A method and device for calculating ship size parameters

Abstract

The present application provides a method and device for calculating the size parameters of a ship. The method provided by the present application includes: determining the positions of a receiving antenna, a transmitting antenna, and a sailing ship, connecting the transmitting antenna, the receiving antenna, and the ship, and constructing a first triangle; determining the first height and the second height of the transmitting antenna and the receiving antenna relative to the ship, determining the first path distance and the second path distance of the transmitting antenna and the receiving antenna relative to the ship; determining the first intersection point of the ray from the transmitting antenna and the ray from the receiving antenna; constructing an earth area, constructing a first Fresnel ellipse area; calculating the size parameters of the ship based on the first height, the second height, the first path distance, the second path distance, the earth area, the first Fresnel ellipse area, and the first triangle. The method and device for calculating the size parameters of a ship provided by the present application are used to accurately obtain the size parameters of a ship.

Description

Technical Field

[0001] The present application relates to the field of ship sensing technology, and in particular to a method and device for calculating ship size parameters. Background Art

[0002] In ocean scenarios, the complexity of wireless communication channels and the dynamic changes of ships have a particularly significant impact on communication quality, which makes the research on communication perception integration in ocean scenarios particularly important.

[0003] At present, there is a certain research foundation for wireless channel measurement and modeling in marine scenarios. Traditional wireless communication systems focus more on information transmission, while the perception function is relatively independent and weak. However, with the rise of communication and perception integration, the deep integration of communication and perception functions can not only improve communication efficiency, but also enhance the perception of the surrounding environment. In marine scenarios, the research on the perception of ship parameters itself is not sufficient and cannot meet the perception requirements of ships. Therefore, there is an urgent need for a means to accurately perceive ship parameters. Summary of the invention

[0004] In view of this, the present application provides a method and device for calculating ship size parameters, which are used to accurately obtain the size parameters of the ship.

[0005] Specifically, the present application is implemented through the following technical solutions:

[0006] The first aspect of the present application provides a method for calculating ship size parameters, the method comprising:

[0007] Determine the positions of a transmitting antenna, a receiving antenna, and a sailing ship, connect the transmitting antenna, the receiving antenna, and the ship, and construct a first triangle;

[0008] Determine a first height and a second height of the transmitting antenna and the receiving antenna relative to the ship, and determine a first path distance and a second path distance of the transmitting antenna and the receiving antenna relative to the ship;

[0009] Determine a first intersection point of a ray from the transmitting antenna and a ray from the receiving antenna based on the first height, the second height, the first path distance, and the second path distance, wherein the first intersection point is the center of the earth;

[0010] Constructing a first Fresnel ellipse region with the transmitting antenna and the receiving antenna as foci;

[0011] The vertex corresponding to the ship in the first triangle is located on the boundary arc of the earth region, the vertices corresponding to the transmitting antenna and the receiving antenna are located outside the earth region, and the ship forms a signal shielding between the transmitting antenna and the receiving antenna;

[0012] The size parameter of the ship is calculated according to the earth area, the first Fresnel ellipse area and the first triangle.

[0013] The second aspect of the present application provides a device for calculating ship size parameters, the device comprising a construction module, a determination module and a calculation module; wherein:

[0014] The construction module is used to determine the positions of a transmitting antenna, a receiving antenna and a sailing ship, connect the transmitting antenna, the receiving antenna and the ship, and construct a first triangle;

[0015] The determination module is used to determine a first height and a second height of the transmitting antenna and the receiving transmitting antenna relative to the ship, and determine a first path distance and a second path distance of the transmitting antenna and the receiving antenna relative to the ship;

[0016] The determination module is further used to determine a first intersection point of a ray starting from the transmitting antenna and a ray starting from the receiving antenna based on the first height, the second height, the first path distance, and the second path distance, wherein the first intersection point is the center of the earth;

[0017] The construction module is further used to construct an earth region with the first intersection as the center of the earth and the earth radius as the radius, wherein the vertex corresponding to the ship in the first triangle is located on the boundary arc of the earth region, the vertices corresponding to the transmitting antenna and the receiving antenna are located outside the earth region, and the ship forms a signal shielding between the receiving antenna and the transmitting antenna;

[0018] The calculation module is used to calculate the size parameters of the ship according to the earth area, the first Fresnel ellipse area and the first triangle.

[0019] The ship size parameter calculation method and device provided in the present application, by accurately positioning the receiving antenna, the transmitting antenna and the ship, the first triangle constructed provides a basic geometric framework for subsequent calculations. Further, the earth area is constructed by the first height, the second height, the first path distance, and the second path distance, and the first Fresnel ellipse area is constructed with the transmitting antenna and the receiving antenna as the focus. In the earth area, the vertices corresponding to the ship are located on the boundary arc of the earth area, while the vertices corresponding to the receiving antenna and the transmitting antenna are located outside the earth area. In this way, the shielding effect of the ship can be closely linked to the geometric model, and triangles, circles and other geometric shapes are constructed according to the positional relationship between the ship and the antenna, and the signal shielding situation is converted into the relationship between the geometric shapes, so that the lifting height and other size information of the ship are calculated through the geometric relationship, and the relationship between the various data that can be directly measured in the first Fresnel ellipse area and the length of the ship is judged, that is, only the signal loss amount needs to be known to realize the accurate estimation of the ship size parameters during navigation through the geometric relationship. In this way, the accuracy and reliability of the communication perception of marine ships can be greatly improved, and the complexity of the calculation of ship size parameters can be reduced. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 A flow chart of Embodiment 1 of the method for calculating ship size parameters provided in this application;

