vessel through the six-degree-of-freedom kinematic model of the target fishing vessel, and conduct navigation hazard assessment;

[0091] The simulation parameter change range and the single change degree are preset, and iterative simulation is performed until the simulation parameter cannot continue to change or the navigation hazard assessment information indicates that it is safe to pass, thereby obtaining the first analysis information;

[0092] Determine whether the target fishing boat can safely pass through the current sea area after changing the navigation control parameters of the fishing boat according to the first analysis information; if the result of the determination is that the target fishing boat can safely pass through the current sea area, extract the corresponding navigation simulation parameters to generate a driving plan for recommendation;

[0093] If the judgment result is that it is not possible to safely pass through the current sea area, it means that the navigation capability of the target fishing boat is not able to safely pass through the target sea area, and an early warning message is generated to issue a navigation hazard warning.

[0094] It should be noted that the navigation simulation response diagram of the target fishing boat when it is sailing in the current sea area is generated through the navigation response analysis information. According to the navigation simulation response diagram, the navigation response characteristics of the target fishing boat when it is sailing in the current sea area are extracted, including the navigation angle change characteristics and the navigation force change characteristics, and the navigation response characteristic information is obtained. Further, the navigation hazard assessment index is set, and the corresponding assessment weight is set for each assessment index to construct the navigation hazard assessment rule. Combined with the extracted navigation response characteristic information, the passage safety of the target fishing boat in the current sea area is evaluated to obtain the navigation hazard assessment information, and it is judged whether the current navigation control parameters of the target fishing boat can safely pass through the target sea area. If the evaluation result shows that it cannot pass safely, the navigation capability information of the target fishing boat is further obtained to analyze whether it has the ability to pass safely through the current sea area. The initial simulation parameters are set according to the navigation capability information of the target fishing boat. The six-degree-of-freedom kinematic model of the fishing boat is used to simulate the navigation response under the change of the navigation control parameters, and the navigation hazard assessment is performed. Through the preset simulation parameter change range and the single change degree, iterative simulation is performed until the simulation parameters cannot continue to change or the navigation hazard assessment result shows that it can pass safely, thereby obtaining the first analysis information. According to the first analysis information, it is determined whether the target fishing boat can safely pass through the current sea area after changing the navigation control parameters of the fishing boat. If the judgment result shows that it can pass safely, the corresponding navigation simulation parameters are extracted, and a driving plan is generated and recommended. On the contrary, if the judgment result shows that it cannot pass safely, it indicates that the navigation capability of the target fishing boat is not enough to pass through the target sea area safely, and an early warning message is generated to warn of navigation dangers. Ensure that fishing boats can sail safely in complex and changing marine environments and avoid potential risks.

[0095] Further, in a preferred embodiment of the present invention, the setting of navigation hazard assessment indicators, setting corresponding assessment weights for each assessment indicator, constructing navigation hazard assessment rules, and assessing the navigation hazard of the target fishing boat passing through the current sea area in combination with the navigation response characteristic information specifically include:

[0096] Based on big data retrieval, various navigation hazard assessment instances are obtained, navigation hazard assessment indicators in each navigation hazard assessment instance are extracted, and the Pearson correlation coefficient between each assessment indicator and navigation hazard is calculated to form a Pearson correlation coefficient matrix;

[0097] Preset a Pearson correlation coefficient threshold, perform threshold processing on the data in the Pearson correlation coefficient matrix, set the data less than the threshold to zero, select a navigation hazard assessment index according to the Pearson correlation coefficient matrix after the threshold processing, and obtain navigation hazard assessment index information;

[0098] Based on the expert knowledge method, the impact score of each evaluation index is obtained according to the navigation hazard assessment index information, and the intuitive fuzzy analysis method is introduced to allocate subjective weights to each evaluation index, and the intuitive fuzzy evaluation matrix is ​​constructed according to the impact score.

