Ship monitoring system based on AIS data and marine hydrological data

Abstract

The invention relates to the field of ship navigation monitoring, and provides a ship monitoring system based on AIS data and marine hydrological data, and the system comprises a model unit which employs an expert scoring method to construct a first judgment matrix of each water area for navigation safety score and a second judgment matrix of each safety factor for each water area. A calculation unit respectively calculates a first weight vector of the first judgment matrix and a second weight vector of the second judgment matrix; the factor scoring module is used for acquiring AIS data and marine hydrological data when the ship passes through the water area, and performing safety factor extraction and grading scoring on the AIS data and the marine hydrological data to obtain a safety score matrix of each safety factor in each water area; and the operation feedback module performs calculation according to the first weight vector, the second weight vector and the safety score matrix to obtain a navigation safety score. According to the invention, knowledge quantification of specialists in special fields is realized, and monitoring of ship navigation safety is realized by combining the weight vector of the analytic hierarchy process.

Description

Technical Field

[0001] The present invention relates to the field of ship navigation safety monitoring, and in particular to a ship monitoring system based on AIS data and oceanographic data. Background Art

[0002] With the opening of the very high frequency communication of the ship automatic identification system (AIS) and the mandatory installation of its transceiver equipment, as well as the commercial satellite AIS data services provided by the US Orbital Communications System (ORBCOMM) and Canada's ExactEarth, AIS data acquisition has become more convenient, making it easier to obtain massive near-shore and offshore ship trajectory data. The ship trajectory data in AIS data is a typical spatiotemporal big data, which contains ship behavior pattern information that governments and commercial companies are concerned about, such as ship spatiotemporal distribution, ship maneuvering behavior characteristics, ship traffic flow characteristics and ship customary route distribution characteristics, route meteorological data, route ocean current data, etc. The mining of ship behavior characteristics based on AIS data has become a research hotspot in the field of spatiotemporal big data at home and abroad. The detection of abnormal behavior of ships in sensitive waters is an important part of the national marine security strategy. It can detect and warn potential threatening behaviors such as illegal operations, fishing, mapping and reconnaissance in advance, and provide support for subsequent response and disposal.

[0003] Based on AIS data, we can not only model and monitor the normal behavior of ships, but also summarize and generalize the abnormal behavior of ships. This requires close collaboration and cooperation among practitioners, technicians and scientific research institutions in special fields.

[0004] Therefore, how to quantify the knowledge of experts in special fields so that the ship monitoring model can combine different waters and different types of AIS data is a technical problem that needs to be solved. Summary of the invention

[0005] To this end, the present invention provides a ship monitoring system based on AIS data and ocean hydrological data. By adopting an expert scoring method to construct a judgment matrix of a hierarchical analysis method, the knowledge of experts in special fields is quantified, so that the monitoring model can be more in line with the experience and common sense of the experts; by drawing on the idea of ​​a hierarchical analysis method (the calculation process of the navigation safety score obtained by the hierarchical analysis method is different from that of the conventional hierarchical analysis method), the weight vector of the hierarchical analysis method and the safety score matrix based on AIS data and ocean hydrological data are combined to jointly calculate the navigation safety score of the ship considering the characteristics of multiple waters, so that the navigation safety level of the ship can be accurately monitored.

[0006] To achieve the above object, the present invention proposes a ship monitoring system based on AIS data and ocean hydrological data, including a judgment matrix module, a factor scoring module and an operation feedback module;

[0007] The judgment matrix module includes a model unit and a calculation unit. The model unit carries a model based on the hierarchical analysis method. The target layer of the model is the navigation safety score, the criterion layer is multiple water areas, and the solution layer is the safety factor. The model obtains a first judgment matrix of each water area for the navigation safety score and a second judgment matrix of each safety factor for each water area by using the expert scoring method. The calculation unit calculates a first weight vector of the first judgment matrix and a second weight vector of the second judgment matrix respectively.

[0008] The factor scoring module is used to obtain AIS data and oceanographic data of ships passing through the waters, extract and grade safety factors from the AIS data and oceanographic data, and obtain a safety score matrix for each safety factor in each water.

[0009] The operation feedback module calculates a navigation safety score according to the first weight vector, the second weight vector and the safety score matrix, and the navigation safety score is used to monitor the navigation safety level of routes in multiple waters.

