Ship track information display method, device, equipment and medium

Abstract

The invention relates to the technical field of electric digital data processing, in particular to a ship track information display method, device and equipment and a medium. The method comprises: determining a speed mode of a ship; when the speed mode is a low-speed mode, counting an average value of east speed measured by the inertial navigation equipment and received per second and an average value of north speed measured by the inertial navigation equipment and received per second; the longitude position change value and the latitude position change value of the ship are determined regularly according to the average value of the east speed and the north speed counted within N seconds before the current moment, the track direction of the ship is determined, and the track direction is displayed; and when the speed mode of the ship is a normal navigation mode, the track direction of the ship is determined regularly according to the position information measured by the satellite navigation equipment, and the track direction is displayed. According to the embodiment of the invention, the track direction of the ship can be accurately determined on the basis of the east direction speed and the north direction speed measured by inertial navigation equipment under the condition that the ship sails at a low speed.

Description

Technical Field

[0001] The present invention relates to the technical field of electronic digital data processing, and in particular to a method, device, equipment and medium for displaying ship track information. Background Art

[0002] During the navigation process of a ship, the ship's track information is usually determined based on the ship's position information measured by the navigation equipment, and the ship's track information is displayed, so that the ship's track information is provided to the ship's operators for reference. The ship's track information can refer to the ship's course over ground (COG). The ship's course refers to the angle measured clockwise from the true north line to the ship's heading line. The ship's heading line is the extension line of the ship's bow and stern line to the bow direction, indicating the ship's sailing direction.

[0003] In the related art, the commonly used ship track information display scheme is: determine the ship's track information based on the ship's position information measured by the satellite navigation device, and display the ship's track information. The satellite navigation device is a device that can measure the ship's position information using satellite signals. The ship's position information refers to the longitude and latitude coordinates of the ship. However, when the ship is sailing at a low speed, the satellite navigation device is affected by its own noise and cannot accurately measure the ship's position information, resulting in the ship's track information determined based on the ship's position information measured by the satellite navigation device. The ship's track information display scheme in the related art only determines and displays the ship's track information based on the ship's position information measured by the satellite navigation device, and cannot stably display the ship's track information when the ship is sailing at a low speed. Summary of the invention

[0004] The present invention provides a method, device, equipment and medium for displaying ship track information to solve the problem that the ship track information display scheme in the related art only determines and displays the ship's track information based on the ship's position information measured by a satellite navigation device, and cannot stably display the ship's track information when the ship is sailing at a low speed.

[0005] According to one aspect of the present invention, a method for displaying ship track information is provided, comprising:

[0006] Determine the vessel's speed pattern;

[0007] When the speed mode of the ship is the low speed mode, the average value of the eastward speed measured by the inertial navigation device of the ship and the average value of the northward speed measured by the inertial navigation device received per second are counted, and the longitude position change value and the latitude position change value of the ship are determined according to the average values ​​of the eastward speed and the northward speed counted within N seconds before the current moment, and the track direction of the ship is determined according to the longitude position change value and the latitude position change value, and the track direction of the ship is displayed;

[0008] When the speed mode of the ship is the normal sailing mode, the track direction of the ship is determined regularly according to the position information measured by the satellite navigation device of the ship, and the track direction of the ship is displayed.

[0009] According to another aspect of the present invention, there is provided a device for displaying ship track information, comprising:

[0010] A mode determination module, for determining a speed mode of a ship;

[0011] A first display module is used for, when the speed mode of the ship is a low speed mode, counting the average value of the eastward speed measured by the inertial navigation device of the ship received per second and the average value of the northward speed measured by the inertial navigation device received per second, regularly determining the longitude position change value and the latitude position change value of the ship according to the average value of the eastward speed and the northward speed counted within N seconds before the current moment, determining the track direction of the ship according to the longitude position change value and the latitude position change value, and displaying the track direction of the ship;

[0012] The second display module is used to determine the track direction of the ship according to the position information measured by the satellite navigation device of the ship at regular intervals and display the track direction of the ship when the speed mode of the ship is the normal sailing mode.

[0013] According to another aspect of the present invention, an electronic device is provided, the electronic device comprising:

[0014] at least one processor;

[0015] and a memory communicatively coupled to the at least one processor;

[0016] The memory stores a computer program executed by the at least one processor, and the computer program is executed by the at least one processor so that the at least one processor can execute the ship track information display method described in any embodiment of the present invention.

[0017] According to another aspect of the present invention, a computer-readable storage medium is provided, wherein the computer-readable storage medium stores computer instructions, and the computer instructions are used to enable a processor to implement the ship track information display method described in any embodiment of the present invention when executed.

[0018] The technical solution of the embodiment of the present invention determines the speed mode of the ship; when the speed mode of the ship is the low-speed mode, the average value of the eastward speed measured by the inertial navigation device of the ship and the average value of the northward speed measured by the inertial navigation device received per second are counted, and the longitude position change value and the latitude position change value of the ship are determined according to the average value of the eastward speed and the northward speed counted within N seconds before the current moment, and the track direction of the ship is determined according to the longitude position change value and the latitude position change value, and the track direction of the ship is displayed; when the speed mode of the ship is the normal sailing mode, the track direction of the ship is determined according to the position information measured by the satellite navigation device of the ship, and the ship is displayed. The track direction solves the problem that the ship track information display scheme in the related art only determines and displays the ship's track information based on the ship's position information measured by the satellite navigation equipment, and cannot stably display the ship's track information when the ship is sailing at a low speed. The information source of the track direction can be increased, and the ship's track information is determined and displayed based on the information measured by the ship's inertial navigation equipment or satellite navigation equipment. When the ship is sailing at a low speed, the ship's track direction can be accurately determined and displayed based on the eastward speed and northward speed measured by the ship's inertial navigation equipment, so that the ship's track information display process is relatively stable, thereby improving the stability and accuracy of the ship's track information display process.

[0019] It should be understood that the contents described in this section are not intended to identify the key or important features of the embodiments of the present invention, nor are they intended to limit the scope of the present invention. Other features of the present invention will become easily understood through the following description. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0021] Figure 1 The present invention provides a flowchart of a method for displaying ship track information.