[0021] Figure 2 A schematic diagram of a first embodiment of the relationship between the transmitting antenna, the receiving antenna and the ship provided in the present application;

[0022] Figure 3 A hardware structure diagram of a ship size parameter calculation device in which the ship size parameter calculation device of the present application is located;

[0023] Figure 4 This is a structural schematic diagram of Example 1 of the ship size parameter calculation device provided in this application. DETAILED DESCRIPTION

[0024] 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.

[0025] 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.

[0026] 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".

[0027] Specific embodiments are given below to introduce the technical solution of the present application in detail.

[0028] Figure 1 This is a flow chart of the first embodiment of the method for calculating the ship size parameters provided in this application. Figure 1 , the method provided in this embodiment may include:

[0029] S101. Determine the positions of a transmitting antenna, a receiving antenna, and a sailing ship, connect the transmitting antenna, the receiving antenna, and the ship, and construct a first triangle.

[0030] Specifically, the transmitting antenna is responsible for sending wireless signals into the air so that they can be received by the receiving antenna. In a communication system, the transmitting antenna and the receiving antenna are usually located in different positions, and information is transmitted through wireless signals.

[0031] Furthermore, the receiving antenna is used in the wireless communication system to receive the wireless signal from the transmitting antenna. In specific implementation, the wireless signal is transmitted into the air through the transmitting antenna, and the wireless signal transmitted by the transmitting antenna is received by the receiving antenna to complete the signal transmission.

[0032] Furthermore, the ship is a ship sailing on the sea. It should be noted that when calculating the ship size parameters, the ship is located between the transmitting antenna and the receiving antenna, and the wireless signal emitted by the transmitting antenna passes through the ship and is received by the receiving antenna.

[0033] Furthermore, the first triangle is a triangle formed by the transmitting antenna, the receiving antenna and the ship. Figure 2 This is a schematic diagram of the first embodiment of the relationship between the transmitting antenna, receiving antenna and ship position provided by this application. Figure 2 , point A and point D form a line segment AD which is the transmitting antenna, point A is the vertex of the transmitting antenna, and point D is the lower endpoint of the transmitting antenna.

[0034] Similarly, please continue to refer to Figure 2 , point B and point E form a line segment BE which is the receiving antenna, point B is the vertex of the receiving antenna, and point E is the lower endpoint of the receiving antenna.

[0035] Further, point C is the position of the ship, and it can be understood that the first triangle is a triangle formed by point A, point B and point C. The positional relationship between the transmitting antenna, the receiving antenna and the ship can be determined through the first triangle.

[0036] S102: Determine a first height and a second height of the transmitting antenna and the receiving antenna relative to the ship, and determine a first path distance and a second path distance of the transmitting antenna and the receiving antenna relative to the ship.

[0037] Specifically, the first height is the height of the transmitting antenna. In specific implementation, the height of the transmitting antenna above the water surface can be determined as the first height. Figure 2 , the first height can be the distance between point A and point D.

[0038] Further, the second height is the height of the receiving antenna. In specific implementation, the height of the receiving antenna above the water surface can be determined as the second height. Figure 2 , the second height can be the distance between point B and point E.

[0039] Furthermore, the first path distance is the distance from the transmitting antenna to the ship on the earth's spherical surface. Figure 2 , the distance from point D to point C can be determined as the first path distance.

[0040] Furthermore, the second path distance is the horizontal distance from the receiving antenna to the ship. Figure 2 , the distance from point E to point C can be determined as the second path distance.

[0041] It should be noted that since the ship is sailing on the water, when calculating the first path distance, it can be regarded as the distance from the lower end point D of the transmitting antenna to the ship C. Similarly, when calculating the second path distance, it can be regarded as the distance from the lower end point E of the receiving antenna to the ship C.

[0042] S103. Determine a first intersection point between a ray starting from the transmitting antenna and a ray starting from the receiving antenna based on the first height, the second height, the first path distance, and the second path distance.

[0043] Specifically, the first intersection is the intersection of the rays emitted by the receiving antenna and the transmitting antenna. It is understandable that, since the receiving antenna and the transmitting antenna are not parallel to each other, the extended lines of the receiving antenna and the transmitting antenna will also have an intersection, which can be determined as the first intersection.

[0044] In a specific implementation, since the receiving antenna and the transmitting antenna are established perpendicular to the ground surface, the first intersection point may be the center of the earth, and the radius of the earth region constructed with the first intersection point is the radius of the earth.

[0045] In a specific implementation, the first intersection point is related to the first height, the second height, the first path distance, and the second path distance, and the first intersection point is calculated through these data.

[0046] A specific embodiment is given below to introduce the process of obtaining the first intersection in detail:

[0047] (1) Taking the side of the first triangle where the transmitting antenna and the ship are located as a first straight side and the first height as a length limit, a second straight side with the transmitting antenna as an endpoint is determined; taking the first path distance as a perimeter limit, a first arc side with the ship as an endpoint is determined; the first straight side, the second straight side and the first arc side form a closed geometric shape.

