Ship trajectory data fusion method and device

Abstract

The invention discloses a ship trajectory data fusion method and device. The method comprises the steps that shore-based base station AIS data, satellite-borne AIS data and radar detection signals after data preprocessing are matched according to static attributes, records with the same static attributes are combined, and a ship information set is generated; decomposing the ship information set into sub-data sets corresponding to time and space according to time and space; analyzing ship trajectories of the sub-data sets of time and space according to the time sequence; acquiring data belonging to the same ship in the sub-data sets of time and space according to the distance between the adjacent data points, the time difference and the moving speed of the ship; and performing content supplementation on the data belonging to the same ship according to the ship information set, and generating a ship trajectory of at least one ship. According to the invention, the limitation of the prior art in the aspects of coverage, data accuracy and real-time performance can be overcome, and the technical effect of more comprehensive, accurate and timely marine ship monitoring is realized.

Description

Technical Field

[0001] The present invention relates to the application field of ship monitoring technology, and in particular to a method and device for fusing ship track data. Background Art

[0002] Maritime ship monitoring technology plays an important role in maintaining marine safety. It is used to comprehensively, timely and accurately grasp the location information of ships.

[0003] The existing methods of monitoring the location of ships include: radar detection, shore-based Automatic Identification System (AIS), satellite AIS and remote sensing signals;

[0004] Among them, radar detection is to detect and track target objects on the sea surface through radar on the shore; the advantages of radar detection are: it can provide real-time ship location information, especially in bad weather conditions; the disadvantages are: radar signals are easily affected by terrain obstruction and climatic conditions; the detection ability for small targets or stealth targets is limited;

[0005] Shore-based AIS relies on base stations set up along the coast to receive and forward the AIS signals of ships, and is suitable for monitoring ships near the coast and ports. The advantages of shore-based AIS are: low cost, easy deployment, and rich data; the disadvantages are: limited coverage, and can only monitor ships within a certain distance; it cannot monitor distant sea areas or ships with AIS turned off;

[0006] Satellite AIS carries AIS receivers on low-orbit satellites and can receive AIS signals worldwide. The advantages of satellite AIS are: wide coverage, enabling real-time monitoring of ship dynamics worldwide; the disadvantages are: high technical requirements, limited data bandwidth, omissions in densely populated areas, and inability to locate ships that have turned off AIS.

[0007] Remote sensing signals are a technical means of obtaining information about the earth's surface from space using satellites. Images and signal data of specific areas are obtained through regular visits to identify the location of ships. The advantages of remote sensing signals are: wide coverage and the ability to identify targets with AIS turned off; the disadvantages are: image recognition is easily affected by weather; long delay, affected by the satellite orbit, and long revisit time.

[0008] At present, no effective solution has been proposed to address the problem that the accuracy, comprehensiveness and real-time performance of marine ship monitoring are reduced due to scenario factors because different monitoring methods in existing technologies can only cover part of the scenarios. Summary of the invention

[0009] In order to solve the above technical problems, the embodiments of the present invention hope to provide a method and device for fusing ship trajectory data, so as to at least solve the problem that the accuracy, comprehensiveness and real-time performance of marine ship monitoring are reduced due to scene factors because different monitoring methods in the prior art can only cover part of the scenes.

[0010] The technical solution of the present invention is achieved in this way:

[0011] An embodiment of the present invention provides a method for fusing ship trajectory data, comprising: performing data preprocessing on acquired shore-based base station AIS data, satellite-borne AIS data and radar detection signals to obtain the shore-based base station AIS data, satellite-borne AIS data and radar detection signals after data preprocessing; matching the shore-based base station AIS data, satellite-borne AIS data and radar detection signals after data preprocessing according to static attributes, merging records with the same static attributes to generate a ship information set; decomposing the ship information set into sub-data sets corresponding to time and space according to time and space; analyzing the ship trajectories of the sub-data sets in time and space according to time sorting to obtain the distance between adjacent data points, the time difference and the moving speed of the ship; obtaining data belonging to the same ship in the sub-data sets in time and space according to the distance between adjacent data points, the time difference and the moving speed of the ship; supplementing the data belonging to the same ship according to the ship information set to generate the ship trajectory of at least one ship.

