Method and Device for Determining Ship Navigation Data of Offshore Photovoltaic, Medium and Equipment

Abstract

The present disclosure provides a method and apparatus, medium and device for determining ship navigation data of offshore photovoltaic power, relating to the technical field of offshore monitoring. The method for determining ship navigation data of offshore photovoltaic power includes: obtaining first navigation data of a target ship detected based on radar; obtaining second navigation data of the target ship detected based on a video acquisition device; obtaining third navigation data of the target ship detected based on an automatic identification system for ships; 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 present disclosure can improve the accuracy of detecting ship navigation data at sea.

Description

Background Art

[0002] For the offshore photovoltaic scenario, marine vessel detection can be achieved by deploying radars, which can play roles such as vessel control and safety warning to ensure normal offshore photovoltaic production.

[0003] However, there are certain problems with the radars for offshore photovoltaics in terms of information integrity and information reliability, resulting in insufficient accuracy of detection data.

[0004] It should be noted that the information disclosed in the above Background Art section is only used to enhance the understanding of the background of the present disclosure, and thus may include information that does not constitute the prior art known to those of ordinary skill in the art. Summary of the Invention

[0005] The purpose of the present disclosure is to provide a method, device, medium, and equipment for determining vessel navigation data in offshore photovoltaics, thereby at least to some extent overcoming the problem of inaccurate vessel detection by the radars for offshore photovoltaics.

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

[0007] Optionally, the navigation data includes multiple categories of navigation elements; wherein, fusing the first navigation data, the second navigation data, and the third navigation data to determine target navigation data of the target vessel includes: respectively 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 category of the navigation elements to obtain each navigation element of the target vessel; and combining each navigation element of the target vessel into the target navigation data of the target vessel.

[0008] Optionally, the navigation elements of multiple categories include target navigation elements; among them, 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 includes: determining the target navigation elements of the first navigation data and the credibility of the target navigation elements of the first navigation data; determining the target navigation elements of the second navigation data and the credibility of the target navigation elements of the second navigation data; determining the target navigation elements of the third navigation data and the credibility of the target navigation elements of the third navigation data; determining the target navigation elements of the target ship according to the target navigation elements of the first navigation data, the credibility of the target navigation elements of the first navigation data, the target navigation elements of the second navigation data, the credibility of the target navigation elements of the second navigation data, the target navigation elements of the third navigation data, and the credibility of the target navigation elements of the third navigation data.

[0009] Optionally, the method for determining ship navigation data further includes: obtaining 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; determining the credibility of the target navigation elements of the first navigation data according to the evaluation result.

[0010] Optionally, evaluating the accuracy of the target navigation elements detected by radar in combination with multiple historical target navigation elements includes: determining the element standard values corresponding to the historical target navigation elements; respectively determining the differences between the historical target navigation elements and the corresponding element standard values; determining the number of differences greater than the difference threshold, and calculating the ratio of the number to the number of historical target navigation elements to obtain the first evaluation result of the accuracy; determining the statistical value of the differences, and determining the second evaluation result of the accuracy according to the statistical value of the differences; where the statistical value of the differences includes the average value or median value of the differences, 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 elements of the target ship based on the target navigation elements of the first navigation data, the credibility of the target navigation elements of the first navigation data, the target navigation elements of the second navigation data, the credibility of the target navigation elements of the second navigation data, the target navigation elements of the third navigation data, and the credibility of the target navigation elements of the third navigation data includes: converting the credibility of the target navigation elements of the first navigation data into the weight of the target navigation elements of the first navigation data; converting the credibility of the target navigation elements of the second navigation data into the weight of the target navigation elements of the second navigation data; converting the credibility of the target navigation elements of the third navigation data into the weight of the target navigation elements of the third navigation data; performing weighted average processing on the target navigation elements of the first navigation data, the target navigation elements of the second navigation data, and the target navigation elements of the third navigation data by using the weights of the target navigation elements of the first navigation data, the weights of the target navigation elements of the second navigation data, and the weights of the target navigation elements of the third navigation data to determine the target navigation elements 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, the data fusion is performed by using the data unified into the same coordinate system.