[0048] Specifically, the transmitting antenna vertex is the highest point of the transmitting antenna, and the transmitting antenna lower endpoint is the bottom or lowest point of the transmitting antenna. The height and extension direction of the transmitting antenna can be defined by the transmitting antenna vertex and the transmitting antenna lower endpoint.

[0049] In specific implementation, the ship and the vertices of the transmitting antenna are connected to determine the first straight line edge, the first height from the vertex of the transmitting antenna to the lower end point is used as the length, and the transmitting antenna is used as the second straight line edge.

[0050] Furthermore, since the earth region between the ship and the lower end point of the transmitting antenna is an outer arc, the arc portion corresponding to the distance between the earth region and the first path can be used as the first arc edge.

[0051] Please continue to refer to Figure 2 , the transmitting antenna vertex A to the lower end point D constitutes the second straight line edge AD, the transmitting antenna vertex A to the ship C constitutes the first straight line edge AC, and the outer arc from the lower end point D of the transmitting antenna to the ship C is the first arc edge DC. In this way, a geometric figure including the transmitting antenna and the ship is formed by points A, D and C.

[0052] (2) Taking the side of the first triangle where the receiving antenna and the ship are located as the third straight side and the second height as the length limit, a fourth straight side with the transmitting antenna as the endpoint is determined; taking the second path distance as the perimeter limit, a second arc side with the ship as the endpoint is determined; the third straight side, the fourth straight side and the second arc side form a closed geometric shape.

[0053] Specifically, the transmitting antenna vertex is the highest point of the transmitting antenna, and the transmitting antenna lower endpoint is the bottom or lowest point of the transmitting antenna. The height and extension direction of the transmitting antenna can be defined by the transmitting antenna vertex and the transmitting antenna lower endpoint.

[0054] In specific implementation, the ship and the receiving antenna vertex are connected to determine the third straight line edge, the second height from the vertex of the receiving antenna to the lower end point is used as the length, and the receiving antenna is used as the fourth straight line edge.

[0055] Furthermore, since the earth region between the ship and the lower end point of the receiving antenna is an outer arc, the arc portion corresponding to the distance between the earth region and the second path can be used as the second arc edge.

[0056] Please continue to refer to Figure 2 , the vertex B of the receiving antenna to the lower end point E forms the fourth straight line edge BE, the vertex B of the receiving antenna to the ship C forms the third straight line edge BC, and the outer arc from the lower end point E of the receiving antenna to the ship C is the second arc edge EC. In this way, a geometric figure including the receiving antenna and the ship is formed by points B, E and C.

[0057] (3) Determine a ray starting from the transmitting antenna and a ray starting from the receiving antenna based on the extension lines of the second straight edge and the fourth straight edge.

[0058] In specific implementation, the second straight line edge is extended in a direction away from the vertex of the transmitting antenna to obtain an extension line of the second straight line edge, and this line is the direction of the ray emitted from the transmitting antenna; the fourth straight line edge is extended in a direction away from the vertex of the receiving antenna to obtain an extension line of the fourth straight line edge, and this line is the direction of the ray emitted from the receiving antenna.

[0059] It can be understood that the transmitting antenna can be used as a direction to extend from the vertex of the transmitting antenna to the lower end point of the transmitting antenna to obtain the extension line of the transmitting antenna; similarly, the receiving antenna can be used as a direction to extend from the vertex of the receiving antenna to the lower end point of the receiving antenna to obtain the extension line of the receiving antenna. In this way, the two extension lines will intersect at the first intersection.

[0060] Furthermore, if the transmitting antenna is regarded as a point, such as Figure 2 As shown, the second straight line is extended toward the center of the earth region to obtain the first ray, and the fourth straight line is extended toward the center of the earth region to obtain the second ray, so that the two extended lines will intersect at the first intersection point.

[0061] The ship size parameter calculation method provided in this embodiment can accurately describe the spatial position relationship between these elements by constructing the first straight line edge, the second straight line edge, the third straight line edge and the fourth straight line edge. Further, the intersection position of the rays from the receiving antenna and the transmitting antenna can be accurately determined by the second straight line edge and the fourth straight line edge. In this way, in combination with the geometric shape constructed by the receiving antenna, the transmitting antenna and the ship, not only can the propagation and shielding of the signal be accurately analyzed, but also the accurate position of the first intersection can be obtained, which provides a guarantee for the subsequent calculation of the ship's size parameters.

[0062] Optionally, starting from the lower end point of the receiving antenna and extending in the direction of the second straight line edge toward the direction away from the vertex of the receiving antenna, the intersection of an extended line starting from the lower end point of the transmitting antenna and extending in the direction of the fourth straight line edge toward the direction away from the vertex of the transmitting antenna is determined as the first intersection.

[0063] In specific implementation, starting from the vertex of the receiving antenna, draw an extension line along the direction of the second straight line edge; similarly, starting from the vertex of the transmitting antenna, draw an extension line along the direction of the fourth straight line edge. Determine the intersection of these two extension lines in the geometric diagram, and this point is the first intersection point.

