Search and rescue beacon false alarm detection method and device based on north three ship positioning

Abstract

The invention provides a search and rescue beacon false alarm detection method and device based on north three ship positioning. The method provided by the invention comprises the steps of determining a first position of a search and rescue beacon in a geographic coordinate system based on an alarm signal triggered by the search and rescue beacon; determining a second position of the ship in the geographic coordinate system based on the historical motion data information of the ship; establishing a dynamic range model of the ship based on the position of a Beidou antenna and the length and width of the ship in the North Three System; based on the first position and the second position, the geographic coordinate system is converted into a ship coordinate system, and the relative position of the search and rescue beacon in the ship coordinate system is obtained; and determining a false alarm detection result of the search and rescue beacon based on the relative position and the dynamic range model of the ship. According to the method and the device provided by the invention, false alarm detection is carried out on the alarm signal sent by the search and rescue beacon in combination with the ship position information, false alarms caused by environmental interference and misoperation are effectively filtered, the false alarm rate is reduced, and the efficiency and the reliability of sea rescue are improved.

Description

Technical Field

[0001] The present application relates to the field of maritime rescue technology, and in particular to a method and device for detecting false alarms of search and rescue beacons based on Beisan ship positioning. Background Art

[0002] With the increase in maritime traffic and fishing activities, the risk of man-overboard accidents is also rising. In order to protect the lives of crew members and passengers, man-overboard rescue beacons (MOB) are widely used. MOB devices are usually carried by personnel. Once a man-overboard incident occurs, the device will send location information through a satellite navigation system (such as GPS, Beidou, etc.) to assist ships and rescue personnel in quickly locating the man-overboard person. In terms of ship positioning, the Global Navigation Satellite System (GNSS) has become an important means for ships to obtain their own positions. The Beidou-3 Satellite Navigation System (BDS-3) is a satellite navigation system independently developed by my country. It has the characteristics of high positioning accuracy and wide coverage, providing strong support for ship navigation and positioning.

[0003] The current MOB alarm system mainly relies on the sensors and positioning functions of the MOB device itself. When the MOB device detects a fall into the water or is manually triggered, it will send an alarm signal and location information. However, these MOB alarm systems have some shortcomings in practical applications: 1) False alarms caused by environmental interference: In severe sea conditions, environmental factors such as splashing waves, wind and rain may trigger the sensors of MOB equipment and cause false alarms.

[0004] 2) False alarms caused by misoperation: Crew members may accidentally trigger the MOB device during daily operations, or the MOB device may trigger itself due to a malfunction, resulting in a false alarm.

[0005] 3) Lack of ship range determination mechanism: In the existing technology, there is a lack of determination methods based on the size and position of the ship itself, and it is impossible to effectively determine whether the MOB equipment is within the ship's range.

[0006] 4) Unable to adapt to the dynamic movement of ships: The speed and direction of ships will change during navigation. The existing system lacks real-time analysis of the dynamic movement of ships, resulting in inaccurate filtering of false alarms.

[0007] Frequent false alarms will have a huge impact on the search and rescue center, resulting in a waste of manpower, material resources and time, and increasing the search and rescue costs. Therefore, there is an urgent need for a method to detect false alarms of the alarm signals sent by the search and rescue beacon in combination with the ship's position information, effectively filter out false alarms caused by environmental interference and misoperation, reduce the false alarm rate, and improve the efficiency and reliability of maritime rescue. Summary of the invention

[0008] In view of this, the present application provides a search and rescue beacon false alarm detection method and device based on Beisan ship positioning, which is used to perform false alarm detection on the alarm signal sent by the search and rescue beacon in combination with the ship position information, effectively filtering out false alarms caused by environmental interference and misoperation, reducing the false alarm rate, and improving the efficiency and reliability of maritime rescue.

[0009] Specifically, the present application is implemented through the following technical solutions: The first aspect of the present application provides a search and rescue beacon false alarm detection method based on Beisan ship positioning, the method comprising: Based on the alarm signal triggered by the search and rescue beacon, determine the first position of the search and rescue beacon in the geographic coordinate system corresponding to the alarm time; Determine, based on the historical movement data information of the ship, a second position of the ship in the geographic coordinate system corresponding to the alarm time; Based on the position of the Beidou antenna in the BeiDou system, the length and width of the ship, a dynamic range model of the ship is established; the dynamic range model includes the longitudinal coordinate range and the transverse coordinate range of the ship, and the dynamic range model represents the position distribution of the ship in different coordinate directions in the ship coordinate system; Based on the first position and the second position, the geographic coordinate system is converted into the ship coordinate system to obtain the relative position of the search and rescue beacon in the ship coordinate system; Based on the relative position and the dynamic range model of the ship, a relationship between the search and rescue beacon and the range of the ship is determined, and a search and rescue beacon false alarm detection result is determined based on the relationship.