[0012] Optionally, data preprocessing is performed on the acquired shore-based base station AIS data, satellite-borne AIS data and radar detection signal to obtain the shore-based base station AIS data, satellite-borne AIS data and radar detection signal after data preprocessing, including: storing the acquired shore-based base station AIS data, satellite-borne AIS data and radar detection signal in a database; removing noise and error records from the shore-based base station AIS data, satellite-borne AIS data and radar detection signal stored in the database, and correcting deviations in the data to obtain the shore-based base station AIS data, satellite-borne AIS data and radar detection signal after data preprocessing.

[0013] Optionally, the shore-based base station AIS data, satellite-borne AIS data and radar detection signals after data preprocessing are matched according to static attributes, and records with the same static attributes are merged to generate a ship information set, including: when the static attributes include ship name, MMSI, IMO number and call sign, the shore-based base station AIS data, satellite-borne AIS data and radar detection signals after data preprocessing with the same ship name, MMSI, IMO number and call sign are merged to generate a ship information set; the ship information set is stored in an association mapping table according to the ship identification.

[0014] Further, optionally, dynamic information is retained in the ship information set, wherein the dynamic information includes: time, position, heading and speed.

[0015] Optionally, decomposing the ship information set into sub-datasets corresponding to time and space based on time and space includes: dividing the data in the ship information set into blocks based on unit time, and dividing the data reported at the same time into a first data set; encoding the data in the ship information set based on longitude and latitude, and dividing the data with the same encoding into a second data set; and obtaining sub-datasets corresponding to time and space based on the first data set and the second data set.

[0016] Optionally, obtaining data belonging to the same ship in the time and space sub-datasets based on the distance between adjacent data points, the time difference and the moving speed of the ship includes: checking whether the position of at least one ship at different time points in the time and space sub-datasets is greater than a threshold value based on the distance between adjacent data points, the time difference and the moving speed of the ship; if the position difference between at least one ship at adjacent time points is greater than the threshold value, determining that the data of at least one ship is abnormal data; if the position difference between at least one ship at adjacent time points is less than or equal to the threshold value, determining that the data of at least one ship is reasonable; detecting whether the speed and heading changes of the data of at least one ship in the time and space sub-datasets are reasonable; if the detection result is reasonable, recording that the data of at least one ship is reasonable; if the detection result is abnormal, recording that the data of at least one ship is abnormal; for multiple ship name records under the same MMSI, merging the trajectories of the reasonable data of at least one ship to obtain a coherent ship trajectory, and unifying the static attributes of the data of at least one ship; establishing a mapping relationship between the ship identifier in the association mapping table and the reasonable data of at least one ship, and storing the mapping relationship.

[0017] Further, optionally, the data belonging to the same ship are supplemented with content based on the ship information set to generate the ship trajectory of at least one ship, including: supplementing the data belonging to the same ship based on the ship information set stored in the association mapping table to obtain a fused trajectory table; generating the ship trajectory of at least one ship based on the fused trajectory table.

[0018] The embodiment of the present invention provides a device for fusing ship trajectory data, comprising: a data preprocessing module, used for performing data preprocessing on acquired shore-based base station AIS data, satellite-borne AIS data and radar detection signals, to obtain the shore-based base station AIS data, satellite-borne AIS data and radar detection signals after data preprocessing; a first merging module, used for matching the shore-based base station AIS data, satellite-borne AIS data and radar detection signals after data preprocessing according to static attributes, merging records with the same static attributes, and generating a ship information set; a decomposition module, used for decomposing the ship information set into sub-data sets corresponding to time and space according to time and space; a sorting module, used for analyzing the ship trajectory of the sub-data sets of time and space according to time sorting, to obtain the distance between adjacent data points, the time difference and the moving speed of the ship; a second merging module, used for obtaining data belonging to the same ship in the sub-data sets of time and space according to the distance between adjacent data points, the time difference and the moving speed of the ship; a trajectory generation module, used for supplementing the data belonging to the same ship according to the ship information set, to generate the ship trajectory of at least one ship.

[0019] Optionally, the data preprocessing module includes: a storage unit, used to store the acquired shore-based base station AIS data, satellite-borne AIS data and radar detection signals in a database; a data preprocessing unit, used to remove noise and erroneous records in the shore-based base station AIS data, satellite-borne AIS data and radar detection signals stored in the database, and correct the deviation in the data to obtain the shore-based base station AIS data, satellite-borne AIS data and radar detection signals after data preprocessing.