[0013] According to a second aspect of the present disclosure, there is provided a ship navigation data determination device for offshore photovoltaic power generation, including: a first data acquisition module, configured to acquire first navigation data of a target ship detected based on a radar; a second data acquisition module, configured to acquire second navigation data of the target ship detected based on a video acquisition device; a third data acquisition module, configured to acquire third navigation data of the target ship detected based on an automatic identification system for ships; and a data fusion module, configured 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.

[0014] According to a third aspect of the present disclosure, there is provided a computer-readable storage medium, on which a computer program is stored, and when the computer program is executed by a processor, the ship navigation data determination method for offshore photovoltaic power generation as described above is implemented.

[0015] According to a fourth aspect of the present disclosure, there is provided an electronic device, including: a processor; and a memory, configured to store executable instructions of the processor; the processor is configured to implement the ship navigation data determination method for offshore photovoltaic power generation as described above by executing the executable instructions.

[0016] In the technical solutions provided by some embodiments of the present disclosure, the navigation data of the ship detected by the video acquisition device and the navigation data of the ship detected by the automatic identification system of the ship are used to correct the navigation data of the ship detected by the radar, improving the detection accuracy of the ship navigation data and contributing to enhancing the construction and operation safety of the offshore photovoltaic project.

[0017] It should be understood that the above general description and the following detailed description are only exemplary and explanatory, and cannot limit the present disclosure. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] The drawings herein are incorporated into the specification and constitute a part of this specification, showing embodiments consistent with the present disclosure and, together with the specification, are used to explain the principles of the present disclosure. Obviously, the drawings in the following description are only some embodiments of the present disclosure, and those of ordinary skill in the art can obtain other drawings based on these drawings without creative efforts.

[0019] Figure 1 A scenario diagram of a ship navigation data determination scheme for offshore photovoltaic is schematically shown, which is an exemplary embodiment of the present disclosure.

[0020] Figure 2 A flowchart of a method for determining ship navigation data for offshore photovoltaic is schematically shown, which is an exemplary embodiment of the present disclosure.

[0021] Figure 3 A flowchart of determining the credibility of the target navigation elements of the first navigation data is schematically shown, which is an embodiment of the present disclosure.

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

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

[0024] Example embodiments will now be described more fully with reference to the accompanying drawings. However, the example embodiments can be implemented in various forms and should not be construed as limited to the examples set forth herein; rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the concept of the example embodiments to those skilled in the art. The features, structures, or characteristics described may be combined in any suitable manner in one or more embodiments. In the following description, numerous specific details are provided to give a thorough understanding of the embodiments of the present disclosure. However, those skilled in the art will realize that the technical solutions of the present disclosure can be practiced without one or more of the specific details, or other methods, components, devices, steps, etc. may be used. In other cases, well-known technical solutions are not shown or described in detail to avoid obscuring the 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 drawings denote the same or similar parts, and thus repeated descriptions thereof will be omitted. Some of the block diagrams shown in the 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 in one or more hardware modules or integrated circuits, or in different networks and / or processor devices and / or microcontroller devices.

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

[0027] Figure 1 A scenario diagram of a ship navigation data determination scheme for offshore photovoltaics of an exemplary embodiment of the present disclosure is schematically shown. Refer to Figure 1 , the system for implementing the ship navigation data determination scheme for offshore photovoltaics of the embodiments of the present disclosure may include a radar, a video acquisition device, an Automatic Identification System (AIS), and a processing device.

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

[0029] The video acquisition device can be configured in the offshore area of the offshore photovoltaic project and can consist of one or more cameras.

