Method and device for determining marine photovoltaic ship navigation data, medium and equipment

Abstract

The invention provides a marine photovoltaic ship navigation data determination method and device, a medium and equipment, and relates to the technical field of marine monitoring. The marine photovoltaic ship navigation data determination method comprises the following steps: acquiring first navigation data of a target ship detected based on a radar; acquiring second navigation data of the target ship detected based on video acquisition equipment; acquiring third navigation data of the target ship detected based on the ship automatic identification system; and fusing the first navigation data, the second navigation data and the third navigation data to determine target navigation data of the target ship. The accuracy of marine ship navigation data detection can be improved.

Description

Background Art

[0002] For offshore photovoltaic scenarios, radars can be deployed to detect offshore ships, which can play a role in ship control and safety warning, ensuring normal offshore photovoltaic production.

[0003] However, offshore photovoltaic radar has certain problems in terms of information completeness and reliability, resulting in insufficient accuracy of detection data.

[0004] It should be noted that the information disclosed in the above background technology section is only used to enhance the understanding of the background of the present disclosure, and therefore may include information that does not constitute the prior art known to ordinary technicians in the field. Summary of the invention

[0005] The purpose of the present disclosure is to provide a method and device, medium and equipment for determining navigation data of a ship of offshore photovoltaic, thereby overcoming the problem of inaccurate ship detection by radar of offshore photovoltaic at least to a certain extent.

[0006] According to a first aspect of the present disclosure, a method for determining navigation data of an offshore photovoltaic ship is provided, comprising: obtaining first navigation data of a target ship detected based on a radar; obtaining second navigation data of a target ship detected based on a video acquisition device; obtaining third navigation data of a target ship detected based on an automatic ship identification system; and fusing the first navigation data, the second navigation data, and the third navigation data to determine the target navigation data of the target ship.

[0007] Optionally, the navigation data includes navigation elements of multiple categories; wherein the first navigation data, the second navigation data, and the third navigation data are fused to determine the target navigation data of the target ship, including: fusing the navigation elements of the first navigation data, the navigation elements of the second navigation data, and the navigation elements of the third navigation data according to the categories of the navigation elements to obtain the navigation elements of the target ship; and combining the navigation elements of the target ship into the target navigation data of the target ship.

[0008] Optionally, multiple categories of navigation elements include a target navigation element; wherein, the navigation elements of the first navigation data, the navigation elements of the second navigation data, and the navigation elements of the third navigation data are respectively merged according to the categories of the navigation elements to obtain the navigation elements of the target ship, including: determining the target navigation element of the first navigation data and the credibility of the target navigation element of the first navigation data; determining the target navigation element of the second navigation data and the credibility of the target navigation element of the second navigation data; determining the target navigation element of the third navigation data and the credibility of the target navigation element of the third navigation data; determining the target navigation element of the target ship based on the target navigation element of the first navigation data, the credibility of the target navigation element of the first navigation data, the target navigation element of the second navigation data, the credibility of the target navigation element of the second navigation data, the target navigation element of the third navigation data, and the credibility of the target navigation element of the third navigation data.

[0009] Optionally, the ship navigation data determination method also includes: acquiring multiple historical target navigation elements detected by radar; evaluating the accuracy of the target navigation elements detected by radar in combination with the multiple historical target navigation elements; and determining the credibility of the target navigation elements of the first navigation data based on the evaluation results.

[0010] Optionally, evaluating the accuracy of target navigation elements detected by radar in combination with multiple historical target navigation elements includes: determining the element standard value corresponding to each historical target navigation element; respectively determining the difference between each historical target navigation element and the corresponding element standard value; determining the number of differences greater than a difference threshold, and calculating the ratio of the number to the number of historical target navigation elements to obtain a first evaluation result of accuracy; determining a statistical value of the difference, and determining a second evaluation result of accuracy based on the statistical value of the difference; wherein the statistical value of the difference includes the mean or median of the difference, and the combination of the first evaluation result and the second evaluation result is used as the result of the accuracy evaluation.