[0010] Furthermore, the calculation formula of the navigation safety score is:

[0011] A=W A1 B1+W A2 B2+…+W Ai B i ;

[0012] Where A is the navigation safety score, W A1 To W Ai is the first weight vector, B1 to B i The safety scores from the first water area to the i-th water area;

[0013] Among them, the safety scores B1 to B i The calculation formula is:

[0014]

[0015] In the formula, B1 to B i is the safety score from the first water area to the i-th water area, W B11 To W B1j is the element of the component vector belonging to the first water area in the second weight vector, W B21 To W B2j is the element of the component vector belonging to the second water area in the second weight vector, W Bi1 To W Bij is the element of the component vector belonging to the ith water area in the second weight vector, C 11 To C i1is the element of the safety score matrix of the first safety factor in the first to the i-th water area, C 12 To C i2 is the element of the safety score matrix of the second safety factor in the first to the i-th water area, C 1j To C ij is the element of the safety score matrix of the jth safety factor in the first to the ith water area;

[0016] Among them, i and j are both greater than or equal to 3.

[0017] Further, the model unit includes a score acquisition subunit, a level acquisition subunit and a calculation subunit;

[0018] The acquisition subunit is used to acquire the first scoring level of the importance of each water area to the navigation safety score judged by the expert group, and the second scoring level of the safety importance of each safety factor to the safety of each water area;

[0019] The level acquisition subunit acquires the weight level of the academic level of each expert in the expert group;

[0020] The calculation subunit calculates the first scoring level and the weight level to obtain a first weighted average, calculates the second scoring level and the weight level to obtain a second weighted average, divides multiple first weighted averages correspondingly to obtain a first judgment matrix, and divides multiple second weighted averages correspondingly to obtain a second judgment matrix.

[0021] Further, the computing unit includes a verification subunit;

[0022] The verification subunit is used to calculate the maximum eigenvalues ​​of the first judgment matrix and the second judgment matrix respectively, and analyze and judge whether the first judgment matrix and the second judgment matrix meet the consistency requirements according to the consistency verification formula of the maximum eigenvalues ​​and the hierarchical analysis method. If so, the first weight vector and the second weight vector are calculated. If not, feedback is given to the score acquisition subunit, and the score acquisition subunit modifies the first score level and the second score level.

[0023] Further, the factor scoring module includes an extraction unit and a hierarchical scoring unit;

[0024] The extraction unit extracts at least the ocean current direction information of each water area in the ocean hydrological data, the passing time information, speed information and the heading information of the ship in each water area in the AIS data through algorithm calculation;

[0025] The safety factors include at least a first safety factor to a third safety factor, which are respectively flow pressure difference information, passing time information and speed information calculated from the heading information and the ocean current direction information;

[0026] The hierarchical scoring unit corresponds the flow pressure difference information, the passing time information and the speed information to grade ranges respectively, obtains the scores of the grade ranges, and constructs the safety score matrix according to the multiple scores.

[0027] Furthermore, the speed information includes instantaneous speed, average speed and average economic speed;

[0028] The grading and scoring unit obtains a speed ratio according to the instant speed, corresponds the speed ratio to a grade range, and obtains a score for the grade range.

[0029] Furthermore, the safety factor also includes a fourth safety factor and a fifth safety factor, which are respectively movement distance information and weather warning level information;

[0030] The extraction unit also extracts the movement distance information of the ships in each water area in the AIS data and the weather warning level information of each water area in the ocean hydrological data through algorithm calculation;

[0031] The grading and scoring unit corresponds the moving distance information and the weather warning level information to level ranges respectively to obtain scores for the level ranges.

[0032] Furthermore, the meteorological warning level information is a weighted average of the visibility warning level information of a first set multiple and the storm surge warning data of a second set multiple;

[0033] The first set multiple is obtained by calculating the probability of a ship-running-against-reef accident in the ocean hydrological data through an algorithm, and the second set multiple is obtained by calculating the probability of a ship-hull capsizing in the ocean hydrological data through an algorithm.

[0034] Further, the factor scoring module includes a trajectory fitting unit;

[0035] If the trajectory fitting unit determines that the trajectory of the AIS data of the ship passing through the water area is discontinuous, the passing time information and the moving distance information are determined by connecting two end points or extending the trajectory near one end point;

[0036] The factor scoring module includes an identity recognition unit;

[0037] When the identity recognition unit determines that the ship carries multiple AIS, it obtains AIS data with the same identity as the ship's water mobile service identification code, and the factor scoring module extracts and grades the security factors of the AIS data with the same identity.