[0030] The Automatic Identification System (AIS) for ships is a new type of digital navigation aid system integrating network technology, modern communication technology, computer technology, and electronic information display technology. It can be composed of shore-based (base station) facilities and on-board equipment. Through this system, the navigation data of ships can be queried in real time.

[0031] On the one hand, the processing device can obtain the data detected by the radar, analyze and process it to obtain the first navigation data of the target ship based on the radar detection. On the other hand, the processing device can obtain the image data detected by the video acquisition device, analyze and process it to obtain the second navigation data of the target ship based on the video acquisition device detection. On yet another hand, the processing device can obtain the data detected by the Automatic Identification System for ships, analyze and process it to obtain the third navigation data of the target ship based on the Automatic Identification System for ships detection.

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

[0033] Next, the method for determining the ship navigation data of the offshore photovoltaic in the embodiments of the present disclosure will be described. Each step of the method for determining the ship navigation data of the offshore photovoltaic in the embodiments of the present disclosure can be executed by the processing device. Correspondingly, the following device for determining the ship navigation data of the offshore photovoltaic can be configured in the processing device.

[0034] Figure 2 Schematically shows a flowchart of the method for determining the ship navigation data of the offshore photovoltaic in the exemplary embodiments of the present disclosure. Refer to Figure 2 , the method for determining the ship navigation data of the offshore photovoltaic may include the following steps:

[0035] S22. Obtain the first navigation data of the target ship based on radar detection.

[0036] The processing device can receive the data sent by the radar, and after analyzing and processing the data, it can obtain the first navigation data of the target ship.

[0037] In the exemplary embodiments of the present disclosure, the target ship can be any ship in the current offshore photovoltaic scenario.

[0038] The navigation data can include multiple categories of navigation elements. Among them, the multiple categories of navigation elements can include position coordinates, speed, course, acceleration, etc.

[0039] In the embodiments of the present disclosure, the navigation data of the target ship detected by radar is recorded as the first navigation data of the target ship.

[0040] S24. Obtain the second navigation data of the target ship detected by the video acquisition device.

[0041] 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 embodiments 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.

[0042] S26. Obtain the third navigation data of the target ship detected by the Automatic Identification System (AIS) of the ship.

[0043] The processing device can receive the data sent by the Automatic Identification System (AIS) of the ship, and after analyzing and processing the data, the third navigation data of the target ship can be obtained. Similarly, in the embodiments of the present disclosure, the navigation data of the target ship detected by the Automatic Identification System (AIS) of the ship is recorded as the third navigation data of the target ship.

[0044] On the one hand, the present disclosure does not limit the process of analyzing and processing the data in steps S22 to S26. On the other hand, the present disclosure does not limit the execution order of steps S22, S24, and S26.

[0045] S28. Fuse the first navigation data, the second navigation data, and the third navigation data to determine the target navigation data of the target ship.

[0046] In the exemplary embodiments 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 can be fused according to the categories of the above navigation elements respectively to obtain the navigation elements of the target ship. Then, the navigation elements of the target ship are combined into the target navigation data of the target ship.

[0047] Taking the navigation elements including position coordinates, speed, course, 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 course, the course in the first navigation data, the course in the second navigation data, and the course in the third navigation data can be fused to obtain the course 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.

[0048] Taking the target navigation element as an example, the specific processing process will be described. Among them, the target navigation element can be any one of the above-mentioned multiple navigation elements.

[0049] On the one hand, determine the target navigation element of the first navigation data and the credibility of the target navigation element of the first navigation data.

[0050] In the exemplary embodiment of the present disclosure, the credibility of different navigation elements may vary.

[0051] Next, with reference to Figure 3 the process of determining the credibility of the target navigation element of the first navigation data will be described. As Figure 3 shown, this process may include steps S302 to S314.

[0052] In step S302, obtain multiple historical target navigation elements detected by the radar.

[0053] These historical target navigation elements may come from the same ship or different ships, and the present disclosure does not limit this.