[0011] Optionally, determining the target navigation element of the target ship based on the target navigation element of the first navigation data, the credibility of the target navigation element of the first navigation data, the target navigation element of the second navigation data, the credibility of the target navigation element of the second navigation data, the target navigation element of the third navigation data and the credibility of the target navigation element of the third navigation data includes: converting the credibility of the target navigation element of the first navigation data into the weight of the target navigation element of the first navigation data; converting the credibility of the target navigation element of the second navigation data into the weight of the target navigation element of the second navigation data; converting the credibility of the target navigation element of the third navigation data into the weight of the target navigation element of the third navigation data; and performing weighted averaging processing on the target navigation element of the first navigation data, the target navigation element of the second navigation data and the target navigation element of the third navigation data using the weight of the target navigation element of the first navigation data, the weight of the target navigation element of the second navigation data and the weight of the target navigation element of the third navigation data to determine the target navigation element of the target ship.

[0012] Optionally, before fusing the first navigation data, the second navigation data and the third navigation data, the ship navigation data determination method further includes: unifying the first navigation data, the second navigation data and the third navigation data into the same coordinate system; wherein data fusion is performed using the data unified into the same coordinate system.

[0013] According to a second aspect of the present disclosure, a device for determining navigation data of an offshore photovoltaic ship is provided, comprising: a first data acquisition module for acquiring first navigation data of a target ship detected based on a radar; a second data acquisition module for acquiring second navigation data of a target ship detected based on a video acquisition device; a third data acquisition module for acquiring third navigation data of a target ship detected based on an automatic ship identification system; and a data fusion module for fusing the first navigation data, the second navigation data, and the third navigation data to determine the target navigation data of the target ship.

[0014] According to a third aspect of the present disclosure, a computer-readable storage medium is provided, on which a computer program is stored, and when the computer program is executed by a processor, the method for determining the navigation data of a ship of offshore photovoltaics is implemented.

[0015] According to a fourth aspect of the present disclosure, an electronic device is provided, comprising: a processor; and a memory for storing executable instructions of the processor; the processor is configured to implement the above-mentioned method for determining ship navigation data of offshore photovoltaics by executing the executable instructions.

[0016] In the technical solutions provided in some embodiments of the present disclosure, the navigation data of the ship detected by the radar is corrected by using the navigation data of the ship detected by the video acquisition equipment and the navigation data of the ship detected by the ship automatic identification system, which improves the detection accuracy of the ship navigation data and helps to improve the construction and operation safety of offshore photovoltaic projects.

[0017] It is to be understood that the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the present disclosure. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] The accompanying drawings herein are incorporated into the specification and constitute a part of the specification, illustrate embodiments consistent with the present disclosure, and together with the specification are used to explain the principles of the present disclosure. Obviously, the accompanying drawings described below are only some embodiments of the present disclosure, and for ordinary technicians in this field, other accompanying drawings can be obtained based on these accompanying drawings without creative work.

[0019] Figure 1 A scenario diagram schematically illustrates a solution for determining ship navigation data for offshore photovoltaics according to an exemplary embodiment of the present disclosure.

[0020] Figure 2 A flow chart schematically shows a method for determining navigation data of a ship for offshore photovoltaics according to an exemplary embodiment of the present disclosure.

[0021] Figure 3 A flowchart for determining the credibility of a target navigation element of first navigation data according to an embodiment of the present disclosure is schematically shown.

[0022] Figure 4 A block diagram of a device for determining navigation data of a ship for offshore photovoltaics according to an exemplary embodiment of the present disclosure is schematically shown.

[0023] Figure 5 A block diagram of an electronic device according to an exemplary embodiment of the present disclosure is schematically shown. DETAILED DESCRIPTION

[0024] Example embodiments will now be described more fully with reference to the accompanying drawings. However, example embodiments can be implemented in a variety of forms and should not be construed as being limited to the examples set forth herein; on the contrary, these embodiments are provided so that the present disclosure will be more comprehensive and complete, and the concepts of the example embodiments are fully conveyed to those skilled in the art. The described features, structures, or characteristics may be combined in one or more embodiments in any suitable manner. In the following description, many specific details are provided to provide a full understanding of the embodiments of the present disclosure. However, those skilled in the art will appreciate that the technical solutions of the present disclosure may be practiced while omitting one or more of the specific details, or other methods, components, devices, steps, etc. may be adopted. In other cases, known technical solutions are not shown or described in detail to avoid obscuring various aspects of the present disclosure.