[0010] The second aspect of the present application provides a search and rescue beacon false alarm detection device based on Beisan ship positioning, the device includes a determination module, an establishment module and a conversion module; wherein, The determination module is used to determine the first position of the search and rescue beacon in the geographic coordinate system corresponding to the alarm time based on the alarm signal triggered by the search and rescue beacon; The determination module is further used to determine a second position of the ship in the geographic coordinate system corresponding to the alarm time based on the historical movement data information of the ship; The establishing module is used to establish a dynamic range model of the ship based on the position of the Beidou antenna in the Beisan system, the length and width of the ship; the dynamic range model includes the longitudinal coordinate range and the transverse coordinate range of the ship, and the dynamic range model represents the position distribution of the ship in different coordinate directions in the ship coordinate system; The conversion module is used to convert the geographic coordinate system into the ship coordinate system based on the first position and the second position to obtain the relative position of the search and rescue beacon in the ship coordinate system; The determination module is further used to determine the relationship between the search and rescue beacon and the ship range based on the relative position and the dynamic range model of the ship, and determine the search and rescue beacon false alarm detection result based on the relationship.

[0011] The present application provides a search and rescue beacon false alarm detection method and device based on BeiDou ship positioning. On the one hand, when establishing the dynamic range model of the ship, the position of the BeiDou antenna and the length and width of the ship are comprehensively considered, which can more accurately determine the actual position range of the ship and the possible activity range of the ship under different time and environmental conditions. When an alarm signal appears, the dynamic range model of the ship can help verify whether the alarm signal is within the dynamic range of the ship. If the alarm signal is within the predetermined dynamic range, it can be determined that the alarm signal may be a false alarm, and false alarms caused by waves or other factors can be avoided, thereby avoiding unnecessary responses and waste of resources. On the second aspect, the present application first determines the first position of the search and rescue beacon in the geographic coordinate system corresponding to the alarm time based on the alarm signal triggered by the search and rescue beacon, and then determines the second position of the ship in the geographic coordinate system corresponding to the alarm time, and obtains the relative position of the search and rescue beacon in the ship coordinate system by converting the first position and the second position, and makes a position judgment based on the dynamic range model of the ship, so that the obtained search and rescue beacon false alarm detection result is more accurate, and can effectively filter out false alarms caused by environmental interference and misoperation, reduce the false alarm rate, improve the efficiency and reliability of maritime rescue, and reduce the waste of resources caused by false alarms. In addition, since the reception of the alarm signal and the positioning of the ship are both based on the Beidou system, the entire maritime search and rescue process from the reception of the alarm signal to the determination of maritime search and rescue is real-time related, with a high degree of real-time performance, which can ensure the search and rescue response speed and ensure the safety of people who fall into the water. BRIEF DESCRIPTION OF THE DRAWINGS

[0012] Figure 1 A flowchart of Embodiment 1 of a search and rescue beacon false alarm detection method based on Beisan ship positioning provided by this application; Figure 2 This is a structural schematic diagram of Example 1 of the search and rescue beacon false alarm detection device based on Beisan ship positioning provided in this application. DETAILED DESCRIPTION

[0013] Here, exemplary embodiments will be described in detail, and examples thereof are shown in the accompanying drawings. When the following description refers to the drawings, unless otherwise indicated, the same numbers in different drawings represent the same or similar elements. The implementations described in the following exemplary embodiments do not represent all implementations consistent with the present application.

[0014] The terms used in this application are only for the purpose of describing specific embodiments and are not intended to limit this application. The singular forms of "a", "said" and "the" used in this application are also intended to include plural forms, unless the context clearly indicates other meanings. It should also be understood that the term "and / or" used in this article refers to and includes any or all possible combinations of one or more associated listed items.

[0015] It should be understood that although the terms first, second, third, etc. may be used in the present application to describe various information, these information should not be limited to these terms. These terms are only used to distinguish the same type of information from each other. For example, without departing from the scope of the present application, the first information may also be referred to as the second information, and similarly, the second information may also be referred to as the first information. Depending on the context, the word "if" as used herein may be interpreted as "at the time of" or "when" or "in response to determining".

[0016] Specific embodiments are given below to introduce the technical solution of the present application in detail.

[0017] Figure 1 This is a flowchart of the first embodiment of the search and rescue beacon false alarm detection method based on Beisan ship positioning provided by this application. Please refer to Figure 1 , the method provided in this embodiment may include: S101. Based on an alarm signal triggered by a search and rescue beacon, determine a first position of the search and rescue beacon in a geographic coordinate system corresponding to an alarm time.

[0018] Specifically, a rescue beacon is a device designed specifically for accidents involving people falling into the water at sea, and is mainly used for emergency positioning when crew members, tourists or crew members on board accidentally fall into the water. The rescue beacon can be activated manually or automatically to trigger an alarm signal. For example, manual activation can be when the crew member presses the start button by himself when he realizes he has fallen into the water, or when the crew member presses the start button accidentally. Automatic activation can be when the rescue beacon automatically starts when it senses falling into the water (such as when the rescue beacon contacts water), or when the alarm signal is triggered by splashing waves, bad weather, and the turbulence of the ship.

[0019] It should be noted that, since not all alarm signals triggered by search and rescue beacons are valid, false alarms may occur. Therefore, it is necessary to perform false alarm detection on the alarm signals triggered by search and rescue beacons and only process the real alarm signals.