[0054] In step S304, determine the element standard value corresponding to each historical target navigation element.

[0055] Specifically, the element standard value may be an accurate value obtained after manual correction.

[0056] In step S306, determine the difference between each historical target navigation element and the corresponding element standard value respectively.

[0057] According to some embodiments of the present disclosure, this difference may be the absolute value of the difference between the value of the historical target navigation element and the corresponding element standard value.

[0058] In step S308, determine the number of differences greater than the difference threshold, and calculate the ratio of this number to the number of historical target navigation elements to obtain the first evaluation result of accuracy.

[0059] In step S310, determine the statistical value of the differences, and determine the second evaluation result of accuracy according to the statistical value of the differences.

[0060] Specifically, the statistical value of the differences may include the average value or median value of these differences.

[0061] In step S312, combine the first evaluation result and the second evaluation result as the result of the accuracy evaluation.

[0062] Specifically, first, the second evaluation result can be converted to the range of [0, 1], and the converted result is added to the first evaluation result to obtain the sum of the results. Based on this sum of the results, the result of the accuracy evaluation is obtained.

[0063] It should be noted that the sum of the above results is negatively correlated with the result of the accuracy evaluation. 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 means of multiple experimental fittings, and the present disclosure places no limitation thereon.

[0064] In step S314, according to the evaluation result, the credibility of the target navigation element of the first navigation data detected by the radar is determined.

[0065] 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.

[0066] On yet another 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.

[0067] Among them, the methods for determining the two credibilities are similar to the processes of steps S302 to S314, and will not be elaborated here.

[0068] Next, the target navigation element of the target ship can be determined 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.

[0069] 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 yet another 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.

[0070] Among them, the mapping relationship between credibility and weight can be pre-constructed, and this mapping relationship can be determined based on human experience and verified by experiments. Thus, when the credibility is known, the weight can be determined according to this mapping curve.

[0071] It should be noted that different navigation elements can correspond to one mapping relationship. In order to further improve the accuracy, different mapping relationships can be pre-configured for different navigation elements.

[0072] Then, weighted average processing is performed on the target navigation elements of the first navigation data, the target navigation elements of the second navigation data, and the target navigation elements of the third navigation data by using the weights of the target navigation elements of the first navigation data, the weights of the target navigation elements of the second navigation data, and the weights of the target navigation elements of the third navigation data, so as to determine the target navigation elements of the target ship.

[0073] In addition, before fusing the first navigation data, the second navigation data, and the third navigation data, the processing device can 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 with the data unified into the same coordinate system.

[0074] It should be noted that although the steps of the methods in the present disclosure are described in a specific order in the accompanying drawings, this does not require or imply that these steps must be performed in that specific order, or that all the steps shown must be performed to achieve the desired result. Additionally or alternatively, some steps can be omitted, multiple steps can be combined into one step for execution, and / or one step can be decomposed into multiple steps for execution, etc.

[0075] Furthermore, in the present exemplary embodiment, a device for determining ship navigation data for offshore photovoltaic is also provided.

[0076] Figure 4 A block diagram of a device for determining ship navigation data for offshore photovoltaic according to an exemplary embodiment of the present disclosure is schematically shown. Refer to Figure 4 , according to an exemplary embodiment of the present disclosure, the device 4 for determining ship navigation data for offshore photovoltaic 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.

[0077] Specifically, the first data acquisition module 41 may be configured to acquire first navigation data of a target ship detected based on radar; the second data acquisition module 43 may be configured to acquire second navigation data of the target ship detected based on a video acquisition device; the third data acquisition module 45 may be configured to acquire third navigation data of the target ship detected based on an automatic identification system for ships; the data fusion module 47 may be configured 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.

[0078] According to an exemplary embodiment of the present disclosure, the navigation data includes multiple categories of navigation elements; wherein, the data fusion module 47 may 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 respectively according to the category of the navigation elements to obtain each navigation element of the target ship; combine each navigation element of the target ship into the target navigation data of the target ship.