[0099] Calculating the intuitionistic fuzzy entropy of each evaluation indicator according to the intuitionistic fuzzy evaluation matrix, calculating the intuitionistic fuzzy number of each evaluation indicator through the intuitionistic fuzzy entropy, assigning subjective weights to each evaluation indicator, and obtaining subjective weight information;

[0100] Objective weight allocation is performed based on the entropy weight method, a decision matrix is ​​constructed according to the navigation hazard assessment index information, the decision matrix is ​​standardized to obtain a standardized matrix, information entropy and information entropy redundancy of each assessment index are calculated according to the standardized matrix, objective weight calculation is performed, and objective weight information is obtained;

[0101] The navigation hazard assessment rules are constructed in combination with the subjective weight information and the objective weight information, and the navigation hazard of the target fishing boat passing through the current sea area is assessed based on the navigation response characteristic information to obtain navigation hazard assessment information.

[0102] It should be noted that various navigation hazard assessment examples are collected through big data retrieval. Including navigation hazard assessments in various situations such as different sea areas, different weather conditions, and different types of fishing vessels, it provides a rich data basis for subsequent analysis. Then, key navigation hazard assessment indicators such as wind speed, wave height, visibility, fishing vessel size, and navigation speed are extracted from the assessment examples. The degree of correlation between each assessment indicator and navigation hazard is further analyzed, the Pearson correlation coefficient is calculated, and the Pearson correlation coefficient matrix is ​​constructed. By presetting the Pearson correlation coefficient threshold, the Pearson correlation coefficient matrix is ​​threshold processed, and those assessment indicators with weak correlation with navigation hazard are eliminated, so as to select indicators with significant impact on navigation hazard assessment and obtain navigation hazard assessment indicator information. After determining the assessment indicators, the influence scores of each assessment indicator are obtained based on the expert knowledge method. These scores reflect the subjective judgment of experts on the importance of each assessment indicator in navigation hazard assessment. The intuitive fuzzy analysis method is introduced for subjective weight allocation. By constructing the intuitive fuzzy evaluation matrix and using the influence score to calculate the intuitive fuzzy entropy and intuitive fuzzy number of each assessment indicator, the subjective weight information of each assessment indicator is obtained. However, subjective judgment may be biased, so it is also necessary to combine objective data for weight allocation. Based on the entropy weight method, a decision matrix is ​​constructed according to the navigation hazard assessment index information, and the decision matrix is ​​standardized to eliminate the dimension effect. Subsequently, the information entropy and information entropy redundancy of each evaluation index are calculated using the standardized matrix, and then the objective weight of each evaluation index is allocated. Finally, the subjective weight information and the objective weight information are combined to construct the navigation hazard assessment rules. Combined with the navigation response characteristic information, the navigation hazard of the target fishing boat passing through the current sea area is evaluated, and the navigation hazard assessment information is obtained.

[0103] Furthermore, in a preferred embodiment of the present invention, when the navigation capability of the target fishing boat is not able to safely pass through the target sea area, the current navigation route is adjusted, and a navigation route adjustment plan is formulated to avoid danger, specifically including:

[0104] Acquire target fishing vessel structural information, define grid size according to the target fishing vessel structural information, and construct a grid environment map using GIS technology;

[0105] Acquire a vector electronic nautical chart of a target area, extract obstacle information according to the vector electronic nautical chart of the target area, and perform free space marking and non-free space marking on the grid environment map;

[0106] Extracting regional water depth data according to the vector electronic chart of the target area, using the spline function interpolation method to predict the water depth of unknown grid cells, constructing a cubic spline function, and presetting boundary conditions;

[0107] Obtaining the coordinates of the unknown grid cell, obtaining the water depth data of the neighboring grid cells according to the coordinates of the unknown grid cell, forming an interpolation interval of the unknown grid cell, and establishing a spline equation of the interpolation interval;

[0108] Solving the spline equation of the interpolation interval to obtain the spline coefficients and constructing a spline function corresponding to the target interpolation interval, predicting the water depth of the unknown grid unit, and marking the grid environment map to obtain a marked grid environment map;

[0109] The starting point of the route change is set according to the real-time position of the target fishing boat, the restriction conditions are set according to the original route and the turning ability of the fishing boat, the departure area is marked based on the detection range corresponding to the environmental monitoring equipment, and the ant colony algorithm is used to optimize the path;

[0110] The initial pheromone of the ant colony is preset, and each grid unit in the free space is taken as a node. The state transition probability of each node is calculated, and the avoidance path is obtained according to the state transition probability. The avoidance path is penalized by the set restriction conditions, and the candidate avoidance path information is obtained by iterative optimization.