[0025] In addition, the accompanying drawings are only schematic illustrations of the present disclosure and are not necessarily drawn to scale. The same reference numerals in the figures represent the same or similar parts, and their repeated description will be omitted. Some of the block diagrams shown in the accompanying drawings are functional entities and do not necessarily correspond to physically or logically independent entities. These functional entities can be implemented in software form, or implemented in one or more hardware modules or integrated circuits, or implemented in different networks and / or processor devices and / or microcontroller devices.

[0026] The flowcharts shown in the accompanying drawings are only exemplary and do not necessarily include all the steps. For example, some steps may be decomposed, while some steps may be combined or partially combined, so the actual execution order may change according to the actual situation. In addition, all the terms "first", "second", "third", etc. below are only for the purpose of distinction and should not be used as limitations of the present disclosure.

[0027] Figure 1 The following is a schematic diagram showing a scenario of a solution for determining ship navigation data for offshore photovoltaics according to an exemplary embodiment of the present disclosure. Figure 1 The system for implementing the ship navigation data determination solution for offshore photovoltaics according to the embodiment of the present disclosure may include a radar, a video acquisition device, an automatic identification system (Automatic Identification System, AIS) and a processing device.

[0028] The radar can be configured on the shore corresponding to the offshore photovoltaic project, and the radar can also be called a shore-based radar.

[0029] The video acquisition device may be configured in the offshore area of ​​the offshore photovoltaic project, and may be composed of one or more cameras.

[0030] The Automatic Ship Identification System is a new digital navigation aid system that integrates network technology, modern communication technology, computer technology, and electronic information display technology. It can be composed of shore-based (base station) facilities and ship-borne equipment. Through this system, the navigation data of the ship can be queried in real time.

[0031] On one hand, the processing device can obtain data detected by the radar, analyze and process the data, and obtain first navigation data of the target ship detected by the radar. On the other hand, the processing device can obtain image data detected by the video acquisition device, analyze and process the data, and obtain second navigation data of the target ship detected by the video acquisition device. On the other hand, the processing device can obtain data detected by the automatic identification system of the ship, analyze and process the data, and obtain third navigation data of the target ship detected by the automatic identification system of the ship.

[0032] Next, the processing device may fuse the first navigation data, the second navigation data and the third navigation data to determine the target navigation data of the target ship. It should be understood that, relative to the first navigation data, the second navigation data and the third navigation data, the target navigation data is optimized navigation data with higher accuracy.

[0033] The following is an explanation of the method for determining ship navigation data of offshore photovoltaics according to the embodiment of the present disclosure. Each step of the method for determining ship navigation data of offshore photovoltaics according to the embodiment of the present disclosure can be executed by a processing device, and correspondingly, the following device for determining ship navigation data of offshore photovoltaics can be configured in the processing device.

[0034] Figure 2 The flowchart of the method for determining navigation data of a ship for offshore photovoltaics according to an exemplary embodiment of the present disclosure is schematically shown. Figure 2 The method for determining the navigation data of a ship in offshore photovoltaics may include the following steps: S22. Acquire first navigation data of the target ship detected by the radar.

[0035] The processing device can receive the data sent by the radar, and after analyzing and processing the data, the first navigation data of the target ship can be obtained.

[0036] In an exemplary embodiment of the present disclosure, the target ship may be any ship in the current offshore photovoltaic scene.

[0037] The navigation data may include multiple categories of navigation elements, wherein the multiple categories of navigation elements may include position coordinates, speed, heading, acceleration, etc.

[0038] In the embodiment of the present disclosure, the navigation data of the target ship detected by the radar is recorded as the first navigation data of the target ship.

[0039] S24. Acquire second navigation data of the target ship detected by the video acquisition device.

[0040] The processing device can receive the data sent by the video acquisition device, and after analyzing and processing the data, the second navigation data of the target ship can be obtained. Similarly, in the embodiment of the present disclosure, the navigation data of the target ship detected by the video acquisition device is recorded as the second navigation data of the target ship.

[0041] S26. Acquire third navigation data of the target ship detected by the ship automatic identification system.

[0042] The processing device can receive data sent by the ship automatic identification system, and after analyzing and processing the data, the third navigation data of the target ship can be obtained. Similarly, in the embodiment of the present disclosure, the navigation data of the target ship detected by the ship automatic identification system is recorded as the third navigation data of the target ship.

[0043] On the one hand, the present disclosure does not limit the analysis and processing process of the data in step S22 to step S26. On the other hand, the present disclosure does not limit the execution order of step S22, step S24 and step S26.