[0022] Figure 2 The present invention provides a flowchart of a method for displaying ship track information.

[0023] Figure 3 A schematic structural diagram of a ship track information display device provided in an embodiment of the present invention.

[0024] Figure 4 A schematic diagram of the structure of an electronic device for implementing the ship track information display method according to an embodiment of the present invention. DETAILED DESCRIPTION

[0025] In order to make the technical personnel in the technical field better understand the scheme of the present invention, the technical scheme in the embodiment of the present invention will be clearly and completely described in conjunction with the drawings in the embodiment of the present invention. Obviously, the described embodiment is only an embodiment of a part of the present invention, not all embodiments. Based on the embodiment of the present invention, all other embodiments obtained by ordinary technicians in the field without making creative work should belong to the scope of protection of the present invention. It should be noted that the terms "target", "first", "second", etc. in the specification and claims of the present invention and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchangeable where appropriate, so that the embodiments of the present invention described here can be implemented in an order other than those illustrated or described here. In addition, the terms "comprise", "include" and "have" and any variations thereof are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device that includes a series of steps or units is not necessarily limited to those steps or units that are clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0026] Figure 1 A flow chart of a method for displaying ship track information provided by an embodiment of the present invention. This embodiment may be applicable to determining the ship's track information during the navigation process of the ship, and displaying the ship's track information, thereby providing the ship's track information to the ship's operators for reference. The ship's track information may refer to the ship's track direction. The method may be executed by a ship track information display device, which may be implemented in the form of hardware and / or software, and the ship track information display device may be configured in the ship's integrated management device. The ship's integrated management device may be an electronic device provided on the ship for managing various relevant data of the ship during the navigation process of the ship. Figure 1 As shown, the method includes:

[0027] Step 101: Determine the speed mode of the ship.

[0028] Optionally, the speed mode of the ship may be information for indicating whether the ship is in a low-speed sailing situation. The ship being in a low-speed sailing situation may mean that the speed of the ship is low. When the speed mode of the ship is a low-speed mode, it indicates that the ship is in a low-speed sailing situation. When the speed mode of the ship is a normal sailing mode, it indicates that the ship is not in a low-speed sailing situation.

[0029] Optionally, an inertial navigation device and a satellite navigation device are provided on the ship. The inertial navigation device of the ship may be a hardware device provided on the ship for measuring the longitude and latitude coordinates, eastward speed and northward speed of the ship using inertial technology. The eastward speed of the ship may refer to the speed of movement of the ship in the east-west direction. The northward speed of the ship may refer to the speed of movement of the ship in the north-south direction. The satellite navigation device of the ship may be a hardware device provided on the ship for measuring the longitude and latitude coordinates of the ship using satellite signals. The inertial navigation device may measure the longitude and latitude coordinates, eastward speed and northward speed of the ship at a preset frequency, and send the measured longitude and latitude coordinates, eastward speed and northward speed of the ship to the integrated management device. The satellite navigation device may measure the longitude and latitude coordinates of the ship at a preset frequency, and send the measured longitude and latitude coordinates of the ship to the integrated management device.

[0030] Optionally, the preset frequency may be a preset frequency. The preset frequency may be n Hertz (Hz), where n is a positive integer greater than or equal to 2. Exemplarily, n is 100. The inertial navigation device may measure the longitude and latitude coordinates, eastward speed, and northward speed of the ship at a preset frequency, measure the longitude and latitude coordinates, eastward speed, and northward speed of the ship every 10 milliseconds, and measure the longitude and latitude coordinates, eastward speed, and northward speed of the ship 100 times per second. The satellite navigation device may measure the longitude and latitude coordinates of the ship at a preset frequency, measure the longitude and latitude coordinates of the ship every 10 milliseconds, and measure the longitude and latitude coordinates of the ship 100 times per second.

[0031] Optionally, determining the speed mode of the ship includes: after determining that the ship has started sailing, determining that the speed mode of the ship is a normal navigation mode; regularly detecting whether the absolute values ​​of the eastward speed and the northward speed measured most recently by the inertial navigation device of the ship are less than preset values; when it is detected that the absolute values ​​of the eastward speed and the northward speed measured most recently by the inertial navigation device of the ship are both less than the preset values, updating the speed mode of the ship to a low speed mode; when it is detected that the absolute value of the eastward speed or the northward speed measured most recently by the inertial navigation device of the ship is greater than or equal to the preset value, updating the speed mode of the ship to a normal navigation mode.

[0032] Optionally, it is possible to detect whether the integrated management device receives the navigation start prompt information. When it is detected that the integrated management device receives the navigation start prompt information, it is determined that the ship starts sailing, and then the speed mode of the ship is determined to be a normal sailing mode. The navigation start prompt information may be pre-set information used to characterize the start of sailing of the ship. When the ship starts sailing, the target user may send the navigation start prompt information to the integrated management device through the terminal device. The target user may be a technician responsible for managing the integrated management device.

[0033] Optionally, the eastward speed and northward speed sent by the inertial navigation device and received by the integrated management device the most recently are the eastward speed and northward speed measured by the inertial navigation device the most recently. Regularly detecting whether the absolute value of the eastward speed and northward speed measured by the inertial navigation device of the ship is less than a preset value includes: regularly performing the following operations according to a first time interval: detecting whether the absolute value of the eastward speed sent by the inertial navigation device and received by the integrated management device the most recently is less than a preset value, and detecting whether the absolute value of the eastward speed sent by the inertial navigation device and received by the integrated management device the most recently is less than a preset value. The first time interval may be a preset time interval. Exemplarily, the first time interval is 10 seconds. After determining that the ship has started sailing, it may be determined that the speed mode of the ship is a normal sailing mode, and then the operation of detecting whether the absolute value of the eastward speed sent by the inertial navigation device and received by the integrated management device the most recently is less than a preset value and detecting whether the absolute value of the eastward speed sent by the inertial navigation device and received by the integrated management device the most recently is less than a preset value is performed every first time interval. The preset value may be a preset speed value. Normally, if the absolute values ​​of the eastward speed and the northward speed measured by the inertial navigation device are both less than the preset values, it indicates that the ship is in a low-speed navigation state, and the speed mode of the ship can be determined to be the low-speed mode. If the absolute values ​​of the eastward speed or the northward speed measured by the inertial navigation device are greater than or equal to the preset values, it indicates that the ship is not in a low-speed navigation state, and the speed mode of the ship can be determined to be the normal navigation mode. The unit of speed in the embodiment of the present invention is knot (Kn). Exemplarily, the preset value is 2 knots (Kn).