[0111] Extracting water depth data of grid cells of each path according to the candidate avoidance path information, constructing a wading risk assessment rule based on the real-time wading depth of the target fishing boat, evaluating each candidate avoidance path, selecting the optimal avoidance path according to the evaluation result, generating a navigation route adjustment plan for risk avoidance, and performing real-time monitoring and risk assessment on the departure area;

[0112] If the target fishing boat determines through real-time monitoring and risk assessment that the departure area meets the conditions for passage during the process of danger avoidance, the preset avoidance path will be adjusted in real time.

[0113] It should be noted that when it is judged that the navigation capacity of the target fishing boat is not enough to safely pass through the target sea area, it is necessary to adjust the navigation route and formulate a navigation route adjustment plan to effectively avoid navigation hazards. First, the grid size in the subsequent analysis is defined by the structural information of the target fishing boat, and the grid environment map is constructed using the geographic information system (GIS) technology. Obstacle information is extracted from the vector electronic chart of the target area, marked on the grid environment map, and free space (i.e., obstacle-free area) and non-free space (i.e., area with obstacles) are distinguished. At the same time, the spline function interpolation method is used to predict the water depth of unknown grid cells. By constructing a cubic spline function and presetting reasonable boundary conditions, the water depth of unknown grid cells is predicted based on known water depth data, and then the grid environment map is marked in more detail. Before optimizing the navigation route, the real-time position of the fishing boat is set as the starting point of the navigation route change, and the restriction conditions are set based on the original route and the steering ability of the fishing boat. The original route is used to limit the avoidance route to not deviate from the original route direction, and the steering ability of the fishing boat is used to limit the excessive steering angle in the avoidance route. At the same time, the departure area is calibrated by the detection range of the environmental monitoring equipment, and the ant colony algorithm is used for path optimization. The initial pheromone is preset, and each grid unit in the free space is regarded as a node. By calculating the state transition probability of each node, a possible avoidance path is gradually constructed. In order to ensure the feasibility and safety of the path, the path is penalized according to the set restrictions, and the candidate avoidance path is obtained through iterative optimization. Next, the wading hazard assessment rules are constructed according to the real-time wading depth of the target fishing boat to avoid wading hazards in the avoidance route, and then each candidate path is evaluated to obtain the optimal avoidance path and generate a navigation route adjustment plan. Due to the limitations of the environmental detection equipment, only limited information about the area where the original route passes can be obtained. During the avoidance process, as the fishing boat moves, the detection area is constantly updated. At this time, real-time detection and hazard assessment are required to determine whether the updated detection area during the journey meets the traffic conditions, and then the avoidance route is adjusted in real time to ensure the safety of the fishing boat while reducing the avoidance consumption.

[0114] Figure 2 A flowchart of dangerous sea area avoidance analysis provided by an embodiment of the present invention;

[0115] like Figure 2 As shown, the present invention provides a dangerous sea area avoidance analysis flow chart, including:

[0116] S202, obtaining navigation information of the target fishing vessel and real-time marine environment information;

[0117] S204, performing a sea environment simulation on the current sea area according to the real-time ocean environment information, and performing a navigation response analysis in combination with the navigation information of the target fishing boat to obtain navigation response analysis information;

[0118] S206, performing navigation hazard assessment according to the navigation response analysis information, determining whether the current navigation strategy of the target fishing vessel can safely pass through the target sea area, and analyzing whether the navigation capability of the target fishing vessel can safely pass through the target sea area;

[0119] S208, when the navigation capability of the target fishing boat is not able to safely pass through the target sea area, the current navigation route is adjusted and a navigation route adjustment plan is formulated to avoid danger;

[0120] S210, obtaining the updated detection area during the danger avoidance process, performing navigation danger assessment, and if the updated detection area meets the traffic conditions, adjusting the avoidance path in real time.

