A method and device for detecting false alarms of search and rescue beacons based on the positioning of Beisan ships

Abstract

The present application provides a method and device for detecting false alarms of search and rescue beacons based on the positioning of North Three ships. The method provided by the present application includes: determining a first position of the search and rescue beacon in the geographic coordinate system based on the 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 movement data information of the ship; establishing a dynamic range model of the ship based on the position of the Beidou antenna in the North Three system, the length and width of the ship; 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; and determining the false alarm detection result of the search and rescue beacon based on the relative position and the dynamic range model of the ship. The method and device provided by the present application 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 misoperations, reducing the false alarm rate, and improving the efficiency and reliability of maritime rescue.

Description

Technical Field

[0001] The present application relates to the technical field of maritime rescue, and particularly to a method and device for detecting false alarms of search and rescue beacons based on the positioning of BeiDou-3 ships. Background Art

[0002] With the increase in maritime traffic and fishing activities, the risk of water accidents is also rising. To ensure the safety of crew members and passengers, man-overboard (MOB) devices for search and rescue of fallen personnel are widely used. MOB devices are usually carried on people. Once a water accident occurs, the device will send location information through satellite navigation systems (such as GPS, BeiDou, etc.) to assist ships and rescue personnel in quickly locating the fallen 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 (BeiDou-3) is a satellite navigation system independently developed by China, which has the characteristics of high positioning accuracy and wide coverage, providing strong support for ship navigation and positioning.

[0003] The current MOB alarm systems mainly rely on the sensors and positioning functions of the MOB devices themselves. 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 deficiencies in actual applications:

[0004] 1) False alarms caused by environmental interference: In severe sea conditions, environmental factors such as the splashing of sea waves, wind and rain may trigger the sensors of the MOB device, resulting in false alarms.

[0005] 2) False alarms caused by incorrect operations: Crew members may accidentally trigger the MOB device during daily operations, or the MOB device may be self-triggered due to a malfunction, resulting in false alarms.

[0006] 3) Lack of a ship range determination mechanism: In the prior art, there is a lack of a determination method based on the size and position of the ship itself, and it is impossible to effectively determine whether the MOB device is within the ship's range.

[0007] 4) Inability to adapt to the dynamic movement of ships: During the navigation of a ship, there will be changes in speed and direction. The existing systems lack real-time analysis of the dynamic movement of ships, resulting in inaccurate filtering of false alarms.

[0008] Since frequent false alarms will have a huge impact on the search and rescue center, resulting in waste of manpower, material resources and time, and increasing the search and rescue cost. 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 ship position information, effectively filter false alarms caused by environmental interference and incorrect operations, reduce the false alarm rate, and improve the efficiency and reliability of maritime rescue. Summary of the Invention

[0009] In view of this, the present application provides a method and device for detecting false alarms of search and rescue beacons based on BeiSan ship positioning, which is used to detect false alarms of the alarm signals sent by search and rescue beacons in combination with ship position information, effectively filter out false alarms caused by environmental interference and misoperations, reduce the false alarm rate, and improve the efficiency and reliability of maritime rescue.

[0010] Specifically, the present application is implemented through the following technical solutions:

[0011] The first aspect of the present application provides a method for detecting false alarms of search and rescue beacons based on BeiSan ship positioning, and the method includes:

[0012] Based on the alarm signal triggered by the search and rescue beacon, determine the first position of the search and rescue beacon in the geographical coordinate system corresponding to the alarm moment;

[0013] Based on the historical motion data information of the ship, determine the second position of the ship in the geographical coordinate system corresponding to the alarm moment;

[0014] Based on the position of the Beidou antenna in the BeiSan system, the length and width of the ship, establish a dynamic range model 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 characterizes the position distribution of the ship in different coordinate directions in the ship coordinate system;

[0015] Based on the first position and the second position, convert the geographical coordinate system to the ship coordinate system to obtain the relative position of the search and rescue beacon in the ship coordinate system;

[0016] Based on the relative position and the dynamic range model of the ship, determine the relationship between the search and rescue beacon and the ship range, and determine the false alarm detection result of the search and rescue beacon based on the relationship.