[0064] For further information, please refer to Figure 2 , starting from the vertex B of the receiving antenna, draw an extension line along the direction of the second straight edge BE; similarly, starting from the vertex A of the transmitting antenna, draw an extension line along the direction of the fourth straight edge AD. These two extension lines intersect at point F, which is the first intersection point.

[0065] The ship size parameter calculation method provided in this embodiment obtains the accurate position of the first intersection point through the extended lines of the rays of the receiving antenna and the transmitting antenna, thereby ensuring the accuracy and consistency of the ship parameter calculation results. In this way, by determining the first intersection point, the diffraction loss caused by the ship can be calculated more accurately, and the ship size parameters can be inferred more accurately.

[0066] S104, constructing a first Fresnel ellipse area with the transmitting antenna and the receiving antenna as foci;

[0067] Among them, the vertex corresponding to the ship in the first triangle is located on the boundary arc of the earth area, the vertices corresponding to the transmitting antenna and the receiving antenna are located outside the earth area, and the ship forms a signal shielding between the transmitting antenna and the receiving antenna.

[0068] In specific implementation, the radius of the first Fresnel ellipse area can be obtained from the ITU diffraction propagation recommendation, and the first intersection point is taken as the center of the earth and the radius is the radius of the earth to construct the earth area. For further information, please continue to refer to Figure 2 , with A and D as the foci, the first Fresnel ellipse area is constructed according to the ITU diffraction propagation recommendations.

[0069] For further information, please refer to Figure 2, the vertex C corresponding to the ship in the first triangle is located on the boundary arc of the earth area, the vertex A corresponding to the transmitting antenna and the vertex B corresponding to the receiving antenna are located outside the earth area, the length of the ship is greater than the diameter of the first Fresnel ellipse area (that is, twice the distance between FCs), and the ship forms a signal shielding between the receiving antenna and the transmitting antenna.

[0070] It should be noted that in the marine wireless communication system, the rays emitted by the receiving antenna should originally propagate to the transmitting antenna along a predetermined path. When a ship enters the straight propagation path between the receiving antenna and the transmitting antenna, the ship will block the propagation of electromagnetic waves. The presence of the ship will introduce diffraction loss, causing the signal energy to be dispersed on the propagation path, thereby weakening the signal strength received by the transmitting antenna. It can be understood that the magnitude of this diffraction loss depends on the size, shape, material of the ship, and the relative position relationship between the hull and the antenna. Therefore, constructing the first Fresnel ellipse area can quantify the diffraction loss of the signal.

[0071] S105. Calculate size parameters of the ship according to the earth area, the first Fresnel ellipse area, and the first triangle.

[0072] In specific implementation, the size parameters of the ship are calculated according to the geometric relationship between the ship, the receiving antenna and the transmitting antenna in the first Fresnel ellipse area and the influence of the ship on the signal.

[0073] A specific embodiment is given below to introduce in detail the process of calculating the length of a ship:

[0074] (1) Identifying the relative position of the ship and the first Fresnel ellipse area, and confirming, based on the relative position, a first stage from the beginning of entry to the complete entry of the ship, a second stage from the complete entry to the beginning of exit, and a third stage from the beginning of exit to the complete exit of the ship.

[0075] Specifically, the relative position determination condition can be preset according to actual needs, and is not limited in this embodiment. In specific implementation, the first time the bow of the ship touches the boundary of the first Fresnel ellipse area can be determined as the start of entry node, the first time the stern of the ship touches the boundary of the first Fresnel ellipse area can be determined as the complete entry node, the second time the bow of the ship touches the boundary of the first Fresnel ellipse area can be determined as the start of exit node, and the second time the stern of the ship touches the boundary of the first Fresnel ellipse area can be determined as the complete exit node.

[0076] It is understandable that these nodes may be driving nodes.

[0077] In specific implementation, in the process from beginning to entering the node to completely entering the node, the ship enters the first Fresnel ellipse area, and this stage is determined as the first stage; in the process from completely entering the node to beginning to exit the node, the ship travels in the first Fresnel ellipse area, and this stage is determined as the second stage; in the process from beginning to exiting the node to completely exiting the node, the ship leaves the first Fresnel ellipse area, and this stage is determined as the third stage.

[0078] (2) Calculate the passing time of the first stage and the passing time of the third stage to calculate the average passing time.

[0079] In specific implementation, the passing time of each stage of the first stage and the third stage is measured respectively, that is, the time taken by the ship to travel from one driving node to the next driving node, and then the average passing time of these two stages is calculated to obtain the average passing time.

[0080] (3) Calculating the length of the ship based on the average transit time, the transit time of the second stage, and the diameter of the first Fresnel ellipse area.

[0081] Specifically, the influence of the ship on the signal is determined according to the geometric relationship among the average passing time, the passing time of the second stage and the diameter of the first Fresnel ellipse area, and then the length of the ship is determined;

[0082] In specific implementation, the ratio of the average passing time to the passing time of the second stage can be calculated. This ratio is equal to the ratio of the diameter of the first Fresnel ellipse area to the ship length minus the diameter of the first Fresnel ellipse area, and the accurate value of the ship length is determined based on this.

