Marine multi-source target fusion control method, device and equipment and computer readable storage medium

Abstract

The invention discloses an offshore multi-source target fusion control method, device and equipment and a computer readable storage medium. The offshore multi-source target fusion control method comprises the steps of performing target grade division on each data source input target according to a data source; sorting the targets in the data source input targets of the same level in sequence, performing fusion calculation on the targets in the data source input targets of the same level in sequence according to the sorting, and marking the fused targets; and fusing the high-level data source input target with the low-level data source input target. The multi-source targets at sea are graded, and the targets in the data source input targets of the same grade are sequenced in sequence, so that the targets of the same grade are fused with the data source input targets of other grades after being fused in sequence. The technical problems of low fusion efficiency and waste of computing resources possibly caused by data processing and analysis processes in related technologies are solved.

Description

Technical Field

[0001] The present application relates to the field of maritime target fusion, and specifically to a maritime multi-source target fusion control method, device, equipment and computer-readable storage medium. Background Art

[0002] In the marine environment, multi-source targets can be used to achieve goals such as maritime safety monitoring, maritime emergency rescue and marine environmental protection. Maritime multi-source targets refer to multiple target information obtained through different sensors or data sources in the marine environment, and multiple target information data will be input into the information system from multiple data sources, such as radar detection information, AIS information, Beidou information, optoelectronic detection information, etc. of the same target.

[0003] In the related art, during the data processing and analysis process, cross-fusion calculations are usually performed on data from multiple data sources, and repeated fusion calculations are also performed on data from the same data source. However, the above data processing and analysis process may lead to low fusion efficiency and waste of computing resources. Summary of the invention

[0004] The present application provides a method, device, equipment and computer-readable storage medium for fusion control of multi-source targets at sea, which can solve the technical problems in the prior art of using data source fusion calculation method, data processing and analysis process may lead to low fusion efficiency and waste of computing resources.

[0005] In a first aspect, an embodiment of the present application provides a method for fusion control of multi-source targets at sea, the method comprising: classifying the targets of each data source input into a target level according to the data source; sorting the targets of the same level of data source input targets in sequence, and fusing and calculating the targets of the same level of data source input targets in sequence according to the sorting, and marking the targets that have been fused; and using a high-level data source input target to fuse a low-level data source input target.

[0006] In combination with the first aspect, in one implementation, the targets in the data source input targets of the same level are sorted in sequence, and the targets in the data source input targets of the same level are merged in sequence according to the sorting, including: sorting the targets in the data source input targets of the same level according to the input time; selecting the current target, and starting from the current target, sequentially performing fusion calculations with subsequent targets.

[0007] In combination with the first aspect, in one embodiment, after selecting the current target and sequentially fusing the current target with subsequent targets, it includes: traversing the current target in a cyclical order according to a set number of fusion cycles, and marking each target that has been fused after the cyclical order traversal is completed.

[0008] In combination with the first aspect, in one embodiment, after the target is traversed in circular order according to the set number of fusion cycles and each target fused after the circular order traversal is completed is marked, it includes: continuing the circular order traversal of the next cycle, marking the targets in the previous circular order traversal, and unmarking the targets that cannot be fused in this round.

[0009] In combination with the first aspect, in one embodiment, after the fused targets are marked, it includes: respectively obtaining unmarked targets in the data source input targets of each level, and obtaining the current target in the high-level data source input target; using the current target in the high-level data source input target to fuse and calculate with the unmarked targets in the low-level data source input targets in sequence, and fusing and calculating the unmarked targets in the high-level data source input targets with the unmarked targets in the low-level data source input targets in sequence.

[0010] In combination with the first aspect, in one embodiment, the present target in the high-level data source input target is sequentially fused and calculated with the unmarked targets in the low-level data source input target, including: the present target in the high-level data source input target is sequentially fused and calculated with each target in the low-level data source input target; identifying whether each target in the low-level data source input target is marked, if so, skipping the marked target, otherwise, fusion calculation with the unmarked target.