[0044] S28. Fusing the first navigation data, the second navigation data, and the third navigation data to determine target navigation data of the target ship.

[0045] In an exemplary embodiment of the present disclosure, the navigation elements of the first navigation data, the navigation elements of the second navigation data, and the navigation elements of the third navigation data may be merged according to the categories of the above navigation elements to obtain the navigation elements of the target ship, and then the navigation elements of the target ship are combined into the target navigation data of the target ship.

[0046] Taking the navigation elements including position coordinates, speed, heading and acceleration as an example, for the position coordinates, the position coordinates in the first navigation data, the position coordinates in the second navigation data and the position coordinates in the third navigation data can be fused to obtain the position coordinates of the target ship; for the speed, the speed in the first navigation data, the speed in the second navigation data and the speed in the third navigation data can be fused to obtain the speed of the target ship; for the heading, the heading in the first navigation data, the heading in the second navigation data and the heading in the third navigation data can be fused to obtain the heading of the target ship; for the acceleration, the ship acceleration in the first navigation data, the ship acceleration in the second navigation data and the ship acceleration in the third navigation data can be fused to obtain the acceleration of the target ship.

[0047] The specific processing process is described by taking the target navigation element as an example, wherein the target navigation element can be any one of the above-mentioned multiple navigation elements.

[0048] On the one hand, a target navigation element of the first navigation data and the credibility of the target navigation element of the first navigation data are determined.

[0049] In an exemplary embodiment of the present disclosure, the credibility of different navigation elements may be different.

[0050] Reference below Figure 3 The process of determining the credibility of the target navigation element of the first navigation data is described. Figure 3 As shown, the process may include steps S302 to S314.

[0051] In step S302, multiple historical target navigation elements detected by the radar are obtained.

[0052] These historical target navigation elements may be from the same ship or different ships, and the present disclosure is not limited in this regard.

[0053] In step S304, the element standard value corresponding to each historical target navigation element is determined.

[0054] Specifically, the standard value of the element may be an accurate value obtained after manual correction.

[0055] In step S306, the difference between each historical target navigation element and the corresponding element standard value is determined respectively.

[0056] According to some embodiments of the present disclosure, the difference may be the difference between the value of the historical target navigation element and the standard value of the corresponding element, and then taking the absolute value.

[0057] In step S308, the number of differences greater than the difference threshold is determined, and the ratio of the number to the number of historical target navigation elements is calculated to obtain a first evaluation result of accuracy.

[0058] In step S310, a statistical value of the difference is determined, and a second evaluation result of the accuracy is determined according to the statistical value of the difference.

[0059] Specifically, the statistical value of the differences may include the average value or median value of the differences.

[0060] In step S312, the combination of the first evaluation result and the second evaluation result is used as the result of the accuracy evaluation.

[0061] Specifically, first, the second evaluation result may be converted to [0, 1], and the converted result may be added to the first evaluation result to obtain a sum of the results, and the accuracy evaluation result may be obtained based on the sum of the results.

[0062] It should be noted that the sum of the above results is negatively correlated with the result of the accuracy assessment, that is, the larger the sum of the results, the worse the accuracy; the smaller the sum of the results, the better the accuracy. The specific form of this negative correlation can be determined by multiple test fittings, and the present disclosure does not limit this.

[0063] In step S314, the credibility of the target navigation element of the first navigation data obtained by radar detection is determined according to the evaluation result.

[0064] On the other hand, the target navigation element of the second navigation data and the credibility of the target navigation element of the second navigation data are determined.

[0065] On the other hand, the target navigation element of the third navigation data and the credibility of the target navigation element of the third navigation data are determined.

[0066] The above-mentioned method of determining the two credibility levels is similar to the process from step S302 to step S314 and will not be described in detail.

[0067] Next, the target navigation element of the target ship can be determined based on the target navigation element of the first navigation data, the credibility of the target navigation element of the first navigation data, the target navigation element of the second navigation data, the credibility of the target navigation element of the second navigation data, the target navigation element of the third navigation data and the credibility of the target navigation element of the third navigation data.

[0068] Specifically, on the one hand, the credibility of the target navigation element of the first navigation data is converted into the weight of the target navigation element of the first navigation data; on the other hand, the credibility of the target navigation element of the second navigation data is converted into the weight of the target navigation element of the second navigation data; on the other hand, the credibility of the target navigation element of the third navigation data is converted into the weight of the target navigation element of the third navigation data.