[0121] In addition, in a fishing boat alarm method based on dynamic ocean environment simulation provided by the present invention, the following steps are also included:

[0122] If the target fishing boat can safely pass through the current sea area after the fishing boat navigation control parameters are changed, the corresponding navigation simulation parameters are extracted according to the first analysis information to generate a changed fishing boat driving plan;

[0123] Extracting features of the changed fishing boat driving plan, extracting navigation control parameters and estimated navigation distance of the changed plan, calculating the navigation time and navigation energy consumption of crossing the target sea area, and obtaining consumption information of the changed plan;

[0124] Obtaining a navigation route adjustment plan, extracting navigation control parameters and an estimated navigation distance of the avoidance route according to the navigation route adjustment plan, calculating the navigation time and navigation consumption of the avoidance target sea area, and obtaining consumption information of the avoidance plan;

[0125] Acquire the real-time energy reserve information of the target fishing vessel, calculate the remaining energy of the fishing vessel after the change plan and the avoidance plan are completed according to the change plan consumption information and the avoidance plan consumption information, and obtain the remaining energy information;

[0126] Obtaining navigation plan information, extracting next stop information according to the navigation plan information, and analyzing whether the remaining energy using the change plan or avoidance plan can reach the next stop in combination with the remaining energy information;

[0127] If the changed plan can reach the next stop, the fishing boat will continue to cross the target sea area according to the changed plan; if the avoidance plan can reach the next stop and the changed plan cannot reach the next stop, the fishing boat will continue to sail according to the navigation route adjustment plan;

[0128] If neither the change plan nor the avoidance plan can reach the next stop, the change plan and the avoidance plan are calculated based on the remaining energy information to determine the position of the original route after leaving the target sea area, and a plan is recommended.

[0129] It should be noted that when it is judged that the target fishing boat can safely pass through the current sea area after changing the navigation control parameters of the fishing boat, it means that the target fishing boat can safely cross the target sea area without changing the original route. However, changing the navigation control parameters of the fishing boat will change the navigation energy consumption of the fishing boat, thereby increasing the navigation cost, and may affect the navigation plan of the target fishing boat. At this time, the navigation costs of avoiding the target sea area and crossing the target sea area are analyzed, and the impact of the two schemes on the original navigation plan is judged. The optimal scheme is selected to reduce the impact on the original navigation plan.

[0130] Figure 3 A fishing boat alarm system 3 based on dynamic ocean environment simulation is provided in one embodiment of the present invention. The system comprises: a memory 31 and a processor 32. The memory 31 contains a fishing boat alarm method program based on dynamic ocean environment simulation. When the fishing boat alarm method program based on dynamic ocean environment simulation is executed by the processor 32, the following steps are implemented:

[0131] Acquire target fishing boat navigation information and real-time ocean environment information, and perform data preprocessing on the target fishing boat navigation information and real-time ocean environment information;

[0132] Constructing a six-degree-of-freedom kinematic model of the target fishing boat, simulating the marine environment of the current sea area according to the real-time marine environment information, and performing a navigation response analysis in combination with the navigation information of the target fishing boat to obtain navigation response analysis information;

[0133] Perform navigation hazard assessment based on the navigation response analysis information to determine whether the current navigation strategy of the target fishing vessel can safely pass through the target sea area. If not, obtain the navigation capability information of the target fishing vessel to analyze whether the target fishing vessel has the navigation capability to safely pass through the current sea area;

[0134] When the navigation capability of the target fishing vessel is not able to safely pass through the target sea area, the current navigation route is adjusted and a navigation route adjustment plan is formulated to avoid danger.

[0135] In the several embodiments provided in the present application, it should be understood that the disclosed devices and methods can be implemented in other ways. The device embodiments described above are only schematic. For example, the division of the units is only a logical function division. There may be other division methods in actual implementation, such as: multiple units or components can be combined, or can be integrated into another system, or some features can be ignored or not executed. In addition, the coupling, direct coupling, or communication connection between the components shown or discussed can be through some interfaces, and the indirect coupling or communication connection of the devices or units can be electrical, mechanical or other forms.