[0011] In combination with the first aspect, in one embodiment, the selecting of the present target and sequentially fusing calculations with subsequent targets starting from the present target includes: obtaining correlation data in the input target of the data source of the corresponding level, sequentially traversing subsequent targets starting from the present target, and using the correlation data to perform fusing calculations on the present target and subsequent targets.

[0012] In a second aspect, an embodiment of the present application provides an offshore multi-source target fusion device, which includes: a level division module, which is used to divide the target level of each data source input target according to the data source; a target sorting module, which is used to sort the targets of the same level of data source input targets in sequence, and fuse and calculate the targets of the same level of data source input targets in sequence according to the sorting, and mark the targets that have been fused; a target fusion module, which is used to use a high-level data source input target to fuse a low-level data source input target.

[0013] In a third aspect, an embodiment of the present application provides an offshore multi-source target fusion device, comprising a processor, a memory, and an offshore multi-source target fusion program stored in the memory and executable by the processor, wherein when the offshore multi-source target fusion program is executed by the processor, the steps of the offshore multi-source target fusion method described above are implemented.

[0014] In a fourth aspect, an embodiment of the present application provides a computer-readable storage medium, on which is stored an offshore multi-source target fusion program, wherein when the offshore multi-source target fusion program is executed by a processor, the steps of the offshore multi-source target fusion method as described above are implemented.

[0015] The beneficial effects brought by the technical solution provided in the embodiments of the present application include: By dividing the multi-source targets at sea into levels and sorting the targets in the data source input targets of the same level in sequence, the targets of the same level are fused in sequence and then fused with the data source input targets of other levels. This solves the technical problem that the data processing and analysis process in related technologies may lead to low fusion efficiency and waste of computing resources. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 This is a flow chart of an embodiment of a method for fusion of multi-source targets at sea of ​​the present application; Figure 2 This is a schematic diagram of the fusion between AIS targets in this application; Figure 3 This is a schematic diagram of the AIS target fusion Radar target for this application; Figure 4 This is a schematic diagram of the fusion between Radar targets in this application; Figure 5 This is a schematic diagram of the fusion priority of AIS targets and Radar targets for this application. DETAILED DESCRIPTION

[0017] In order to enable those skilled in the art to better understand the solution of the present application, the technical solution in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0018] In order to make the objectives, technical solutions and advantages of the present application clearer, the implementation methods of the present application will be further described in detail below with reference to the accompanying drawings.

[0019] In a first aspect, an embodiment of the present application provides a method for offshore multi-source target fusion control.

[0020] In one embodiment, referring to Figure 1 , Figure 1 This is a flow chart of the first embodiment of the offshore multi-source target fusion control method of the present application. Figure 1 As shown, the offshore multi-source target fusion control method includes: S1: According to the data source, each data source is input into the target for target level classification. It should be understood that the data source of maritime target information can be from radar detection information, AIS information, Beidou information, optoelectronic detection information, etc. The data source input target level classification of various information can be set arbitrarily.

[0021] S2: Sort the targets in the data source input targets of the same level in sequence, and fuse and calculate the targets in the data source input targets of the same level in sequence according to the sorting, and mark the targets that have completed the fusion. Specifically, the data source input targets of the same level can be stored first, and the targets in the stored data source input targets are sorted according to the time when they were first input into the system. The targets that appear first are regarded as the top of the target stack, and the targets that appear later are regarded as the bottom of the target stack. Furthermore, it can be set that the targets that appear first in the system have a high fusion level, and the targets that appear later have a low fusion level. Preferably, the update and deletion of the target data during the sorting period does not affect the front-to-back relationship between the targets that have completed the sorting and other targets in the stack, and the data source input targets of different levels can be stored separately.

[0022] S3: Utilize the high-level data source input target to fuse the low-level data source input target. In the embodiment of the present application, only the high-level data source input target can be utilized to fuse the low-level data source input target, and vice versa, the fusion calculation cannot be performed.

[0023] In this embodiment, the multi-source targets at sea are divided into levels, and the targets in the data source input targets of the same level are sorted in sequence, so that the targets of the same level are fused in sequence and then fused with data source input targets of other levels. At this time, the targets that have been marked in the data source input targets of the same level can reduce the steps of subsequent repeated fusion calculations, thereby improving the fusion efficiency and solving the technical problem that the data processing and analysis process in the related technology may lead to low fusion efficiency and waste of computing resources.