[0038] Furthermore, the calculation feedback module generates a risk range of the route according to the order of multiple navigation safety scores of a ship in a route.

[0039] Compared with the prior art, the present invention has the following beneficial effects:

[0040] 1. By drawing on the idea of ​​analytic hierarchy process, combining the weight vector of analytic hierarchy process and the safety score matrix based on AIS data and ocean hydrological data, the navigation safety score of the ship considering the characteristics of multiple waters is calculated, and then the navigation safety degree of the ship can be accurately monitored.

[0041] 2. By adopting the expert scoring method to construct the judgment matrix of the hierarchical analysis method, the knowledge of experts in special fields can be quantified, so that the monitoring model can be more in line with the experts' experience and common sense. BRIEF DESCRIPTION OF THE DRAWINGS

[0042] Figure 1 A schematic diagram of a basic framework of a model based on the hierarchical analysis method according to an embodiment of the present invention;

[0043] Figure 2 A schematic diagram of a specific framework of a model based on the hierarchical analysis method according to an embodiment of the present invention;

[0044] Figure 3 A schematic diagram of a specific framework of a model based on the hierarchical analysis method according to another embodiment of the present invention;

[0045] Figure 4 is a schematic diagram of a processing flow of an embodiment of the present invention;

[0046] Figure 5 A schematic diagram of the scoring and grade scale of the first to third safety factors according to an embodiment of the present invention;

[0047] Figure 6 A schematic diagram of the scoring and grade scale of the third to fifth safety factors according to an embodiment of the present invention;

[0048] Figure 7 A schematic diagram of a calculation process of an embodiment of the present invention;

[0049] Figure 8 A schematic diagram of a judgment matrix and weight vector constructed for an embodiment of the present invention;

[0050] Fig. 9 A schematic diagram of a security score matrix obtained in an embodiment of the present invention;

[0051] Fig.10 A schematic diagram of a set of navigation safety scores constructed for an embodiment of the present invention. DETAILED DESCRIPTION

[0052] In order to make the objects and advantages of the present invention more clearly understood, the present invention is further described below in conjunction with embodiments; it should be understood that the specific embodiments described herein are only used to explain the present invention and are not used to limit the present invention.

[0053] The preferred embodiments of the present invention are described below with reference to the accompanying drawings. It should be understood by those skilled in the art that these embodiments are only used to explain the technical principles of the present invention and are not intended to limit the protection scope of the present invention.

[0054] It should be noted that, in the description of the present invention, terms such as "up", "down", "left", "right", "inside" and "outside" indicating directions or positional relationships are based on the directions or positional relationships shown in the drawings. This is merely for the convenience of description and does not indicate or imply that the device or element must have a specific orientation, be constructed and operated in a specific orientation. Therefore, it cannot be understood as a limitation on the present invention.

[0055] In addition, it should be noted that in the description of the present invention, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For those skilled in the art, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0056] like Figures 1 to 10 As shown, the present invention provides a ship monitoring system based on AIS data and ocean hydrological data. By adopting the expert scoring method to construct the judgment matrix of the hierarchical analysis method, the knowledge of experts in special fields is quantified, so that the monitoring model can be more in line with the experience and common sense of the experts; by drawing on the idea of ​​the hierarchical analysis method, combining the weight vector of the hierarchical analysis method and the safety score matrix based on AIS data and ocean hydrological data, the navigation safety score of the ship considering the characteristics of multiple waters is jointly calculated, so that the navigation safety level of the ship can be accurately monitored.

[0057] in, Figure 1 A schematic diagram of a basic framework of a model based on the hierarchical analysis method according to an embodiment of the present invention; Figure 2 A schematic diagram of a specific framework of a model based on the hierarchical analysis method according to an embodiment of the present invention; Figure 3 A schematic diagram of a specific framework of a model based on the hierarchical analysis method according to another embodiment of the present invention; Figure 4 is a schematic diagram of a processing flow of an embodiment of the present invention; Figure 5 A schematic diagram of the scoring and grade scale of the first to third safety factors according to an embodiment of the present invention; Figure 6A schematic diagram of the scoring and grade scale of the third to fifth safety factors according to an embodiment of the present invention; Figure 7 A schematic diagram of a calculation process of an embodiment of the present invention; Figure 8 A schematic diagram of a judgment matrix and weight vector constructed for an embodiment of the present invention; Fig. 9 A schematic diagram of a security score matrix obtained in an embodiment of the present invention; Fig.10 A schematic diagram of a set of navigation safety scores constructed for an embodiment of the present invention.