[0069] The mapping relationship between credibility and weight can be pre-constructed, and the mapping relationship can be determined based on human experience and after experimental verification. Therefore, when the credibility is known, the weight can be determined according to the mapping curve.

[0070] It should be noted that different navigation elements may correspond to a mapping relationship. In order to further improve the accuracy, different navigation elements may be pre-configured with different mapping relationships.

[0071] Then, the target navigation elements of the first navigation data, the second navigation data and the third navigation data are weighted averaged using the weights of the target navigation elements of the first navigation data, the second navigation data and the third navigation data to determine the target navigation elements of the target ship.

[0072] In addition, before fusing the first navigation data, the second navigation data, and the third navigation data, the processing device may also unify the first navigation data, the second navigation data, and the third navigation data into the same coordinate system, and then perform data fusion using the data unified into the same coordinate system.

[0073] It should be noted that although the steps of the method in the present disclosure are described in a specific order in the drawings, this does not require or imply that the steps must be performed in this specific order, or that all the steps shown must be performed to achieve the desired results. Additionally or alternatively, some steps may be omitted, multiple steps may be combined into one step, and / or one step may be decomposed into multiple steps, etc.

[0074] Furthermore, this example implementation also provides a device for determining navigation data of an offshore photovoltaic ship.

[0075] Figure 4 The block diagram of the ship navigation data determination device for offshore photovoltaics according to an exemplary embodiment of the present disclosure is schematically shown. Figure 4 According to an exemplary embodiment of the present disclosure, the offshore photovoltaic ship navigation data determination device 4 may include a first data acquisition module 41 , a second data acquisition module 43 , a third data acquisition module 45 and a data fusion module 47 .

[0076] Specifically, the first data acquisition module 41 can be used to acquire the first navigation data of the target ship detected by the radar; the second data acquisition module 43 can be used to acquire the second navigation data of the target ship detected by the video acquisition device; the third data acquisition module 45 can be used to acquire the third navigation data of the target ship detected by the ship automatic identification system; the data fusion module 47 can be used to fuse the first navigation data, the second navigation data, and the third navigation data to determine the target navigation data of the target ship.

[0077] According to an exemplary embodiment of the present disclosure, the navigation data includes navigation elements of multiple categories; wherein the data fusion module 47 can be configured to: fuse the navigation elements of the first navigation data, the navigation elements of the second navigation data, and the navigation elements of the third navigation data according to the categories of the navigation elements, so as to obtain the navigation elements of the target ship; and combine the navigation elements of the target ship into the target navigation data of the target ship.

[0078] According to an exemplary embodiment of the present disclosure, multiple categories of navigation elements include target navigation elements; wherein the data fusion module 47 can be configured to: determine the target navigation element of the first navigation data and the credibility of the target navigation element of the first navigation data; determine the target navigation element of the second navigation data and the credibility of the target navigation element of the second navigation data; determine the target navigation element of the third navigation data and the credibility of the target navigation element of the third navigation data; determine the target navigation element of the target ship based on the target navigation element of the first navigation data, the credibility of the target navigation element of the first navigation data, the target navigation element of the second navigation data, the credibility of the target navigation element of the second navigation data, the target navigation element of the third navigation data and the credibility of the target navigation element of the third navigation data.

[0079] According to an exemplary embodiment of the present disclosure, the data fusion module 47 can also be configured to: obtain multiple historical target navigation elements detected by radar; evaluate the accuracy of the target navigation elements detected by radar in combination with multiple historical target navigation elements; and determine the credibility of the target navigation elements of the first navigation data based on the evaluation results.

[0080] According to an exemplary embodiment of the present disclosure, the data fusion module 47 may also be configured to: determine the element standard value corresponding to each historical target navigation element; respectively determine the difference between each historical target navigation element and the corresponding element standard value; determine the number of differences greater than a difference threshold, and calculate the ratio of the number to the number of historical target navigation elements to obtain a first evaluation result of accuracy; determine the statistical value of the difference, and determine the second evaluation result of accuracy based on the statistical value of the difference; wherein the statistical value of the difference includes the mean or median of the difference, and the combination of the first evaluation result and the second evaluation result is used as the result of the accuracy evaluation.

