Ship data distributed real-time fusion method and device based on space-time trajectory

Abstract

The invention discloses a space-time trajectory-based ship data distributed real-time fusion method and device. The method comprises the following steps: analyzing according to received AIS information, and judging whether an MMSI in ship state information appears for the first time or not; if the judgment result is yes, determining that the ship to which the MMSI belongs is the ship which is not fused; if the judgment result is no, acquiring the latest state information of the ship to which the MMSI belongs; calculating a comparison value among the AIS information of the same MMSI according to the latest state information, and judging whether a fusible ship exists or not according to the comparison value; if yes, obtaining matched ship information with the highest reasonable score and a first identifier of the ship; if not, determining that the ship with the MMSI information is a ship which is not fused, and generating a second identifier of the ship; and storing the AIS information of the ship according to the first identifier or the second identifier. According to the invention, the ship positioning precision, the track recording accuracy and the ship management effectiveness can be improved.

Description

Technical Field

[0001] The present invention relates to the field of electronic technology applications, and in particular to a distributed real-time fusion method and device for ship data based on time-space trajectory. Background Art

[0002] In the field of ship communication and navigation, the Automatic Identification System (AIS) is widely used for positioning, identifying and tracking ships. According to the AIS protocol, each ship should be equipped with a unique Maritime Mobile Service Identity (MMSI), which is the only identifier of the ship worldwide and cannot be changed during the operation of the ship. However, in actual applications, it is found that there are multiple ships sharing the same MMSI number, which leads to a series of safety and management problems. The main reasons for this problem are as follows:

[0003] 1. Human configuration errors: During the installation and configuration of the ship's automatic identification system (AIS), operators may mistakenly enter or reuse the MMSI number that has been assigned to other ships due to negligence or misoperation, resulting in multiple ships sharing the same identification code.

[0004] 2. Registration error or system failure: During the operation of the ship registration management or communication system, the same MMSI number may be incorrectly assigned to different ships due to data synchronization errors or registration system failures, resulting in the duplication of identification codes.

[0005] 3. Illegal use or forgery: Some ships may deliberately forge or impersonate the MMSI number of other ships in order to conceal their true identity or conduct illegal activities in order to evade supervision and tracking.

[0006] The above problems lead to inaccurate data in the ship system, which has many adverse effects:

[0007] 1. Positioning confusion: Since multiple ships share the same MMSI number, it is difficult for the maritime traffic management system to accurately distinguish the actual positions of these ships, which may cause navigation errors, increase the risk of collision between ships, and even cause accidents.

[0008] 2. Track confusion: When the position information of different ships is transmitted through the AIS system, due to the use of the same MMSI number, the system mixes the position information of these ships together, resulting in track jumps, overlaps or abnormal changes, presenting a false navigation route, affecting the actual positioning and tracking of the ship.

[0009] 3. Data recording errors: Ship operations and management rely on MMSI numbers for historical records, navigation logs, and tracking of ship activities. The same MMSI number will cause data confusion for multiple ships, which in turn affects the accuracy and reliability of ship operations and management.

[0010] Currently, no effective solution has been proposed to address the problem that the repeated use of MMSI numbers in the existing technology has seriously affected the positioning accuracy, track records and effectiveness of ship management of ships. Summary of the invention

[0011] In order to solve the above technical problems, the embodiments of the present invention hope to provide a distributed real-time fusion method and device for ship data based on spatiotemporal trajectories, so as to at least solve the problem that the repeated use of MMSI numbers in the prior art seriously affects the positioning accuracy, trajectory recording and effectiveness of ship management of ships.

[0012] The technical solution of the present invention is achieved in this way:

[0013] The embodiment of the present invention provides a distributed real-time fusion method for ship data based on time-space trajectory, including: parsing according to received AIS information to obtain ship status information; judging whether the MMSI in the ship status information appears for the first time; if the judgment result is yes, determining that the ship to which the MMSI belongs is a ship that cannot be fused; if the judgment result is no, obtaining the latest status information of the ship to which the MMSI belongs; calculating the comparison value between each item in the AIS information of the same MMSI according to the latest status information, and judging whether there is a ship that can be fused according to the comparison value; if there is a ship that can be fused, obtaining the matching ship information with the highest reasonable score and the first identification of the ship, and determining that the ship is a ship that has been successfully fused; if there is no ship that can be fused, determining that the ship with the MMSI information is a ship that cannot be fused, and generating the second identification of the ship; storing the AIS information of the ship according to the first identification or the second identification.