[0017] The second aspect of the present application provides a device for detecting false alarms of search and rescue beacons based on BeiSan ship positioning, and the device includes a determination module, an establishment module, and a conversion module; wherein,

[0018] The determination module is used to determine the first position of the search and rescue beacon in the geographical coordinate system corresponding to the alarm moment based on the alarm signal triggered by the search and rescue beacon;

[0019] The determination module is further used to determine the second position of the ship in the geographical coordinate system corresponding to the alarm moment based on the historical motion data information of the ship;

[0020] The establishing module is configured to establish a dynamic range model of the ship based on the position of the Beidou antenna in the BeiSan system, the length, and the 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 characterizes the position distribution of the ship in different coordinate directions in the ship coordinate system.

[0021] The conversion module is configured 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.

[0022] The determining module is further configured 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 false alarm detection result of the search and rescue beacon based on the relationship.

[0023] In the method and device for detecting false alarms of search and rescue beacons based on BeiSan ship positioning provided by the present application, on the one hand, when establishing the dynamic range model of the ship, the position of the Beidou antenna, as well as 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, which can avoid false alarms caused by sea waves or other factors, thereby avoiding unnecessary responses and resource waste. On the other hand, the present application first determines the first position of the search and rescue beacon in the geographic coordinate system corresponding to the alarm moment 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 moment. By converting the first position and the second position, the relative position of the search and rescue beacon in the ship coordinate system is obtained, and position judgment is performed based on the dynamic range model of the ship. In this way, the obtained false alarm detection result of the search and rescue beacon is more accurate, which can effectively filter out false alarms caused by environmental interference and misoperations, reduce the false alarm rate, improve the efficiency and reliability of maritime rescue, and reduce resource waste caused by false alarms. Moreover, since the reception of the alarm signal and the positioning of the ship are both realized based on the Beidou system, the entire process of maritime search and rescue is real-time related from the reception of the alarm signal to the determination of maritime search and rescue, with high real-time performance, which can ensure the search and rescue response speed and ensure the safety of the person falling into the water. Description of the Drawings

[0024] Figure 1 It is a flowchart of the first embodiment of the method for detecting false alarms of search and rescue beacons based on BeiSan ship positioning provided by the present application.

[0025] Figure 2This 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

[0026] Here, exemplary embodiments are 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.

[0027] 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.

[0028] 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".

[0029] Specific embodiments are given below to introduce the technical solution of the present application in detail.

[0030] 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:

[0031] 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.

[0032] 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.

[0033] It should be noted that since not all the alarm signals triggered by the search and rescue beacon are valid and there are false alarms, it is necessary to detect false alarms for the alarm signals triggered by the search and rescue beacon and only process the alarm signals that actually exist.

[0034] In specific implementation, the crew wears the search and rescue beacon for daily operations. When the search and rescue beacon triggers an alarm, the search and rescue beacon sends an alarm signal, which carries the timestamp of the alarm moment and the position information. The alarm signal is sent to the ground receiving station through the satellite navigation system (such as Beidou-3). The ground receiving station calculates the precise position of the search and rescue beacon at the alarm moment using the alarm signal sent by the satellite navigation system, and obtains the first position of the search and rescue beacon at the alarm moment based on the longitude, latitude, and altitude data included in the position information it carries.

[0035] S102. Based on the historical motion data information of the ship, determine the second position of the ship in the geographical coordinate system corresponding to the alarm moment.

[0036] Specifically, the historical motion data information of the ship records the position and speed of the ship at past moments.

[0037] In specific implementation, the determining of the second position of the ship in the geographical coordinate system corresponding to the alarm moment based on the historical motion data information of the ship includes:

[0038] (1) Based on the historical motion data information of the ship, determine the position and speed of the ship at the target moment.

[0039] Specifically, the target moment refers to the moment before the alarm moment and closest to the alarm moment. 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 moment, it is best to calculate based on the update moment closest to the alarm moment. In this way, the calculated position is more in line with the actual position of the ship at the alarm moment.

[0040] In specific implementation, the determining of 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 according to the historical motion data information of the ship at the target moment.

[0041] Specifically, by reading multiple sensors on the ship, historical motion data information of the ship is obtained, including position coordinates, speed, and timestamps at multiple moments. Traverse all the historical motion data information of the ship before the alarm moment. For each piece of historical motion data information, calculate the time difference between its timestamp and the alarm moment, and take the data point with the smallest time difference as the historical motion data information at the target moment. By reading the historical motion data information of the ship at the target moment, the position and speed of the ship at the target moment can be directly obtained.

[0042] (2) Based on the difference between the alarm moment and the target moment, and the speed of the ship at the target moment, determine the moving distance of the ship.

[0043] Specifically, the moving distance of the ship represents the sailing distance of the ship from the target moment to the alarm moment.