[0020] In specific implementation, the crew wears the search and rescue beacon for daily operations. When the search and rescue beacon triggers the alarm, the search and rescue beacon sends an alarm signal, which carries the timestamp and location information of the alarm moment. The alarm signal is sent to the ground receiving station through the satellite navigation system (such as Beidou-3). The ground receiving station uses the alarm signal sent by the satellite navigation system to calculate the precise location of the search and rescue beacon at the time of triggering the alarm based on the received alarm signal, and obtains the first location of the search and rescue beacon at the time of the alarm based on the longitude, latitude and altitude data contained in the location information it carries.

[0021] S102: Determine a second position of the ship in the geographic coordinate system corresponding to the alarm time based on the historical movement data information of the ship.

[0022] Specifically, the historical motion data information of the ship records the position and speed of the ship at past moments.

[0023] In a specific implementation, the determining, based on the historical motion data information of the ship, the second position of the ship in the geographic coordinate system corresponding to the alarm time includes: (1) Based on the historical motion data of the ship, determine the position and speed of the ship at the target time.

[0024] Specifically, the target time refers to the time before the alarm time and closest to the alarm time. It should be noted that since the historical motion data information of the ship is dynamically updated (updated at each moment), to determine the position of the ship at the alarm time, it is best to calculate based on the ship's update time closest to the alarm time, so that the calculated position is more consistent with the ship's actual position at the alarm time.

[0025] In a specific implementation, the method of determining the position and speed of the ship at the target moment based on the historical motion data information of the ship includes: traversing the historical motion data information of the ship at all moments before the alarm moment based on the historical motion data information of the ship; determining the moment with the smallest difference from the alarm moment among all moments as the target moment; and determining the position and speed of the ship at the target moment based on the historical motion data information of the ship at the target moment.

[0026] Specifically, by reading multiple sensors on the ship, the historical motion data information of the ship is obtained, including the position coordinates, speed and timestamp at multiple times. All the historical motion data information of the ship before the alarm time is traversed, and for each historical motion data information, the time difference between its timestamp and the alarm time is calculated, and the data point with the smallest time difference is used as the historical motion data information at the target time. By reading the historical motion data information of the ship at the target time, the position and speed of the ship at the target time can be directly obtained.

[0027] (2) Determining the moving distance of the ship based on the difference between the alarm time and the target time and the speed of the ship at the target time.

[0028] Specifically, the moving distance of the ship represents the sailing distance of the ship between the target time and the alarm time.

[0029] In specific implementation, the product of the difference between the alarm time and the target time and the speed of the ship at the target time is determined as the moving distance of the ship, and the moving distance of the ship can be calculated according to the following formula: ; Among them, the is the moving distance of the ship; is the speed of the ship at the target time; is the alarm time; is the target time.

[0030] (3) Based on the moving distance and the position of the ship at the target time, determine the second position of the ship at the alarm time through linear fitting.

[0031] Specifically, combined with the above description, since the historical motion data information of the ship is dynamically updated (updated at each moment), therefore, to determine the position of the ship at the alarm moment, it is best to calculate based on the ship's update moment closest to the alarm moment, so that the calculated position is more consistent with the ship's actual position at the alarm moment. In this step, the position of the ship at the alarm moment is calculated by linear fitting based on the position and speed of the ship at the target moment.

[0032] In specific implementation, the sum of the position of the ship at the target time and the moving distance of the ship is determined as the second position of the ship at the alarm time. The second position of the ship at the alarm time can be determined according to the following formula: ; Among them, the is the second position of the ship at the time of the alarm; is the position of the ship at the target time; is the moving distance of the ship.

[0033] S103. Based on the position of the BeiDou antenna in the BeiDou system, the length and width of the ship, a dynamic range model of the ship is established; the dynamic range model includes the longitudinal coordinate range and the transverse coordinate range of the ship, and the dynamic range model characterizes the position distribution of the ship in different coordinate directions in the ship coordinate system.

[0034] Specifically, in this step, the position of the ship itself is determined based on the BeiDou III system, and the BeiDou antenna calculates the absolute position of the ship in the geographic coordinate system by receiving signals from the satellite. The position information of the BeiDou antenna helps determine the position of the ship in the geographic coordinate system through the process of communicating with the satellite. This position will be converted to the ship coordinate system, affecting the establishment of the ship coordinate system, and then affecting the establishment of the dynamic range model.

[0035] Furthermore, the dynamic range model of the ship describes the possible distribution area of ​​the ship's position at the target time, which includes a longitudinal coordinate range and a transverse coordinate range. The longitudinal coordinate range represents the position distribution of the ship in the longitudinal direction, and the transverse coordinate range represents the position distribution of the ship in the transverse direction. When the coordinates of a certain target in the ship coordinate system meet the dynamic range model of the ship, it can be considered that the target is on the ship. When the coordinates of a certain target in the ship coordinate system cannot simultaneously meet the longitudinal coordinate range and the transverse coordinate range, it is considered that the target is not on the ship.

[0036] In a specific implementation, the dynamic range model of the ship is established based on the position of the Beidou antenna in the BeiDou system, the length and width of the ship, including: (1) Determine the absolute position of the ship in the geographic coordinate system based on the position of the Beidou antenna, and determine the ship coordinate system based on the absolute position.