[0079] According to an exemplary embodiment of the present disclosure, multiple categories of navigation elements include target navigation elements; wherein, the data fusion module 47 may be configured to: determine the target navigation elements of the first navigation data and the credibility of the target navigation elements of the first navigation data; determine the target navigation elements of the second navigation data and the credibility of the target navigation elements of the second navigation data; determine the target navigation elements of the third navigation data and the credibility of the target navigation elements of the third navigation data; determine the target navigation elements of the target ship according to the target navigation elements of the first navigation data, the credibility of the target navigation elements of the first navigation data, the target navigation elements of the second navigation data, the credibility of the target navigation elements of the second navigation data, the target navigation elements of the third navigation data, and the credibility of the target navigation elements of the third navigation data.

[0080] According to an exemplary embodiment of the present disclosure, the data fusion module 47 may also be configured to: obtain multiple historical target navigation elements detected by the radar; evaluate the accuracy of the target navigation elements detected by the radar in combination with the multiple historical target navigation elements; determine the credibility of the target navigation elements of the first navigation data according to the evaluation result.

[0081] 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 the difference threshold, calculate the ratio of the number to the number of historical target navigation elements to obtain the first evaluation result of the accuracy; determine the statistical value of the differences, and determine the second evaluation result of the accuracy according to the statistical value of the differences; wherein, the statistical value of the differences includes the average value or median value of the differences, and the combination of the first evaluation result and the second evaluation result is used as the result of the accuracy evaluation.

[0082] 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 elements of the first navigation data into the weight of the target navigation elements of the first navigation data; convert the credibility of the target navigation elements of the second navigation data into the weight of the target navigation elements of the second navigation data; convert the credibility of the target navigation elements of the third navigation data into the weight of the target navigation elements of the third navigation data; perform weighted average processing on the target navigation elements of the first navigation data, the target navigation elements of the second navigation data, and the target navigation elements of the third navigation data by using the weight of the target navigation elements of the first navigation data, the weight of the target navigation elements of the second navigation data, and the weight of the target navigation elements of the third navigation data to determine the target navigation elements of the target ship.

[0083] According to an exemplary embodiment of the present disclosure, the data fusion module 47 may also be configured to: before fusing the first navigation data, the second navigation data, and the third navigation data, unify the first navigation data, the second navigation data, and the third navigation data into the same coordinate system; wherein, the data unified into the same coordinate system is used for data fusion.

[0084] Since each functional module of the ship navigation data determination device for the offshore photovoltaic according to the embodiment of the present disclosure is the same as that in the above method embodiment, it will not be described in detail herein.

[0085] In an exemplary embodiment of the present disclosure, there is also provided a computer-readable storage medium, on which there is a program product capable of implementing the above method of this specification. In some possible implementation manners, various aspects of the present disclosure may also be implemented in the form of a program product, which includes program code. When the program product runs on a terminal device, the program code is used to cause the terminal device to execute the steps according to various exemplary embodiments of the present disclosure described in the "Exemplary Method" section of this specification.

[0086] The program product for implementing the above method according to the embodiment of the present disclosure may adopt a portable compact disc read-only memory (CD-ROM) and include program code, and may run on a terminal device, such as a personal computer. However, the program product of the present disclosure is not limited thereto. In this document, the readable storage medium may be any tangible medium that contains or stores a program, and the program may be used by or in combination with an instruction execution system, apparatus, or device.

[0087] The program product may adopt any combination of one or more readable media. The readable media 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, apparatus, or device, or any combination of the above. More specific examples (non-exhaustive list) of the readable storage medium include: an electrical connection having 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 disc, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above.