[0024] Further, in one embodiment, the targets in the data source input targets of the same level are sorted in sequence, and the targets in the data source input targets of the same level are sequentially merged according to the sorting, including: sorting the targets in the data source input targets of the same level according to the input time; selecting the current target, and sequentially performing fusion calculations with subsequent targets starting from the current target, and the current target can be regarded as the main target in the fusion process, and after the targets in the data source input targets of the same level are arranged in sequence, the target at the top of the target stack is selected as the main target, and the targets arranged behind the main target are the subsequent targets, and the main target is used to sequentially merge and calculate with the subsequent targets arranged thereafter, and if the two targets can be merged, the merged target can be marked. If the main target in a fusion process cannot be merged with a certain target, the target that cannot be merged can be used as the main target in the next fusion calculation, and the fusion calculation process with other unmarked targets is repeated.

[0025] In this embodiment, by sorting the targets in the input target of the same level of data source in sequence, and merging the targets according to the sorting, the targets marked in the fusion process do not need to be repeatedly fused, thus saving the target information processing time and solving the technical problem in the related technology that repeated data will waste a lot of storage resources.

[0026] Furthermore, in one embodiment, after selecting the current target and sequentially fusing the current target with subsequent targets, it may include: traversing the current target in a loop sequence according to a set number of fusion cycles, marking each target that has been fused after the loop sequence traversal is completed. In an embodiment of the present application, the completion of a set number of fusion cycles for each target in the data source input target of the same level may be regarded as one round. It should be understood that the target is a dynamic process in the fusion system, and target fusion is a repetitive process. Each fusion calculation performed on all targets in the system is a fusion round. At this time, each round of fusion calculation process ensures that only one fusion calculation is performed between any targets, and the fused targets will be marked to avoid unnecessary fusion calculations.

[0027] In this embodiment, by setting the number of cycles, each target in the data source input target of the same level can be marked after multiple cycles of fusion when fusion is performed, so as to enhance the accuracy of the target. In some other embodiments, the accuracy of the fusion result can also be enhanced by setting the time of a round of target fusion. If the fusion calculation time of the target is not reached during the re-fusion, the fusion calculation of the target can be skipped, which solves the problem in the related art that the number of fusions of each target is small and the result may deviate greatly from the actual result.

[0028] Furthermore, in one embodiment, after the target is traversed in circular order according to the set number of fusion cycles and each target that is fused after the circular order traversal is completed is marked, it includes: continuing the circular order traversal of the next cycle, marking the target in the previous round of circular order traversal, and canceling the mark of the target that cannot be fused in this round, that is, fusion is a continuous process. When the target marked in the previous round does not continue to be fused in the next round, it is determined that the target and the current target are not the same real target, and the direct fusion relationship between the two targets is canceled.

[0029] In this embodiment, through multiple rounds of fusion calculations, it can be more accurately identified that the current target is not the same real target, further saving fusion time and solving the problem in related technologies that the target data information before fusion in the information system is huge and the fusion process is inefficient.

[0030] Furthermore, in one embodiment, after the fusion-completed targets are marked, the following may be included: respectively obtaining unmarked targets in the data source input targets of each level, and obtaining the present target in the high-level data source input target, where the present target may be the main target; using the present target in the high-level data source input target to sequentially fuse and calculate with the unmarked targets in the low-level data source input targets, and the unmarked targets in the high-level data source input targets to sequentially fuse and calculate with the unmarked targets in the low-level data source input targets, that is, the main target in the high-level data source input target may be sequentially calculated and fused with the unmarked targets in the low-level data source input targets.

[0031] In this embodiment, by dividing a variety of different data source input targets into certain levels, a high-level data source input target is fused with a low-level data source input target, which can save fusion time and solve the problem in related technologies that due to the clutter of different data source input targets, repeated fusion calculations may occur during the fusion process for multiple targets, reducing the accuracy of the results and reducing the fusion efficiency.