[0044] In specific implementation, the product of the difference between the alarm moment and the target moment and the speed of the ship at the target moment is determined as the moving distance of the ship. The moving distance of the ship can be calculated according to the following formula:

[0045] ;

[0046] where, the is the moving distance of the ship; the is the speed of the ship at the target moment; the is the alarm moment; the is the target moment.

[0047] (3) Based on the moving distance and the position of the ship at the target moment, determine the second position of the ship at the alarm moment through linear fitting.

[0048] 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 update moment closest to the alarm moment. In this way, the calculated position is more in line with the actual position of the ship at the alarm moment. In this step, the position of the ship at the alarm moment is calculated by linear fitting according to the position and speed of the ship at the target moment.

[0049] In specific implementation, the sum value of the position of the ship at the target moment and the moving distance of the ship is determined as the second position of the ship at the alarm moment. The second position of the ship at the alarm moment can be determined according to the following formula:

[0050] ;

[0051] where, the is the second position of the ship at the alarm moment; the is the position of the ship at the target moment; the is the moving distance of the ship.

[0052] S103. 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 lateral 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.

[0053] Specifically, in this step, based on the BeiSan system, the position of the ship itself is determined. The Beidou antenna calculates the absolute position of the ship in the geographic coordinate system by receiving signals from satellites. The position information of the Beidou antenna helps to determine the position of the ship in the geographic coordinate system during the process of communicating with the satellites. This position will be converted to the ship coordinate system, affecting the establishment of the ship coordinate system and further affecting the establishment of the dynamic range model.

[0054] Furthermore, the dynamic range model of the ship describes the possible distribution area of the position of the ship at the target moment, which includes the longitudinal coordinate range and the lateral coordinate range. The longitudinal coordinate range represents the position distribution of the ship in the longitudinal direction, and the lateral coordinate range represents the position distribution of the ship in the lateral direction. When the coordinates of a certain target in the ship coordinate system satisfy 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 satisfy both the longitudinal coordinate range and the lateral coordinate range at the same time, it is considered that the target is not on the ship.

[0055] When specifically implemented, the establishment of the 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 includes:

[0056] (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.

[0057] 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 certain fixed reference point). The longitudinal coordinate axis of the ship coordinate system is set along the forward direction of the ship, the lateral 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 upward of the ship and is perpendicular to the water surface. The position of the Beidou antenna is set according to actual needs, and in this embodiment, it is not limited. For example, the position of the Beidou antenna is at the front one-third of the ship.

[0058] In specific implementation, the Beidou antenna is installed at a fixed position on the ship (such as the center or the bow of the ship). The Beidou antenna receives positioning signals from the BeiDou-3 satellites, and these positioning signals are resolved through triangulation or other satellite positioning technologies to determine the absolute position of the ship in the geographic coordinate system (usually including parameters such as the longitude, latitude, and altitude of the ship). Further, a reference point on the ship (such as the position where the Beidou antenna is located or the center, bow, or stern of the ship) is selected according to the actual needs of the ship as the origin of the ship coordinate system. The longitudinal coordinate axis is determined along the forward direction of the ship from the reference point of the ship, the transverse coordinate axis is determined along the width direction of the ship from the reference point of the ship, and the vertical coordinate axis is determined along the direction perpendicular to the water surface and above the ship.

[0059] (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 respectively established.

[0060] In specific implementation, the process of respectively determining 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 includes:

[0061] (1) 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 offset range of the ship in the longitudinal direction, the transverse tolerance represents the allowable offset 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.

[0062] Specifically, the longitudinal tolerance of the ship represents the allowable offset range of the ship in the longitudinal direction, and the transverse tolerance of the ship represents the allowable offset range of the ship in the transverse direction. The longitudinal tolerance and the transverse tolerance of the ship are calculated based on different tolerance coefficients, and the tolerance coefficient corresponding to the longitudinal tolerance of the ship is generally greater than the tolerance coefficient corresponding to the transverse tolerance of the 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.

[0063] Furthermore, the tolerance coefficient of a ship characterizes the possible offsets that can occur within the longitudinal and lateral coordinate ranges of the ship. Due to the randomness and unpredictability of the ship's dynamic behavior (e.g., factors such as wind speed, sea waves, and tides), 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 ship's forward speed, hull design, and wave influence. Generally speaking, the faster the ship's speed, the greater the longitudinal tolerance. The lateral coordinate range is used to calculate the allowable offset range of the ship in the lateral direction (i.e., the ship's width direction). The lateral tolerance coefficient usually takes into account factors such as the ship's width, lateral wind force, and ocean current. When the lateral tolerance is large, it may be due to the influence of external wind and waves, or insufficient lateral control of the ship.