[0081] According to an exemplary embodiment of the present disclosure, the data fusion module 47 may be configured to: convert the credibility of the target navigation element of the first navigation data into the weight of the target navigation element of the first navigation data; convert the credibility of the target navigation element of the second navigation data into the weight of the target navigation element of the second navigation data; convert the credibility of the target navigation element of the third navigation data into the weight of the target navigation element of the third navigation data; and perform weighted averaging processing on the target navigation element of the first navigation data, the target navigation element of the second navigation data and the target navigation element of the third navigation data using the weight of the target navigation element of the first navigation data, the weight of the target navigation element of the second navigation data and the weight of the target navigation element of the third navigation data to determine the target navigation element of the target ship.

[0082] According to an exemplary embodiment of the present disclosure, the data fusion module 47 may also be configured to: unify the first navigation data, the second navigation data, and the third navigation data into the same coordinate system before fusing the first navigation data, the second navigation data, and the third navigation data; wherein data fusion is performed using the data unified into the same coordinate system.

[0083] Since the functional modules of the device for determining ship navigation data of offshore photovoltaics in the embodiment of the present disclosure are the same as those in the above-mentioned method implementation, they will not be described in detail here.

[0084] In an exemplary embodiment of the present disclosure, a computer-readable storage medium is also provided, on which a program product capable of implementing the above method of the present specification is stored. In some possible implementations, various aspects of the present disclosure may also be implemented in the form of a program product, which includes a program code, and when the program product is run on a terminal device, the program code is used to enable the terminal device to execute the steps according to various exemplary implementations of the present disclosure described in the above "Exemplary Method" section of the present specification.

[0085] The program product for implementing the above method according to the embodiment of the present disclosure can adopt a portable compact disk read-only memory (CD-ROM) and include program code, and can be run on a terminal device, such as a personal computer. However, the program product of the present disclosure is not limited thereto, and in this document, a readable storage medium can be any tangible medium containing or storing a program, which can be used by or in combination with an instruction execution system, an apparatus or a device.

[0086] The program product may adopt any combination of one or more readable media. The readable medium may be a readable signal medium or a readable storage medium. The readable storage medium may be, for example, but not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, device or device, or any combination thereof. More specific examples (non-exhaustive list) of readable storage media include: an electrical connection with one or more wires, a portable disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical disk, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination thereof.

[0087] Computer readable signal media may include data signals propagated in baseband or as part of a carrier wave, in which readable program code is carried. Such propagated data signals may take a variety of forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination of the above. Readable signal media may also be any readable medium other than a readable storage medium, which may send, propagate, or transmit a program for use by or in conjunction with an instruction execution system, apparatus, or device.

[0088] The program code embodied on the readable medium may be transmitted using any appropriate medium, including but not limited to wireless, wired, optical cable, RF, etc., or any suitable combination of the foregoing.

[0089] Program code for performing the operations of the present disclosure may be written in any combination of one or more programming languages, including object-oriented programming languages ​​such as Java, C++, etc., and conventional procedural programming languages ​​such as "C" or similar programming languages. The program code may be executed entirely on the user computing device, partially on the user device, as a separate software package, partially on the user computing device and partially on a remote computing device, or entirely on a remote computing device or server. In the case of a remote computing device, the remote computing device may be connected to the user computing device through any type of network, including a local area network (LAN) or a wide area network (WAN), or may be connected to an external computing device (e.g., using an Internet service provider to connect through the Internet).

[0090] In an exemplary embodiment of the present disclosure, an electronic device capable of implementing the above method is also provided. That is, the above processing device can be configured in the form of the following electronic device.

[0091] Those skilled in the art will appreciate that various aspects of the present disclosure may be implemented as systems, methods or program products. Therefore, various aspects of the present disclosure may be specifically implemented in the following forms, namely: complete hardware implementation, complete software implementation (including firmware, microcode, etc.), or a combination of hardware and software, which may be collectively referred to herein as "circuits", "modules" or "systems".

[0092] Refer to the following Figure 5 The electronic device 500 according to this embodiment of the present disclosure is described. Figure 5 The electronic device 500 shown is merely an example and should not bring any limitation to the functions and scope of use of the embodiments of the present disclosure.

[0093] like Figure 5As shown, the electronic device 500 is in the form of a general computing device. The components of the electronic device 500 may include but are not limited to: at least one processing unit 510, at least one storage unit 520, a bus 530 connecting different system components (including the storage unit 520 and the processing unit 510), and a display unit 540.