[0032] Further, in one embodiment, the use of the current target in the high-level data source input target to fuse and calculate with the unmarked targets in the low-level data source input targets in sequence may include: using the current target in the high-level data source input target to fuse and calculate with each target in the low-level data source input targets in sequence; identifying whether each target in the low-level data source input target is marked, and if so, skipping the marked target, and if not, fusing and calculating with the unmarked target, that is, in the process of fusing the high-level data source input target with the low-level data source input target, each main target in the high-level data source input target will identify each target in all the low-level data source input targets, but during the identification process, if it is identified that the target has been marked, the current fusion calculation of the target can be skipped.

[0033] Furthermore, in one embodiment, the selection of the current target and sequentially performing fusion calculations with subsequent targets starting from the current target includes: obtaining correlation data in the data source input target of the corresponding level, sequentially traversing the subsequent targets starting from the current target, and using the correlation data to perform fusion calculations on the current target and the subsequent targets. In this embodiment, by obtaining correlation data in the data source input target of the corresponding level, a certain fusion range can be given to the current target, so that targets not within the range do not need to be fused and calculated, further increasing the fusion efficiency.

[0034] Further, the fusion level of the same-source target data is first set. The embodiment of the present application sets two types of data sources for illustration. The target data will be input into the target fusion system from two data sources, AIS and radar, namely, AIS data source and radar data source, and the corresponding targets are AIS targets and Radar targets respectively. At this time, the AIS target fusion level is set to 1, and the Radar target fusion level is set to 2, namely, the AIS target fusion level is higher than the Radar target fusion level. Before the AIS target and the Radar target are fused with each other, they will be fused in their respective fusion systems to mark the targets that are fused in the data source input targets of the same level, and the embodiment of the present application is set to the target fusion level of the first target that appears in the system among the data source input targets of the same level is high, and the fusion level of the later target is low, that is, they are sorted according to the time of first entering the system, and the target that enters the system first has a high fusion level.

[0035] Combined with the data source fusion level, the fusion logic in the target fusion system now has three ordered steps: a. AIS target and AIS target fusion This process means that the AIS data information of the same target will be input into the fusion system from multiple AIS equipment base stations, so that there will be multiple AIS data information of the target in the fusion system, and these data need to be fused during fusion.

[0036] b. AIS target and radar target fusion This process refers to the process of fusing the AIS data and radar data of the same target in the fusion system.

[0037] c. Radar target and Radar target fusion.

[0038] This process means that the same target will be detected by multiple radar sites and the generated radar target data will be input into the fusion system. In this way, there will be multiple Radar target data information of the target in the fusion system, and these data need to be fused during fusion.

[0039] Specifically, the AIS target and the AIS target fusion steps may be: Sequentially traverse the AIS target storage stack; if the target mark is fused, skip the current fusion calculation of the target, and if the fusion calculation time of the target has not been reached, skip the current fusion calculation of the target; traverse the target stack starting from the current target to find the AIS target with the same MMSI within the fusion range that has not been fused, and the MMSI in the embodiment of the present application is the relevant target data of the AIS target; the identified AIS target can be fused with the current target, and the fused AIS target information is recorded in the current AIS target, and the fused AIS target itself is marked as fused; cancel the fused mark of the target that was marked as fused in the previous round and cannot be fused in this round.

[0040] See also Figure 2 As shown, when the A0 target is fused and calculated, the fused target Ax will be marked and fused; when the A1 target is fused and calculated, Ax is identified as already marked and fused, and the fusion calculation of the Ax target will be skipped; when the Ax target is fused and calculated, the identified target is already marked and fused, and the fusion calculation process will be skipped; when the Ay target is fused and calculated, the target is searched downwards and the fused target Am will be marked and fused; when the Am target is fused and calculated, it is found that it has been marked and fused, and the fusion calculation process will be skipped. 1 and 2 in the figure are successfully fused targets.