[0058] Embodiment 1:

[0059] like Figures 1 to 10 As shown, this embodiment proposes a ship monitoring system based on AIS data and ocean hydrological data.

[0060] like Figure 1 As shown, the ship monitoring system includes a judgment matrix module, a factor scoring module and an operation feedback module;

[0061] The judgment matrix module includes a model unit and a calculation unit. The model unit carries a model based on the hierarchical analysis method. The target layer of the model is the navigation safety score, the criterion layer is multiple water areas, and the solution layer is the safety factor. The model obtains a first judgment matrix of each water area for the navigation safety score and a second judgment matrix of each safety factor for each water area by using the expert scoring method. The calculation unit calculates a first weight vector of the first judgment matrix and a second weight vector of the second judgment matrix respectively.

[0062] The factor scoring module is used to obtain AIS data and oceanographic data of ships passing through the waters, extract and grade safety factors of the AIS data and oceanographic data, and obtain a safety score matrix of each safety factor in each water.

[0063] The operation feedback module calculates a navigation safety score according to the first weight vector, the second weight vector and the safety score matrix. The navigation safety score is used to monitor the navigation safety of routes in multiple waters. The calculation formula of the navigation safety score is:

[0064] A=W A1 B1+W A2 B2+…+W Ai B i ;

[0065] Where A is the navigation safety score, W A1 To W Ai is the first weight vector, B1 to B i The safety scores from the first water area to the i-th water area;

[0066] Among them, the safety scores B1 to B i The calculation formula is:

[0067]

[0068] In the formula, B1 to B i is the safety score from the first water area to the i-th water area, W B11 To W B1j is the element of the component vector belonging to the first water area in the second weight vector, W B21 To W B2j is the element of the component vector belonging to the second water area in the second weight vector, W Bi1 To W Bij is the element of the component vector belonging to the ith water area in the second weight vector, C 11 To C i1 is the element of the safety score matrix of the first safety factor in the first to the i-th water area, C 12 To C i2 is the element of the safety score matrix of the second safety factor in the first to the i-th water area, C 1j To C ij is the element of the safety score matrix of the jth safety factor in the first to the ith water area;

[0069] Among them, i and j are both greater than or equal to 3.

[0070] It should be noted that the ocean hydrological data described in this embodiment generally refers to comprehensive hydrological data related to the ocean, including but not limited to the physical properties of seawater in a narrow sense and the occurrence and development laws of various seawater movements. The source of the ocean hydrological data is the Marine Science Data Center of the Chinese Academy of Sciences, the Marine Science Data Center of the European Academy of Sciences or major ocean data websites, so the ocean hydrological data can be understood as data directly obtained from the above sources through a set data acquisition tool (such as a website data crawler) or a set program algorithm, such as ocean current data, meteorological data and the number of occurrences of various accidents in various waters, as well as seawater temperature, salinity, density, transparency, water color, tides, waves, sea ice, coastal sediment, seawater chemical composition, etc., which will affect navigation safety to varying degrees. Therefore, the present invention is not limited to specific data types, and the focus of the present invention is on the calculation model (formula) of the navigation safety score.

[0071] Furthermore, the model unit includes a score acquisition subunit, a level acquisition subunit and a calculation subunit; the acquisition subunit is used to obtain a first score level of the importance of each water area to the navigation safety score judged by the expert group, and a second score level of the safety importance of each safety factor to each water area; the level acquisition subunit obtains a weight level of the academic level of each expert in the expert group; the calculation subunit calculates the first score level and the weight level to obtain a first weighted average, calculates the second score level and the weight level to obtain a second weighted average, divides multiple first weighted averages correspondingly to obtain a first judgment matrix, and divides multiple second weighted averages correspondingly to obtain a second judgment matrix.

[0072] Furthermore, the calculation unit includes a verification subunit; the verification subunit is used to calculate the maximum eigenvalues ​​of the first judgment matrix and the second judgment matrix respectively, and analyze and determine whether the first judgment matrix and the second judgment matrix meet the consistency requirements based on the maximum eigenvalues ​​and the consistency verification formula of the hierarchical analysis method. If so, the first weight vector and the second weight vector are calculated; if not, feedback is given to the score acquisition subunit, and the score acquisition subunit modifies the first score level and the second score level.