[0088] A computer-readable signal medium may include a data signal propagated in a baseband or as part of a carrier wave, which carries readable program code. Such a propagated data signal may take various forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination of the foregoing. The readable signal medium may also be any readable medium other than a readable storage medium, which can send, propagate, or transmit a program for use by or in connection with an instruction execution system, apparatus, or device.

[0089] The program code contained on the readable medium may be transmitted using any appropriate medium, including but not limited to wireless, wired, optical fiber cable, RF, etc., or any suitable combination of the foregoing.

[0090] The 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 also including conventional procedural programming languages such as the "C" language or similar programming languages. The program code may be executed entirely on the user's computing device, partially on the user's device, executed as a stand-alone software package, partially on the user's 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's 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., by connecting through the Internet using an Internet service provider).

[0091] 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 may be configured in the form of the following electronic device.

[0092] Those skilled in the art can understand that various aspects of the present disclosure can be implemented as a system, method, or program product. Therefore, various aspects of the present disclosure can be specifically implemented in the following forms, namely: a complete hardware implementation, a complete software implementation (including firmware, microcode, etc.), or an implementation combining hardware and software aspects, which can be collectively referred to as "circuitry", "module", or "system" here.

[0093] The following refers to Figure 5 to describe the electronic device 500 according to such an embodiment of the present disclosure. Figure 5 The illustrated electronic device 500 is merely an example and should not impose any limitation on the functions and scope of use of the embodiments of the present disclosure.

[0094] As Figure 5As shown, the electronic device 500 is presented in the form of a general-purpose computing device. The components of the electronic device 500 may include, but are not limited to: at least one of the above-mentioned processing units 510, at least one of the above-mentioned storage units 520, a bus 530 connecting different system components (including the storage unit 520 and the processing unit 510), and a display unit 540.

[0095] Among them, the storage unit stores program code, and the program code 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 "Exemplary Method" section of this specification above. For example, the processing unit 510 can execute each step of the method for determining ship navigation data of offshore photovoltaics according to the embodiments of the present disclosure.

[0096] 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.

[0097] 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 include, but are not limited to: an operating system, one or more application programs, other program modules, and program data. Each or some combination of these examples may include the implementation of a network environment.

[0098] The bus 530 may represent one or more of several types of bus structures, including a storage unit bus or a storage unit controller, a peripheral bus, a graphics acceleration port, a processing unit, or a local area bus using any bus structure in a variety of bus structures.

[0099] The electronic device 500 can also communicate with one or more external devices 600 (such as a keyboard, a pointing device, a Bluetooth device, etc.), can also communicate with one or more devices that enable a user to interact with the electronic device 500, and / or communicate with any device that enables the electronic device 500 to communicate with one or more other computing devices (such as a router, a modem, etc.). Such communication can be carried out through an input / output (I / O) interface 550. And, the electronic device 500 can also communicate with one or more networks (such as a local area network (LAN), a wide area network (WAN), and / or a public network, such as the Internet) through a network adapter 560. As Figure 5As shown, network adapter 560 communicates with other modules of electronic device 500 via bus 530. It should be understood that, although not shown in the figures, other hardware and / or software modules may be used in conjunction with 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, etc.

[0100] From the description of the above embodiments, those skilled in the art can easily understand that the example embodiments described herein can be implemented by software or by a combination of software and necessary hardware. Therefore, the technical solutions according to the embodiments 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, USB flash drive, mobile hard disk, etc.) or on a network, including several instructions to enable a computing device (which can be a personal computer, server, terminal device, or network device, etc.) to execute the method according to the embodiments of the present disclosure.

[0101] In addition, the above drawings are only schematic illustrations of the processes included in the method according to the exemplary embodiments of the present disclosure, rather than for limiting purposes. It is easy to understand that the processes shown in the above drawings do not indicate or limit the chronological order of these processes. Additionally, it is also easy to understand that these processes can be executed synchronously or asynchronously, for example, in multiple modules.