[0037] Specifically, the ship coordinate system refers to a local reference system established relative to the ship body (usually the center of the ship or a fixed reference point). The longitudinal coordinate axis of the ship coordinate system is set along the forward direction of the ship, the transverse coordinate axis of the ship coordinate system is set along the width direction of the ship, and the vertical coordinate axis of the ship coordinate system points to the top of the ship and is perpendicular to the water surface. The position of the Beidou antenna is set according to actual needs, and this is not limited in this embodiment. For example, the Beidou antenna is located in the front third of the ship.

[0038] In specific implementation, the Beidou antenna is installed at a fixed position on the ship (such as the center or bow of the ship). The Beidou antenna receives positioning signals from the Beidou satellites, and solves these positioning signals through triangulation or other satellite positioning technologies to determine the absolute position of the ship in the geographic coordinate system (usually including the ship's longitude, latitude, altitude and other parameters). Furthermore, according to the actual needs of the ship, a reference point on the ship (such as the location of the Beidou antenna or the center, bow or stern of the ship) is selected as the origin of the ship's coordinate system, and the longitudinal coordinate axis is determined from the reference point of the ship along the ship's forward direction, the transverse coordinate axis is determined from the reference point of the ship along the width of the ship, and the vertical coordinate axis is determined perpendicular to the water surface and above the ship.

[0039] (2) Based on the speed, length and width of the ship, the longitudinal coordinate range and the transverse coordinate range of the ship in the ship coordinate system are established respectively.

[0040] In a specific implementation, the determining of the longitudinal coordinate range and the transverse coordinate range of the ship in the ship coordinate system based on the speed, length and width of the ship respectively includes: (1) Based on the speed of the ship and the tolerance coefficient, the longitudinal tolerance and the lateral tolerance of the ship are calculated; the longitudinal tolerance represents the allowable deviation range of the ship in the longitudinal direction, and the lateral tolerance represents the allowable deviation range of the ship in the lateral direction, and the tolerance coefficient corresponding to the longitudinal tolerance is different from the tolerance coefficient corresponding to the lateral tolerance.

[0041] Specifically, the longitudinal tolerance of a ship represents the allowable deviation range of the ship in the longitudinal direction, and the transverse tolerance of a ship represents the allowable deviation range of the ship in the transverse direction. The longitudinal tolerance and transverse tolerance of a ship are calculated based on different tolerance coefficients, and the tolerance coefficient corresponding to the longitudinal tolerance of a ship is generally greater than the tolerance coefficient corresponding to the transverse tolerance of a ship. For example, the tolerance coefficient corresponding to the longitudinal tolerance is 0.05, and the tolerance coefficient corresponding to the transverse tolerance is 0.03.

[0042] Furthermore, the tolerance coefficient of the ship characterizes the possible offset of the ship within the longitudinal and transverse coordinate ranges. Since the dynamic behavior of the ship is random and unpredictable (for example, factors such as wind speed, waves, tides, etc.), the tolerance coefficient can be used to predict the possible offset range of the ship during navigation. Since the longitudinal coordinate range is used to calculate the allowable offset range of the ship in the longitudinal direction (i.e., from the bow to the stern). The tolerance coefficient corresponding to the longitudinal tolerance usually depends on factors such as the forward speed of the ship, the hull design, and the influence of waves. Generally speaking, the faster the ship speed, the greater the longitudinal tolerance. The transverse coordinate range is used to calculate the allowable offset range of the ship in the transverse direction (i.e., the width of the ship). The transverse tolerance coefficient usually takes into account factors such as the width of the ship, the transverse wind force, and the current. When the transverse tolerance is large, it may be due to the influence of external wind and waves, or insufficient transverse control of the ship.

[0043] In specific implementation, the longitudinal tolerance of the ship is calculated based on the speed of the ship and the tolerance coefficient corresponding to the longitudinal tolerance, and the product of the speed of the ship and the tolerance coefficient corresponding to the longitudinal tolerance is determined as the longitudinal tolerance of the ship. The longitudinal tolerance of the ship can be determined according to the following formula: ; Among them, the is the longitudinal tolerance of the ship; is the tolerance coefficient corresponding to the longitudinal tolerance; is the speed of the ship.

[0044] Furthermore, the lateral tolerance of the ship is calculated based on the speed of the ship and the tolerance coefficient corresponding to the lateral tolerance, and the product of the speed of the ship and the tolerance coefficient corresponding to the lateral tolerance is determined as the lateral tolerance of the ship. The lateral tolerance of the ship can be determined according to the following formula: ; Among them, the is the transverse tolerance of the ship; is the tolerance coefficient corresponding to the lateral tolerance; is the speed of the ship.

[0045] (2) In the ship coordinate system, the longitudinal coordinate range of the ship is determined based on the longitudinal tolerance of the ship and the length of the ship.

[0046] In specific implementation, the product of the length of the ship and the first preset value is determined as the first length, and the difference between the first length and the longitudinal tolerance of the ship is determined as the first longitudinal coordinate of the ship; the product of the length of the ship and the second preset value is determined as the second length, and the sum of the second length and the longitudinal tolerance of the ship is determined as the second longitudinal coordinate of the ship. The longitudinal coordinate range of the ship is between the first longitudinal coordinate and the second longitudinal coordinate. The longitudinal coordinate range of the ship can be determined according to the following formula: ; Among them, the is the length of the ship; is the longitudinal tolerance of the ship; is the longitudinal coordinate of the ship.