[0034] Optionally, when it is detected that the absolute value of the eastward speed measured by the inertial navigation device most recently received by the integrated management device is less than a preset value and the absolute value of the eastward speed measured by the inertial navigation device most recently received by the integrated management device is less than a preset value, that is, when it is detected that the absolute values ​​of the eastward speed and the northward speed measured by the inertial navigation device of the ship are both less than the preset values, the speed mode of the ship can be updated to a low speed mode. When it is detected that the absolute value of the eastward speed measured by the inertial navigation device most recently received by the integrated management device is greater than or equal to a preset value or the absolute value of the eastward speed measured by the inertial navigation device most recently received by the integrated management device is greater than or equal to a preset value, that is, when it is detected that the absolute value of the eastward speed or the northward speed measured by the inertial navigation device of the ship is greater than or equal to the preset value, the speed mode of the ship can be updated to a normal navigation mode.

[0035] Optionally, determining the speed mode of the ship includes: determining the speed mode of the ship according to mode selection information input by a target user.

[0036] Optionally, the mode selection information may be information for characterizing that the speed mode of the ship is a low speed mode or a normal sailing mode. The mode selection information includes low speed mode selection information and normal sailing mode selection information. The low speed mode selection information may be information for characterizing that the speed mode of the ship is a low speed mode. The normal sailing mode selection information may be information for characterizing that the speed mode of the ship is a normal sailing mode. After the ship starts sailing, the target user may input the mode selection information by filling in or selecting the mode selection information in the mode selection information input area of ​​the ship navigation management page of the integrated management device. The ship navigation management page may be a page set in the integrated management device for interacting with the user, providing the user with relevant data of the ship, and obtaining relevant data of the ship input by the user. The mode selection information input area may be a page area set in the ship navigation management page for filling in or selecting the mode selection information.

[0037] Optionally, the target user may fill in or select normal navigation mode selection information in the mode selection information input area of ​​the ship navigation management page of the integrated management device, thereby inputting normal navigation mode selection information. The target user may fill in or select low speed mode selection information in the mode selection information input area of ​​the ship navigation management page of the integrated management device, thereby inputting low speed mode selection information. Determining the speed mode of the ship according to the mode selection information input by the target user includes: when it is detected that the target user fills in or selects normal navigation mode selection information in the mode selection information input area of ​​the ship navigation management page of the integrated management device, determining the speed mode of the ship to be the normal navigation mode; when it is detected that the target user fills in or selects the low speed mode in the mode selection information input area of ​​the ship navigation management page of the integrated management device, determining the speed mode of the ship to be the low speed mode.

[0038] Step 102: When the speed mode of the ship is the low speed mode, the average value of the eastward speed measured by the inertial navigation device of the ship and the average value of the northward speed measured by the inertial navigation device received per second are counted, and the longitude position change value and the latitude position change value of the ship are determined based on the average values ​​of the eastward speed and the northward speed counted within N seconds before the current moment, and the track direction of the ship is determined based on the longitude position change value and the latitude position change value, and the track direction of the ship is displayed.

[0039] Optionally, the eastward speed measured by the inertial navigation device of the ship received every second is the total number of eastward speeds sent by the inertial navigation device received every second. The northward speed measured by the inertial navigation device received every second is the total number of northward speeds sent by the inertial navigation device received every second. When the speed mode of the ship is a low speed mode, for all eastward speeds sent by the inertial navigation device received every second, the average value of all eastward speeds sent by the inertial navigation device received every second is calculated. For all northward speeds sent by the inertial navigation device received every second, the average value of all northward speeds sent by the inertial navigation device received every second is calculated.

[0040] Optionally, for any second after the statistics are started, the average value of all eastward velocities sent by the inertial navigation device received within one second can be expressed as .in, is the average value of all eastward velocities sent by the inertial navigation device received within one second. is the i-th eastward speed sent by the inertial navigation device received within one second, i=1,2,…n, n is the preset frequency, that is, the total number of eastward speeds sent by the inertial navigation device received within one second, It is the sum of all eastward velocities sent by the inertial navigation device received within one second.

[0041] Optionally, for any second after the statistics are started, the average value of all north velocities sent by the inertial navigation device received within one second can be expressed as .in, is the average value of all north velocities sent by the inertial navigation device received within one second. is the i-th north velocity sent by the inertial navigation device received within one second, i=1,2,…n, n is the preset frequency, that is, the total number of north velocities sent by the inertial navigation device received within one second, It is the sum of all north velocities sent by the inertial navigation device received within one second.

[0042] Optionally, after the counted number of seconds reaches N, the longitude position change value and latitude position change value of the ship can be determined based on the average values ​​of the eastward speed and the northward speed counted within N seconds before the current moment, the track direction of the ship can be determined based on the longitude position change value and the latitude position change value, and the track direction of the ship can be displayed.

[0043] Optionally, the longitude position change value and latitude position change value of the ship are periodically determined according to the average values ​​of the eastward speed and the northward speed counted within N seconds before the current moment, the track direction of the ship is determined according to the longitude position change value and the latitude position change value, and the track direction of the ship is displayed, including: periodically performing the following operations: determining the longitude position change value of the ship according to the average value of the eastward speed counted within N seconds before the current moment; determining the latitude position change value of the ship according to the average value of the northward speed counted within N seconds before the current moment; determining the track direction of the ship according to the longitude position change value and the latitude position change value, and displaying the track direction of the ship on the ship navigation management page.