[0020] Further, optionally, the first merging module includes: a merging unit, used to merge the shore-based base station AIS data, satellite-borne AIS data and radar detection signals after pre-processing with the same ship name, MMSI, IMO number and call sign to generate a ship information set when the static attributes include ship name, MMSI, IMO number and call sign; a storage unit, used to store the ship information set into an association mapping table according to the ship identification.

[0021] The embodiment of the present invention provides a method and device for fusing ship trajectory data, which preprocesses the acquired shore-based base station AIS data, satellite-borne AIS data and radar detection signal to obtain the shore-based base station AIS data, satellite-borne AIS data and radar detection signal after data preprocessing; matches the shore-based base station AIS data, satellite-borne AIS data and radar detection signal after data preprocessing according to static attributes, merges the records with the same static attributes, and generates a ship information set; decomposes the ship information set into sub-data sets corresponding to time and space according to time and space; analyzes the ship trajectory of the sub-data sets of time and space according to time sorting to obtain the distance, time difference and moving speed of the ship between adjacent data points; obtains data belonging to the same ship in the sub-data sets of time and space according to the distance, time difference and moving speed of the ship; supplements the data belonging to the same ship according to the ship information set to generate the ship trajectory of at least one ship, thereby overcoming the limitations of the existing technology in terms of coverage, data accuracy and real-time performance, and achieving a more comprehensive, accurate and timely technical effect of marine ship monitoring. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] The drawings described herein are used to provide a further understanding of the present invention and constitute a part of this application. The exemplary embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation of the present invention. In the drawings:

[0023] Figure 1 A schematic diagram of a flow chart of a method for fusion of ship trajectory data provided by an embodiment of the present invention;

[0024] Figure 2 A schematic diagram of data sources in a method for fusion of ship trajectory data provided by an embodiment of the present invention;

[0025] Figure 3 A schematic flow chart of another method for fusion of ship trajectory data provided by an embodiment of the present invention;

[0026] Figure 4 A schematic diagram of data before merging in a method for fusion of ship trajectory data provided by an embodiment of the present invention;

[0027] Figure 5 A schematic diagram of merged data in a method for fusion of ship trajectory data provided by an embodiment of the present invention;

[0028] Figure 6 A schematic diagram of data fusion in a method for ship trajectory data fusion provided by an embodiment of the present invention;

[0029] Figure 7 A schematic diagram of a device for fusing ship trajectory data provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0030] In order to enable those skilled in the art to better understand the scheme of the present invention, the technical scheme in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work should fall within the scope of protection of the present invention.

[0031] It should be noted that the terms "first", "second" and the like in the specification, claims and drawings of the present invention are used to distinguish different objects rather than to limit a specific order.

[0032] It should also be noted that the following embodiments of the present invention may be executed separately, or in combination with each other, and the embodiments of the present invention do not impose any specific limitations on this.

[0033] The embodiment of the present invention provides a method for fusing ship trajectory data. Figure 1 A schematic diagram of a flow chart of a method for fusion of ship trajectory data provided by an embodiment of the present invention; Figure 1 As shown, the method for ship trajectory data fusion provided in the embodiment of the present application includes:

[0034] Step S100, performing data preprocessing on the acquired shore-based base station AIS data, satellite-borne AIS data and radar detection signal to obtain the shore-based base station AIS data, satellite-borne AIS data and radar detection signal after data preprocessing;

[0035] Optionally, in step S100, data preprocessing is performed on the acquired shore-based base station AIS data, satellite-borne AIS data and radar detection signal to obtain the shore-based base station AIS data, satellite-borne AIS data and radar detection signal after data preprocessing, including: storing the acquired shore-based base station AIS data, satellite-borne AIS data and radar detection signal in a database; removing noise and error records from the shore-based base station AIS data, satellite-borne AIS data and radar detection signal stored in the database, and correcting deviations in the data to obtain the shore-based base station AIS data, satellite-borne AIS data and radar detection signal after data preprocessing.

[0036] Specifically, Figure 2 As shown, Figure 2A schematic diagram of data sources in a method for fusion of ship trajectory data provided in an embodiment of the present invention; In the embodiment of the present application, the shore-based base station AIS data may include: time (Time), ship name (Name), Maritime Mobile Service Identity (MMSI), International Maritime Organization number (IMO), call sign (Callsign), length (Length), width (Width), longitude (Longitude), latitude (Latitude), course (Course), speed (Speed);

[0037] Satellite AIS data may include: time, object ID, length, width, longitude, latitude, and course.