[0083] The ship size parameter calculation method provided in this embodiment can accurately determine the different travel stages of the ship by dividing the ship's travel nodes by the first Fresnel ellipse area. In this way, the length of the ship can be accurately calculated by combining the parameters of the first Fresnel ellipse area with the length of the ship's passage in the three travel stages. At the same time, by dividing the ship's travel process (i.e., different travel stages), when the ship is traveling at a non-uniform speed, the travel conditions of the ship can be restored by the length of the passage of different travel stages, and then the length of the ship can be corrected. In this way, compared with the traditional method that can only calculate the uniform speed of the ship, it is not only more accurate, but also can adapt to the complex and changeable conditions in actual navigation, ensuring the accuracy and robustness of the size parameter calculation.

[0084] Optionally, after the ship passes the same position, multiple groups of ship lengths of the ship are calculated based on multiple pairs of the receiving antennas and the transmitting antennas;

[0085] The shape characteristics of the ship can be characterized by multiple groups of the captains;

[0086] The traveling direction and actual length of the vessel are calculated based on the plurality of sets of the lengths.

[0087] Specifically, there may be multiple receiving antennas and at least one transmitting antenna, thus forming multiple groups of antenna combinations for receiving data and sending data.

[0088] Further, when a ship travels a certain distance, the length of the ship can be calculated through a set of antenna combinations. It is understandable that when there are multiple sets of antenna combinations, multiple data of the length of the ship can be calculated.

[0089] Furthermore, when multiple ship lengths are equal, it can be determined that the ship is passing through the first Fresnel ellipse area at a uniform speed and vertically. When multiple ship lengths are not completely equal, the shape characteristics of the ship can be further characterized by multiple groups of the ship lengths. Therefore, the partial antenna combination is based on the data obtained by measuring the projection of the ship speed and the ship length on the vertical plane connecting the transmitting antenna and the receiving antenna.

[0090] Furthermore, when the lengths of multiple ships are not completely equal, the data obtained by multiple groups of antennas are compared, and the geometric relationship between the lengths and antennas is constructed by combining the antenna parameters of the multiple groups of antennas. In this way, the direction of travel and the actual length of the ship can be calculated.

[0091] The ship size parameter calculation method provided in this embodiment can obtain the ship length data under different positions and different angles of antenna combinations through the combination of multiple pairs of receiving antennas and transmitting antennas. When the ship length data calculated by multiple groups of antennas are inconsistent, it can be accurately judged that the ship is not crossing the first Fresnel ellipse area at a uniform speed and vertically, which improves the monitoring accuracy of the ship's driving state. Furthermore, when the ship crosses the first Fresnel ellipse area non-vertically, the geometric relationship calculation of multiple groups of antenna combinations can be used to fit the measurement results at different angles to obtain the actual driving direction of the ship, and then the accurate ship length and driving direction information of the ship can be calculated through projection. In this way, the ship's driving direction can be oriented in any direction, and the size parameters of the ship can be accurately and reliably obtained.

[0092] As a basis for the above embodiment of obtaining ship size parameters based on a combination of multiple groups of transmitting antennas and receiving antennas, a specific embodiment is given below to introduce in detail the process of calculating the lifting height of a ship through a combination of a group of transmitting antennas and receiving antennas:

[0093] Determine a first angle between a line connecting the center of the earth and the ship and a line connecting the center of the earth and the transmitting antenna;

[0094] Determining a second angle between a line connecting the center of the earth and the ship and a line connecting the center of the earth and the receiving antenna;

[0095] The lift height of the vessel is calculated based on the first angle, the second angle, and the first Fresnel ellipse area.

[0096] Specifically, the lift height is the height of the ship relative to the sea level. The lift height of the ship can be calculated by calculating the first angle, the second angle and the radius of the first Fresnel ellipse area.

[0097] Please continue to refer to Figure 2 , the angle α between the line connecting the center of the earth F and the ship C and the line connecting the center of the earth F and the transmitting antenna is determined as the first angle. The angle β between the line connecting the center of the earth F and the ship C and the line connecting the center of the earth F and the receiving antenna is determined as the second angle.

[0098] Furthermore, the geometric relationship between the lift height of the ship and the two antennas is determined according to the first angle and the second angle in combination with the radius of the first Fresnel ellipse area, and the lift height of the sea surface at the position of the ship is calculated.

[0099] A specific embodiment is given below to introduce the calculation process of the lifting height of the ship in detail:

[0100] Calculate the sum of the first angle and the second angle, and obtain the supplementary angle of the sum;

[0101] The sine value of the supplementary angle is calculated, and the ratio of the sine value to the first Fresnel ellipse area is calculated to determine the lifting height.

[0102] Please continue to refer to Figure 2 , the lifting height of the ship can be determined based on the following formula:

[0103] ;

[0104] Among them, h e is the lifting height, r e is the radius of the earth region, α is the first angle, and β is the second angle.

[0105] The ship size parameter calculation method provided in this embodiment can accurately calculate the ship's elevation relative to the sea level through the geometric relationship between the first angle, the second angle and the earth area. In this way, the calculated ship height information can not only be used for current communication and perception tasks, but also provide an important reference for subsequent ship parameter calculations.