[0064] In specific implementation, the longitudinal tolerance of the ship is calculated based on the ship's speed and the tolerance coefficient corresponding to the longitudinal tolerance. The product of the ship's speed and the tolerance coefficient corresponding to the longitudinal tolerance is determined as the longitudinal tolerance of the ship. Thus, the longitudinal tolerance of the ship can be determined according to the following formula:

[0065] ;

[0066] wherein, the is the longitudinal tolerance of the ship; the is the tolerance coefficient corresponding to the longitudinal tolerance; the is the speed of the ship.

[0067] Furthermore, the lateral tolerance of the ship is calculated based on the ship's speed and the tolerance coefficient corresponding to the lateral tolerance. The product of the ship's speed and the tolerance coefficient corresponding to the lateral tolerance is determined as the lateral tolerance of the ship. Thus, the lateral tolerance of the ship can be determined according to the following formula:

[0068] ;

[0069] wherein, the is the lateral tolerance of the ship; the is the tolerance coefficient corresponding to the lateral tolerance; the is the speed of the ship.

[0070] (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.

[0071] In specific implementation, the product of the length of the ship and a first preset value is determined as a 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 a second preset value is determined as a 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. Thus, the longitudinal coordinate range of the ship can be determined according to the following formula:

[0072] ;

[0073] wherein, the is the length of the ship; the is the longitudinal tolerance of the ship; the is the longitudinal coordinate of the ship.

[0074] (3)In the ship coordinate system, based on the lateral tolerance of the ship and the width of the ship, determine the lateral coordinate range of the ship.

[0075] In specific implementation, the product of the width of the ship and a third preset value is determined as a 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 a fourth preset value is determined as a 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. Thus, the lateral coordinate range of the ship can be determined according to the following formula:

[0076] ;

[0077] wherein, the is the width of the ship; the is the lateral tolerance of the ship; the is the lateral coordinate of the ship.

[0078] S104. Based on the first position and the second position, convert the geographic coordinate system to the ship coordinate system to obtain the relative position of the search and rescue beacon in the ship coordinate system.

[0079] 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, 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 to the position of the alarm signal triggered by the search and rescue beacon in the ship coordinate system.

[0080] In specific implementation, based on the first position and the second position, converting the geographic coordinate system to the ship coordinate system to obtain the relative position of the search and rescue beacon in the ship coordinate system includes: 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 to 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 to the ship coordinate system.

[0081] Specifically, the rotation matrix is used to convert the geographic coordinate system to the ship coordinate system, and through the rotation matrix, the first position of the search and rescue beacon in the geographic coordinate system can be converted to the relative position of the search and rescue beacon in the ship coordinate system.

[0082] 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. The relative position of the search and rescue beacon in the ship coordinate system can be calculated according to the following formula:

[0083] ;

[0084] where, the is the relative position of the search and rescue beacon in the ship coordinate system; the is the rotation matrix; the is the first position of the search and rescue beacon in the geographic coordinate system; the is the second position of the ship in the geographic coordinate system.

[0085] Optionally, converting the first position of the search and rescue beacon in the geographic coordinate system to 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 includes: determining the rotation angle of the rotation matrix based on the heading angle of the ship at the alarm moment; constructing the 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.

[0086] Specifically, the heading angle of the ship represents the orientation of the ship, and the heading angle is the angle between the ship coordinate system and the geographic coordinate system. The heading angle of the ship is usually obtained according to the actual driving direction of the ship and can be obtained through the Beidou satellite system or other positioning methods. The structure of the rotation matrix is as follows:

[0087] ;

[0088] where, the is the rotation matrix; the is the rotation angle of the rotation matrix, that is, the heading angle of the ship.

[0089] In specific implementation, the heading angle of the ship at the alarm moment 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 by the rotation matrix, the relative position of the search and rescue beacon in the ship coordinate system can be obtained.

[0090] S105. Based on the relative position and the dynamic range model of the ship, determine the relationship between the search and rescue beacon and the ship range, and determine the false alarm detection result of the search and rescue beacon based on the relationship.

[0091] Specifically, combined with the above description, the dynamic range model of the ship characterizes 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.