[0014] Optionally, before parsing the received AIS information to obtain the ship status information, the method further includes: loading the ship status information respectively into a specific storage of at least one computing node.

[0015] Further, optionally, loading the ship status information separately in the specific storage of at least one computing node includes: checking the data loading status of the key-value storage system of at least one computing node; if the data loading status is empty, configuring the loading right for the computing node with the empty data loading status, and configuring the status of the computing node as loading, the computing node loads the latest status information of the ship from the database to the key-value storage system, and configures the status of the computing node from loading to loading completed; if the data loading status is not empty, and the status of the computing node is loading completed, obtaining the latest status information of the ship from the key-value disposal system and loading it into the specific storage of the computing node; if the status of the computing node is not loading completed, controlling the computing node to sleep for a preset time, and re-checking whether the status of the computing node is loading completed.

[0016] Optionally, after parsing the received AIS information to obtain the ship status information, the method further includes: performing hash calculation on the MMSI in the ship status information, and evenly distributing it to at least one computing node according to the hash result.

[0017] Optionally, judging whether there is a ship that can be fused based on the comparison value includes: judging whether the AIS information and the speed of the existing ship are reasonable; if the judgment result is yes, configuring a first score; if the judgment result is no, judging whether the AIS information and the spatiotemporal position of the existing ship are reasonable; if the AIS information and the spatiotemporal position of the existing ship are reasonable, configuring a second score, and accumulating the first score and the second score; if the AIS information and the spatiotemporal position of the existing ship are unreasonable, judging whether the AIS information is consistent with multiple static attributes of the existing ship and the spatial position is reasonable; if the AIS information is consistent with multiple static attributes of the existing ship and the spatial position is reasonable, configuring a third score, and accumulating the first score, the second score and the third score; if the AIS information is consistent with multiple static attributes of the existing ship and the spatial position is unreasonable, determining that the fusion has failed.

[0018] Optionally, after storing the AIS information of the ship according to the first identifier or the second identifier, the method further includes: updating the AIS information corresponding to the first identifier or the second identifier in a specific storage of at least one computing node.

[0019] The embodiment of the present invention provides a distributed real-time fusion device for ship data based on spatiotemporal trajectory, comprising: a parsing module, used for parsing according to received AIS information to obtain ship status information; a first judgment module, used for judging whether the MMSI in the ship status information appears for the first time; an execution module, used for determining that the ship to which the MMSI belongs is a ship that cannot be fused if the judgment result is yes; an acquisition module, used for obtaining the latest status information of the ship to which the MMSI belongs if the judgment result is no; a fusion module, used for calculating the comparison value between each item in the AIS information of the same MMSI according to the latest status information, and judging whether there is a ship that can be fused according to the comparison value; a first identification module, used for obtaining the matching ship information with the highest reasonable score and the first identification of the ship if there is a ship that can be fused; a second identification module, used for determining that the ship with the MMSI information is a ship that cannot be fused if there is no ship that can be fused, and generating a second identification of the ship; and a storage module, used for storing the AIS information of the ship according to the first identification or the second identification.

[0020] Optionally, the storage module is further used to load the ship status information into a specific storage of at least one computing node before parsing the received AIS information to obtain the ship status information.

[0021] Further, optionally, the storage module includes: a detection unit, which is used to check the data loading status of the key-value storage system of at least one computing node; a loading right configuration unit, which is used to configure the loading right for the computing node with an empty data loading status if the data loading status is empty, and configure the status of the computing node as loading, and the computing node loads the latest status information of the ship from the database to the key-value storage system, and configures the status of the computing node from loading to loading completed; a loading unit, which is used to obtain the latest status information of the ship from the key-value disposal system and load it into the specific storage of the computing node if the data loading status is not empty and the status of the computing node is loading completed; a judgment unit, which is used to control the computing node to sleep for a preset time if the status of the computing node is not loading completed, and re-check whether the status of the computing node is loading completed.