[0106] Optionally, a specific embodiment is given below to describe in detail the calculation process of the first angle and the second angle:

[0107] Calculate the ratio of the first path distance to the radius of the earth region to determine the first angle;

[0108] The lifting height is determined according to a geometric relationship between the first angle, the second angle and the radius of the earth region.

[0109] Specifically, the first angle is calculated based on the geometric relationship between the first path distance and the earth area. For specific implementation, please continue to refer to Figure 2 , the first angle α can be calculated based on the following formula:

[0110] ;

[0111] Among them, α is the first angle, D 1 is the first path distance, r e is the radius of the Earth region.

[0112] Further, the second angle is calculated based on the geometric relationship between the second path distance and the earth region. For specific implementation, please continue to refer to Figure 2 , the second angle β can be calculated based on the following formula:

[0113] ;

[0114] Where β is the second angle, D 2 is the second path distance, r e is the radius of the Earth region.

[0115] A specific embodiment is given below to describe in detail the calculation process of the ray attenuation data after obtaining the first angle and the second angle:

[0116] calculating an earth region based on the first height, the second height, the first angle, the second angle, and a radius of the earth region;

[0117] The ship speed of the ship is calculated based on the first height, the second height, the ray attenuation data, and the radius of the first Fresnel ellipse zone.

[0118] Furthermore, the antenna connection distance is calculated based on the geometric relationship between the first height, the second height, the first angle, the second angle and the earth area. For specific implementation, please continue to refer to Figure 2 , the antenna connection distance can be calculated based on the following formula:

[0119] ;

[0120] Among them, D los is the antenna connection distance, h 1 is the first height, h 2 is the second height, α is the first angle, β is the second angle, r e is the radius of the Earth region.

[0121] Furthermore, the ship speed is calculated based on the first height, the second height, the earth region and the geometric relationship between the earth regions. For specific implementation, please continue to refer to Figure 2 , angle v is the angle corresponding to the receiving antenna in the first triangle. Please continue to refer to Figure 2 , ∠ABC is the angle v. The angle v can be calculated based on the following formula:

[0122] ;

[0123] Where v is the angle of the receiving antenna in the first triangle, D los is the distance between the transmitting antenna and the receiving antenna, h 1 is the first height, h 2 is the second height, r e is the radius of the Earth region.

[0124] The ship size parameter calculation method provided in this embodiment can more accurately describe the geometric position relationship of the ship relative to the transmitting antenna and the receiving antenna by accurately calculating the first angle between the transmitting antenna and the ship and the second angle between the receiving antenna and the ship. Further, the ray attenuation data is calculated based on the first height, the second height, the first angle, the second angle and the radius of the first Fresnel ellipse zone, which can more finely characterize the attenuation of radio waves during propagation. In this way, based on the geometric relationship between the first height, the second height, the earth area and the first Fresnel zone, the ship speed can be accurately and reliably calculated.

[0125] Optionally, the third angle is the angle corresponding to the transmitting antenna in the first triangle. Figure 2 , ∠BAC is the third angle.

[0126] In specific implementation, the third angle ω can be calculated based on the following formula:

[0127] ;

[0128] Where ω is the angle of the receiving antenna at one end of the first triangle, D los is the distance between the transmitting antenna and the receiving antenna, h 1 is the first height, h 2 is the second height, r e is the radius of the Earth region.

[0129] Optionally, a specific embodiment is given below to introduce in detail the calculation process of the antenna connection height:

[0130] Calculate the ratio of the sine value of the second angle to the sum of the first height and the radius of the earth region;

[0131] The antenna line height between the receiving antenna and the transmitting antenna is calculated based on the sine value of the third angle.

[0132] Please continue to refer to Figure 2 The antenna connection height h can be calculated based on the following formula tr :

[0133] ;

[0134] Among them, h tr is the height of the antenna line, v is the angle of one end of the receiving antenna in the first triangle, ω is the third angle, β is the second angle, h 1 is the first height, r e is the radius of the Earth region.

[0135] A possible embodiment is given below to describe in detail the process of obtaining the captain of a ship:

[0136] determining ray attenuation data of the ship based on the maximum loss of the ray during the transmission process; the length of the ship is greater than the diameter of the first Fresnel ellipse area;

[0137] The length of the ship is calculated by combining the height of the ship above the height of the antenna line and the distance between the ship and both ends of the route road.

[0138] It should be noted that the length of ships that can produce shadow effects is greater than the diameter of the first Fresnel ellipse area, so the maximum loss of rays during transmission can be directly determined as ray attenuation data to calculate the length. It is understandable that since the additional attenuation has a very small impact on the overall ship and has very few usage scenarios, it can be ignored and only the main part of the ray attenuation data is considered.

[0139] In specific implementation, the length of the ship can be calculated based on the following formula:

[0140] ;

[0141] ;

[0142] in, is the horizontal diffraction loss, is the dimensionless geometric parameter obtained from the equivalent height of the ship, h is the equivalent height of the ship, λ is the wavelength, d 3 is the distance from the ship to one end of the transmitting antenna, d 4 is the distance from the ship to one end of the receiving antenna.

[0143] Optionally, determining the actual speed of the ship based on the distance between the travel nodes and the time when the ship passes through the travel nodes;

[0144] calculating a measured speed of the vessel based on the earth region and the first triangle;

[0145] Correcting the measured speed based on the actual speed to determine the traveling direction of the ship;

[0146] The dimension parameters of the vessel are calculated based on the travel direction.