[0044] Optionally, the following operations may be performed at regular intervals according to a second time interval: determining the change in longitude position of the ship based on the average value of the eastward speed calculated within N seconds before the current moment; determining the change in latitude position of the ship based on the average value of the northward speed calculated within N seconds before the current moment; determining the track direction of the ship based on the change in longitude position and the change in latitude position, and displaying the track direction of the ship on the ship navigation management page. The second time interval may be a preset time interval. Exemplarily, the second time interval is 1 second. After the number of seconds counted reaches N, the operation of determining the longitude position change value and latitude position change value of the ship according to the average value of the eastward speed and the northward speed counted within N seconds before the current moment, determining the track direction of the ship according to the longitude position change value and the latitude position change value, and displaying the track direction of the ship can be performed once every second time interval: determining the longitude position change value of the ship according to the average value of the eastward speed counted within N seconds before the current moment; determining the latitude position change value of the ship according to the average value of the northward speed counted within N seconds before the current moment; determining the track direction of the ship according to the longitude position change value and the latitude position change value, and displaying the track direction of the ship on the ship navigation management page.

[0045] Optionally, the average value of the eastbound speed counted within N seconds before the current moment is the average value of the N most recently counted eastbound speeds before the current moment. The longitude position change value of a ship is a numerical value that can be used to characterize the position change of the ship in the longitude direction. The longitude position change value of a ship may refer to the sum of the average values ​​of the eastbound speed counted within N seconds before the current moment. Determining the longitude position change value of the ship based on the average value of the eastbound speed counted within N seconds before the current moment includes: calculating the sum of the average values ​​of the N most recently counted eastbound speeds before the current moment to obtain the longitude position change value of the ship. The longitude position change value of a ship can be expressed as .in, is the change in the longitude position of the ship, is the i-th average value among the N most recent average values ​​of eastward velocities before the current time, i=1,2,…N, is the sum of the average values ​​of the N eastward velocities that are most recently calculated before the current moment. N may be a positive integer greater than or equal to 3. For example, N is 3.

[0046] Optionally, the average value of the northbound speed counted within N seconds before the current moment is the average value of the N most recently counted northbound speeds before the current moment. The latitudinal position change value of a ship is a numerical value that can be used to characterize the change in the position of the ship in the latitudinal direction. The latitudinal position change value of a ship may refer to the sum of the average values ​​of the northbound speed counted within N seconds before the current moment. Determining the latitudinal position change value of the ship based on the average value of the northbound speed counted within N seconds before the current moment includes: calculating the sum of the average values ​​of the N most recently counted northbound speeds before the current moment to obtain the latitudinal position change value of the ship. The latitudinal position change value of a ship may be expressed as .in, is the change in the latitude of the ship, is the i-th average value among the N most recent average values ​​of northward velocities before the current time, i=1,2,…N, is the sum of the average values ​​of the N northward velocities that are most recently calculated before the current moment. N may be a positive integer greater than or equal to 3. For example, N is 3.

[0047] Optionally, determining the track direction of the ship according to the longitude position change value and the latitude position change value includes: using the following first calculation formula to calculate the track direction of the ship:

[0048] ,

[0049] Among them, COG is the ship's track direction, is the change in the longitude position of the ship, is the change value of the latitude position of the ship, and atctg() is the inverse tangent function. The first calculation formula may be a formula preset in the integrated management device for determining the track direction of the ship according to the change value of the longitude position of the ship and the change value of the latitude position of the ship.

[0050] Optionally, displaying the ship's track direction on the ship navigation management page includes: displaying the ship's track direction in a track direction display area of ​​the ship navigation management page. The track direction display area may be a page area set in the ship navigation management page for displaying the ship's track direction.

[0051] Optionally, when the inertial navigation device stops sending the east speed and the north speed, the operation of determining the ship's track direction is stopped, and the received east speed and the north speed are cleared. When the inertial navigation device restarts sending the east speed and the north speed, it starts to count the average value of the east speed measured by the inertial navigation device of the ship received every second and the average value of the north speed measured by the inertial navigation device received every second, and regularly determines the longitude position change value and the latitude position change value of the ship according to the average value of the east speed and the north speed counted within N seconds before the current moment, determines the ship's track direction according to the longitude position change value and the latitude position change value, and displays the ship's track direction.

[0052] Step 103: When the speed mode of the ship is the normal sailing mode, the track direction of the ship is determined periodically according to the position information measured by the satellite navigation device of the ship, and the track direction of the ship is displayed.

[0053] Optionally, when the speed mode of the ship is the normal sailing mode, the track information of the ship can be determined based on the position information measured by the satellite navigation device, and the track information of the ship can be displayed.

[0054] Optionally, the track direction of the ship is determined periodically based on the position information measured by the satellite navigation device of the ship, and the track direction of the ship is displayed, including: periodically performing the following operations: using a preset track direction solution algorithm to calculate the track direction of the ship based on the longitude and latitude coordinates of the two ships most recently measured by the satellite navigation device, and displaying the track direction of the ship. The preset track direction solution algorithm may be an algorithm pre-set in the integrated management device for calculating the track direction of the ship based on the two longitude and latitude coordinates continuously measured by the ship. Displaying the track direction of the ship on the ship navigation management page includes: displaying the track direction of the ship in the track direction display area of ​​the ship navigation management page.

[0055] Optionally, the following operation may be performed regularly at a second time interval: using a preset track direction solution algorithm to calculate the track direction of the ship according to the longitude and latitude coordinates of the two ships most recently measured by the satellite navigation device, and displaying the track direction of the ship. When the speed mode of the ship is the normal sailing mode, the operation of using a preset track direction solution algorithm to calculate the track direction of the ship according to the longitude and latitude coordinates of the two ships most recently measured by the satellite navigation device, and displaying the track direction of the ship may be performed once every second time interval. Exemplarily, the second time interval is 1 second.

[0056] Optionally, it also includes: in the initial stage of determining the track direction of the ship, regularly performing a stability check on M consecutive track directions determined before the current moment, and storing the M consecutive track directions that pass the stability check.

[0057] Optionally, M may be a positive integer greater than or equal to 6. Exemplarily, N is 6. The initial stage of the ship's track direction may refer to the target time length after the first ship's track direction is determined, or may refer to the target time length after the first ship's track direction is re-determined when the inertial navigation device restarts to send the eastward speed and the northward speed. The target time length may be a preset time length. Exemplarily, the target time length is 3 minutes or 5 minutes.