[0038] The radar detection signal may include: time (Time), target number (OjbectID), length (Length), width (Width), longitude (Longitude), latitude (Latitude), speed (Speed), and course (Course).

[0039] In an embodiment of the present application, obtaining shore-based base station AIS data, satellite-borne AIS data and radar detection signals may include: storing data collected from different sources into a database, for example, data results after target recognition processing; target data obtained by data processing of remote sensing images; and ship position information identified in satellite images.

[0040] Figure 3 A flow chart of another method for fusion of ship trajectory data provided by an embodiment of the present invention; Figure 3 As shown, in the data cleaning process, in the embodiment of the present application, the shore-based base station AIS data, satellite-borne AIS data and radar detection signals stored in the database are subjected to noise and error records, and the deviations in the data are corrected, and the shore-based base station AIS data, satellite-borne AIS data and radar detection signals after data preprocessing may include: removing noise and error records in the data, and correcting the deviations in the data. For example, the longitude and latitude in the AIS data are wrong, and the speed in the radar data is abnormal;

[0041] It should be noted that the shore-based base station AIS data, satellite-borne AIS data and radar detection signals in the embodiments of the present application are only taken as the above examples, and the method for implementing the ship trajectory data fusion provided in the embodiments of the present application shall prevail. In addition, the shore-based base station AIS data, satellite-borne AIS data and radar detection signals in the embodiments of the present application may also be other types of maritime monitoring data, which are not specifically limited.

[0042] Step S102, matching the shore-based base station AIS data, satellite-borne AIS data and radar detection signals after data preprocessing according to static attributes, merging records with the same static attributes, and generating a ship information set;

[0043] Optionally, in step S102, the shore-based base station AIS data, satellite-borne AIS data and radar detection signals after data preprocessing are matched according to static attributes, and records with the same static attributes are merged to generate a ship information set, including: when the static attributes include ship name, MMSI, IMO number and call sign, the shore-based base station AIS data, satellite-borne AIS data and radar detection signals after data preprocessing with the same ship name, MMSI, IMO number and call sign are merged to generate a ship information set; and the ship information set is stored in an association mapping table according to the ship identification.

[0044] Further, optionally, dynamic information is retained in the ship information set, wherein the dynamic information includes: time, position, heading and speed.

[0045] Specifically, Figure 3 As shown, in the static attribute association in the embodiment of the present application, matching is performed according to the static attributes (ship name, MMSI, IMO number, call sign); if the static attributes of two records are exactly the same, these records are merged to retain dynamic information such as time, position, heading, speed, etc. The merged records are aggregated together to form a complete set of ship information. The associated ship ID (i.e., the ship identification in the embodiment of the present application) is stored in the association mapping table.

[0046] In a preferred example, the merged data is as follows: Figure 4 As shown, Figure 4A schematic diagram of the data before merging in a method for fusion of ship trajectory data provided in an embodiment of the present invention; in the merging process in the embodiment of the present application, the same MMSI and IMO: for records of MMSI 636092300 and IMO 9811000 (such as Ever Given), they are grouped together. For records of MMSI 236162000 and IMO 9241066 (such as Queen Mary 2), they are also grouped together. All source information is retained when merging records. For example, for Ever Given and Queen Mary 2, the sources include shore-based (T) and satellite (S), which are merged into "T / S"; the merged data is as follows Figure 5 As shown, Figure 5 A schematic diagram of merged data in a method for fusion of ship trajectory data provided by an embodiment of the present invention.

[0047] Step S104, decomposing the ship information set into sub-data sets corresponding to time and space according to time and space;

[0048] Optionally, decomposing the ship information set into sub-datasets corresponding to time and space according to time and space in step S104 includes: dividing the data in the ship information set into blocks according to unit time, and dividing the data reported at the same time into a first data set; encoding the data in the ship information set according to longitude and latitude, and dividing the data with the same encoding into a second data set; and obtaining sub-datasets corresponding to time and space based on the first data set and the second data set.