[0041] Furthermore, the steps of fusing the AIS target and the Radar target may be: Sequentially traverse the AIS target storage stack; if the target mark is merged by other AIS targets, skip the current fusion calculation of the target; if the fusion calculation time of the target has not been reached, skip the current fusion calculation of the target; traverse the Radar target storage stack to find the Radar target that has not been merged by other AIS targets and is within the fusion range; it should be noted that here only judge whether it has not been merged by other AIS targets. If it is merged by other Radar targets, it can still be merged by AIS targets, because the AIS target fusion level is high, and the AIS target can break the fusion relationship between Radar targets; the identified Radar target can be merged by the current AIS target, and the merged Radar target information is recorded in the current AIS target, and the Radar target itself is marked as merged; cancel the merged mark of the Radar target that was marked as merged in the previous round and cannot be merged in this round.

[0042] join Figure 3 As shown in the figure, when the A0 target is fused with the Radar target, no radar target that can be fused is found; when the A1 target is fused with the Radar target, it is fused with the R1 target, and the R1 target will be marked as fused; when the Ax target is fused with the Radar target, the fusion calculation process of the R1 target will be skipped; when the Ay target is fused with the Radar target, the fusion calculation process of the R1 target will be skipped, and it will be fused with the Rx target at the same time, and the Rx target will be marked as fused; when the subsequent AIS target is fused with the Radar target, the fusion calculation process of the R1, Rx and other targets will be skipped; Figures 3 and 4 show that the AIS target is successfully fused with the Radar target.

[0043] Furthermore, the Radar target and Radar target fusion steps may be: Sequentially traverse the Radar target storage stack; if the target is marked as fused, skip the current fusion calculation of the target; if the fusion calculation time of the target has not been reached, skip the current fusion calculation of the target; traverse the target storage stack from the current target to find the Radar target that is not marked as fused and is within the fusion range; the identified Radar target can be fused with the current target, and the fused Radar target information is recorded in the current Radar target, and the Radar target itself is marked as fused; cancel the fused mark of the Radar target that was marked as fused in the previous round and cannot be fused in this round.

[0044] For further information, see Figure 4As shown, when the R0 target is fused and calculated, the fused target Rm is marked and fused; when the R1 target is fused and calculated, the identification is marked and fused, and the fusion calculation process is skipped; when the Rx target is fused and calculated, the identification is marked and fused, and the fusion calculation process is skipped; when the Ry target is fused and calculated, the fused target Rn is marked and fused; when the Rm target is fused and calculated, the identification is marked and fused, and the fusion calculation process is skipped; when the Rn target is fused and calculated, the identification is marked and fused, and the fusion calculation process is skipped; 5 and 6 in the figure represent successfully fused Radar targets.

[0045] See also Figure 5 As shown in FIG. 1 , the fusion priority of AIS target and Radar target can be reflected in that the newly appeared As target may be fused with Ry or Rn target, and the previous fusion relationship of Ry and Rn will be released.

[0046] The embodiment of the present application stores different source target data separately according to the data source type, and divides the fusion level at the same time. A high-level target merges with a low-level target, otherwise the fusion calculation cannot be performed. In addition, the fusion level of the same source target data is divided according to the time relationship of their appearance in the system. The fusion level of the target that appears first is high, and the fusion level of the target that appears later is low. The target that appears first can perform fusion calculation on the target that appears later, otherwise the fusion calculation cannot be performed, and the source target with a high fusion level can break the fusion relationship between the source targets with a low fusion level. During the fusion process, the fusion order between the targets is controlled according to the target fusion level, so that no repeated fusion calculation is performed between the two targets, and there is no need to maintain the fusion relationship between the targets separately, so as to achieve the goal of simplifying the entire target fusion logic and improving the target fusion efficiency.

[0047] In a second aspect, an embodiment of the present application further provides an offshore multi-source target fusion device, the offshore multi-source target fusion device comprising: a level division module, the level division module is used to divide the target level of each data source input target according to the data source; a target sorting module, the target sorting module is used to sort the targets of the same level of data source input targets in sequence, and fuse and calculate the targets of the same level of data source input targets in sequence according to the sorting, and mark the targets that have been fused; a target fusion module, the target fusion module is used to use a high-level data source input target to fuse a low-level data source input target.

[0048] Among them, the functional implementation of each module in the above-mentioned offshore multi-source target fusion device corresponds to the steps in the above-mentioned offshore multi-source target fusion method embodiment, and its functions and implementation processes are no longer repeated here.