[0058] Optionally, a stationarity check is performed periodically on M consecutive track directions determined before the current moment, and the M consecutive track directions that pass the stationarity check are stored, including: after each determination of M consecutive track directions, calculating the difference between each of the M consecutive track directions and the previous track direction; judging whether the absolute value of the difference between each track direction and the previous track direction is less than or equal to a target value; if the absolute value of the difference between each of the M consecutive track directions and the previous track direction is less than or equal to the target value, then it is determined that the M consecutive track directions pass the stationarity check, and the M consecutive track directions that pass the stationarity check are stored in a target data file; if the absolute value of the difference between any one of the M consecutive track directions and the previous track direction is greater than the target value, then it is determined that the M consecutive track directions do not pass the stationarity check.

[0059] Optionally, the previous track direction of the track direction refers to a track direction that is most recently determined before the track direction is determined. Calculating the difference between each of the M consecutive track directions and the previous track direction includes: for each of the M consecutive track directions, using the following second calculation formula to calculate the difference between each of the M consecutive track directions and the previous track direction:

[0060] ,

[0061] in, is any one of the M continuous track directions, for The previous track direction of for The second calculation formula may be a formula pre-set in the integrated management device for calculating the difference between the track direction and the previous track direction. Representative confirmed moment, Representative confirmed moment.

[0062] Optionally, the target value may be the product of the maximum rate of change of the ship's track direction and the time difference between the moments of determining the two track directions. The maximum rate of change of the ship's track direction may be 10 degrees per second. The time difference between the moments of determining the two track directions may be 1 second. The target data file may be a file pre-set in the integrated management device for storing the track directions that pass the stability test.

[0063] Optionally, it also includes: each time a new track direction is determined, a data anomaly check is performed on the new track direction according to the previous track direction, and the new track direction is determined to be valid data or abnormal data. Abnormal data may be a track direction with numerical anomalies. Valid data may refer to a track direction without numerical anomalies. Each time a new track direction is determined after the first track direction is determined, a data anomaly check is performed on the new track direction according to the previous track direction, and the new track direction is determined to be valid data or abnormal data.

[0064] Optionally, a data anomaly check is performed on the new track direction based on the previous track direction to determine whether the new track direction is valid data or abnormal data, including: calculating the difference between the new track direction and the previous track direction of the new track direction; judging whether the absolute value of the difference between the new track direction and the previous track direction of the new track direction is less than or equal to the target value; if the absolute value of the difference between the new track direction and the previous track direction of the new track direction is less than or equal to the target value, determining that the new track direction is valid data; if the absolute value of the difference between the new track direction and the previous track direction of the new track direction is greater than the target value, determining that the new track direction is abnormal data.

[0065] Optionally, if it is determined that the new track direction is valid data, the new track direction is displayed and the new track direction is stored in a valid data file. The valid data file may be a file pre-set in the integrated management device for storing valid data.

[0066] Optionally, it also includes: if it is determined that the new track direction is abnormal data, then the abnormal data is supplemented according to the valid data determined before the current moment. The abnormal data supplementation process may refer to generating a supplementary track direction for the new track direction. The supplementary track direction for the new track direction may be a track direction without numerical abnormalities that is generated based on valid data in a valid data file when there is a deviation in the data of the new track direction and can be used to replace the new track direction.

[0067] Optionally, abnormal data supplementation processing is performed based on valid data determined before the current moment, including: if the total number of track directions stored in the valid data file is less than or equal to 1, determining that a new track direction cannot be generated as a supplementary track direction, and continuing to determine the next new track direction.

[0068] Optionally, performing abnormal data supplementation processing according to valid data determined before the current moment includes: if the total number of track directions stored in the valid data file is equal to 2, using the following third calculation formula to calculate the difference between two track directions stored in the valid data file:

[0069] ,

[0070] in, and are the two track directions stored in the valid data file, The track direction stored in the valid data file first among the two track directions stored in the valid data file. The track direction stored in the valid data file later of the two track directions stored in the valid data file. is the difference between the two track directions stored in the valid data file; the latter of the two track directions stored in the valid data file is stored in the track direction in the valid data file. The difference between the two track directions stored in the valid data file The sum of the two is determined as the supplementary track direction of the new track direction; the supplementary track direction of the new track direction is displayed, and the track direction stored in the valid data file is cleared. The supplementary track direction of the new track direction can be expressed as . The third calculation formula may be a formula pre-set in the integrated management device for calculating the difference between two track directions stored in the valid data file.

[0071] Optionally, abnormal data supplementation processing is performed based on valid data determined before the current moment, including: if the total number of track directions stored in the valid data file is greater than 2, then the supplementary track direction of the new track direction is determined based on each track direction stored in the valid data file, and the supplementary track direction of the new track direction is displayed.

[0072] Optionally, m track directions are stored in the valid data file, where m is a positive integer greater than 2. The m track directions are arranged in chronological order of storage in the valid data file. The first track direction stored in the valid data file is ranked first. The second track direction stored in the valid data file is ranked second. And so on, the mth track direction stored in the valid data file is ranked mth. For each of the m track directions, the previous track direction refers to the track direction ranked one position before the previous track direction. For each of the m track directions except the track direction ranked first, the second calculation formula is used to calculate the difference between the track direction and the previous track direction, and m-1 differences are obtained. is the difference between the ith track direction among the m track directions and the previous track direction, To determine the time of the i-th track direction among m track directions, i=2,…m. It is the difference between the second track direction among the m track directions and the previous track direction. is the difference between the mth track direction and the previous track direction among the m track directions. Then, the fitting function is obtained by using the calculated m-1 differences. , so that it satisfies: The fitting function can be obtained by finding the conditions for the extreme value of the multivariate function In (k=0,1), (k=0,1) is a constant, so the fitting function is obtained . Fitting function That is data The fitting function of (i=2,…m). is the current moment. Waiting to enter the fitting function The value obtained is the predicted value of the difference between the m+1th track direction stored in the valid data file and the previous track direction . Direct the mth track among the m tracks to The predicted value of the difference between the m+1th track direction and the previous track direction stored in the valid data file The sum of is determined as the supplementary track direction of the new track direction. The supplementary track direction of the new track direction can be expressed as . It is the supplementary track direction for the new track direction.