[0092] In specific implementation, the determining 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 includes: determining whether the horizontal coordinate satisfies the horizontal coordinate range based on the horizontal coordinate of the relative position and the horizontal coordinate range of the ship in the dynamic range model; determining whether the vertical coordinate satisfies the vertical coordinate range based on the vertical coordinate of the relative position and the vertical coordinate range of the ship in the dynamic range model; when the horizontal coordinate satisfies the horizontal coordinate range and the vertical coordinate satisfies the vertical coordinate range, determining that the search and rescue beacon is within the ship range; when the horizontal coordinate does not satisfy the horizontal coordinate range and / or the vertical coordinate does not satisfy the vertical coordinate range, determining that the search and rescue beacon is not within the ship range.

[0093] Specifically, since the dynamic range model of the ship includes the longitudinal coordinate range and the lateral 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 ordinate of the relative position and the longitudinal coordinate range of the ship and the relationship between the abscissa of the relative position and the lateral coordinate range of the ship respectively. When the ordinate of the relative position satisfies the longitudinal coordinate range of the ship and the abscissa of the relative position satisfies the lateral coordinate range of the ship, it is determined that the search and rescue beacon is within the ship's range. When the ordinate of the relative position does not satisfy the longitudinal coordinate range of the ship or the abscissa of the relative position does not satisfy the lateral coordinate range of the ship or both do not satisfy at the same time, it is determined that the search and rescue beacon is not within the ship's range.

[0094] Optionally, determining the false alarm detection result of the search and rescue beacon based on the relationship includes: when it is determined that the search and rescue beacon is within the ship's range, confirming with the ship whether the alarm signal is real, 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 ship's range, confirming with the ship whether the search and rescue beacon has fallen into the water, and after confirmation, determining that the alarm signal is an alarm of the search and rescue beacon, and starting a search and rescue operation for the person in the water carrying the search and rescue beacon.

[0095] Specifically, when it is determined that the search and rescue beacon is within the ship's range, it indicates that the search and rescue beacon is on the ship, that is, the alarm signal emitted 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 emitted 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 ship's range, 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 have fallen into the water. The staff on the ship will confirm whether the crew has really fallen into the water and start a search and rescue operation after determining the fall.

[0096] The false alarm detection method for search and rescue beacons based on the positioning of the Beidou-3 ships provided in this embodiment, in the first aspect, comprehensively considers the position of the Beidou antenna, as well as the length and width of the ship when establishing the dynamic range model of the ship, and 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 judged that the alarm signal may be a false alarm, which can avoid false alarms caused by sea waves or other factors, thereby avoiding unnecessary responses and resource waste. In the second aspect, this application first determines the first position of the search and rescue beacon in the geographical coordinate system corresponding to the alarm moment based on the alarm signal triggered by the search and rescue beacon, and then determines the second position of the ship in the geographical coordinate system corresponding to the alarm moment. By converting the first position and the second position, the relative position of the search and rescue beacon in the ship coordinate system is obtained, and position judgment is carried out based on the dynamic range model of the ship. In this way, the obtained false alarm detection result of the search and rescue beacon is more accurate, which can effectively filter out false alarms caused by environmental interference and misoperations, reduce the false alarm rate, improve the efficiency and reliability of maritime rescue, and reduce resource waste caused by false alarms. Moreover, since the reception of the alarm signal and the positioning of the ship are both based on the Beidou system, the entire process of maritime search and rescue, from the reception of the alarm signal to the determination of maritime search and rescue, is real-time related and has a high degree of real-time performance, which can ensure the search and rescue response speed and ensure the safety of the person falling into the water. In the third aspect, when determining the second position of the ship at the alarm moment, due to situations such as signal loss, sensor errors, or positioning accuracy problems that the ship may encounter, the alarm signal may not match the actual position. By performing linear fitting on the historical motion data of the ship, the second position of the ship at the alarm moment is deduced based on the position and speed of the ship at the moment closest to the alarm moment. This method is based on the speed and position of the ship at the target moment, combined with the difference between the alarm moment and the target moment, and the obtained second position is more accurate because it takes into account the actual motion of the ship during this period. Especially when the ship has certain speed and heading changes, 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, deduce a more accurate position, and reduce the possibility of false alarms. Moreover, since the data used for linear fitting is the position and speed at the moment closest to the alarm moment, the finally obtained second position of the ship at the alarm moment will also be more in line with the actual position of the ship, improving the accuracy of position estimation. In the fourth aspect, since the positions of the search and rescue beacon and the ship are both relative to the geographical coordinate system, while 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 carried out 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 not be accurate. By using a rotation matrix to convert 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, and determining whether the search and rescue beacon is within the ship's range based on the relative position, the position of the search and rescue beacon can be made more consistent with the actual coordinate system of the ship. This can visually determine whether the search and rescue beacon is within the effective search range of the ship or in the dangerous area of the ship, thereby helping to determine whether it is a false alarm, improving the accuracy of the false alarm detection result of the search and rescue beacon, reducing the false alarm rate, improving the efficiency and reliability of maritime rescue, and reducing the waste of resources caused by false alarms.