[0049] Specifically, Figure 3 As shown, in the spatiotemporal grouping in the embodiment of the present application, all ship trajectory data are divided into different data sets (ie, sub-data sets in the embodiment of the present application) according to time and space for better processing and analysis.

[0050] Among them, time segmentation: the data is segmented according to hours (ie, the unit time in the embodiment of the present application), that is, all AIS data reported within the same hour are classified into the same data set.

[0051] Spatial Blocking: Use the H3 coding system to encode longitude and latitude, select the coding level as level 3, and put the same H3code into the same dataset. The H3Code method is a technology that divides the earth's surface into hexagonal grids and encodes these grids, which efficiently processes geospatial data in a hierarchical manner.

[0052] Step S106, analyzing the ship trajectories of the temporal and spatial sub-data sets according to the time order, and obtaining the distance between adjacent data points, the time difference and the moving speed of the ship;

[0053] Specifically, Figure 3 As shown, in the time sorting of the embodiment of the present application, the records in each group are sorted by time, and the ship trajectory is subsequently analyzed according to the time series. The distance and time between adjacent data points are calculated, and then the actual moving speed is calculated.

[0054] Step S108, obtaining data belonging to the same ship in the sub-datasets of time and space according to the distance between adjacent data points, the time difference and the moving speed of the ship;

[0055] Optionally, in step S108, obtaining data belonging to the same ship in the time and space sub-datasets based on the distance between adjacent data points, the time difference and the moving speed of the ship includes: checking whether the position of at least one ship at different time points in the time and space sub-datasets is greater than a threshold value based on the distance between adjacent data points, the time difference and the moving speed of the ship; if the position difference between at least one ship at adjacent time points is greater than the threshold value, determining that the data of at least one ship is abnormal data; if the position difference between at least one ship at adjacent time points is less than or equal to the threshold value, determining that the data of at least one ship is reasonable; detecting whether the speed and heading changes of the data of at least one ship in the time and space sub-datasets are reasonable; if the detection result is reasonable, recording that the data of at least one ship is reasonable; if the detection result is abnormal, recording that the data of at least one ship is abnormal; for multiple ship name records under the same MMSI, merging the reasonable data of at least one ship to obtain a coherent ship trajectory, and unifying the static attributes of the data of at least one ship; establishing a mapping relationship between the ship identifier in the association mapping table and the reasonable data of at least one ship, and storing the mapping relationship.

[0056] Specifically, Figure 3 As shown, in the motion trajectory judgment in the embodiment of the present application, whether it is the same ship is judged based on the rationality of the position, speed and heading.

[0057] In the embodiment of the present application, based on the distance between adjacent data points, the time difference and the moving speed of the ship, it is checked from the sub-data sets of time and space whether the position of at least one ship at different time points is greater than a threshold; if the position difference between at least one ship at adjacent time points is greater than the threshold, the data of at least one ship is determined to be abnormal data; if the position difference between at least one ship at adjacent time points is less than or equal to the threshold, the data of at least one ship is determined to be reasonable; that is, the judgment of position continuity checks whether the position of the ship at different time points is continuous. If the position difference between adjacent time points of the ship is too large, it may be abnormal data;

[0058] In the embodiment of the present application, the speed and heading changes of at least one ship in the sub-data set of time and space are detected to see whether they are reasonable; if the detection result is reasonable, the data of at least one ship is recorded as reasonable; if the detection result is abnormal, the data of at least one ship is recorded as abnormal; that is, the speed and heading consistency is judged, and the speed and heading changes of the ship within the time period are calculated to see whether they are reasonable. For example, the speed should be consistent with the position;

[0059] The specific calculation process in step S108 in the embodiment of the present application is as follows:

[0060] 1. Speed ​​calculation:

[0061] For two adjacent position points (X_i,Y_i,T_i) and (X_{i+1},Y_{i+1},T_{i+1}), the velocity V_i can be calculated by the following formula:

[0062] V_i=sqrt((X_{i+1}-X_i)^2+(Y_{i+1}-Y_i)^2) / (T_{i+1}-T_i);

[0063] 2. Heading angle calculation:

[0064] The heading angle θ_i can be calculated by the following formula:

[0065] θ_i=atan2(Y_{i+1}-Y_i,X_{i+1}-X_i);

[0066] where atan2 is a function that calculates the four-quadrant inverse tangent function.