[0147] Specifically, when the ship's traveling direction is not vertically passing through the first Fresnel ellipse area, the measured ship speed is actually the projection of the ship on the vertical plane of the receiving antenna and the transmitting antenna. Therefore, the calculated ship speed is corrected based on the actual ship speed, and the ship's traveling direction can be determined based on the data of the correction process.

[0148] In specific implementation, by comparing the position and speed changes of the ship at different driving nodes, the ship's driving direction can be inferred. For example, if the speed vector direction of the ship at several consecutive nodes is consistent, it can be determined that the direction is the ship's driving direction.

[0149] Furthermore, since the calculated size parameters are also the projections of the ship on the vertical planes of the receiving antenna and the transmitting antenna, the size parameters are corrected according to the correction process of correcting the ship's traveling direction to obtain the accurate size of the ship.

[0150] The ship size parameter calculation method provided in this embodiment can verify and correct each other by combining the actual speed of the ship and the measured speed calculated based on the earth area, the first Fresnel ellipse area and the geometric relationship, so as to obtain the accurate ship's travel direction. In this way, by correcting the ship's travel direction, the ship's size parameters can be corrected to obtain scientific and accurate ship size parameters.

[0151] Corresponding to the aforementioned embodiment of a method for calculating ship size parameters, the present application also provides an embodiment of a device for calculating ship size parameters.

[0152] The embodiment of the device for calculating the size parameters of a ship in the present application can be applied to a ship size parameter calculation device. The device embodiment can be implemented by software, or by hardware or a combination of software and hardware. Taking software implementation as an example, as a device in a logical sense, the processor of the ship size parameter calculation device in which it is located reads the corresponding computer program instructions in the non-volatile memory into the memory and runs them. From the hardware level, if Figure 3As shown, it is a hardware structure diagram of the ship size parameter calculation device where the ship size parameter calculation device of the present application is located, except Figure 3 In addition to the processor, memory, network interface, and non-volatile memory shown, the ship size parameter calculation device where the device in the embodiment is located may also include other hardware according to the actual function of the ship size parameter calculation device, which will not be described in detail.

[0153] Figure 4 This is a schematic diagram of the structure of the first embodiment of the ship size parameter calculation device provided by this application. Figure 4 The device provided in this embodiment includes a construction module 410, a determination module 420 and a calculation module 430; wherein,

[0154] The construction module 410 is used to determine the positions of the transmitting antenna, the receiving antenna and the sailing ship, connect the transmitting antenna, the receiving antenna and the ship, and construct a first triangle;

[0155] The determination module 420 is used to determine a first height and a second height of the transmitting antenna and the receiving antenna relative to the ship, and determine a first path distance and a second path distance of the transmitting antenna and the receiving antenna relative to the ship;

[0156] The determination module 420 is further configured to determine a first intersection point of a ray from the transmitting antenna and a ray from the receiving antenna based on the first height, the second height, the first path distance, and the second path distance, wherein the intersection point is the center of the earth and the radius is the radius of the earth;

[0157] The construction module 410 is further configured to construct a first Fresnel ellipse region with the transmitting antenna and the receiving antenna as foci;

[0158] The vertex corresponding to the ship in the first triangle is located on the boundary arc of the earth region, the vertices corresponding to the transmitting antenna and the receiving antenna are located outside the earth region, and the ship forms a signal shielding between the transmitting antenna and the receiving antenna;

[0159] The calculation module 430 is used to calculate the size parameters of the ship according to the earth area, the first Fresnel ellipse area and the first triangle.

[0160] 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.

[0161] Please continue to refer to Figure 3The present application also provides a ship size parameter calculation device, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein when the processor executes the program, the steps of any one of the methods provided in the first aspect of the present application are implemented.

[0162] The present application also provides a computer-readable storage medium having a computer program stored thereon, and when the program is executed by a processor, the steps of any one of the methods provided in the present application are implemented.

[0163] 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.

[0164] 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.

[0165] 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 method for calculating ship size parameters, characterized in that: The method comprises: Determine the positions of a transmitting antenna, a receiving antenna, and a sailing ship, connect the transmitting antenna, the receiving antenna, and the ship, and construct a first triangle; Determine a first height and a second height of the transmitting antenna and the receiving antenna relative to the ship, and determine a first path distance and a second path distance of the transmitting antenna and the receiving antenna relative to the ship; Determine a first intersection point of a ray from the transmitting antenna and a ray from the receiving antenna based on the first height, the second height, the first path distance, and the second path distance, wherein the first intersection point is the center of the earth; Constructing a first Fresnel ellipse region with the transmitting antenna and the receiving antenna as foci; The vertex corresponding to the ship in the first triangle is located on the boundary arc of the earth region, the vertices corresponding to the transmitting antenna and the receiving antenna are located outside the earth region, and the ship forms a signal shielding between the transmitting antenna and the receiving antenna; Calculate the size parameters of the ship according to the earth area, the first Fresnel ellipse area and the first triangle; The calculating the size parameter of the ship according to the earth area, the first Fresnel ellipse area and the first triangle comprises: Determining a first angle between a line connecting the center of the earth and the ship and a line connecting the center of the earth and the transmitting antenna; Determining a second angle between a line connecting the center of the earth and the ship and a line connecting the center of the earth and the receiving antenna; The elevation height of the sea surface where the ship is located is calculated based on the first angle, the second angle and the earth area.