[0073] Specifically, the modification of the first scoring level and the second scoring level may be to reduce the maximum value of the weight level by a set value and to increase the minimum value by a set value. Afterwards, the first weighted average, the second weighted average, the first judgment matrix and the second judgment matrix are recalculated, and it is determined whether the new first judgment matrix and the second judgment matrix meet the consistency requirement. Since the modified first weighted average and the second weighted average are more consistent, the first judgment matrix and the second judgment matrix constructed by them are more likely to meet the consistency requirement.

[0074] Furthermore, if Figure 2 As shown, the factor scoring module includes an extraction unit and a hierarchical scoring unit; the extraction unit extracts at least the ocean current direction information of each water area in the ocean hydrological data, the passing time information of each water area in the AIS data, the speed information and the heading information of the ship through algorithm calculation; the safety factor includes at least the first safety factor to the third safety factor, which are the flow pressure difference information, passing time information and speed information calculated from the heading information and the ocean current direction information respectively; the hierarchical scoring unit corresponds the flow pressure difference information, passing time information and speed information to the grade range respectively, obtains the score of the grade range, and constructs the safety score matrix according to the multiple scores.

[0075] It should be noted that the algorithm calculation and extraction process described in this embodiment is a conventional data processing process, that is, the corresponding safety factor can be automatically extracted according to the relevant fields of AIS data and ocean hydrological data.

[0076] It can be understood that the flow pressure difference is the angle difference between the direction of the ocean current and the heading in navigation. The flow pressure difference directly affects the speed and track of the ship. Sailing with the current can increase the speed, saving both time and fuel; the opposite is true against the current. Sailing across the current will deviate from the planned course. If it is not corrected in time, it will not only increase the sailing time, but also easily cause accidents.

[0077] Furthermore, the speed information includes instantaneous speed, average speed and average economic speed;

[0078] The grading and scoring unit is equipped with a speed ratio calculation formula, which is specifically:

[0079]

[0080] Where P is the speed ratio, V e is the average economic speed, is the average speed, which is the average of multiple instantaneous speeds;

[0081] The hierarchical scoring subunit corresponds the speed ratio to a grade range to obtain a score for the grade range.

[0082] Furthermore, if Figure 3 As shown, the safety factor also includes a fourth safety factor and a fifth safety factor, which are movement distance information and meteorological warning level information respectively; the extraction unit also extracts the movement distance information of ships in each water area in the AIS data and the meteorological warning level information of each water area in the ocean hydrological data through algorithm calculation; the grading unit corresponds the movement distance information and the meteorological warning level information to the level range respectively to obtain the score of the level range.

[0083] Furthermore, the meteorological warning level information is a weighted average of visibility warning level information of a first set multiple and storm surge warning data of a second set multiple; the first set multiple is obtained by calculating the probability of a reef collision accident in the ocean hydrological data through an algorithm, and the second set multiple is obtained by calculating the probability of a ship capsize in the ocean hydrological data through an algorithm.

[0084] Specifically, the occurrence probability can be obtained directly from the source of ocean hydrological data through a set data collection tool (such as a website data crawler) or a set algorithm program, or the number of occurrences of the corresponding accidents can be extracted through conventional keyword recognition, and the number of occurrences is divided by the extraction time to obtain the probability of occurrence of accidents in each water area within a month, a quarter or a year.

[0085] Specifically, the first setting multiple and the second setting multiple can be adjusted according to the time correlation between the corresponding accident occurrence time and the time when the ship passes through the water area. For example, if a ship runs aground, collides with a ship, or capsizes within a week or a month before passing through the water area, it means that the water area is more likely to have an accident due to low visibility, or because the storm surge and the terrain easily cause the waves to generate rapids or vortices, and the first setting multiple and the second setting multiple are directly set to the maximum value.

[0086] Furthermore, the factor scoring module includes a trajectory fitting unit; if the trajectory fitting unit determines that the trajectory of the AIS data of the ship passing through the waters is discontinuous, the passing time information and the moving distance information are determined by connecting two end points or extending the trajectory near an end point.

[0087] The factor scoring module includes an identity recognition unit; when the identity recognition unit determines that the ship carries multiple AIS, it obtains AIS data with the same identity as the ship's marine mobile service identification code (MMSI), and the factor scoring module extracts and grades the security factors of the AIS data with the same identity.

