Water area target tracking method and system based on AIS and unmanned equipment linkage

Abstract

The invention relates to the field of water target tracking and emergency rescue target tracking, in particular to a water area target tracking method and system based on AIS and unmanned equipment linkage, AIS data signals emitted by a water area target are received, the received AIS data signals are transmitted to a control end, the control end analyzes the AIS data signals, and the AIS data signals are transmitted to the control end. The AIS data signal is sent to the control end, the longitude information and latitude information of the water area target are extracted from the AIS data signal, the control end pushes the extracted longitude information and latitude information of the water area target to the unmanned equipment, and the unmanned equipment corrects the navigation destination of the unmanned equipment according to the longitude information and latitude information of the water area target pushed by the control end. And the corrected navigation destination is taken as the final navigation destination, so that automatic linkage of the AIS and the unmanned equipment is realized, the target observation efficiency is improved, and the target condition can be judged in time.

Description

Technical Field

[0001] The present invention relates to the field of water target tracking and emergency rescue target tracking, and in particular to a water target tracking method and system based on AIS and unmanned equipment linkage. Background Art

[0002] At present, water target tracking and emergency rescue target tracking are mainly carried out by sending manned ships or manually controlling unmanned ships to the vicinity of the target for exploration after the AIS receiver receives the target data sent by AIS (full name: Automatic Identification System). This cannot achieve automatic linkage observation between AIS and unmanned equipment (such as unmanned ships), and the time and labor costs of dispatching manned ships for observation are high, and the risks are also greater under special circumstances. Summary of the invention

[0003] The technical problem to be solved by the present invention is to provide a method and system for tracking water targets based on the linkage of AIS and unmanned equipment, which can realize the automatic linkage of AIS and unmanned equipment, improve the target observation efficiency, and then timely determine the target situation.

[0004] In order to solve the above technical problems, the first technical solution adopted by the present invention is:

[0005] A method for tracking water targets based on AIS and unmanned equipment linkage includes the following steps:

[0006] S1, receiving the AIS data signal emitted by the water target, and transmitting the received AIS data signal to the control end;

[0007] S2, the control end analyzes the AIS data signal, and extracts the longitude information and latitude information of the water area target from the AIS data signal;

[0008] S3, the control end pushes the extracted longitude information and latitude information of the water area target to the unmanned device;

[0009] S4. The unmanned device corrects its own navigation destination according to the longitude information and latitude information of the water area target pushed by the control end, and takes the corrected navigation destination as the final navigation destination.

[0010] The second technical solution adopted by the present invention is:

[0011] A water target tracking system based on AIS and unmanned equipment linkage includes one or more processors and a memory, wherein the memory stores a program, and when the program is executed by the processor, the following steps are implemented:

[0012] S1, receiving the AIS data signal emitted by the water target, and transmitting the received AIS data signal to the control end;

[0013] S2, the control end analyzes the AIS data signal, and extracts the longitude information and latitude information of the water area target from the AIS data signal;

[0014] S3, the control end pushes the extracted longitude information and latitude information of the water area target to the unmanned device;

[0015] S4. The unmanned device corrects its own navigation destination according to the longitude information and latitude information of the water area target pushed by the control end, and takes the corrected navigation destination as the final navigation destination.

[0016] The beneficial effects of the present invention are:

[0017] This solution receives the AIS data signal emitted by the water target and transmits the received AIS data signal to the control end. The control end parses the AIS data signal and extracts the longitude and latitude information of the water target from the AIS data signal. The control end pushes the extracted longitude and latitude information of the water target to the unmanned device. The unmanned device corrects its own navigation destination according to the longitude and latitude information of the water target pushed by the control end, and takes the corrected navigation destination as the final navigation destination. The AIS data signal emitted by the water target is first received, and then the control end automatically links the unmanned device to observe near the water target, thereby realizing automatic linkage between AIS and unmanned equipment, improving target observation efficiency, and thus being able to timely determine the target situation. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 The present invention is a flowchart of the steps of the method for tracking water targets based on the linkage between AIS and unmanned equipment;

[0019] Figure 2 It is a connection block diagram of the water area target tracking system based on AIS and unmanned equipment linkage of the present invention;

[0020] Description of labels:

[0021] 1. Processor; 2. Memory. DETAILED DESCRIPTION

[0022] In order to explain the technical content, achieved objectives and effects of the present invention in detail, the following is an explanation in combination with the implementation modes and the accompanying drawings.