[0022] Optionally, the fusion module includes: a speed determination unit, used to determine whether the AIS information is reasonable with the speed of the existing ship; a first score configuration unit, used to configure the first score when the judgment result is yes; a time and space determination unit, used to determine whether the time and space position of the AIS information and the existing ship is reasonable when the judgment result is no; a second score configuration unit, used to configure the second score if the time and space position of the AIS information and the existing ship is reasonable, and accumulate the first score and the second score; a static attribute judgment unit, used to determine whether the AIS information is consistent with multiple static attributes of the existing ship and the spatial position is reasonable if the time and space position of the AIS information and the existing ship is unreasonable; a third score configuration unit, used to configure the third score if the AIS information is consistent with multiple static attributes of the existing ship and the spatial position is reasonable, and accumulate the first score, the second score and the third score; a fusion judgment unit, used to determine that the fusion fails if the AIS information is consistent with multiple static attributes of the existing ship and the spatial position is unreasonable.

[0023] The embodiment of the present invention provides a distributed real-time fusion method and device for ship data based on spatiotemporal trajectory, which obtains ship status information by parsing according to received AIS information; determines whether the MMSI in the ship status information appears for the first time; if the judgment result is yes, determines that the ship to which the MMSI belongs is a ship that cannot be fused; if the judgment result is no, obtains the latest status information of the ship to which the MMSI belongs; calculates the comparison value between each item in the AIS information of the same MMSI according to the latest status information, and determines whether there is a ship that can be fused according to the comparison value; if there is a ship that can be fused, obtains the matching ship information with the highest reasonable score and the first identification of the ship; if there is no ship that can be fused, determines that the ship with the MMSI information is a ship that cannot be fused, and generates the second identification of the ship; stores the AIS information of the ship according to the first identification or the second identification, thereby improving the technical effect of ship positioning accuracy, trajectory recording accuracy and effectiveness of ship management. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] 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:

[0025] Figure 1 A schematic flow chart of a distributed real-time fusion method of ship data based on spatiotemporal trajectory provided by an embodiment of the present invention;

[0026] Figure 2 A schematic flow chart of another distributed real-time fusion method of ship data based on spatiotemporal trajectory provided by an embodiment of the present invention;

[0027] Figure 3 A schematic diagram of data loading at each computing node in a distributed real-time fusion method for ship data based on spatiotemporal trajectories provided in an embodiment of the present invention;

[0028] Figure 4 A schematic diagram of a process of loading data at each computing node in a distributed real-time fusion method of ship data based on spatiotemporal trajectory provided by an embodiment of the present invention;

[0029] Figure 5 A schematic diagram of the fusion process in a distributed real-time fusion method of ship data based on spatiotemporal trajectories provided in an embodiment of the present invention;

[0030] Figure 6 A schematic diagram of a distributed real-time fusion device for ship data based on spatiotemporal trajectories provided in an embodiment of the present invention. DETAILED DESCRIPTION

[0031] 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.

[0032] 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.

[0033] 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.

[0034] The embodiment of the present invention provides a distributed real-time fusion method for ship data based on spatiotemporal trajectory. Figure 1 A flow chart of a distributed real-time fusion method of ship data based on spatiotemporal trajectory provided by an embodiment of the present invention; Figure 1 As shown, the distributed real-time fusion method of ship data based on spatiotemporal trajectory provided by the embodiment of the present application includes:

[0035] Step S100, analyzing the received AIS information to obtain the ship status information;

[0036] Specifically, Figure 2 A flow chart of another method for distributed real-time fusion of ship data based on spatiotemporal trajectory provided by an embodiment of the present invention; Figure 2As shown, the ship status information in the embodiment of the present application at least includes: MMSI, position, time, ship name, call sign and International Maritime Organization number (International Maritime Organization, referred to as IMO).

[0037] Optionally, before parsing the received AIS information to obtain the ship status information in step S100, the distributed real-time fusion method of ship data based on spatiotemporal trajectories provided in the embodiment of the present application also includes: loading the ship status information separately in the specific storage of at least one computing node.

[0038] Further, optionally, loading the ship status information separately in the specific storage of at least one computing node includes: checking the data loading status of the key-value storage system of at least one computing node; if the data loading status is empty, configuring the loading right for the computing node with the empty data loading status, and configuring the status of the computing node as loading, the computing node loads the latest status information of the ship from the database to the key-value storage system, and configures the status of the computing node from loading to loading completed; if the data loading status is not empty, and the status of the computing node is loading completed, obtaining the latest status information of the ship from the key-value disposal system and loading it into the specific storage of the computing node; if the status of the computing node is not loading completed, controlling the computing node to sleep for a preset time, and re-checking whether the status of the computing node is loading completed.