[0047] (3) In the ship coordinate system, the lateral coordinate range of the ship is determined based on the lateral tolerance of the ship and the width of the ship.

[0048] In specific implementation, the product of the width of the ship and the third preset value is determined as the first width, and the difference between the first width and the lateral tolerance of the ship is determined as the first lateral coordinate of the ship; the product of the width of the ship and the fourth preset value is determined as the second width, and the sum of the second width and the lateral tolerance of the ship is determined as the second lateral coordinate of the ship. The lateral coordinate range of the ship is between the first lateral coordinate and the second lateral coordinate, and the lateral coordinate range of the ship can be determined according to the following formula: ; Among them, the is the width of the ship; is the transverse tolerance of the ship; is the lateral coordinate of the ship.

[0049] S104. Based on the first position and the second position, convert the geographic coordinate system into the ship coordinate system to obtain the relative position of the search and rescue beacon in the ship coordinate system.

[0050] Specifically, since the first position refers to the position of the alarm signal triggered by the search and rescue beacon in the geographic coordinate system, in order to determine whether the alarm signal is valid, that is, to determine whether the search and rescue beacon is on the ship, it is necessary to convert the first position into the position of the alarm signal triggered by the search and rescue beacon in the ship coordinate system.

[0051] In a specific implementation, the geographic coordinate system is converted into the ship coordinate system based on the first position and the second position to obtain the relative position of the search and rescue beacon in the ship coordinate system, including: determining the difference vector between the search and rescue beacon and the ship based on the difference between the first position and the second position; converting the first position of the search and rescue beacon in the geographic coordinate system into the relative position of the search and rescue beacon in the ship coordinate system based on the rotation matrix and the difference vector between the search and rescue beacon and the ship; the rotation matrix is ​​used to convert the geographic coordinate system into the ship coordinate system.

[0052] Specifically, the rotation matrix is ​​used to convert the geographic coordinate system into the ship coordinate system. The first position of the search and rescue beacon in the geographic coordinate system can be converted into the relative position of the search and rescue beacon in the ship coordinate system through the rotation matrix.

[0053] In specific implementation, the product of the difference vector between the search and rescue beacon and the ship (i.e., the difference between the first position and the second position) and the rotation matrix is ​​determined as the relative position of the search and rescue beacon in the ship coordinate system, and the relative position of the search and rescue beacon in the ship coordinate system can be calculated according to the following formula: ; Among them, the is the relative position of the search and rescue beacon in the ship coordinate system; is the rotation matrix; is the first position of the search and rescue beacon in the geographic coordinate system; It is the second position of the ship in the geographic coordinate system.

[0054] Optionally, based on the rotation matrix and the difference vector between the search and rescue beacon and the ship, the first position of the search and rescue beacon in the geographic coordinate system is converted into the relative position of the search and rescue beacon in the ship coordinate system, including: determining the rotation angle of the rotation matrix based on the heading angle of the ship at the alarm moment; constructing a rotation matrix based on the rotation angle; multiplying the rotation matrix by the difference vector to obtain the relative position of the search and rescue beacon in the ship coordinate system.

[0055] Specifically, the heading angle of a ship indicates the direction of the ship, and the heading angle is the angle between the ship coordinate system and the geographic coordinate system. The heading angle of a ship is usually obtained based on the actual direction of travel of the ship, and can be obtained through the Beidou satellite system or other positioning methods. The construction of the rotation matrix is ​​as follows: ; Among them, the is the rotation matrix; is the rotation angle of the rotation matrix, that is, the heading angle of the ship.

[0056] In specific implementation, the heading angle of the ship at the time of the alarm is obtained through the Beidou satellite system or other positioning methods, and a rotation matrix is ​​constructed based on the obtained heading angle. The rotation angle of the constructed rotation matrix is ​​the heading angle of the ship. By multiplying the difference vector between the search and rescue beacon and the ship with the rotation matrix, the relative position of the search and rescue beacon in the ship coordinate system can be obtained.

[0057] S105. Determine a relationship between the search and rescue beacon and the range of the ship based on the relative position and the dynamic range model of the ship, and determine a search and rescue beacon false alarm detection result based on the relationship.

[0058] Specifically, in combination with the above description, the dynamic range model of the ship represents the position distribution of the ship in different coordinate directions in the ship coordinate system. In this step, the relative position of the search and rescue beacon in the ship coordinate system is compared with the dynamic range model of the ship. When the relative position is within the dynamic range model of the ship, it is considered that the search and rescue beacon is on the ship and the alarm signal is a false alarm. When the relative position is not within the dynamic range model of the ship, it is considered that the search and rescue beacon is not on the ship and the alarm signal is a valid alarm.