[0073] Optionally, by finding the conditions for extreme values ​​of multivariate functions, we can obtain: , j=0,1. If the above equation is expressed as a matrix, the coefficient matrix of the equation system is a symmetric positive definite matrix, so there is a unique solution. From the equation, we can get (k=0,1).

[0074] Optionally, if the next new track direction is still abnormal data, continue to generate the next new track direction. A maximum of m / 2 data can be fitted at one time. When the duration of generating the supplementary track direction exceeds the maximum duration, clear the valid data stored in the valid data file. The maximum duration can be a pre-set duration. If the next new track direction is valid data, clear the valid data stored in the valid data file and re-store new valid data.

[0075] Optionally, the generated supplementary track direction needs to be processed by boundary value to prevent the supplementary track direction from crossing the boundary. The processing algorithm for the supplementary track direction to process the boundary value is as follows:

[0076] ,

[0077] in, The generated supplementary track direction.

[0078] The technical solution of the embodiment of the present invention determines the speed mode of the ship; when the speed mode of the ship is the low-speed mode, the average value of the eastward speed measured by the inertial navigation device of the ship and the average value of the northward speed measured by the inertial navigation device received per second are counted, and the longitude position change value and the latitude position change value of the ship are determined according to the average value of the eastward speed and the northward speed counted within N seconds before the current moment, and the track direction of the ship is determined according to the longitude position change value and the latitude position change value, and the track direction of the ship is displayed; when the speed mode of the ship is the normal sailing mode, the track direction of the ship is determined according to the position information measured by the satellite navigation device of the ship, and the ship is displayed. The track direction solves the problem that the ship track information display scheme in the related art only determines and displays the ship's track information based on the ship's position information measured by the satellite navigation equipment, and cannot stably display the ship's track information when the ship is sailing at a low speed. The information source of the track direction can be increased, and the ship's track information is determined and displayed based on the information measured by the ship's inertial navigation equipment or satellite navigation equipment. When the ship is sailing at a low speed, the ship's track direction can be accurately determined and displayed based on the eastward speed and northward speed measured by the ship's inertial navigation equipment, so that the ship's track information display process is relatively stable, thereby improving the stability and accuracy of the ship's track information display process.

[0079] The technical solution of the embodiment of the present invention has been verified by an actual ship, so that the track information can be stably displayed during the navigation of the ship, and can be applied to ships of different models.

[0080] Figure 2 The flowchart of a method for displaying ship track information provided by an embodiment of the present invention. The embodiment of the present invention can be combined with each optional solution in one or more of the above embodiments. Figure 2 As shown, the method includes:

[0081] Step 201: Determine the speed mode of the ship according to the mode selection information input by the target user.

[0082] Step 202: When the speed mode of the ship is the low speed mode, the average value of the eastward speed measured by the inertial navigation device of the ship and the average value of the northward speed measured by the inertial navigation device received per second are counted, and the longitude position change value and the latitude position change value of the ship are determined based on the average values ​​of the eastward speed and the northward speed counted within N seconds before the current moment. The track direction of the ship is determined based on the longitude position change value and the latitude position change value, and the track direction of the ship is displayed.

[0083] Step 203: When the speed mode of the ship is the normal sailing mode, the track direction of the ship is determined periodically according to the position information measured by the satellite navigation device of the ship, and the track direction of the ship is displayed.

[0084] The technical solution of the embodiment of the present invention can increase the user's selection function for the information source of the track information, determine the speed mode of the ship according to the mode selection information input by the user, and then determine and display the ship's track information according to the speed mode of the ship using the information measured by the ship's inertial navigation device or satellite navigation device. When the ship is sailing at a low speed, the ship's track direction can be accurately determined and displayed based on the eastward speed and northward speed measured by the ship's inertial navigation device, thereby making the ship's track information display process relatively stable, thereby improving the stability and accuracy of the ship's track information display process.

[0085] Figure 3 The present invention provides a schematic diagram of the structure of a ship track information display device. The device can be configured in an electronic device. Figure 3 As shown, the device includes: a mode determination module 301 , a first display module 302 and a second display module 303 .

[0086] Among them, the mode determination module 301 is used to determine the speed mode of the ship; the first display module 302 is used to, when the speed mode of the ship is the low-speed mode, count the average value of the eastward speed measured by the inertial navigation device of the ship and the average value of the northward speed measured by the inertial navigation device received per second, and regularly determine the longitude position change value and latitude position change value of the ship according to the average value of the eastward speed and the northward speed counted within N seconds before the current moment, determine the track direction of the ship according to the longitude position change value and the latitude position change value, and display the track direction of the ship; the second display module 303 is used to, when the speed mode of the ship is the normal navigation mode, regularly determine the track direction of the ship according to the position information measured by the satellite navigation device of the ship, and display the track direction of the ship.

[0087] The technical solution of the embodiment of the present invention determines the speed mode of the ship; when the speed mode of the ship is the low-speed mode, the average value of the eastward speed measured by the inertial navigation device of the ship and the average value of the northward speed measured by the inertial navigation device received per second are counted, and the longitude position change value and the latitude position change value of the ship are determined according to the average value of the eastward speed and the northward speed counted within N seconds before the current moment, and the track direction of the ship is determined according to the longitude position change value and the latitude position change value, and the track direction of the ship is displayed; when the speed mode of the ship is the normal sailing mode, the track direction of the ship is determined according to the position information measured by the satellite navigation device of the ship, and the ship is displayed. The track direction solves the problem that the ship track information display scheme in the related art only determines and displays the ship's track information based on the ship's position information measured by the satellite navigation equipment, and cannot stably display the ship's track information when the ship is sailing at a low speed. The information source of the track direction can be increased, and the ship's track information is determined and displayed based on the information measured by the ship's inertial navigation equipment or satellite navigation equipment. When the ship is sailing at a low speed, the ship's track direction can be accurately determined and displayed based on the eastward speed and northward speed measured by the ship's inertial navigation equipment, so that the ship's track information display process is relatively stable, thereby improving the stability and accuracy of the ship's track information display process.