[0094] The storage unit stores a program code, which can be executed by the processing unit 510, so that the processing unit 510 executes the steps according to various exemplary embodiments of the present disclosure described in the above "Exemplary Method" section of this specification. For example, the processing unit 510 can execute various steps of the method for determining ship navigation data of offshore photovoltaics in an embodiment of the present disclosure.

[0095] The storage unit 520 may include a readable medium in the form of a volatile storage unit, such as a random access storage unit (RAM) 5201 and / or a cache storage unit 5202 , and may further include a read-only storage unit (ROM) 5203 .

[0096] The storage unit 520 may also include a program / utility 5204 having a set (at least one) of program modules 5205, such program modules 5205 including but not limited to: an operating system, one or more application programs, other program modules, and program data, each of which or some combination may include an implementation of a network environment.

[0097] Bus 530 may represent one or more of several types of bus structures, including a memory unit bus or memory unit controller, a peripheral bus, an accelerated graphics port, a processing unit, or a local bus using any of a variety of bus architectures.

[0098] The electronic device 500 may also communicate with one or more external devices 600 (e.g., keyboards, pointing devices, Bluetooth devices, etc.), one or more devices that enable a user to interact with the electronic device 500, and / or any device that enables the electronic device 500 to communicate with one or more other computing devices (e.g., routers, modems, etc.). Such communication may be performed via an input / output (I / O) interface 550. Furthermore, the electronic device 500 may also communicate with one or more networks (e.g., a local area network (LAN), a wide area network (WAN), and / or a public network, such as the Internet) via a network adapter 560. Figure 5As shown, the network adapter 560 communicates with other modules of the electronic device 500 via the bus 530. It should be understood that, although not shown in the figure, other hardware and / or software modules can be used in conjunction with the electronic device 500, including but not limited to: microcode, device drivers, redundant processing units, external disk drive arrays, RAID systems, tape drives, and data backup storage systems.

[0099] Through the description of the above implementation, it is easy for those skilled in the art to understand that the example implementation described here can be implemented by software, or by software combined with necessary hardware. Therefore, the technical solution according to the implementation of the present disclosure can be embodied in the form of a software product, which can be stored in a non-volatile storage medium (which can be a CD-ROM, a USB flash drive, a mobile hard disk, etc.) or on a network, and includes a number of instructions to enable a computing device (which can be a personal computer, a server, a terminal device, or a network device, etc.) to execute the method according to the implementation of the present disclosure.

[0100] In addition, the above-mentioned figures are only schematic illustrations of the processes included in the method according to the exemplary embodiments of the present disclosure, and are not intended to be limiting. It is easy to understand that the processes shown in the above-mentioned figures do not indicate or limit the time sequence of these processes. In addition, it is also easy to understand that these processes can be performed synchronously or asynchronously, for example, in multiple modules.

[0101] It should be noted that, although several modules or units of the device for action execution are mentioned in the above detailed description, this division is not mandatory. In fact, according to the embodiments of the present disclosure, the features and functions of two or more modules or units described above can be embodied in one module or unit. On the contrary, the features and functions of one module or unit described above can be further divided into multiple modules or units to be embodied.

[0102] Those skilled in the art will readily appreciate other embodiments of the present disclosure after considering the specification and practicing what is disclosed herein. This application is intended to cover any variations, uses, or adaptations of the present disclosure that follow the general principles of the present disclosure and include common knowledge or customary technical means in the art that are not disclosed in the present disclosure. The specification and embodiments are to be considered merely as exemplary, and the true scope and spirit of the present disclosure are indicated by the claims.

[0103] It should be understood that the present disclosure is not limited to the exact structures that have been described above and shown in the drawings, and that various modifications and changes may be made without departing from the scope thereof. The scope of the present disclosure is limited only by the appended claims.

Claims

1. A method for determining navigation data of a ship for offshore photovoltaics, characterized in that: include: Acquire first navigation data of a target ship detected by a radar; Acquiring second navigation data of the target ship detected by the video acquisition device; Acquiring third navigation data of the target ship detected by a ship automatic identification system; The first navigation data, the second navigation data, and the third navigation data are fused to determine target navigation data of the target ship.