[0059] In a specific implementation, the relationship between the search and rescue beacon and the ship range is determined based on the relative position and the dynamic range model of the ship, including: determining whether the lateral coordinate satisfies the lateral coordinate range based on the lateral coordinate of the relative position and the lateral coordinate range of the ship in the dynamic range model; determining whether the longitudinal coordinate satisfies the longitudinal coordinate range based on the longitudinal coordinate of the relative position and the longitudinal coordinate range of the ship in the dynamic range model; determining that the search and rescue beacon is within the ship range when the lateral coordinate satisfies the lateral coordinate range and the longitudinal coordinate satisfies the longitudinal coordinate range; determining that the search and rescue beacon is not within the ship range when the lateral coordinate does not satisfy the lateral coordinate range and / or the longitudinal coordinate does not satisfy the longitudinal coordinate range.

[0060] Specifically, since the dynamic range model of the ship includes the longitudinal coordinate range and the transverse coordinate range of the ship, when comparing the relative position of the search and rescue beacon in the ship coordinate system with the dynamic range model of the ship, it is necessary to compare the relationship between the longitudinal coordinate of the relative position and the longitudinal coordinate range of the ship and the relationship between the transverse coordinate of the relative position and the transverse coordinate range of the ship. When the longitudinal coordinate of the relative position satisfies the longitudinal coordinate range of the ship and the transverse coordinate of the relative position satisfies the transverse coordinate range of the ship, it is determined that the search and rescue beacon is within the ship range. When the longitudinal coordinate of the relative position does not satisfy the longitudinal coordinate range of the ship or the transverse coordinate of the relative position does not satisfy the transverse coordinate range of the ship or both do not satisfy, it is determined that the search and rescue beacon is not within the ship range.

[0061] Optionally, determining the search and rescue beacon false alarm detection result based on the relationship includes: when it is determined that the search and rescue beacon is within the range of the ship, confirming with the ship whether the alarm signal is true, and determining that the alarm signal is a search and rescue beacon false alarm after confirmation; when it is determined that the search and rescue beacon is not within the range of the ship, confirming with the ship whether the search and rescue beacon has fallen into the water, and determining that the alarm signal is a search and rescue beacon alarm after confirmation, and initiating a search and rescue operation for the person who fell into the water carrying the search and rescue beacon.

[0062] Specifically, when it is determined that the search and rescue beacon is within the range of the ship, it indicates that the search and rescue beacon is on the ship, that is, the alarm signal sent by the search and rescue beacon is a false alarm. The staff on the ship will confirm with the crew carrying the search and rescue beacon. After confirming that the crew has not fallen into the water, it is determined that the alarm signal sent by the search and rescue beacon is a false alarm of the search and rescue beacon. When it is determined that the search and rescue beacon is not within the range of the ship, it indicates that the search and rescue beacon is not on the ship, that is, the search and rescue beacon may be in the water, and the crew carrying the search and rescue beacon may fall into the water. The staff on the ship will confirm whether the crew has really fallen into the water, and initiate the search and rescue operation after confirming that they have fallen into the water.

[0063] The present embodiment provides a search and rescue beacon false alarm detection method based on BeiDou ship positioning. On the one hand, when establishing the dynamic range model of the ship, the position of the BeiDou antenna and the length and width of the ship are comprehensively considered, so that the actual position range of the ship and the possible activity range of the ship under different time and environmental conditions can be determined more accurately. When an alarm signal appears, the dynamic range model of the ship can help verify whether the alarm signal is within the dynamic range of the ship. If the alarm signal is within the predetermined dynamic range, it can be determined that the alarm signal may be a false alarm, and false alarms caused by waves or other factors can be avoided, thereby avoiding unnecessary responses and waste of resources. On the second hand, the present application first determines the first position of the search and rescue beacon in the geographic coordinate system corresponding to the alarm time based on the alarm signal triggered by the search and rescue beacon, and then determines the second position of the ship in the geographic coordinate system corresponding to the alarm time, and obtains the relative position of the search and rescue beacon in the ship coordinate system by converting the first position and the second position, and makes a position judgment based on the dynamic range model of the ship, so that the obtained search and rescue beacon false alarm detection result is more accurate, and can effectively filter out false alarms caused by environmental interference and misoperation, reduce the false alarm rate, improve the efficiency and reliability of maritime rescue, and reduce the waste of resources caused by false alarms. In addition, since the reception of the alarm signal and the positioning of the ship are both based on the Beidou system, the entire maritime search and rescue process from the reception of the alarm signal to the determination of maritime search and rescue is real-time related, with a high degree of real-time performance, which can ensure the search and rescue response speed and ensure the safety of people who fall into the water. On the third hand, when determining the second position of the ship at the alarm time, the alarm signal does not match the actual position because the ship may encounter signal loss, sensor error or positioning accuracy problems. By linearly fitting the historical motion data of the ship, the second position of the ship at the alarm time is calculated based on the position and speed of the ship at the closest time to the alarm time. This method is based on the speed and position of the ship at the target time, combined with the difference between the alarm time and the target time, and the second position obtained is more accurate because it takes into account the actual movement of the ship during this period. Especially when the ship has a certain speed and heading change, linear fitting can provide a more reliable position estimate than simply relying on real-time position data, which can effectively compensate for these real-time positioning errors, calculate a more accurate position, and reduce the possibility of false alarms. In addition, since the data used for linear fitting is the position and speed at the closest time to the alarm time, the second position of the ship at the alarm time obtained in the end will also be more consistent with the actual position of the ship, improving the accuracy of the position estimation. Fourthly, since the positions of the search and rescue beacon and the ship are relative to the geographic coordinate system, and the dynamic range model of the ship is relative to the ship coordinate system, the false alarm detection of the search and rescue beacon is detected in the ship coordinate system.Since the geographic coordinate system (such as longitude and latitude) and the ship coordinate system are different reference systems, directly using the geographic coordinate system information to determine the relationship between the ship and the search and rescue beacon may be inaccurate. The first position of the search and rescue beacon in the geographic coordinate system is converted to the relative position of the search and rescue beacon in the ship coordinate system through the rotation matrix, and whether the search and rescue beacon is within the ship range is determined based on the relative position, which can make the position of the search and rescue beacon more consistent with the actual coordinate system of the ship. In this way, it is possible to intuitively determine whether the search and rescue beacon is within the effective search range of the ship, or whether it is in the dangerous area of ​​the ship, and then help determine whether it is a false alarm, thereby improving the accuracy of the search and rescue beacon false alarm detection results, reducing the false alarm rate, improving the efficiency and reliability of maritime rescue, and reducing the waste of resources caused by false alarms.