[0067] 3. Speed ​​change check:

[0068] Calculate the velocity change ΔV_i between adjacent points:

[0069] ΔV_i=|V_{i+1}-V_i|;

[0070] If ΔV_i>ε_v, the speed change is considered unreasonable.

[0071] 4. Heading angle change check:

[0072] Calculate the heading angle change Δθ_i between adjacent points:

[0073] Δθ_i=|θ_{i+1}-θ_i|;

[0074] If Δθ_i>ε_θ, the heading change is considered unreasonable.

[0075] In the embodiment of the present application, for multiple ship name records under the same MMSI, the reasonable data of at least one ship is merged into a trajectory to obtain a coherent ship trajectory, and the static attributes of the data of at least one ship are unified, that is, the trajectory is merged. For multiple ship name records under the same MMSI, a trajectory that meets the rationality of position continuity, speed and heading is selected as the most reasonable trajectory, and these trajectories are merged into a coherent ship trajectory, and the static attributes such as ship name and MMSI are unified.

[0076] In the embodiment of the present application, a mapping relationship is established between the ship identification in the association mapping table and the data of at least one reasonable ship, and the mapping relationship is stored, that is, a reasonable ship is judged, a mapping relationship is established based on the original ship identification, and stored in the association mapping table.

[0077] Step S110, supplementing the data belonging to the same ship according to the ship information set, and generating a ship track of at least one ship.

[0078] Optionally, in step S110, the data belonging to the same ship are supplemented with content based on the ship information set to generate the ship trajectory of at least one ship, including: supplementing the data belonging to the same ship based on the ship information set stored in the association mapping table to obtain a fused trajectory table; generating the ship trajectory of at least one ship based on the fused trajectory table.

[0079] Specifically, based on the association mapping table, the ship trajectory data from different sources are supplemented with content, for example, for remote sensing and radar data, the ship static attribute data is supplemented: MMSI, Name, IMO, CallSign, etc. Finally, a fusion trajectory table is formed to merge data from different sources and more comprehensively grasp the ship information.

[0080] like Figure 6 As shown, Figure 6 A schematic diagram of data fusion in a method for fusion of ship trajectory data provided by an embodiment of the present invention. A, B, C, and D represent ship trajectories from different sources, and A1, A2, and A3 represent ship trajectories from the same source. Through the fusion algorithm, if B1 and A3 are determined to be the same ship, they are fused; if D1 and B2 are the same ship, they are further fused and regarded as the same ship.

[0081] The embodiment of the present invention provides a method for fusing ship trajectory data, which performs data preprocessing on acquired shore-based base station AIS data, satellite-borne AIS data and radar detection signals to obtain the shore-based base station AIS data, satellite-borne AIS data and radar detection signals after data preprocessing; matches the shore-based base station AIS data, satellite-borne AIS data and radar detection signals after data preprocessing according to static attributes, merges records with the same static attributes, and generates a ship information set; decomposes the ship information set into sub-data sets corresponding to time and space according to time and space; analyzes the ship trajectories of the sub-data sets in time and space according to time sorting to obtain the distance, time difference and moving speed of the ship between adjacent data points; obtains data belonging to the same ship in the sub-data sets in time and space according to the distance, time difference and moving speed of the ship; supplements the data belonging to the same ship according to the ship information set to generate the ship trajectory of at least one ship, thereby overcoming the limitations of the existing technology in terms of coverage, data accuracy and real-time performance, and achieving a more comprehensive, accurate and timely technical effect of marine ship monitoring.

[0082] The embodiment of the present invention provides a device for fusing ship trajectory data. Figure 7 A schematic diagram of a device for fusion of ship trajectory data provided by an embodiment of the present invention; Figure 7 As shown, the device for fusion of ship trajectory data provided by the embodiment of the present application includes: a data preprocessing module 70, which is used to perform data preprocessing on the acquired shore-based base station AIS data, satellite-borne AIS data and radar detection signal to obtain the shore-based base station AIS data, satellite-borne AIS data and radar detection signal after data preprocessing; a first merging module 71, which is used to match the shore-based base station AIS data, satellite-borne AIS data and radar detection signal after data preprocessing according to static attributes, merge the records with the same static attributes, and generate a ship information set; a decomposition module 72, which is used to decompose the ship information set into sub-data sets corresponding to time and space according to time and space; a sorting module 73, which is used to analyze the ship trajectory of the sub-data sets of time and space according to time sorting, and obtain the distance, time difference and moving speed of the ship between adjacent data points; a second merging module 74, which is used to obtain the data belonging to the same ship in the sub-data sets of time and space according to the distance, time difference and moving speed of the ship between adjacent data points; a trajectory generation module 75, which is used to supplement the data belonging to the same ship according to the ship information set to generate the ship trajectory of at least one ship.