2. The method for determining ship navigation data according to claim 1, characterized in that: The navigation data includes multiple categories of navigation elements; wherein the first navigation data, the second navigation data, and the third navigation data are fused to determine the target navigation data of the target ship, including: According to the categories of navigation elements, the navigation elements of the first navigation data, the navigation elements of the second navigation data, and the navigation elements of the third navigation data are respectively merged to obtain the navigation elements of the target ship; The navigation elements of the target ship are combined into target navigation data of the target ship.

3. The method for determining ship navigation data according to claim 2, characterized in that: The multiple categories of navigation elements include target navigation elements; wherein the navigation elements of the first navigation data, the navigation elements of the second navigation data, and the navigation elements of the third navigation data are merged according to the categories of the navigation elements to obtain the navigation elements of the target ship, including: determining a target navigation element of the first navigation data and a credibility of the target navigation element of the first navigation data; determining a target navigation element of the second navigation data and a credibility of the target navigation element of the second navigation data; determining a target navigation element of the third navigation data and a credibility of the target navigation element of the third navigation data; The target navigation element of the target ship is determined based on the target navigation element of the first navigation data, the credibility of the target navigation element of the first navigation data, the target navigation element of the second navigation data, the credibility of the target navigation element of the second navigation data, the target navigation element of the third navigation data and the credibility of the target navigation element of the third navigation data.

4. The method for determining ship navigation data according to claim 3, characterized in that: The ship navigation data determination method further includes: Acquire multiple historical target navigation elements detected by the radar; evaluating the accuracy of the target navigation elements detected by the radar in combination with the plurality of historical target navigation elements; The credibility of the target navigation element of the first navigation data is determined according to the evaluation result.

5. The method for determining ship navigation data according to claim 4, characterized in that: Evaluating the accuracy of the target navigation elements detected by the radar in combination with the multiple historical target navigation elements includes: Determining the element standard value corresponding to each of the historical target navigation elements; respectively determining the difference between each of the historical target navigation elements and the corresponding element standard value; determining the number of the differences greater than a difference threshold, and calculating a ratio of the number to the number of the historical target navigation elements to obtain a first evaluation result of accuracy; Determining a statistical value of the difference, and determining a second evaluation result of accuracy according to the statistical value of the difference; The statistical value of the difference includes the average value or median value of the difference, and the combination of the first evaluation result and the second evaluation result is used as the result of accuracy evaluation.

6. The method for determining ship navigation data according to claim 3, characterized in that: Determining the target navigation element of the target ship according to the target navigation element of the first navigation data, the credibility of the target navigation element of the first navigation data, the target navigation element of the second navigation data, the credibility of the target navigation element of the second navigation data, the target navigation element of the third navigation data, and the credibility of the target navigation element of the third navigation data includes: converting the credibility of the target navigation element of the first navigation data into a weight of the target navigation element of the first navigation data; converting the credibility of the target navigation element of the second navigation data into a weight of the target navigation element of the second navigation data; converting the credibility of the target navigation element of the third navigation data into the weight of the target navigation element of the third navigation data; The target navigation element of the first navigation data, the target navigation element of the second navigation data and the target navigation element of the third navigation data are weighted averaged by using the weight of the target navigation element of the first navigation data, the weight of the target navigation element of the second navigation data and the weight of the target navigation element of the third navigation data to determine the target navigation element of the target ship.

7. The method for determining ship navigation data according to any one of claims 1 to 6, characterized in that: Before fusing the first navigation data, the second navigation data, and the third navigation data, the ship navigation data determination method further includes: Unifying the first navigation data, the second navigation data, and the third navigation data into the same coordinate system; Among them, data fusion is performed using data unified into the same coordinate system.

8. A device for determining navigation data of a ship for offshore photovoltaics, characterized in that: include: A first data acquisition module, used for acquiring first navigation data of a target ship detected by the radar; A second data acquisition module, used for acquiring second navigation data of the target ship detected by the video acquisition device; A third data acquisition module, used to acquire third navigation data of the target ship detected by the ship automatic identification system; The data fusion module is used to fuse the first navigation data, the second navigation data, and the third navigation data to determine the target navigation data of the target ship.

9. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the method for determining ship navigation data for offshore photovoltaics according to any one of claims 1 to 7 is implemented.

10. An electronic device, characterized in that: include: processor; as well as A memory, configured to store executable instructions of the processor; The processor is configured to implement the method for determining ship navigation data for offshore photovoltaics according to any one of claims 1 to 7 by executing the executable instructions.

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