[0064] Corresponding to the aforementioned embodiment of a search and rescue beacon false alarm detection method based on Beisan ship positioning, the present application also provides an embodiment of a search and rescue beacon false alarm detection device based on Beisan ship positioning.

[0065] Figure 2 This is a structural diagram of the first embodiment of the search and rescue beacon false alarm detection device based on Beisan ship positioning provided by this application. Figure 2 The device provided in this embodiment includes a determination module 210, an establishment module 220 and a conversion module 230; wherein, The determination module 210 is used to determine the first position of the search and rescue beacon in the geographic coordinate system corresponding to the alarm time based on the alarm signal triggered by the search and rescue beacon; The determination module 210 is further configured to determine a second position of the ship in the geographic coordinate system corresponding to the alarm time based on the historical movement data information of the ship; The establishing module 220 is used to establish a dynamic range model of the ship based on the position of the Beidou antenna in the Beisan system, the length and width of the ship; the dynamic range model includes the longitudinal coordinate range and the transverse coordinate range of the ship, and the dynamic range model represents the position distribution of the ship in different coordinate directions in the ship coordinate system; The conversion module 230 is used to convert the geographic coordinate system into the ship coordinate system based on the first position and the second position to obtain the relative position of the search and rescue beacon in the ship coordinate system; The determination module 210 is further configured to determine a relationship between the search and rescue beacon and the ship range based on the relative position and the dynamic range model of the ship, and determine a search and rescue beacon false alarm detection result based on the relationship.

[0066] The device of this embodiment can be used to perform Figure 1 The steps, specific implementation principles and implementation processes of the method embodiment shown are similar and will not be repeated here.

[0067] The implementation process of the functions and effects of each unit in the above-mentioned device is specifically described in the implementation process of the corresponding steps in the above-mentioned method, and will not be repeated here.

[0068] For the device embodiment, since it basically corresponds to the method embodiment, the relevant parts can refer to the partial description of the method embodiment. The device embodiment described above is only schematic, wherein the units described as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units, that is, they may be located in one place, or they may be distributed on multiple network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the present application scheme. A person of ordinary skill in the art can understand and implement it without paying any creative work.

[0069] The above description is only a preferred embodiment of the present application and is not intended to limit the present application. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present application shall be included in the scope of protection of the present application.

Claims

1. A search and rescue beacon false alarm detection method based on Beisan ship positioning, characterized in that: The method comprises: Based on the alarm signal triggered by the search and rescue beacon, determine the first position of the search and rescue beacon in the geographic coordinate system corresponding to the alarm time; Determine, based on the historical movement data information of the ship, a second position of the ship in the geographic coordinate system corresponding to the alarm time; Based on the position of the Beidou antenna in the BeiDou system, the length and width of the ship, a dynamic range model of the ship is established; the dynamic range model includes the longitudinal coordinate range and the transverse coordinate range of the ship, and the dynamic range model represents the position distribution of the ship in different coordinate directions in the ship coordinate system; Based on the first position and the second position, the geographic coordinate system is converted into the ship coordinate system to obtain the relative position of the search and rescue beacon in the ship coordinate system; Based on the relative position and the dynamic range model of the ship, a relationship between the search and rescue beacon and the range of the ship is determined, and a search and rescue beacon false alarm detection result is determined based on the relationship.

2. The method according to claim 1, characterized in that The dynamic range model of the ship is established based on the position of the Beidou antenna in the BeiDou system, the length and width of the ship, including: Determine the absolute position of the ship in the geographic coordinate system based on the position of the Beidou antenna, and determine the ship coordinate system based on the absolute position; Based on the speed, length and width of the ship, the longitudinal coordinate range and the transverse coordinate range of the ship in the ship coordinate system are established respectively.