[0083] Optionally, the data preprocessing module 70 includes: a storage unit, used to store the acquired shore-based base station AIS data, satellite-borne AIS data and radar detection signals in a database; a data preprocessing unit, used to remove noise and erroneous records in the shore-based base station AIS data, satellite-borne AIS data and radar detection signals stored in the database, and correct the deviation in the data to obtain the shore-based base station AIS data, satellite-borne AIS data and radar detection signals after data preprocessing.

[0084] Further, optionally, the first merging module 71 includes: a merging unit, used to merge the shore-based base station AIS data, satellite-borne AIS data and radar detection signals after pre-processing with the same ship name, MMSI, IMO number and call sign to generate a ship information set when the static attributes include ship name, MMSI, IMO number and call sign; a storage unit, used to store the ship information set into an association mapping table according to the ship identification.

[0085] The embodiment of the present invention provides a device for fusing ship trajectory data. The device performs data preprocessing on the acquired shore-based base station AIS data, satellite-borne AIS data and radar detection signal to obtain the shore-based base station AIS data, satellite-borne AIS data and radar detection signal after data preprocessing; the shore-based base station AIS data, satellite-borne AIS data and radar detection signal after data preprocessing are matched according to static attributes, and records with the same static attributes are merged to generate a ship information set; the ship information set is decomposed into sub-data sets corresponding to time and space according to time and space; the ship trajectory of the sub-data sets of time and space are analyzed according to time sorting to obtain the distance, time difference and moving speed of the ship between adjacent data points; the data belonging to the same ship in the sub-data sets of time and space are obtained according to the distance, time difference and moving speed of the ship between adjacent data points; the data belonging to the same ship are supplemented according to the ship information set to generate the ship trajectory of at least one ship, thereby overcoming the limitations of the existing technology in terms of coverage, data accuracy and real-time performance, and achieving a more comprehensive, accurate and timely technical effect of marine ship monitoring.

[0086] The above are only preferred embodiments of the present invention and are not intended to limit the protection scope of the present invention.

Claims

1. A method for fusion of ship trajectory data, characterized in that: include: Performing data preprocessing on the acquired shore-based base station AIS data, satellite-borne AIS data and radar detection signal to obtain the shore-based base station AIS data, the satellite-borne AIS data and the radar detection signal after data preprocessing; The shore-based base station AIS data, the satellite-borne AIS data and the radar detection signal after data preprocessing are matched according to static attributes, and records with the same static attributes are merged to generate a ship information set; Decomposing the ship information set into sub-data sets corresponding to the time and the space according to time and space; Analyzing the ship trajectories of the sub-data sets of the time and the space according to the time sorting to obtain the distance between adjacent data points, the time difference and the moving speed of the ship; Acquire data belonging to the same ship in the sub-data sets of the time and the space according to the distance between adjacent data points, the time difference and the moving speed of the ship; The data belonging to the same ship are supplemented with content according to the ship information set to generate a ship track of at least one ship.

2. The method for ship trajectory data fusion according to claim 1, characterized in that: The step of performing data preprocessing on the acquired shore-based base station AIS data, satellite-borne AIS data and radar detection signal to obtain the shore-based base station AIS data, satellite-borne AIS data and radar detection signal after data preprocessing comprises: The acquired shore-based base station AIS data, the satellite-borne AIS data and the radar detection signal are stored in a database; The shore-based base station AIS data, the satellite-borne AIS data and the radar detection signal stored in the database are subjected to data preprocessing by removing noise and erroneous records from the data and correcting deviations from the data.

3. The method for ship trajectory data fusion according to claim 1 or 2, characterized in that: The pre-processed shore-based base station AIS data, the satellite-borne AIS data and the radar detection signal are matched according to static attributes, and records with the same static attributes are merged to generate a ship information set, including: In the case where the static attributes include a ship name, an MMSI, an IMO number and a call sign, the shore-based base station AIS data, the satellite-borne AIS data and the radar detection signal are preprocessed with the same data as the ship name, the MMSI, the IMO number and the call sign to generate the ship information set; The ship information set is stored in an association mapping table according to the ship identification.