[0023] Please refer to Figure 1 , the first technical solution adopted by the present invention is:

[0024] A method for tracking water targets based on AIS and unmanned equipment linkage includes the following steps:

[0025] S1, receiving the AIS data signal emitted by the water target, and transmitting the received AIS data signal to the control end;

[0026] S2, the control end analyzes the AIS data signal, and extracts the longitude information and latitude information of the water area target from the AIS data signal;

[0027] S3, the control end pushes the extracted longitude information and latitude information of the water area target to the unmanned device;

[0028] S4. The unmanned device corrects its own navigation destination according to the longitude information and latitude information of the water area target pushed by the control end, and takes the corrected navigation destination as the final navigation destination.

[0029] From the above description, it can be seen that the beneficial effects of the present invention are:

[0030] This solution receives the AIS data signal emitted by the water target and transmits the received AIS data signal to the control end. The control end parses the AIS data signal and extracts the longitude and latitude information of the water target from the AIS data signal. The control end pushes the extracted longitude and latitude information of the water target to the unmanned device. The unmanned device corrects its own navigation destination according to the longitude and latitude information of the water target pushed by the control end, and takes the corrected navigation destination as the final navigation destination. The AIS data signal emitted by the water target is first received, and then the control end automatically links the unmanned device to observe near the water target, thereby realizing automatic linkage between AIS and unmanned equipment, improving target observation efficiency, and thus being able to timely determine the target situation.

[0031] Furthermore, in step S4, the unmanned device corrects its own navigation destination according to the longitude and latitude information of the water area target pushed by the control terminal. The correction steps are specifically as follows:

[0032] S41, the control unit in the unmanned device receives the latest longitude and latitude information of the water area target pushed by the control terminal;

[0033] S42, the control unit in the unmanned device updates the latest longitude information and latitude information of the water area target pushed by the control terminal to the navigation configuration unit of the unmanned device;

[0034] S43, controlling the navigation configuration unit in the unmanned device to update the longitude information and latitude information of the navigation destination of the unmanned device to the latest;

[0035] S44. The control system in the unmanned device sends a command to control the unmanned device to navigate to a new navigation destination.

[0036] Furthermore, in step S2, the control end parses the AIS data signal, and the parsing steps are specifically as follows:

[0037] S21. Obtain an ASCII code string according to the AIS standardized format message;

[0038] S22, obtaining the ASCII value corresponding to the ASCII code string in step S21 according to the ASCII code table, and decoding the ASCII value into a 6-bit binary code;

[0039] S23. According to the AIS protocol dynamic information format message, the longitude information and latitude information of the water area target are extracted from the 6-bit binary code.

[0040] Furthermore, after step S4, the following steps are also included:

[0041] S5. Turn on the camera in the unmanned equipment to shoot the target in the water area, and transmit the captured image data back to the management platform of the control end.

[0042] Furthermore, before step S1, the following steps are also included:

[0043] Select a water target.

[0044] Please refer to Figure 2 , the second technical solution adopted by the present invention is:

[0045] A water target tracking system based on AIS and unmanned equipment linkage includes one or more processors and a memory, wherein the memory stores a program, and when the program is executed by the processor, the following steps are implemented:

[0046] S1, receiving the AIS data signal emitted by the water target, and transmitting the received AIS data signal to the control end;

[0047] S2, the control end analyzes the AIS data signal, and extracts the longitude information and latitude information of the water area target from the AIS data signal;

[0048] S3, the control end pushes the extracted longitude information and latitude information of the water area target to the unmanned device;

[0049] S4. The unmanned device corrects its own navigation destination according to the longitude information and latitude information of the water area target pushed by the control end, and takes the corrected navigation destination as the final navigation destination.

[0050] From the above description, it can be seen that the beneficial effects of the present invention are:

[0051] This solution receives the AIS data signal emitted by the water target and transmits the received AIS data signal to the control end. The control end parses the AIS data signal and extracts the longitude and latitude information of the water target from the AIS data signal. The control end pushes the extracted longitude and latitude information of the water target to the unmanned device. The unmanned device corrects its own navigation destination according to the longitude and latitude information of the water target pushed by the control end, and takes the corrected navigation destination as the final navigation destination. The AIS data signal emitted by the water target is first received, and then the control end automatically links the unmanned device to observe near the water target, thereby realizing automatic linkage between AIS and unmanned equipment, improving target observation efficiency, and thus being able to timely determine the target situation.