[0097] Corresponding to the foregoing embodiment of a method for detecting false alarms of search and rescue beacons based on BeiSan ship positioning, the present application also provides an embodiment of a device for detecting false alarms of search and rescue beacons based on BeiSan ship positioning.

[0098] Figure 2 FIG. is a schematic structural diagram of Embodiment 1 of a device for detecting false alarms of search and rescue beacons based on BeiSan ship positioning provided by the present application. Please refer to Figure 2 , the device provided in this embodiment includes a determination module 210, a construction module 220, and a conversion module 230; wherein,

[0099] The determination module 210 is configured to determine a first position of the search and rescue beacon in the geographic coordinate system corresponding to the alarm moment based on the alarm signal triggered by the search and rescue beacon;

[0100] The determination module 210 is further configured to determine a second position of the ship in the geographic coordinate system corresponding to the alarm moment based on the historical motion data information of the ship;

[0101] The construction module 220 is configured to establish a dynamic range model of the ship based on the position of the BeiDou antenna in the BeiSan system, the length, and the 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;

[0102] The conversion module 230 is configured 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;

[0103] The determination module 210 is further configured to determine the relationship between the search and rescue beacon and the ship's range based on the relative position and the dynamic range model of the ship, and determine the false alarm detection result of the search and rescue beacon based on the relationship.

[0104] The device of this embodiment can be used to execute Figure 1 the steps of the method embodiment shown. The specific implementation principle and process are similar and will not be elaborated here.

[0105] For the implementation process of the functions and roles of each unit in the above device, please refer to the implementation process of the corresponding steps in the above method for details, which will not be elaborated here.

[0106] For the device embodiment, since it basically corresponds to the method embodiment, the relevant parts can be referred to the partial description of the method embodiment. The device embodiments described above are only illustrative. The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed to multiple network units. Some or all of the modules can be selected according to actual needs to achieve the purpose of the solution of this application. Those of ordinary skill in the art can understand and implement it without creative efforts.

[0107] The above are only the preferred embodiments of this application and are not intended to limit this application. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of this application shall be included in the scope of protection of this 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; 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; calculate the longitudinal tolerance and lateral tolerance of the ship based on the speed of the ship and the tolerance coefficient; the longitudinal tolerance represents the allowable offset range of the ship in the longitudinal direction, and the lateral tolerance represents the allowable offset 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; in the ship coordinate system, determine 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, determine the lateral coordinate range of the ship based on the lateral tolerance of the ship and the width of the ship; the dynamic range model of the ship includes the longitudinal coordinate range and the lateral 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 difference between the first position and the second position, determine the difference vector between the search and rescue beacon and the ship; determine the rotation angle of the rotation matrix based on the heading angle of the ship at the alarm time; construct a rotation matrix based on the rotation angle; multiply the rotation matrix by the difference vector to obtain 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; Based on the relative position and the dynamic range model of the ship, the relationship between the search and rescue beacon and the ship range is determined, and based on the relationship, the search and rescue beacon false alarm detection result is determined; the ship range includes the longitudinal coordinate range and the transverse coordinate range of the ship.

2. 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.

3. The method according to claim 1, 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.

4. 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.

5. The method according to claim 1, 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.

6. 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 establishment module is used to 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 of the ship and the tolerance coefficient, calculate the longitudinal tolerance and lateral tolerance of the ship; the longitudinal tolerance represents the allowable offset range of the ship in the longitudinal direction, and the lateral tolerance represents the allowable offset 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; 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; 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; the dynamic range model of the ship includes the longitudinal coordinate range and the lateral 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 determine the difference vector between the search and rescue beacon and the ship based on the difference between the first position and the second position; determine the rotation angle of the rotation matrix based on the heading angle of the ship at the alarm time; construct a rotation matrix based on the rotation angle; multiply the rotation matrix by the difference vector to obtain 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; The determination module is also 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; the ship range includes the longitudinal coordinate range and the transverse coordinate range of the ship.

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