[0088] It is understandable that if a ship carries multiple AIS for identity change, the AIS data with the same identity can be merged based on the correspondence between the ship's Maritime Mobile Service Identification Code (MMSI) and the real identity, thereby obtaining accurate AIS data.

[0089] If a ship passes through sensitive waters with AIS turned off, the ship's AIS data cannot be obtained. However, considering that the sensitive waters are relatively small and the routes are relatively busy, ships will turn on AIS for safety reasons. Therefore, AIS data of various ships in the sensitive waters can generally be obtained, but due to the lack of AIS data outside the sensitive waters, the ship's trajectory is discontinuous; therefore, when processing the ship's passing time information and movement distance information, it is necessary to extend the trajectory through fitting to obtain accurate data.

[0090] Furthermore, the calculation feedback module generates a risk range of the route according to the order of multiple navigation safety scores of a ship in a route.

[0091] In a specific embodiment, the model is Figure 1As shown in the figure: the first to third layers from top to bottom are the target layer, criterion layer and solution layer respectively, which are based on the idea of ​​hierarchical analysis method. The difference from the existing framework of hierarchical analysis method is that the calculation of the target layer is not obtained by multiplying the two feature weight vectors of the two judgment matrices of the target layer-criterion layer and the criterion layer-solution layer, but by multiplying the safety score matrix based on AIS and ocean hydrological data with the two feature weight vectors step by step, and the expert scoring method is used to construct the judgment matrix.

[0092] The feature weight vector is the feature vector of the judgment matrix.

[0093] The scoring rules of the expert scoring method are as follows:

[0094] 1. Questionnaire on the importance of each safety factor to navigation safety in each water area. The importance of each safety factor is divided into five levels, namely: very important, very important to not very important, and the corresponding scores are 9 to 1. Among them, very important means that the value of a certain safety factor will greatly characterize the safety behavior of ships in a certain water area, and not very important means that the value of a certain safety factor is difficult to characterize the safety behavior of ships in a certain water area.

[0095] 2. Questionnaire on the importance of each water area to navigation safety score. The importance of each sensitive water area is divided into 4 levels, namely: very important, relatively important, generally important to not very important, and the corresponding scores are 8 to 1. Among them, very important means that the safety value of a ship in a certain water area will greatly characterize the safety behavior of the ship, that is, it can be clearly seen in this water area whether the operation status of the ship is normal; not very important means that the abnormal value of a ship in a certain water area is difficult to characterize the safety behavior of the ship.

[0096] The consistency check of the judgment matrix can be a conventional calculation process of the hierarchical analysis method, preferably through the following formula:

[0097] CI=(λ max -n) / (n-1)

[0098] CR = CI / RI;

[0099] Among them, CI is the consistency index; λ max is the maximum eigenvalue of the judgment matrix; n is the number of water bodies; RI is the average random consistency index; CR is the consistency ratio. The value of RI is a fixed constant and can be obtained from the average random consistency index value table using the query hierarchical analysis method.

[0100] The safety factors described in this embodiment include:

[0101] The weighted average of visibility level and wind speed is used to characterize the meteorological safety level of a certain water area.

[0102] The transit time is used to characterize the time it takes for a ship to pass through the waters. When a ship is sailing in open waters, it usually maintains a constant speed and sails in a straight line. If a ship passes through a certain waters for too long, it may have abnormal navigation trajectory.

[0103] The speed ratio is used to indicate whether the ship's speed is within a reasonable range. In open waters, the speed of a ship normally traveling is usually maintained within the most economical and reasonable range. Exceeding or falling below this range will lead to increased costs and possible navigation risks. The speed ratio is defined as the ratio of the deviation of the ship's average speed from the economic speed range to the average economic speed.

[0104] The moving distance is used to characterize the complexity of the track in the water area.

[0105] The speed of ocean currents is used to characterize the impact of ocean currents on navigation. When sailing downstream, the ship speed is fast; when sailing upstream, the ship speed is slow.

[0106] Figure 5 The scores and grade scales for the first to third safety factors are given in.

[0107] Figure 6 The scores and grade scales for the third to fifth safety factors are given in the table.

[0108] Figure 7 A calculation process of this embodiment is given in FIG.