[0088] In an optional implementation of an embodiment of the present invention, optionally, when the first display module 302 performs the operation of regularly determining the longitude position change value and the latitude position change value of the ship according to the average value of the east speed and the north speed counted within N seconds before the current moment, determining the track direction of the ship according to the longitude position change value and the latitude position change value, and displaying the track direction of the ship, it is specifically used to: regularly perform the following operations: determine the longitude position change value of the ship according to the average value of the east speed counted within N seconds before the current moment; determine the latitude position change value of the ship according to the average value of the north speed counted within N seconds before the current moment; determine the track direction of the ship according to the longitude position change value and the latitude position change value, and display the track direction of the ship on the ship navigation management page.

[0089] In an optional implementation of an embodiment of the present invention, optionally, the mode determination module 301 is specifically used to: after determining that the ship starts sailing, determine that the speed mode of the ship is a normal navigation mode; regularly detect whether the absolute values ​​of the eastward speed and the northward speed measured by the inertial navigation device of the ship are less than preset values; when it is detected that the absolute values ​​of the eastward speed and the northward speed measured by the inertial navigation device of the ship are less than the preset values, update the speed mode of the ship to a low speed mode; when it is detected that the absolute value of the eastward speed or the northward speed measured by the inertial navigation device of the ship is greater than or equal to the preset value, update the speed mode of the ship to a normal navigation mode.

[0090] In an optional implementation manner of the embodiment of the present invention, optionally, the mode determination module 301 is specifically used to: determine the speed mode of the ship according to the mode selection information input by the target user.

[0091] In an optional implementation of an embodiment of the present invention, optionally, the ship track information display device also includes: a verification module, which is used to periodically perform a stability check on M consecutive track directions determined before the current moment in the initial stage of determining the track direction of the ship, and store the M consecutive track directions that pass the stability check.

[0092] In an optional implementation of an embodiment of the present invention, optionally, the ship track information display device also includes: a checking module, which is used to perform a data anomaly check on the new track direction based on the previous track direction each time a new track direction is determined, and determine whether the new track direction is valid data or abnormal data.

[0093] In an optional implementation of an embodiment of the present invention, optionally, the ship track information display device also includes: a supplement processing module, which is used to perform supplement processing on the abnormal data based on valid data determined before the current moment if the new track direction is determined to be abnormal data.

[0094] The ship track information display device provided in the embodiment of the present invention can execute the ship track information display method provided in any embodiment of the present invention, and has the corresponding functional modules and beneficial effects of the execution method.

[0095] Figure 4The structural schematic diagram of an electronic device 10 that can be used to implement the ship track information display method of an embodiment of the present invention is shown. The electronic device is intended to represent various forms of digital computers, such as laptop computers, desktop computers, workbenches, personal digital assistants, electronic devices, blade electronic devices, mainframe computers, and other suitable computers. The electronic device can also represent various forms of mobile devices, such as personal digital processing, cellular phones, smart phones, wearable devices (such as helmets, glasses, watches, etc.) and other similar computing devices. The components shown herein, their connections and relationships, and their functions are merely examples and are not intended to limit the implementation of the present invention described and / or required herein.

[0096] like Figure 4 As shown, the electronic device 10 includes at least one processor 11, and a memory connected to the at least one processor 11, such as a read-only memory (ROM) 12, a random access memory (RAM) 13, etc., wherein the memory stores a computer program that can be executed by at least one processor, and the processor 11 can perform various appropriate actions and processes according to the computer program stored in the read-only memory (ROM) 12 or the computer program loaded from the storage unit 18 to the random access memory (RAM) 13. In the RAM 13, various programs and data required for the operation of the electronic device 10 can also be stored. The processor 11, the ROM 12, and the RAM 13 are connected to each other through a bus 14. The input / output (I / O) interface 15 is also connected to the bus 14.

[0097] A number of components in the electronic device 10 are connected to the I / O interface 15, including: an input unit 16, such as a keyboard, a mouse, etc.; an output unit 17, such as various types of displays, speakers, etc.; a storage unit 18, such as a disk, an optical disk, etc.; and a communication unit 19, such as a network card, a modem, a wireless communication transceiver, etc. The communication unit 19 allows the electronic device 10 to exchange information / data with other devices through a computer network such as the Internet and / or various telecommunication networks.

[0098] The processor 11 may be a variety of general and / or special processing components with processing and computing capabilities. Some examples of the processor 11 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various special artificial intelligence (AI) computing chips, various processors running machine learning model algorithms, a digital signal processor (DSP), and any appropriate processor, controller, microcontroller, etc. The processor 11 executes the various methods and processes described above, such as a method for displaying ship track information.

[0099] In some embodiments, the ship track information display method may be implemented as a computer program, which is tangibly contained in a computer-readable storage medium, such as a storage unit. In some embodiments, part or all of the computer program may be loaded and / or installed on a heterogeneous hardware accelerator via a ROM and / or a communication unit. When the computer program is loaded into RAM and executed by a processor, one or more steps of the ship track information display method described above may be performed. Alternatively, in other embodiments, the processor may be configured to execute the ship track information display method in any other appropriate manner (e.g., by means of firmware).

[0100] Various implementations of the systems and techniques described above herein can be implemented in digital electronic circuit systems, integrated circuit systems, field programmable gate arrays (FPGAs), application specific integrated circuits (ASICs), application specific standard products (ASSPs), systems on chips (SOCs), load programmable logic devices (CPLDs), computer hardware, firmware, software, and / or combinations thereof. These various implementations can include: being implemented in one or more computer programs that can be executed and / or interpreted on a programmable system including at least one programmable processor, which can be a special purpose or general purpose programmable processor that can receive data and instructions from a storage system, at least one input device, and at least one output device, and transmit data and instructions to the storage system, the at least one input device, and the at least one output device.

[0101] Computer programs for implementing the methods of the present invention may be written in any combination of one or more programming languages. These computer programs may be provided to a processor of a general-purpose computer, a special-purpose computer, or other programmable data processing device, so that when the computer program is executed by the processor, the functions / operations specified in the flow chart and / or block diagram are implemented. The computer program may be executed entirely on the machine, partially on the machine, partially on the machine and partially on a remote machine as a stand-alone software package, or entirely on a remote machine or electronic device.