[0052] Furthermore, when the program is executed by the processor, the following steps are implemented:

[0053] In step S4, the unmanned device corrects its own navigation destination according to the longitude and latitude information of the water area target pushed by the control terminal. The correction steps are as follows:

[0054] S41, the control unit in the unmanned device receives the latest longitude and latitude information of the water area target pushed by the control terminal;

[0055] S42, the control unit in the unmanned device updates the latest longitude information and latitude information of the water area target pushed by the control terminal to the navigation configuration unit of the unmanned device;

[0056] S43, controlling the navigation configuration unit in the unmanned device to update the longitude information and latitude information of the navigation destination of the unmanned device to the latest;

[0057] S44. The control system in the unmanned device sends a command to control the unmanned device to navigate to a new navigation destination.

[0058] Furthermore, when the program is executed by the processor, the following steps are implemented:

[0059] In step S2, the control terminal analyzes the AIS data signal, and the specific analysis steps are:

[0060] S21. Obtain an ASCII code string according to the AIS standardized format message;

[0061] S22, obtaining the ASCII value corresponding to the ASCII code string in step S21 according to the ASCII code table, and decoding the ASCII value into a 6-bit binary code;

[0062] S23. According to the AIS protocol dynamic information format message, the longitude information and latitude information of the water area target are extracted from the 6-bit binary code.

[0063] Furthermore, when the program is executed by the processor, the following steps are implemented:

[0064] The step S4 further includes the following steps:

[0065] S5. Turn on the camera in the unmanned equipment to shoot the target in the water area, and transmit the captured image data back to the management platform of the control end.

[0066] Furthermore, when the program is executed by the processor, the following steps are implemented:

[0067] Before step S1, the following steps are also included:

[0068] Select a water target.

[0069] Please refer to Figure 1 As shown, the first embodiment of the present invention is:

[0070] A method for tracking water targets based on AIS and unmanned equipment linkage includes the following steps:

[0071] S1, receiving the AIS data signal emitted by the water target through the AIS receiver, and transmitting the received AIS data signal to the control end;

[0072] S2, the control end analyzes the AIS data signal, and extracts the longitude information and latitude information of the water area target from the AIS data signal; in step S2, the control end analyzes the AIS data signal, and the analysis steps are specifically as follows:

[0073] S21. According to the AIS standardized format message (specifically “!AIVDM, 1, 1, A, 177?s>001V8eBRhF=:17CUI20D0T, 0*40”), obtain an ASCII code string (specifically “177?s>001V8eBRhF=:17CUI20D0T”);

[0074] S22. According to the ASCII code table, obtain the ASCII value corresponding to the ASCII code string in step S21, and decode the ASCII value into a 6-bit binary code (the 6-bit binary code is specifically: 11000111011111011111111111001111111110000110000110001010101101110001001 0100001001010100000011011110111101010110011011011000011010101010011011100001101010100100100111001011001000000100110000010100);

[0075] S23, extracting the longitude and latitude information of the water area target from the 6-bit binary code according to the AIS protocol dynamic information format message;

[0076] The AIS protocol dynamic information format message is defined as shown in Table 1:

[0077]

[0078]

[0079] Table 1 analyzes the message content as follows: 110001-------1, indicating the information identification code; 11-----------3, indicating the number of repetitions;

[0080] 0111110111111111110011111111011------528479227, indicating the user identification code;

[0081] 0000---------0, indicating navigation status (power navigation);

[0082] 11000011--------61, indicating the turning rate;

[0083] 0001010110------86, indicating the ground speed is 8.6;

[0084] 1------------------1, indicating the accuracy of the ship's position (high accuracy);

[0085] 1100010010100001001001010100---------------103.7575, represents longitude;

[0086] 000011011110111101010110011----------------12.1, indicates latitude;

[0087] 011100001101---------------1805, indicating the ground heading is 180.5;

[0088] 010100100---------------164, indicating the true heading of the heading;

[0089] 111001--------------57, indicating the time stamp;

[0090] 01---------------2, indicating Regional Application;

[0091] 100------------4, means spare;

[0092] 0------------RAIM Flag;

[0093] 0000100110000010100---------------communication state;

[0094] From the above message content, the longitude and latitude information can be extracted and stored in the system database of the control end;

[0095] S3, the control end pushes the extracted longitude information and latitude information of the water area target to the unmanned device (in this embodiment, it can be an unmanned ship or a drone);

[0096] S4, the unmanned device corrects its own navigation destination according to the longitude information and latitude information of the water area target pushed by the control end, and takes the corrected navigation destination as the final navigation destination;

[0097] In step S4, the unmanned device corrects its own navigation destination according to the longitude and latitude information of the water area target pushed by the control terminal. The correction steps are as follows:

[0098] S41, the control unit in the unmanned device receives the latest longitude and latitude information of the water area target pushed by the control terminal;

[0099] S42, the control unit in the unmanned device updates the latest longitude and latitude information of the water area target pushed by the control terminal to the navigation configuration unit of the unmanned device (this unit is a general data storage chip, for example: a chip of Winbond Company model W25Q128JVSIQ);

[0100] S43, controlling the navigation configuration unit in the unmanned device to update the longitude information and latitude information of the navigation destination of the unmanned device to the latest;

[0101] S44. The control system in the unmanned device sends a command to control the unmanned device to navigate to a new navigation destination.