[0109] In a specific implementation of this embodiment, Figure 2 As shown in the figure, i=j=3, and the calculation formula for calculating the navigation safety scores of the first to third safety factors in the first to third waters is:

[0110] A=W A1 B1+W A2 B2+W A3 B3;

[0111] Where A is the navigation safety score, W A1 To W A3 is the first weight vector, B1 to B3 are the safety scores of the first water area to the third water area;

[0112] Among them, the safety scores B1 to B i The calculation formula is:

[0113]

[0114] Where, B1 to B3 are the safety scores of the first to third water areas, W B11 To W B13 is the element of the component vector belonging to the first water area in the second weight vector, W B21 To WB23 is the element of the component vector belonging to the second water area in the second weight vector, W B31 To W B33 is the element of the component vector belonging to the third water area in the second weight vector, C 11 To C 31 is the element of the safety score matrix of the first safety factor in the first to third water areas, C 12 To C 32 is the element of the safety score matrix of the second safety factor in the first to third water areas, C 13 To C 33 It is the element of the safety score matrix of the third safety factor in the first to third water areas.

[0115] In a specific application, it can be concluded that Figures 8 to 10 The results shown in FIG. 1 further indicate that the navigation of ship 1 is relatively unsafe. It is understandable that the method described in this embodiment can also be used when a ship's route passes through multiple selected waters, and the multiple selected waters are grouped to calculate multiple navigation safety scores respectively, thereby determining the relative risk point of the ship during navigation.

[0116] It can be understood that this embodiment reduces the complexity of abnormal detection caused by overlapping levels due to different safety monitoring conditions in different waters; the expert scoring method is used to establish a feature matrix and construct an impact factor scoring table, which solves the problem that expert experience and factors are difficult to quantify in ship safety behavior detection. The abnormal behavior detection framework for ships in sensitive waters based on AIS data and ocean hydrological data can quickly and accurately detect the degree of navigation safety of ships, providing intelligence support for subsequent monitoring of whether the ship is in a normal navigation state.

[0117] So far, the technical solutions of the present invention have been described in conjunction with the preferred embodiments shown in the accompanying drawings. However, it is easy for those skilled in the art to understand that the protection scope of the present invention is obviously not limited to these specific embodiments. Without departing from the principle of the present invention, those skilled in the art can make equivalent changes or substitutions to the relevant technical features, and the technical solutions after these changes or substitutions will fall within the protection scope of the present invention.

[0118] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A ship monitoring system based on AIS data and oceanographic data, characterized in that: It includes judgment matrix module, factor scoring module and operation feedback module; The judgment matrix module includes a model unit and a calculation unit. The model unit carries a model based on the hierarchical analysis method. The target layer of the model is the navigation safety score, the criterion layer is multiple water areas, and the solution layer is the safety factor. The model uses the expert scoring method to construct a first judgment matrix of each water area for the navigation safety score, and a second judgment matrix of each safety factor for each water area. The calculation unit calculates the first weight vector of the first judgment matrix and the second weight vector of the second judgment matrix respectively. The factor scoring module is used to obtain AIS data and oceanographic data of ships passing through the waters, extract and grade safety factors of the AIS data and oceanographic data, and obtain a safety score matrix of each safety factor in each water. The operation feedback module calculates a navigation safety score according to the first weight vector, the second weight vector and the safety score matrix, and the navigation safety score is used to monitor the navigation safety level of multiple waters.

2. The ship monitoring system based on AIS data and ocean hydrological data according to claim 1, characterized in that: The calculation formula of the navigation safety score is: <h2 style=";text-align:left;direction:ltr">A=W<h2 style=";text-align:left;direction:ltr"> A1 <h2 style=";text-align:left;direction:ltr"> B1+W<h2 style=";text-align:left;direction:ltr"> A2 <h2 style=";text-align:left;direction:ltr"> B2+…+W<h2 style=";text-align:left;direction:ltr"> Ai <h2 style=";text-align:left;direction:ltr"> B<h2 style=";text-align:left;direction:ltr"> i <h2 style=";text-align:left;direction:ltr"> ; Where A is the navigation safety score, W A1 To W Ai is the first weight vector, B1 to B i The safety scores from the first water area to the i-th water area; Among them, the safety scores B1 to B i The calculation formula is: In the formula, B1 to B i is the safety score from the first water area to the i-th water area, W B11 To W B1j is the element of the component vector belonging to the first water area in the second weight vector, W B21 To W B2j is the element of the component vector belonging to the second water area in the second weight vector, W Bi1 To W Bij is the element of the component vector belonging to the ith water area in the second weight vector, C 11 To C i1 is the element of the safety score matrix of the first safety factor in the first to the i-th water area, C 12 To C i2 is the element of the safety score matrix of the second safety factor in the first to the i-th water area, C 1j To C ij is the element of the safety score matrix of the jth safety factor in the first to the ith water area; Among them, i and j are both greater than or equal to 3.