[0039] Specifically, Figure 3 A schematic diagram of data loading at each computing node in a distributed real-time fusion method for ship data based on spatiotemporal trajectories provided in an embodiment of the present invention; Figure 4 A schematic diagram of a process of loading data at each computing node in a distributed real-time fusion method of ship data based on spatiotemporal trajectory provided by an embodiment of the present invention; Figure 3 and Figure 4 As shown, loading the ship status information in the specific storage of at least one computing node includes:

[0040] Step 1: Each computing node checks the data loading status of Redis (i.e., the key-value storage system in the embodiment of the present application). If the status is empty, the node obtains the loading right and executes step 2. If the status is not empty, jump to step 5.

[0041] Step 2: The node that obtains the loading right sets the status to "loading";

[0042] Step 3: The node that obtains the loading right loads the latest status of the ship from the Doris database (i.e., the database in the embodiment of the present application) to Redis;

[0043] Step 4: The node that obtains the loading right sets the status to "loading completed";

[0044] Step 5: Check the data loading status. If the status is "Loading Completed", go to step 7. If not, go to step 6.

[0045] Step 6: After sleeping for 1 second (i.e., the preset duration in the embodiment of the present application), return to step 5 to recheck;

[0046] Step 7: Each computing node loads the latest status of the ship from Redis into the memory (ie, the specific storage in the embodiment of the present application).

[0047] Optionally, after parsing the received AIS information to obtain the ship status information in step S100, the distributed real-time fusion method of ship data based on spatiotemporal trajectories provided in the embodiment of the present application also includes: performing hash calculation on the MMSI in the ship status information, and evenly distributing it to at least one computing node according to the hash result.

[0048] Specifically, in the embodiment of the present application, a hash operation is performed on the MMSI, and the data is evenly distributed to different computing nodes according to the hash result to ensure load balancing.

[0049] Step S102, determining whether the MMSI in the ship status information appears for the first time;

[0050] Step S104, if the judgment result is yes, determining that the ship to which the MMSI belongs is a ship that cannot be merged;

[0051] Step S106, if the judgment result is no, obtaining the latest status information of the ship to which the MMSI belongs;

[0052] Step S108, calculating the comparison value between the items in the AIS information of the same MMSI according to the latest status information, and judging whether there is a ship that can be integrated according to the comparison value;

[0053] Optionally, judging whether there is a ship that can be fused based on the comparison value includes: judging whether the AIS information and the speed of the existing ship are reasonable; if the judgment result is yes, configuring a first score; if the judgment result is no, judging whether the AIS information and the spatiotemporal position of the existing ship are reasonable; if the AIS information and the spatiotemporal position of the existing ship are reasonable, configuring a second score, and accumulating the first score and the second score; if the AIS information and the spatiotemporal position of the existing ship are unreasonable, judging whether the AIS information is consistent with multiple static attributes of the existing ship and the spatial position is reasonable; if the AIS information is consistent with multiple static attributes of the existing ship and the spatial position is reasonable, configuring a third score, and accumulating the first score, the second score and the third score; if the AIS information is consistent with multiple static attributes of the existing ship and the spatial position is unreasonable, determining that the fusion has failed.

[0054] Specifically, Figure 5 A schematic diagram of a fusion process in a distributed real-time fusion method of ship data based on spatiotemporal trajectory provided by an embodiment of the present invention; Figure 5 As shown, judging whether there is a ship that can be merged based on the comparison value includes:

[0055] Step 1: Determine whether the AIS information and the speed of the existing ship are reasonable, such as if the speed is less than 30 knots. If reasonable, proceed to step 2; otherwise, proceed to step 3.

[0056] Step 2: assign 3 points (ie, the first score in the embodiment of the present application), and accumulate the distance and time scores.

[0057] Step 3: Determine whether the time and space position of the AIS information and the existing ship is reasonable, such as a distance of 50 kilometers within one hour. If reasonable, proceed to step 4; otherwise, proceed to step 5.

[0058] Step 4: assign 2 points (ie, the second score in the embodiment of the present application), and accumulate the distance and time scores.

[0059] Step 5: Determine whether the AIS information is consistent with multiple static attributes of existing ships and whether the spatial location is reasonable, such as the three static attributes are the same and within 500 kilometers. If reasonable, proceed to step 6; otherwise, proceed to step 7.