2. The method according to claim 1, characterized in that The calculating the elevation height of the sea surface where the ship is located based on the first angle, the second angle and the earth area includes: Calculate the sum of the first angle and the second angle, and obtain the supplementary angle of the sum; The sine value of the supplementary angle is calculated, and the ratio of the sine value to the earth area is calculated to determine the lifting height.

3. The method according to claim 1, characterized in that The calculating the elevation height of the sea surface where the ship is located based on the first angle, the second angle and the earth area includes: Calculate the ratio of the first path distance to the radius of the earth region to determine the first angle; The lifting height is determined according to a geometric relationship between the first angle, the second angle and the radius of the earth region.

4. The method according to claim 1, characterized in that: The determining, based on the first height, the second height, the first path distance, and the second path distance, a first intersection point of a ray departing from the transmitting antenna and a ray departing from the receiving antenna comprises: Taking the side of the first triangle where the transmitting antenna and the ship are located as a first straight side and the first height as a length limit, determining a second straight side with the transmitting antenna as an endpoint, and taking the first path distance as a perimeter limit, determining a first arc side with the ship as an endpoint; the first straight side, the second straight side and the first arc side form a closed geometric shape; Taking the side of the first triangle where the receiving antenna and the ship are located as a third straight side and the second height as a length limit, determining a fourth straight side with the transmitting antenna as an endpoint, and taking the second path distance as a perimeter limit, determining a second arc side with the ship as an endpoint; the third straight side, the fourth straight side and the second arc side form a closed geometric shape; A ray originating from the transmitting antenna and a ray originating from the receiving antenna are determined based on the extension lines of the second straight line edge and the fourth straight line edge.

5. The method according to claim 1, characterized in that The calculating the size parameter of the ship according to the earth area, the first Fresnel ellipse area and the first triangle comprises: Calculate the ratio of the sine value of the second angle to the sum of the first height and the radius of the earth region; The antenna line height between the receiving antenna and the transmitting antenna is calculated based on the sine value of the third angle.

6. The method according to claim 5, characterized in that The calculating the size parameter of the ship according to the earth area, the first Fresnel ellipse area and the first triangle comprises: determining an equivalent height of a ship based on a maximum loss of the ray during transmission; the length of the ship being greater than a diameter of the first Fresnel ellipse area; The length of the ship is calculated by combining the height of the ship above the height of the antenna line and the distance between the ship and both ends of the route road.

7. The method according to claim 1, characterized in that The calculating the size parameter of the ship according to the earth area, the first Fresnel ellipse area and the first triangle comprises: Identifying the relative position of the ship and the first Fresnel ellipse area, and confirming based on the relative position the first stage from the ship starting to enter to fully enter, the second stage from fully entering to starting to exit, and the third stage from starting to exit to fully exit; Calculate the passing time of the first stage and the passing time of the third stage to calculate the average passing time; The length of the ship is calculated based on the average passing time, the passing time of the second stage, and the diameter of the first Fresnel ellipse area.

8. The method according to claim 1, characterized in that After calculating the size parameters of the ship according to the earth area, the first Fresnel ellipse area and the first triangle, the method further includes: Determining the actual speed of the ship based on the distance between the travel nodes and the time when the ship passes through the travel nodes; Correcting the measured speed based on the actual speed to determine the traveling direction of the vessel; The dimension parameters of the vessel are calculated based on the travel direction.

9. A device for calculating ship size parameters, characterized in that: The device comprises a construction module, a determination module and a calculation module; wherein, The construction module is used to determine the positions of a transmitting antenna, a receiving antenna and a sailing ship, connect the transmitting antenna, the receiving antenna and the ship, and construct a first triangle; The determination module is used to determine a first height and a second height of the transmitting antenna and the receiving transmitting antenna relative to the ship, and determine a first path distance and a second path distance of the transmitting antenna and the receiving antenna relative to the ship; The determination module is further used to determine a first intersection point of a ray from the transmitting antenna and a ray from the receiving antenna based on the first height, the second height, the first path distance, and the second path distance, wherein the first intersection point is the center of the earth; The construction module is further used to construct a first Fresnel ellipse area with the transmitting antenna and the receiving antenna as foci; The vertex corresponding to the ship in the first triangle is located on the boundary arc of the earth region, the vertices corresponding to the transmitting antenna and the receiving antenna are located outside the earth region, and the ship forms a signal shielding between the transmitting antenna and the receiving antenna; The calculation module is used to calculate the size parameters of the ship according to the earth area, the first Fresnel ellipse area and the first triangle; The calculating the size parameter of the ship according to the earth area, the first Fresnel ellipse area and the first triangle comprises: Determining a first angle between a line connecting the center of the earth and the ship and a line connecting the center of the earth and the transmitting antenna; Determining a second angle between a line connecting the center of the earth and the ship and a line connecting the center of the earth and the receiving antenna; The elevation height of the sea surface where the ship is located is calculated based on the first angle, the second angle and the earth area.

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