[0102] It should be noted that although several modules or units of devices for action execution are mentioned in the above detailed description, such a division is not mandatory. In fact, according to the embodiments of the present disclosure, the features and functions of the two or more modules or units described above can be embodied in one module or unit. Conversely, the features and functions of one module or unit described above can be further divided and embodied by multiple modules or units.

[0103] After considering the specification and practicing the content disclosed herein, those skilled in the art will readily think of other embodiments of the present disclosure. This application is intended to cover any variations, uses, or adaptations of the present disclosure, which follow the general principles of the present disclosure and include well-known common general knowledge or conventional technical means in the technical field not disclosed in the present disclosure. The specification and embodiments are only regarded as exemplary, and the true scope and spirit of the present disclosure are pointed out by the claims.

[0104] It should be understood that the present disclosure is not limited to the exact structures described above and shown in the drawings, and various modifications and changes can be made without departing from its scope. The scope of the present disclosure is only limited 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; The radar is configured on the shore corresponding to the offshore photovoltaic project; Acquiring second navigation data of the target ship detected by a video acquisition device; the video acquisition device is configured in an offshore area of ​​the offshore photovoltaic project; Acquiring third navigation data of the target ship detected by a ship automatic identification system; fusing the first navigation data, the second navigation data, and the third navigation data to determine target navigation data of the target ship; The navigation data includes navigation elements of multiple categories; fusing the first navigation data, the second navigation data, and the third navigation data to determine the target navigation data of the target ship, including: fusing the navigation elements of the first navigation data, the second navigation data, and 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; Wherein, the navigation elements of the multiple categories include target 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 according to the categories of 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 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; The ship navigation data determination method further includes: acquiring a plurality of 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; and determining the credibility of the target navigation elements of the first navigation data according to the evaluation result; Among them, 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 differences greater than the 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 the statistical value of the difference, and determining a second evaluation result of accuracy based on the statistical value of the difference; the statistical value of the difference includes the mean or median of the difference; converting the second evaluation result to [0,1], and adding the converted result to the first evaluation result to obtain the sum of the results; obtaining the result of the accuracy evaluation based on the sum of the results; wherein the sum of the results is negatively correlated with the result of the accuracy evaluation.

2. The method for determining ship navigation data according to claim 1, 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.

3. The method for determining ship navigation data according to claim 1 or 2, 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.

4. 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; The radar is configured on the shore corresponding to the offshore photovoltaic project; A second data acquisition module is used to acquire second navigation data of the target ship detected by a video acquisition device; the video acquisition device is configured in an offshore area of ​​the offshore photovoltaic project; A third data acquisition module, used to acquire third navigation data of the target ship detected by the ship automatic identification system; a data fusion module, configured to fuse the first navigation data, the second navigation data, and the third navigation data to determine target navigation data of the target ship; The navigation data includes navigation elements of multiple categories; the data fusion module is 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; Wherein, the multiple categories of navigation elements include target navigation elements; the data fusion module is 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 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; The data fusion module is further configured to: obtain a plurality of historical target navigation elements detected by the radar; evaluate the accuracy of the target navigation elements detected by the radar in combination with the plurality of historical target navigation elements; and determine the credibility of the target navigation elements of the first navigation data according to the evaluation result; Wherein, the data fusion module is configured to: determine the element standard value corresponding to each of the historical target navigation elements; respectively determine the difference between each of the historical target navigation elements and the corresponding element standard value; determine the number of differences greater than the difference threshold, and calculate the ratio of the number to the number of the 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; the statistical value of the difference includes the mean or median of the difference; convert the second evaluation result to [0,1], and add the converted result to the first evaluation result to obtain the sum of the results; obtain the result of the accuracy evaluation based on the sum of the results; wherein the sum of the results is negatively correlated with the result of the accuracy evaluation.

5. 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 3 is implemented.

6. 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 of offshore photovoltaics according to any one of claims 1 to 3 by executing the executable instructions.

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