[0060] Step 6: Assign 1 point (ie, the third score in the embodiment of the present application), and accumulate the static attribute and spatial rationality scores.

[0061] Step 7: If all comparison conditions are not met, the fusion is determined to have failed.

[0062] Step S110, when there is a ship that can be fused, obtaining the matching ship information with the highest reasonable score and the first identifier of the ship, and determining the ship as a successfully fused ship;

[0063] Specifically, if the fusion is successful, the matching ship information with the highest score and the ID of the ship (ie, the first identification of the ship in the embodiment of the present application) are obtained.

[0064] Step S112: if there is no ship that can be merged, determine the ship with the MMSI information as a ship that cannot be merged, and generate a second identifier of the ship;

[0065] Specifically, a new ID (ie, the second identifier in the embodiment of the present application) is generated for the ship that has not been merged.

[0066] Step S114: storing the AIS information of the ship according to the first identifier or the second identifier.

[0067] Optionally, after storing the AIS information of the ship according to the first identifier or the second identifier in step S114, the distributed real-time fusion method of ship data based on spatiotemporal trajectories provided in an embodiment of the present application further includes: updating the AIS information corresponding to the first identifier or the second identifier in a specific storage of at least one computing node.

[0068] Specifically, according to the generated ID (ie, the first identifier or the second identifier in the embodiment of the present application), the AIS information of the ship is stored in the database.

[0069] Update or insert the AIS information of the ship corresponding to the ID into the memory (ie, the specific storage in the embodiment of the present application) to complete the fusion processing of the ship AIS real-time data.

[0070] The embodiment of the present invention provides a distributed real-time fusion method for ship data based on spatiotemporal trajectory, which obtains ship status information by parsing according to received AIS information; determines whether the MMSI in the ship status information appears for the first time; if the judgment result is yes, determines that the ship to which the MMSI belongs is a ship that cannot be fused; if the judgment result is no, obtains the latest status information of the ship to which the MMSI belongs; calculates the comparison value between each item in the AIS information of the same MMSI according to the latest status information, and determines whether there is a ship that can be fused according to the comparison value; if there is a ship that can be fused, obtains the matching ship information with the highest reasonable score and the first identification of the ship; if there is no ship that can be fused, determines that the ship with the MMSI information is a ship that cannot be fused, and generates the second identification of the ship; stores the AIS information of the ship according to the first identification or the second identification, thereby improving the technical effect of ship positioning accuracy, trajectory recording accuracy and effectiveness of ship management.

[0071] The embodiment of the present invention provides a distributed real-time fusion device for ship data based on time-space trajectory. Figure 6 A schematic diagram of a distributed real-time fusion device for ship data based on spatiotemporal trajectory provided by an embodiment of the present invention; Figure 6As shown, it includes: a parsing module 61, which is used to parse according to the received AIS information to obtain the ship status information; a first judgment module 62, which is used to judge whether the MMSI in the ship status information appears for the first time; an execution module 63, which is used to determine that the ship to which the MMSI belongs is a ship that cannot be integrated if the judgment result is yes; an acquisition module 64, which is used to obtain the latest status information of the ship to which the MMSI belongs if the judgment result is no; a fusion module 65, which is used to calculate the comparison value between each item in the AIS information of the same MMSI according to the latest status information, and judge whether there is a ship that can be integrated according to the comparison value; a first identification module 66, which is used to obtain the matching ship information with the highest reasonable score and the first identification of the ship if there is a ship that can be integrated; a second identification module 67, which is used to determine that the ship with the MMSI information is a ship that cannot be integrated if there is no ship that can be integrated, and generate a second identification of the ship; a storage module 68, which is used to store the AIS information of the ship according to the first identification or the second identification.

[0072] Optionally, the storage module is further used to load the ship status information into a specific storage of at least one computing node before parsing the received AIS information to obtain the ship status information.

[0073] Further, optionally, the storage module includes: a detection unit, which is used to check the data loading status of the key-value storage system of at least one computing node; a loading right configuration unit, which is used to configure the loading right for the computing node with an empty data loading status if the data loading status is empty, and configure the status of the computing node as loading, and the computing node loads the latest status information of the ship from the database to the key-value storage system, and configures the status of the computing node from loading to loading completed; a loading unit, which is used to obtain the latest status information of the ship from the key-value disposal system and load it into the specific storage of the computing node if the data loading status is not empty and the status of the computing node is loading completed; a judgment unit, which is used to control the computing node to sleep for a preset time if the status of the computing node is not loading completed, and re-check whether the status of the computing node is loading completed.