[0102] In the context of the present invention, a computer-readable storage medium may be a tangible medium that may contain or store a computer program for use by or in conjunction with an instruction execution system, device, or equipment. A computer-readable storage medium may include, but is not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, devices, or equipment, or any suitable combination of the foregoing. Alternatively, a computer-readable storage medium may be a machine-readable signal medium. A more specific example of a machine-readable storage medium may include an electrical connection based on one or more lines, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.

[0103] To provide interaction with a user, the systems and techniques described herein may be implemented on a heterogeneous hardware accelerator having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to a user; and a keyboard and a pointing device (e.g., a mouse or trackball) through which a user can provide input to the heterogeneous hardware accelerator. Other types of devices may also be used to provide interaction with a user; for example, the feedback provided to the user may be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user may be received in any form (including acoustic input, voice input, or tactile input).

[0104] The systems and techniques described herein may be implemented in a computing system that includes backend components (e.g., as a data electronic device), or a computing system that includes middleware components (e.g., an application electronic device), or a computing system that includes frontend components (e.g., a user computer with a graphical user interface or a web browser through which a user can interact with implementations of the systems and techniques described herein), or a computing system that includes any combination of such backend components, middleware components, or frontend components. The components of the system may be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include: a local area network (LAN), a wide area network (WAN), a blockchain network, and the Internet.

[0105] The computing system may include a client and an electronic device. The client and the electronic device are generally remote from each other and usually interact through a communication network. The relationship between the client and the electronic device is generated by computer programs running on corresponding computers and having a client-electronic device relationship with each other. The electronic device may be a cloud electronic device, also known as a cloud computing electronic device or a cloud host, which is a host product in the cloud computing service system to solve the defects of difficult management and weak business scalability in traditional physical hosts and VPS services.

[0106] It should be understood that the various forms of processes shown above can be used to reorder, add or delete steps. For example, the steps described in the present invention can be executed in parallel, sequentially or in different orders, as long as the desired results of the technical solution of the present invention can be achieved, and this document does not limit this.

[0107] The above specific implementations do not constitute a limitation on the protection scope of the present invention. It should be understood by those skilled in the art that various modifications, combinations, sub-combinations and substitutions can be made according to design requirements and other factors. Any modification, equivalent substitution and improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. A method for displaying ship track information, characterized in that: include: Determine the speed pattern of the vessel; When the speed mode of the ship is the low speed mode, the average value of the eastward speed measured by the inertial navigation device of the ship and the average value of the northward speed measured by the inertial navigation device received per second are counted, and the longitude position change value and the latitude position change value of the ship are determined according to the average values ​​of the eastward speed and the northward speed counted within N seconds before the current moment, and the track direction of the ship is determined according to the longitude position change value and the latitude position change value, and the track direction of the ship is displayed; When the speed mode of the ship is the normal sailing mode, the track direction of the ship is determined regularly according to the position information measured by the satellite navigation device of the ship, and the track direction of the ship is displayed.

2. The method for displaying ship track information according to claim 1, characterized in that: The method of determining the longitude position change value and the latitude position change value of the ship according to the average values ​​of the eastward speed and the northward speed calculated within N seconds before the current moment, determining the track direction of the ship according to the longitude position change value and the latitude position change value, and displaying the track direction of the ship includes: Perform the following operations regularly: Determine the change in the longitude position of the ship according to the average value of the eastward speed calculated within N seconds before the current moment; Determine the latitude position change value of the ship according to the average value of the northward speed calculated within N seconds before the current moment; The track direction of the ship is determined according to the longitude position change value and the latitude position change value, and the track direction of the ship is displayed on the ship navigation management page.

3. The method for displaying ship track information according to claim 1, characterized in that: Determine the vessel's speed pattern, including: After it is determined that the ship starts sailing, the speed mode of the ship is determined to be a normal sailing mode; Regularly detecting whether the absolute values ​​of the eastward speed and the northward speed measured most recently by the inertial navigation device of the ship are less than preset values; When it is detected that the absolute values ​​of the eastward speed and the northward speed most recently measured by the inertial navigation device of the ship are both less than the preset values, updating the speed mode of the ship to a low speed mode; When it is detected that the absolute value of the eastward speed or the northward speed most recently measured by the inertial navigation device of the ship is greater than or equal to the preset value, the speed mode of the ship is updated to the normal navigation mode.

4. The method for displaying ship track information according to claim 1, characterized in that: Determine the vessel's speed pattern, including: The speed mode of the ship is determined according to the mode selection information input by the target user.

5. The method for displaying ship track information according to claim 1, characterized in that: Also includes: In the initial stage of determining the track direction of the ship, a stationarity check is performed on M consecutive track directions determined before the current moment, and the M consecutive track directions that pass the stationarity check are stored.

6. The method for displaying ship track information according to claim 1, characterized in that: Also includes: Each time a new track direction is determined, a data anomaly check is performed on the new track direction based on the previous track direction to determine whether the new track direction is valid data or abnormal data.

7. The method for displaying ship track information according to claim 6, characterized in that: Also includes: If the new track direction is determined to be abnormal data, the abnormal data will be supplemented according to the valid data determined before the current time.

8. A ship track information display device, characterized in that: include: A mode determination module, for determining a speed mode of a ship; A first display module is used for, when the speed mode of the ship is a low speed mode, counting the average value of the eastward speed measured by the inertial navigation device of the ship received per second and the average value of the northward speed measured by the inertial navigation device received per second, regularly determining the longitude position change value and the latitude position change value of the ship according to the average value of the eastward speed and the northward speed counted within N seconds before the current moment, determining the track direction of the ship according to the longitude position change value and the latitude position change value, and displaying the track direction of the ship; The second display module is used to determine the track direction of the ship according to the position information measured by the satellite navigation device of the ship at regular intervals and display the track direction of the ship when the speed mode of the ship is the normal sailing mode.

9. An electronic device, characterized in that: The electronic device comprises: at least one processor; and a memory communicatively coupled to the at least one processor; Wherein, the memory stores a computer program executed by the at least one processor, and the computer program is executed by the at least one processor so that the at least one processor can execute the ship track information display method according to any one of claims 1-7.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores computer instructions, and the computer instructions are used to enable a processor to implement the ship track information display method according to any one of claims 1 to 7 when executed.

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