3. The ship monitoring system based on AIS data and ocean hydrological data according to claim 1, characterized in that: The model unit includes a score acquisition subunit, a level acquisition subunit and a calculation subunit; The acquisition subunit is used to acquire the first scoring level of the importance of each water area to the navigation safety score judged by the expert group, and the second scoring level of the safety importance of each safety factor to the safety of each water area; The level acquisition subunit acquires the weight level of the academic level of each expert in the expert group; The calculation subunit calculates the first scoring level and the weight level to obtain a first weighted average, calculates the second scoring level and the weight level to obtain a second weighted average, divides multiple first weighted averages correspondingly to obtain a first judgment matrix, and divides multiple second weighted averages correspondingly to obtain a second judgment matrix.

4. The ship monitoring system based on AIS data and ocean hydrological data according to claim 3, characterized in that: The computing unit includes a verification subunit; The verification subunit is used to calculate the maximum eigenvalues ​​of the first judgment matrix and the second judgment matrix respectively, and analyze and judge whether the first judgment matrix and the second judgment matrix meet the consistency requirements according to the consistency verification formula of the maximum eigenvalues ​​and the hierarchical analysis method. If so, the first weight vector and the second weight vector are calculated. If not, feedback is given to the score acquisition subunit, and the score acquisition subunit modifies the first score level and the second score level.

5. The ship monitoring system based on AIS data and ocean hydrological data according to claim 1, characterized in that: The factor scoring module includes an extraction unit and a grading scoring unit; The extraction unit extracts at least the ocean current direction information of each water area in the ocean hydrological data, the passing time information, speed information and the heading information of the ship in each water area in the AIS data through algorithm calculation; The safety factors include at least a first safety factor to a third safety factor, which are respectively flow pressure difference information, passing time information and speed information calculated from the heading information and the ocean current direction information; The hierarchical scoring unit corresponds the flow pressure difference information, the passing time information and the speed information to grade ranges respectively, obtains the scores of the grade ranges, and constructs the safety score matrix according to the multiple scores.

6. The ship monitoring system based on AIS data and ocean hydrological data according to claim 5, characterized in that: The speed information includes instantaneous speed, average speed and average economic speed; The grading and scoring unit obtains a speed ratio according to the instant speed, corresponds the speed ratio to a grade range, and obtains a score for the grade range.

7. The ship monitoring system based on AIS data and ocean hydrological data according to claim 5, characterized in that: The safety factors also include a fourth safety factor and a fifth safety factor, which are respectively movement distance information and weather warning level information; The extraction unit also extracts the movement distance information of the ships in each water area in the AIS data and the weather warning level information of each water area in the ocean hydrological data through algorithm calculation; The grading and scoring unit corresponds the moving distance information and the weather warning level information to level ranges respectively to obtain scores for the level ranges.

8. The ship monitoring system based on AIS data and oceanographic data according to claim 7, characterized in that: The meteorological warning level information is a weighted average of the visibility warning level information of a first set multiple and the storm surge warning data of a second set multiple; The first set multiple is obtained by calculating the probability of a ship-running-against-reef accident in the ocean hydrological data through an algorithm, and the second set multiple is obtained by calculating the probability of a ship-hull capsizing in the ocean hydrological data through an algorithm.

9. The ship monitoring system based on AIS data and oceanographic data according to any one of claims 1 to 8, characterized in that: The factor scoring module includes a trajectory fitting unit; If the trajectory fitting unit determines that the trajectory of the AIS data of the ship passing through the water area is discontinuous, the passing time information and the moving distance information are determined by connecting two end points or extending the trajectory near one end point; The factor scoring module includes an identity recognition unit; When the identity recognition unit determines that the ship carries multiple AIS, it obtains AIS data with the same identity as the ship's water mobile service identification code, and the factor scoring module extracts and grades the security factors of the AIS data with the same identity.

10. The ship monitoring system based on AIS data and oceanographic data according to any one of claims 1 to 8, characterized in that: The operation feedback module generates a risk range of the route by sorting multiple navigation safety scores of a ship in a route.

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