[0074] Optionally, the fusion module 65 includes: a speed determination unit, used to determine whether the AIS information is reasonable with the speed of the existing ship; a first score configuration unit, used to configure the first score when the judgment result is yes; a time and space determination unit, used to determine whether the time and space position of the AIS information and the existing ship is reasonable when the judgment result is no; a second score configuration unit, used to configure the second score if the time and space position of the AIS information and the existing ship is reasonable, and accumulate the first score and the second score; a static attribute determination unit, used to determine whether the AIS information is consistent with multiple static attributes of the existing ship and the spatial position is reasonable if the time and space position of the AIS information and the existing ship is unreasonable; a third score configuration unit, used to configure the third score if the AIS information is consistent with multiple static attributes of the existing ship and the spatial position is reasonable, and accumulate the first score, the second score and the third score; a fusion determination unit, used to determine that the fusion fails if the AIS information is consistent with multiple static attributes of the existing ship and the spatial position is unreasonable.

[0075] The embodiment of the present invention provides a distributed real-time fusion device for ship data based on spatiotemporal trajectory, which obtains ship status information by parsing according to received AIS information; determines whether the MMSI in the ship status information appears for the first time; if the judgment result is yes, determines that the ship to which the MMSI belongs is a ship that cannot be fused; if the judgment result is no, obtains the latest status information of the ship to which the MMSI belongs; calculates the comparison value between each item in the AIS information of the same MMSI according to the latest status information, and determines whether there is a ship that can be fused according to the comparison value; if there is a ship that can be fused, obtains the matching ship information with the highest reasonable score and the first identification of the ship; if there is no ship that can be fused, determines that the ship with the MMSI information is a ship that cannot be fused, and generates the second identification of the ship; stores the AIS information of the ship according to the first identification or the second identification, thereby improving the technical effect of ship positioning accuracy, trajectory recording accuracy and effectiveness of ship management.

[0076] 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 distributed real-time fusion method for ship data based on spatiotemporal trajectory, characterized in that: include: Analyze the received AIS information to obtain the ship status information; Determining whether the MMSI in the ship status information appears for the first time; If the judgment result is yes, determining that the ship to which the MMSI belongs is a ship that cannot be merged; If the judgment result is no, obtaining the latest status information of the ship to which the MMSI belongs; Calculating comparison values ​​between items in the AIS information of the same MMSI according to the latest status information, and judging whether there is a ship that can be merged according to the comparison value; If there is a ship that can be merged, obtain the matching ship information with the highest reasonable score and the first identifier of the ship, and determine that the ship is a successfully merged ship; In the case that there is no ship that can be merged, determining that the ship described in the MMSI information is a ship that cannot be merged, and generating a second identifier of the ship; The AIS information of the ship is stored according to the first identifier or the second identifier.

2. The distributed real-time fusion method of ship data based on spatiotemporal trajectory according to claim 1 is characterized in that: Before parsing the received AIS information to obtain the ship status information, the method further includes: The ship status information is loaded into a specific storage of at least one computing node respectively.

3. The distributed real-time fusion method of ship data based on spatiotemporal trajectory according to claim 2 is characterized in that: The loading of the ship status information into the specific storage of at least one computing node comprises: Checking a data loading status of a key-value storage system of the at least one computing node; If the data loading status is empty, the computing node with the empty data loading status is configured with loading rights, and the status of the computing node is configured as loading, the computing node loads the latest status information of the ship from the database to the key-value storage system, and the status of the computing node is configured from loading to loading completed; If the data loading status is not empty and the computing node status is loading completed, the latest ship status information is obtained from the key-value processing system and loaded into the specific storage of the computing node; If the state of the computing node is that the loading is not completed, the computing node is controlled to sleep for a preset time period, and the state of the computing node is re-detected to determine whether the loading is completed.

4. The distributed real-time fusion method of ship data based on spatiotemporal trajectory according to claim 3 is characterized in that: After parsing the received AIS information to obtain the ship status information, the method further includes: A hash calculation is performed on the MMSI in the ship status information, and the hash result is evenly distributed to at least one computing node.