[0136] The units described above as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units; they may be located in one place or distributed on multiple network units; some or all of the units may be selected according to actual needs to achieve the purpose of the present embodiment.

[0137] In addition, all functional units in the embodiments of the present invention may be integrated into one processing unit, or each unit may be separately used as a unit, or two or more units may be integrated into one unit; the above-mentioned integrated units may be implemented in the form of hardware or in the form of hardware plus software functional units.

[0138] Those skilled in the art can understand that: all or part of the steps of implementing the above method embodiments can be completed by hardware related to program instructions, and the aforementioned program can be stored in a computer-readable storage medium. When the program is executed, it executes the steps of the above method embodiments; and the aforementioned storage medium includes: mobile storage devices, read-only memories (ROM, Read-Only Memory), random access memories (RAM, Random Access Memory), disks or optical disks, and other media that can store program codes.

[0139] Alternatively, if the above-mentioned integrated unit of the present invention is implemented in the form of a software function module and sold or used as an independent product, it can also be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the embodiment of the present invention can be essentially or partly reflected in the form of a software product that contributes to the prior art. The computer software product is stored in a storage medium and includes several instructions for a computer device (which can be a personal computer, a server, or a network device, etc.) to execute all or part of the methods described in each embodiment of the present invention. The aforementioned storage medium includes: various media that can store program codes, such as mobile storage devices, ROM, RAM, magnetic disks or optical disks.

[0140] The above is only a specific embodiment of the present invention, but the protection scope of the present invention is not limited thereto. Any person skilled in the art can easily think of changes or substitutions within the technical scope disclosed by the present invention, which should be included in the protection scope of the present invention. Therefore, the protection scope of the present invention should be based on the protection scope of the claims.

Claims

1. A fishing boat alarm method based on dynamic ocean environment simulation, characterized in that: include: Acquire target fishing boat navigation information and real-time ocean environment information, and perform data preprocessing on the target fishing boat navigation information and real-time ocean environment information; Constructing a six-degree-of-freedom kinematic model of the target fishing boat, simulating the marine environment of the current sea area according to the real-time marine environment information, and performing a navigation response analysis in combination with the navigation information of the target fishing boat to obtain navigation response analysis information; Perform navigation hazard assessment based on the navigation response analysis information to determine whether the current navigation strategy of the target fishing vessel can safely pass through the target sea area. If not, obtain the navigation capability information of the target fishing vessel to analyze whether the target fishing vessel has the navigation capability to safely pass through the current sea area; When the target fishing vessel's navigation capability is not able to safely pass through the target sea area, the current navigation route is adjusted and a navigation route adjustment plan is formulated to avoid danger; If the target fishing boat can safely pass through the current sea area after the fishing boat navigation control parameters are changed, the corresponding navigation simulation parameters are extracted according to the first analysis information to generate a changed fishing boat driving plan; Extracting features of the changed fishing boat driving plan, extracting navigation control parameters and estimated navigation distance of the changed plan, calculating the navigation time and navigation energy consumption of crossing the target sea area, and obtaining consumption information of the changed plan; Obtaining a navigation route adjustment plan, extracting navigation control parameters and an estimated navigation distance of the avoidance route according to the navigation route adjustment plan, calculating the navigation time and navigation consumption of the avoidance target sea area, and obtaining consumption information of the avoidance plan; Acquire the real-time energy reserve information of the target fishing vessel, calculate the remaining energy of the fishing vessel after the change plan and the avoidance plan are completed according to the change plan consumption information and the avoidance plan consumption information, and obtain the remaining energy information; Obtaining navigation plan information, extracting next stop information according to the navigation plan information, and analyzing whether the remaining energy using the change plan or avoidance plan can reach the next stop in combination with the remaining energy information; If the changed plan can reach the next stop, the fishing boat will continue to cross the target sea area according to the changed plan; if the avoidance plan can reach the next stop and the changed plan cannot reach the next stop, the fishing boat will continue to sail according to the navigation route adjustment plan; If neither the change plan nor the avoidance plan can reach the next stop, the change plan and the avoidance plan are calculated based on the remaining energy information to determine the position of the original route after leaving the target sea area, and a plan is recommended.