[0102] The step S4 further includes the following steps:

[0103] S5. Turn on the camera in the unmanned equipment to shoot the target in the water area, and transmit the captured image data back to the management platform of the control end.

[0104] Before step S1, the following steps are also included:

[0105] Select the water target; the water target can be selected based on the MMSI code provided in the AIS message in Table 1 as well as the longitude information, latitude information and basic target information.

[0106] Please refer to Figure 2 As shown, the second embodiment of the present invention is:

[0107] A water target tracking system based on AIS and unmanned equipment linkage includes one or more processors 1 and a memory 2, wherein the memory 2 stores a program, and when the program is executed by the processor 1, the following steps are implemented:

[0108] S1, receiving the AIS data signal emitted by the water target, and transmitting the received AIS data signal to the control end;

[0109] S2, the control end analyzes the AIS data signal and extracts the longitude information and latitude information of the water area target from the AIS data signal; when the program is executed by the processor 1, the following steps are implemented:

[0110] In step S2, the control terminal analyzes the AIS data signal, and the specific analysis steps are:

[0111] S21. Obtain an ASCII code string according to the AIS standardized format message;

[0112] S22, obtaining the ASCII value corresponding to the ASCII code string in step S21 according to the ASCII code table, and decoding the ASCII value into a 6-bit binary code;

[0113] S23, extracting the longitude and latitude information of the water area target from the 6-bit binary code according to the AIS protocol dynamic information format message;

[0114] S3, the control end pushes the extracted longitude information and latitude information of the water area target to the unmanned device;

[0115] S4. The unmanned device corrects its own navigation destination according to the longitude information and latitude information of the water area target pushed by the control end, and takes the corrected navigation destination as the final navigation destination.

[0116] When the program is executed by processor 1, the following steps are implemented:

[0117] In step S4, the unmanned device corrects its own navigation destination according to the longitude and latitude information of the water area target pushed by the control terminal. The correction steps are as follows:

[0118] S41, the control unit in the unmanned device receives the latest longitude and latitude information of the water area target pushed by the control terminal;

[0119] S42, the control unit in the unmanned device updates the latest longitude information and latitude information of the water area target pushed by the control terminal to the navigation configuration unit of the unmanned device;

[0120] S43, controlling the navigation configuration unit in the unmanned device to update the longitude information and latitude information of the navigation destination of the unmanned device to the latest;

[0121] S44. The control system in the unmanned device sends a command to control the unmanned device to navigate to a new navigation destination.

[0122] When the program is executed by processor 1, the following steps are implemented:

[0123] The step S4 further includes the following steps:

[0124] S5. Turn on the camera in the unmanned equipment to shoot the water target, and transmit the captured image data back to the management platform.

[0125] When the program is executed by processor 1, the following steps are implemented:

[0126] Before step S1, the following steps are also included:

[0127] Select a water target.

[0128] In summary, the present invention provides a water target tracking method and system based on the linkage of AIS and unmanned equipment, which receives the AIS data signal emitted by the water target and transmits the received AIS data signal to the control end, the control end parses the AIS data signal, and extracts the longitude information and latitude information of the water target from the AIS data signal, the control end pushes the extracted longitude information and latitude information of the water target to the unmanned equipment, the unmanned equipment corrects its own navigation destination according to the longitude information and latitude information of the water target pushed by the control end, and takes the corrected navigation destination as the final navigation destination, firstly receives the AIS data signal emitted by the water target, and then automatically links the unmanned equipment through the control end to observe near the water target, thereby realizing automatic linkage between AIS and the unmanned equipment, improving the target observation efficiency, and then being able to timely determine the target situation.

[0129] The above descriptions are merely embodiments of the present invention and are not intended to limit the patent scope of the present invention. Any equivalent transformations made using the contents of the present invention's specification and drawings, or directly or indirectly applied in related technical fields, are also included in the patent protection scope of the present invention.