[0049] In a third aspect, an embodiment of the present application provides an offshore multi-source target fusion device, which may be a personal computer (PC), a laptop computer, a server, or other device with data processing capabilities.

[0050] In an embodiment of the present application, an offshore multi-source target fusion device may include a processor, a memory, a communication interface, and a communication bus.

[0051] The communication bus may be of any type and is used to interconnect the processor, the memory, and the communication interface.

[0052] Communication interfaces include input / output (I / O) interfaces, physical interfaces, and logical interfaces, which are used to interconnect devices within the offshore multi-source target fusion device, and interfaces used to interconnect the offshore multi-source target fusion device with other devices (such as other computing devices or user devices). Physical interfaces can be Ethernet interfaces, optical fiber interfaces, ATM interfaces, etc.; user devices can be display screens (Display), keyboards (Keyboard), etc.

[0053] The memory can be various types of storage media, such as random access memory (RAM), read-only memory (ROM), non-volatile RAM (NVRAM), flash memory, optical storage, hard disk, programmable ROM (PROM), erasable PROM (EPROM), electrically erasable PROM (EEPROM), etc.

[0054] The processor may be a general-purpose processor, and the general-purpose processor may call the offshore multi-source target fusion program stored in the memory and execute the offshore multi-source target fusion method provided in the embodiment of the present application. For example, the general-purpose processor may be a central processing unit (CPU). The method executed when the offshore multi-source target fusion program is called may refer to the various embodiments of the offshore multi-source target fusion method of the present application, and will not be repeated here.

[0055] In a fourth aspect, an embodiment of the present application also provides a computer-readable storage medium.

[0056] The computer-readable storage medium of the present application stores an offshore multi-source target fusion program, wherein when the offshore multi-source target fusion program is executed by a processor, the steps of the offshore multi-source target fusion method as described above are implemented.

[0057] Among them, the method implemented when the offshore multi-source target fusion program is executed can refer to the various embodiments of the offshore multi-source target fusion method of the present application, and will not be repeated here.

[0058] It should be noted that the serial numbers of the above-mentioned embodiments of the present application are only for description and do not represent the advantages or disadvantages of the embodiments.

[0059] The terms "including" and "having" and any variations thereof in the specification and claims of this application and the above-mentioned drawings are intended to cover non-exclusive inclusions. For example, a process, method, system, product or device that includes a series of steps or units is not limited to the listed steps or units, but optionally includes steps or units that are not listed, or optionally includes other steps or units inherent to these processes, methods, products or devices. The terms "first", "second" and "third" are used to distinguish different objects, etc., and do not represent a sequence, nor do they limit "first", "second" and "third" to different types.

[0060] In the description of the embodiments of the present application, "exemplary", "for example" or "for example" are used to indicate examples, illustrations or descriptions. Any embodiment or design described as "exemplary", "for example" or "for example" in the embodiments of the present application should not be interpreted as being more preferred or more advantageous than other embodiments or designs. Specifically, the use of words such as "exemplary", "for example" or "for example" is intended to present related concepts in a specific way.

[0061] In the description of the embodiments of the present application, unless otherwise specified, “ / ” means or, for example, A / B can mean A or B; the “and / or” in the text is merely a description of the association relationship of associated objects, indicating that three relationships may exist, for example, A and / or B can mean: A exists alone, A and B exist at the same time, and B exists alone. In addition, in the description of the embodiments of the present application, “multiple” refers to two or more than two.

[0062] In some processes described in the embodiments of the present application, multiple operations or steps that appear in a specific order are included, but it should be understood that these operations or steps may not be executed in the order in which they appear in the embodiments of the present application or in parallel, and the sequence number of the operation is only used to distinguish the different operations, and the sequence number itself does not represent any execution order. In addition, these processes may include more or fewer operations, and these operations or steps may be executed in sequence or in parallel, and these operations or steps may be combined.