2. A fishing boat alarm method based on dynamic ocean environment simulation according to claim 1, characterized in that: The obtaining of the target fishing boat navigation information and the real-time ocean environment information and the data preprocessing of the target fishing boat navigation information and the real-time ocean environment information specifically include: Acquire the navigation information of the target fishing vessel based on the navigation monitoring equipment, wherein the navigation information of the target fishing vessel includes the real-time position information of the fishing vessel, the heading information of the fishing vessel, the speed information of the fishing vessel, the wading information of the fishing vessel and the route information of the fishing vessel; Acquire real-time ocean environment information, including wave information, wind direction and speed information, water flow speed information and regional meteorological information; Performing data cleaning on the target fishing boat navigation information and the real-time ocean environment information, and respectively calculating the data standard deviation of the target fishing boat navigation data stream and the real-time ocean environment data stream; The data standard deviation of the target fishing vessel navigation data stream and the real-time ocean environment data stream is judged against a preset standard deviation range, and the data standard deviation that is not within the preset standard deviation range is defined as an outlier, and the outlier is removed; The data points after outliers are removed from the target fishing vessel navigation data stream and the real-time ocean environment data stream are analyzed, and difference compensation is performed on the data points after outliers are removed to obtain preprocessing information.

3. A fishing boat alarm method based on dynamic ocean environment simulation according to claim 1, characterized in that: The six-degree-of-freedom kinematic model of the target fishing boat is constructed, the marine environment of the current sea area is simulated according to the real-time marine environment information, and the navigation response analysis is performed in combination with the navigation information of the target fishing boat, specifically including: Acquire structural information of the target fishing vessel, and build a digital twin model of the target fishing vessel based on the digital twin technology and the structural information of the target fishing vessel; A six-degree-of-freedom kinematic model of the target fishing vessel is constructed based on the constructed digital twin model, including translational degrees of freedom and rotational degrees of freedom, wherein the translational degrees of freedom are sway, swing and heave, and the rotational degrees of freedom are roll, pitch and bow pitch; The Pearson-Moscovich spectrum is used to describe irregular waves, and the linear wave theory is combined to simulate the velocity components of the wave speed in the x-axis and z-axis directions of the coordinate system to construct an ocean environment analysis model. Acquire real-time ocean environment information, set initial simulation parameters and boundary conditions according to the real-time ocean environment information, perform numerical simulation using CFD software, and use a standard k-ε turbulence model to discretize and solve control equations to obtain ocean environment simulation information; The navigation information of the target fishing boat is obtained, and combined with the sea environment simulation information, the six-degree-of-freedom kinematic model of the target fishing boat is input to simulate the navigation response of the target fishing boat under the current sea conditions to obtain the navigation response analysis information.