5. The distributed real-time fusion method of ship data based on spatiotemporal trajectory according to any one of claims 1 to 4, characterized in that: The determining whether there is a ship that can be merged according to the comparison value includes: Determine whether the AIS information is reasonable with the speed of the existing ship; If the judgment result is yes, a first score is configured; If the result of the judgment is negative, judging whether the time and space positions of the AIS information and the existing ships are reasonable; If the AIS information and the temporal and spatial positions of the existing ships are reasonable, a second score is configured, and the first score and the second score are accumulated; If the AIS information is not reasonable with the temporal and spatial position of the existing ship, then judging whether the AIS information is consistent with multiple static attributes of the existing ship and whether the spatial position is reasonable; If the AIS information is consistent with multiple static attributes of the existing ship and the spatial position is reasonable, a third score is configured, and the first score, the second score and the third score are accumulated; If the AIS information is consistent with multiple static attributes of the existing ship and the spatial position is unreasonable, it is determined that the fusion fails.

6. The distributed real-time fusion method of ship data based on spatiotemporal trajectory according to claim 1 is characterized in that: After storing the AIS information of the ship according to the first identifier or the second identifier, the method further includes: The AIS information corresponding to the first identifier or the second identifier is updated in a specific storage of the at least one computing node.

7. A distributed real-time fusion device for ship data based on time-space trajectory, characterized in that: include: A parsing module, used for parsing the received AIS information to obtain the ship status information; A first judgment module is used to judge whether the MMSI in the ship status information appears for the first time; an execution module, configured to, if the judgment result is yes, determine that the ship to which the MMSI belongs is a ship that cannot be merged; An acquisition module, used for acquiring the latest status information of the ship to which the MMSI belongs when the judgment result is no; A fusion module, used for calculating the comparison value between the items in the AIS information of the same MMSI according to the latest status information, and judging whether there is a ship that can be fused according to the comparison value; A first identification module is used to obtain matching ship information with the highest reasonable score and a first identification of the ship when there is a ship that can be integrated, and determine that the ship is a successfully integrated ship; A second identification module, configured to determine that the ship described in the MMSI information is a ship that cannot be integrated, and generate a second identification of the ship when there is no ship that can be integrated; A storage module is used to store the AIS information of the ship according to the first identifier or the second identifier.

8. The distributed real-time fusion device for ship data based on time-space trajectory according to claim 7 is characterized in that: The storage module is further used to load the ship status information respectively into the specific storage of at least one computing node before parsing the received AIS information to obtain the ship status information.

9. The distributed real-time fusion device for ship data based on time-space trajectory according to claim 8 is characterized in that: The storage module comprises: A detection unit, configured to check a data loading status of a key-value storage system of the at least one computing node; A loading right configuration unit is used to configure the loading right for the computing node whose data loading status is empty if the data loading status is empty, and configure the status of the computing node as loading, the computing node loads the latest status information of the ship from the database to the key-value storage system, and configures the status of the computing node from loading to loading completed; A loading unit, configured to obtain the latest ship status information from the key-value processing system and load it into a specific storage of the computing node if the data loading status is not empty and the computing node status is loading completed; The determination unit is used to control the computing node to sleep for a preset time period if the computing node is in a state of not being loaded, and to re-detect whether the computing node is in a state of being loaded.

10. The distributed real-time fusion device for ship data based on time-space trajectory according to any one of claims 7 to 9, characterized in that: The fusion module includes: A speed determination unit, used to determine whether the AIS information and the speed of the existing ship are reasonable; A first score configuration unit, configured to configure a first score when the judgment result is yes; A time-space determination unit, used to determine whether the time-space position of the AIS information and the existing ship is reasonable when the determination result is no; a second score configuration unit, configured to configure a second score if the AIS information and the temporal and spatial position of the existing ship are reasonable, and to accumulate the first score and the second score; A static attribute judgment unit, for judging whether the AIS information is consistent with multiple static attributes of the existing ship and whether the spatial position is reasonable if the temporal and spatial position of the AIS information and the existing ship are unreasonable; a third score configuration unit, configured to configure a third score if the AIS information is consistent with multiple static attributes of the existing ship and the spatial position is reasonable, and to accumulate the first score, the second score and the third score; The fusion judgment unit is used to determine that the fusion fails if the AIS information is consistent with multiple static attributes of the existing ship and the spatial position is unreasonable.

Images