[0063] Through the description of the above implementation methods, those skilled in the art can clearly understand that the above-mentioned embodiment methods can be implemented by means of software plus a necessary general hardware platform, and of course by hardware, but in many cases the former is a better implementation method. Based on such an understanding, the technical solution of the present application is essentially or the part that contributes to the prior art can be embodied in the form of a software product, which is stored in a storage medium (such as ROM / RAM, disk, CD) as described above, and includes a number of instructions for a terminal device to execute the methods described in each embodiment of the present application.

[0064] The above are only preferred embodiments of the present application, and are not intended to limit the patent scope of the present application. Any equivalent structure or equivalent process transformation made using the contents of the present application specification and drawings, or directly or indirectly applied in other related technical fields, are also included in the patent protection scope of the present application.

Claims

1. A method for fusion control of multi-source targets at sea, characterized in that: The offshore multi-source target fusion control method comprises: According to the data source, each data source is input into the target to classify the target; The targets among the data sources inputted at the same level are sorted in sequence, and the targets among the data sources inputted at the same level are fused and calculated in sequence according to the sorting, and the targets that have completed fusion are marked; Use high-level data source input targets to fuse low-level data source input targets.

2. The offshore multi-source target fusion control method according to claim 1, characterized in that: The step of sequentially sorting the targets among the data source input targets of the same level, and sequentially fusing the targets among the data source input targets of the same level according to the sorting includes: Sort the targets among the data sources with the same level of input into the target by input time; Select this target and start the fusion calculation with subsequent targets in sequence from this target.

3. The offshore multi-source target fusion control method according to claim 2, characterized in that: After selecting the current target and sequentially performing fusion calculations with subsequent targets starting from the current target, the following steps are included: According to the set number of fusion cycles, the target is traversed in a loop sequence, and each target fused after the loop sequence traversal is completed is marked.

4. The offshore multi-source target fusion control method according to claim 3, characterized in that: After the target is traversed in a loop sequence according to the set number of fusion cycles, and each target fused after the loop sequence traversal is completed is marked, the method includes: The loop order traversal that continues for the next round of loops will mark the target in the previous round of loop order traversal, and unmark the target that cannot be merged in this round.

5. The offshore multi-source target fusion control method according to claim 2, characterized in that: After marking the target to be fused, the following steps are performed: Respectively obtain the unmarked targets in the data source input targets of each level, and obtain the current target in the high-level data source input targets; The target among the high-level data source input targets is sequentially fused and calculated with the unlabeled targets among the low-level data source input targets, and the unlabeled targets among the high-level data source input targets are sequentially fused and calculated with the unlabeled targets among the low-level data source input targets.

6. The offshore multi-source target fusion control method according to claim 5, characterized in that: The method of fusing the target in the high-level data source input target with the unlabeled target in the low-level data source input target in sequence comprises: Utilize the current target in the high-level data source input target to merge and calculate with each target in the low-level data source input target in turn; Identify whether each target in the low-level data source input target is marked. If so, skip the marked target. If not, merge and calculate with the unmarked target.

7. The offshore multi-source target fusion control method according to claim 2, characterized in that: The selecting of the current target and sequentially performing fusion calculations with subsequent targets starting from the current target includes: Obtain the correlation data in the data source input target of the corresponding level, traverse the subsequent targets sequentially starting from this target, and use the correlation data to perform fusion calculations on this target and subsequent targets.

8. A multi-source target fusion device at sea, characterized in that: The offshore multi-source target fusion device comprises: A level classification module, the level classification module is used to classify the target by inputting each data source into the target according to the data source; A target sorting module, which is used to sort the targets in the target with the same level of data source input in sequence, and to fuse and calculate the targets in the target with the same level of data source input in sequence according to the sorting, and mark the targets that have been fused; The target fusion module is used to fuse the low-level data source input target with the high-level data source input target.

9. A marine multi-source target fusion device, characterized in that: The offshore multi-source target fusion device includes a processor, a memory, and an offshore multi-source target fusion program stored in the memory and executable by the processor, wherein when the offshore multi-source target fusion program is executed by the processor, the steps of the offshore multi-source target fusion method as described in any one of claims 1 to 7 are implemented.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores an offshore multi-source target fusion program, wherein when the offshore multi-source target fusion program is executed by a processor, the steps of the offshore multi-source target fusion method according to any one of claims 1 to 7 are implemented.

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