4. A fishing boat alarm method based on dynamic ocean environment simulation according to claim 1, characterized in that: The navigation risk assessment is performed according to the navigation response analysis information to determine whether the current navigation strategy of the target fishing boat can safely pass through the target sea area. If not, the navigation capability information of the target fishing boat is obtained to analyze whether the target fishing boat has the navigation capability to safely pass through the current sea area, specifically including: Acquire navigation response analysis information, and generate a navigation simulation response diagram of the target fishing vessel when it is sailing in the current sea area according to the navigation response analysis information; Extracting the navigation response characteristics of the target fishing boat when sailing in the current sea area according to the navigation simulation response diagram, wherein the navigation response characteristics include the navigation angle change characteristics and the navigation force change characteristics, and obtaining the navigation response characteristic information; Setting navigation hazard assessment indicators, and setting corresponding assessment weights for each assessment indicator, constructing navigation hazard assessment rules, and combining the navigation response characteristic information to assess the navigation hazard of the target fishing vessel passing through the current sea area, to obtain navigation hazard assessment information; Determine whether the current navigation control parameters of the target fishing vessel can safely pass through the target sea area according to the navigation risk assessment information; if not, obtain the navigation capability information of the target fishing vessel to analyze whether the target fishing vessel has the navigation capability to safely pass through the current sea area; Acquire sea environment simulation information, set initial simulation parameters according to the navigation capability information of the target fishing vessel, simulate the navigation response under the change of the navigation control parameters of the fishing vessel through the six-degree-of-freedom kinematic model of the target fishing vessel, and conduct navigation hazard assessment; The simulation parameter change range and the single change degree are preset, and iterative simulation is performed until the simulation parameter cannot continue to change or the navigation hazard assessment information indicates that it is safe to pass, thereby obtaining the first analysis information; Determine whether the target fishing boat can safely pass through the current sea area after changing the navigation control parameters of the fishing boat according to the first analysis information; if the result of the determination is that the target fishing boat can safely pass through the current sea area, extract the corresponding navigation simulation parameters to generate a driving plan for recommendation; If the judgment result is that it is not possible to safely pass through the current sea area, it means that the navigation capability of the target fishing boat is not able to safely pass through the target sea area, and an early warning message is generated to issue a navigation hazard warning.

5. A fishing boat alarm method based on dynamic ocean environment simulation according to claim 4, characterized in that: Said setting of navigation hazard assessment indicators, setting corresponding assessment weights for each assessment indicator, constructing navigation hazard assessment rules, and assessing the navigation hazard of the target fishing vessel passing through the current sea area in combination with the navigation response characteristic information specifically includes: Based on big data retrieval, various navigation hazard assessment instances are obtained, navigation hazard assessment indicators in each navigation hazard assessment instance are extracted, and the Pearson correlation coefficient between each assessment indicator and navigation hazard is calculated to form a Pearson correlation coefficient matrix; Preset a Pearson correlation coefficient threshold, perform threshold processing on the data in the Pearson correlation coefficient matrix, set the data less than the threshold to zero, select a navigation hazard assessment index according to the Pearson correlation coefficient matrix after the threshold processing, and obtain navigation hazard assessment index information; Based on the expert knowledge method, the impact score of each evaluation index is obtained according to the navigation hazard assessment index information, and the intuitive fuzzy analysis method is introduced to allocate subjective weights to each evaluation index, and the intuitive fuzzy evaluation matrix is ​​constructed according to the impact score. Calculating the intuitionistic fuzzy entropy of each evaluation indicator according to the intuitionistic fuzzy evaluation matrix, calculating the intuitionistic fuzzy number of each evaluation indicator through the intuitionistic fuzzy entropy, assigning subjective weights to each evaluation indicator, and obtaining subjective weight information; Objective weight allocation is performed based on the entropy weight method, a decision matrix is ​​constructed according to the navigation hazard assessment index information, the decision matrix is ​​standardized to obtain a standardized matrix, information entropy and information entropy redundancy of each assessment index are calculated according to the standardized matrix, objective weight calculation is performed, and objective weight information is obtained; The navigation hazard assessment rules are constructed in combination with the subjective weight information and the objective weight information, and the navigation hazard of the target fishing boat passing through the current sea area is assessed based on the navigation response characteristic information to obtain navigation hazard assessment information.