Claims

1. A method for tracking water targets based on the linkage between AIS and unmanned equipment, characterized in that: The following steps are involved: S1, receiving the AIS data signal emitted by the water target, and transmitting the received AIS data signal to the control end; S2, the control end analyzes the AIS data signal, and extracts the longitude information and latitude information of the water area target from the AIS data signal; S3, the control end pushes the extracted longitude information and latitude information of the water area target to the unmanned device; S4. The unmanned device corrects its own navigation destination according to the longitude information and latitude information of the water area target pushed by the control end, and takes the corrected navigation destination as the final navigation destination.

2. The method for tracking water targets based on AIS and unmanned equipment linkage according to claim 1 is characterized in that: In step S4, the unmanned device corrects its own navigation destination according to the longitude and latitude information of the water area target pushed by the control terminal. The correction steps are as follows: S41, the control unit in the unmanned device receives the latest longitude and latitude information of the water area target pushed by the control terminal; S42, the control unit in the unmanned device updates the latest longitude information and latitude information of the water area target pushed by the control terminal to the navigation configuration unit of the unmanned device; S43, controlling the navigation configuration unit in the unmanned device to update the longitude information and latitude information of the navigation destination of the unmanned device to the latest; S44. The control system in the unmanned device sends a command to control the unmanned device to navigate to a new navigation destination.

3. The method for tracking water targets based on AIS and unmanned equipment linkage according to claim 1 is characterized in that: In step S2, the control terminal analyzes the AIS data signal, and the specific analysis steps are: S21. Obtain an ASCII code string according to the AIS standardized format message; S22, obtaining the ASCII value corresponding to the ASCII code string in step S21 according to the ASCII code table, and decoding the ASCII value into a 6-bit binary code; S23. According to the AIS protocol dynamic information format message, the longitude information and latitude information of the water area target are extracted from the 6-bit binary code.

4. The method for tracking water targets based on AIS and unmanned equipment linkage according to claim 1 is characterized in that: The step S4 further includes the following steps: S5. Turn on the camera in the unmanned equipment to shoot the target in the water area, and transmit the captured image data back to the management platform of the control end.

5. The method for tracking water targets based on AIS and unmanned equipment linkage according to claim 1 is characterized in that: Before step S1, the following steps are also included: Select a water target.

6. A water target tracking system based on AIS and unmanned equipment linkage, characterized in that: The system comprises one or more processors and a memory, wherein the memory stores a program, and when the program is executed by the processor, the following steps are implemented: S1, receiving the AIS data signal emitted by the water target, and transmitting the received AIS data signal to the control end; S2, the control end analyzes the AIS data signal, and extracts the longitude information and latitude information of the water area target from the AIS data signal; S3, the control end pushes the extracted longitude information and latitude information of the water area target to the unmanned device; S4. The unmanned device corrects its own navigation destination according to the longitude information and latitude information of the water area target pushed by the control end, and takes the corrected navigation destination as the final navigation destination.

7. The water target tracking system based on AIS and unmanned equipment linkage according to claim 6 is characterized in that: When the program is executed by the processor, the following steps are implemented: In step S4, the unmanned device corrects its own navigation destination according to the longitude and latitude information of the water area target pushed by the control terminal. The correction steps are as follows: S41, the control unit in the unmanned device receives the latest longitude and latitude information of the water area target pushed by the control terminal; S42, the control unit in the unmanned device updates the latest longitude information and latitude information of the water area target pushed by the control terminal to the navigation configuration unit of the unmanned device; S43, controlling the navigation configuration unit in the unmanned device to update the longitude information and latitude information of the navigation destination of the unmanned device to the latest; S44. The control system in the unmanned device sends a command to control the unmanned device to navigate to a new navigation destination.

8. The water target tracking system based on AIS and unmanned equipment linkage according to claim 6 is characterized in that: When the program is executed by the processor, the following steps are implemented: In step S2, the control terminal analyzes the AIS data signal, and the specific analysis steps are: S21. Obtain an ASCII code string according to the AIS standardized format message; S22, obtaining the ASCII value corresponding to the ASCII code string in step S21 according to the ASCII code table, and decoding the ASCII value into a 6-bit binary code; S23. According to the AIS protocol dynamic information format message, the longitude information and latitude information of the water area target are extracted from the 6-bit binary code.

9. The water target tracking system based on AIS and unmanned equipment linkage according to claim 6 is characterized in that: When the program is executed by the processor, the following steps are implemented: The step S4 further includes the following steps: S5. Turn on the camera in the unmanned equipment to shoot the water target, and transmit the captured image data back to the management platform.

10. The water target tracking system based on AIS and unmanned equipment linkage according to claim 6 is characterized in that: When the program is executed by the processor, the following steps are implemented: Before step S1, the following steps are also included: Select a water target.

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