4. The method for ship trajectory data fusion according to claim 3, characterized in that: The ship information set retains dynamic information, wherein the dynamic information includes: time, position, heading and speed.

5. The method for ship trajectory data fusion according to claim 3, characterized in that: Decomposing the ship information set into sub-data sets corresponding to the time and the space according to time and space comprises: Dividing the data in the ship information set into blocks according to unit time, and dividing the data reported at the same time into a first data set; Encoding the data in the ship information set according to longitude and latitude, and dividing the data with the same encoding into a second data set; A sub-dataset corresponding to the time and the space is obtained according to the first data set and the second data set.

6. The method for ship trajectory data fusion according to claim 5, characterized in that: The step of obtaining data belonging to the same ship in the sub-data sets of the time and the space according to the distance between adjacent data points, the time difference and the moving speed of the ship comprises: Checking whether the position of at least one ship at different time points is greater than a threshold from the sub-data sets of the time and the space according to the distance between adjacent data points, the time difference and the moving speed of the ship; If the position difference between the at least one ship at adjacent time points is greater than the threshold, determining that the data of the at least one ship is abnormal data; If the position difference between the at least one ship at adjacent time points is less than or equal to the threshold, determining that the data of the at least one ship is reasonable; Detecting whether changes in speed and course of data of at least one ship in the sub-data sets of time and space are reasonable; If the test result is reasonable, recording the data of the at least one vessel is reasonable; If the detection result is abnormal, record the data abnormality of the at least one ship; For multiple ship name records under the same MMSI, reasonably merge the data of at least one ship to obtain a coherent ship track, and unify the static attributes of the data of at least one ship; A mapping relationship is established according to the ship identification in the association mapping table and reasonable data of the at least one ship, and the mapping relationship is stored.

7. The method for fusion of ship trajectory data according to claim 6, characterized in that: The step of supplementing the data belonging to the same ship according to the ship information set to generate a ship track of at least one ship includes: Supplementing the data belonging to the same ship according to the ship information set stored in the association mapping table to obtain a fusion trajectory table; A ship trajectory of at least one ship is generated according to the fused trajectory table.

8. A device for fusion of ship trajectory data, characterized in that: include: A data preprocessing module is used to perform data preprocessing on the acquired shore-based base station AIS data, satellite-borne AIS data and radar detection signal to obtain the shore-based base station AIS data, the satellite-borne AIS data and the radar detection signal after data preprocessing; A first merging module is used to match the shore-based base station AIS data, the satellite-borne AIS data and the radar detection signal after data preprocessing according to static attributes, merge records with the same static attributes, and generate a ship information set; A decomposition module, used for decomposing the ship information set into sub-data sets corresponding to the time and the space according to time and space; A sorting module, used to analyze the ship trajectories of the sub-data sets of the time and the space according to the time sorting, and obtain the distance between adjacent data points, the time difference and the moving speed of the ship; A second merging module is used to obtain data belonging to the same ship in the sub-data sets of the time and the space according to the distance between adjacent data points, the time difference and the moving speed of the ship; The track generation module is used to supplement the data belonging to the same ship according to the ship information set to generate a ship track of at least one ship.

9. The device for fusion of ship trajectory data according to claim 8, characterized in that: The data preprocessing module comprises: A storage unit, used to store the acquired shore-based base station AIS data, the satellite-borne AIS data and the radar detection signal into a database; The data preprocessing unit is used to remove noise and erroneous records from the shore-based base station AIS data, the satellite-borne AIS data and the radar detection signal stored in the database, and correct the deviation in the data to obtain the shore-based base station AIS data, the satellite-borne AIS data and the radar detection signal after data preprocessing.

10. The device for fusion of ship trajectory data according to claim 8 or 9, characterized in that: The first merging module comprises: a merging unit, configured to merge the shore-based base station AIS data, the satellite-borne AIS data and the radar detection signal after preprocessing the data with the same ship name, the MMSI, the IMO number and the call sign, to generate the ship information set when the static attributes include the ship name, the MMSI, the IMO number and the call sign; The storage unit is used to store the ship information set into an association mapping table according to the ship identification.

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