6. A fishing boat alarm method based on dynamic ocean environment simulation according to claim 1, characterized in that: When the navigation capability of the target fishing vessel is not able to safely pass through the target sea area, the current navigation route is adjusted and a navigation route adjustment plan is formulated to avoid danger, specifically including: Acquire target fishing vessel structural information, define grid size according to the target fishing vessel structural information, and construct a grid environment map using GIS technology; Acquire a vector electronic nautical chart of a target area, extract obstacle information according to the vector electronic nautical chart of the target area, and perform free space marking and non-free space marking on the grid environment map; Extracting regional water depth data according to the vector electronic chart of the target area, using the spline function interpolation method to predict the water depth of unknown grid cells, constructing a cubic spline function, and presetting boundary conditions; Obtaining the coordinates of the unknown grid cell, obtaining the water depth data of the neighboring grid cells according to the coordinates of the unknown grid cell, forming an interpolation interval of the unknown grid cell, and establishing a spline equation of the interpolation interval; Solving the spline equation of the interpolation interval to obtain the spline coefficients and constructing a spline function corresponding to the target interpolation interval, predicting the water depth of the unknown grid unit, and marking the grid environment map to obtain a marked grid environment map; The starting point of the route change is set according to the real-time position of the target fishing boat, the restriction conditions are set according to the original route and the turning ability of the fishing boat, the departure area is marked based on the detection range corresponding to the environmental monitoring equipment, and the ant colony algorithm is used to optimize the path; The initial pheromone of the ant colony is preset, and each grid unit in the free space is taken as a node. The state transition probability of each node is calculated, and the avoidance path is obtained according to the state transition probability. The avoidance path is penalized by the set restriction conditions, and the candidate avoidance path information is obtained by iterative optimization. Extracting water depth data of grid cells of each path according to the candidate avoidance path information, constructing a wading risk assessment rule based on the real-time wading depth of the target fishing boat, evaluating each candidate avoidance path, selecting the optimal avoidance path according to the evaluation result, generating a navigation route adjustment plan for risk avoidance, and performing real-time monitoring and risk assessment on the departure area; If the target fishing boat determines through real-time monitoring and risk assessment that the departure area meets the conditions for passage during the process of danger avoidance, the preset avoidance path will be adjusted in real time.

7. A fishing boat alarm system based on dynamic ocean environment simulation, characterized in that: The system comprises: a memory and a processor, wherein the memory contains a fishing boat alarm method program based on dynamic ocean environment simulation, and when the fishing boat alarm method program based on dynamic ocean environment simulation is executed by the processor, the following steps are implemented: Acquire target fishing boat navigation information and real-time ocean environment information, and perform data preprocessing on the target fishing boat navigation information and real-time ocean environment information; Constructing a six-degree-of-freedom kinematic model of the target fishing boat, simulating the marine environment of the current sea area according to the real-time marine environment information, and performing a navigation response analysis in combination with the navigation information of the target fishing boat to obtain navigation response analysis information; Perform navigation hazard assessment based on the navigation response analysis information to determine whether the current navigation strategy of the target fishing vessel can safely pass through the target sea area. If not, obtain the navigation capability information of the target fishing vessel to analyze whether the target fishing vessel has the navigation capability to safely pass through the current sea area; When the target fishing vessel's navigation capability is not able to safely pass through the target sea area, the current navigation route is adjusted and a navigation route adjustment plan is formulated to avoid danger; If the target fishing boat can safely pass through the current sea area after the fishing boat navigation control parameters are changed, the corresponding navigation simulation parameters are extracted according to the first analysis information to generate a changed fishing boat driving plan; Extracting features of the changed fishing boat driving plan, extracting navigation control parameters and estimated navigation distance of the changed plan, calculating the navigation time and navigation energy consumption of crossing the target sea area, and obtaining consumption information of the changed plan; Obtaining a navigation route adjustment plan, extracting navigation control parameters and an estimated navigation distance of the avoidance route according to the navigation route adjustment plan, calculating the navigation time and navigation consumption of the avoidance target sea area, and obtaining consumption information of the avoidance plan; Acquire the real-time energy reserve information of the target fishing vessel, calculate the remaining energy of the fishing vessel after the change plan and the avoidance plan are completed according to the change plan consumption information and the avoidance plan consumption information, and obtain the remaining energy information; Obtaining navigation plan information, extracting next stop information according to the navigation plan information, and analyzing whether the remaining energy using the change plan or avoidance plan can reach the next stop in combination with the remaining energy information; If the changed plan can reach the next stop, the fishing boat will continue to cross the target sea area according to the changed plan; if the avoidance plan can reach the next stop and the changed plan cannot reach the next stop, the fishing boat will continue to sail according to the navigation route adjustment plan; If neither the change plan nor the avoidance plan can reach the next stop, the change plan and the avoidance plan are calculated based on the remaining energy information to determine the position of the original route after leaving the target sea area, and a plan is recommended.

Images