3. The method according to claim 2, characterized in that The determining, based on the speed, length and width of the ship, respectively, the longitudinal coordinate range and the transverse coordinate range of the ship in the ship coordinate system comprises: Based on the speed of the ship and the tolerance coefficient, the longitudinal tolerance and the transverse tolerance of the ship are calculated; the longitudinal tolerance represents the allowable deviation range of the ship in the longitudinal direction, the transverse tolerance represents the allowable deviation range of the ship in the transverse direction, and the tolerance coefficient corresponding to the longitudinal tolerance is different from the tolerance coefficient corresponding to the transverse tolerance; In the ship coordinate system, determining the longitudinal coordinate range of the ship based on the longitudinal tolerance of the ship and the length of the ship; In the ship coordinate system, the lateral coordinate range of the ship is determined based on the lateral tolerance of the ship and the width of the ship.

4. The method according to claim 1, characterized in that: The determining, based on the historical movement data information of the ship, a second position of the ship in the geographic coordinate system corresponding to the alarm time, comprises: Based on the historical motion data of the ship, determine the position and speed of the ship at the target time; Determine the moving distance of the ship based on the difference between the alarm time and the target time and the speed of the ship at the target time; Based on the moving distance and the position of the ship at the target time, a second position of the ship at the alarm time is determined by linear fitting.

5. The method according to claim 4, characterized in that The determining of the position and speed of the ship at the target time based on the historical motion data information of the ship includes: Based on the historical motion data information of the ship, traverse the historical motion data information of the ship at all times before the alarm time; The time with the smallest difference from the alarm time among all the times is determined as the target time; The position and speed of the ship at the target time are determined according to the historical motion data information of the ship at the target time.

6. The method according to claim 1, characterized in that The converting the geographic coordinate system into the ship coordinate system based on the first position and the second position to obtain the relative position of the search and rescue beacon in the ship coordinate system includes: Determining a difference vector between the search and rescue beacon and the ship based on a difference between the first position and the second position; Based on the rotation matrix and the difference vector between the search and rescue beacon and the ship, the first position of the search and rescue beacon in the geographic coordinate system is converted into the relative position of the search and rescue beacon in the ship coordinate system; the rotation matrix is ​​used to convert the geographic coordinate system into the ship coordinate system.

7. The method according to claim 6, characterized in that The method of converting the first position of the search and rescue beacon in the geographic coordinate system into the relative position of the search and rescue beacon in the ship coordinate system based on the rotation matrix and the difference vector between the search and rescue beacon and the ship comprises: Determining the rotation angle of the rotation matrix based on the heading angle of the ship at the alarm moment; constructing a rotation matrix based on the rotation angle; The rotation matrix is ​​multiplied by the difference vector to obtain the relative position of the search and rescue beacon in the ship coordinate system.

8. The method according to claim 1, characterized in that The determining the relationship between the search and rescue beacon and the range of the ship based on the relative position and the dynamic range model of the ship comprises: Based on the lateral coordinate of the relative position and the lateral coordinate range of the ship in the dynamic range model, determining whether the lateral coordinate satisfies the lateral coordinate range; Based on the longitudinal coordinate of the relative position and the longitudinal coordinate range of the ship in the dynamic range model, determining whether the longitudinal coordinate satisfies the longitudinal coordinate range; When the transverse coordinate satisfies the transverse coordinate range and the longitudinal coordinate satisfies the longitudinal coordinate range, determining that the search and rescue beacon is within the ship range; When the transverse coordinate does not satisfy the transverse coordinate range and / or the longitudinal coordinate does not satisfy the longitudinal coordinate range, it is determined that the search and rescue beacon is not within the ship range.

9. The method according to claim 8, characterized in that The determining of the search and rescue beacon false alarm detection result based on the relationship comprises: When it is determined that the search and rescue beacon is within the range of the ship, confirming with the ship whether the alarm signal is true, and after confirmation, determining that the alarm signal is a false alarm of the search and rescue beacon; When it is determined that the search and rescue beacon is not within the range of the ship, the ship is confirmed whether the search and rescue beacon has fallen into the water. After confirmation, it is determined that the alarm signal is a search and rescue beacon alarm, and a search and rescue operation is initiated for the person who has fallen into the water carrying the search and rescue beacon.

10. A search and rescue beacon false alarm detection device based on Beisan ship positioning, characterized in that: The device comprises a determination module, an establishment module and a conversion module; wherein, The determination module is used to determine the first position of the search and rescue beacon in the geographic coordinate system corresponding to the alarm time based on the alarm signal triggered by the search and rescue beacon; The determination module is further used to determine a second position of the ship in the geographic coordinate system corresponding to the alarm time based on the historical movement data information of the ship; The establishing module is used to establish a dynamic range model of the ship based on the position of the Beidou antenna in the Beisan system, the length and width of the ship; the dynamic range model includes the longitudinal coordinate range and the transverse coordinate range of the ship, and the dynamic range model represents the position distribution of the ship in different coordinate directions in the ship coordinate system; The conversion module is used to convert the geographic coordinate system into the ship coordinate system based on the first position and the second position to obtain the relative position of the search and rescue beacon in the ship coordinate system; The determination module is further used to determine the relationship between the search and rescue beacon and the ship range based on the relative position and the dynamic range model of the ship, and determine the search and rescue beacon false alarm detection result based on the relationship.

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