A Method, Device, Equipment and Medium for Displaying Ship Track Information

Abstract

The present invention relates to the technical field of electric digital data processing, and particularly relates to a method, device, equipment and medium for displaying ship track information. The method includes: determining the speed mode of the ship; when the speed mode is the low-speed mode, statistically calculating the average value of the eastward speed measured by the inertial navigation device received per second and the average value of the northward speed measured by the inertial navigation device received per second, and regularly 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 statistically calculated within N seconds before the current moment, determining the track direction of the ship, and displaying the track direction; when the speed mode of the ship is the normal navigation mode, regularly determining the track direction of the ship according to the position information measured by the satellite navigation device, and displaying the track direction. The embodiment of the present invention can accurately determine the track direction of the ship based on the eastward speed and the northward speed measured by the inertial navigation device when the ship is sailing at a low speed.

Description

Technical Field

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

[0002] During the navigation of a ship, the track information of the ship is usually determined based on the position information of the ship measured by a navigation device, and the track information of the ship is displayed, so as to provide the track information of the ship for the ship operator to refer to. The track information of the ship may refer to the Course Over Ground (COG) of the ship. The course over ground of a ship refers to the angle measured clockwise from the true north line to the course line of the ship. The course line of the ship is the extension line of the ship's head and tail line in the direction of the ship's bow, indicating the navigation direction of the ship.

[0003] In the related art, a common ship track information display solution is: determining the ship track information based on the position information of the ship measured by a satellite navigation device, and displaying the ship track information. A satellite navigation device is a device that can measure the position information of a ship using satellite signals. The position information of the ship refers to the longitude and latitude coordinates of the ship. However, in the case of low-speed navigation of the ship, the satellite navigation device is affected by its own noise and cannot accurately measure the position information of the ship, resulting in random jumps in the ship track information determined based on the position information of the ship measured by the satellite navigation device. The ship track information display solution in the related art only determines and displays the ship track information based on the position information of the ship measured by the satellite navigation device, and cannot stably display the ship track information in the case of low-speed navigation of the ship. Summary of the Invention

[0004] The present invention provides a method, device, equipment and medium for displaying ship track information, so as to solve the problem that the ship track information display solution in the related art only determines and displays the ship track information based on the position information of the ship measured by the satellite navigation device, and cannot stably display the ship track information in the case of low-speed navigation of the ship.

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

[0006] Determining the speed mode of the ship;

[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 received per second and the average value of the northward speed measured by the inertial navigation device received per second are statistically calculated. At regular intervals, 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 statistically 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.

[0008] When the speed mode of the ship is the normal navigation mode, at regular intervals, the track direction of the ship is determined 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 ship track information display device, including:

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

[0011] A first display module for, when the speed mode of the ship is the low-speed mode, statistically calculating 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, at regular intervals 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 statistically 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;

[0012] A second display module for, when the speed mode of the ship is the normal navigation mode, at regular intervals determining the track direction of the ship according to the position information measured by the satellite navigation device of the ship, and displaying the track direction of the ship.

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

[0014] At least one processor;

[0015] And a memory communicatively connected to the at least one processor;

[0016] 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 embodiment of the present invention.

[0017] According to another aspect of the present invention, there is provided a computer-readable storage medium storing computer instructions for causing a processor to implement the ship track information display method according to 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, it statistically calculates 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, and regularly determines 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 statistically calculated within N seconds before the current moment, determines the track direction of the ship according to the longitude position change value and the latitude position change value, and displays the track direction of the ship; when the speed mode of the ship is the normal navigation mode, it regularly determines the track direction of the ship according to the position information measured by the satellite navigation device of the ship and displays the track direction of the ship, solving the problem that the ship track information display solution in the related art only determines and displays the ship track information based on the position information of the ship measured by the satellite navigation device and cannot stably display the ship track information in the case of low-speed navigation of the ship. It can increase the information source of the track direction, determine and display the ship track information based on the information measured by the inertial navigation device or the satellite navigation device of the ship, and can accurately determine the track direction of the ship based on the eastward speed and the northward speed measured by the inertial navigation device of the ship and display the track direction of the ship in the case of low-speed navigation of the ship, making the ship track information display process relatively stable and improving the stability and accuracy of the ship track information display process.

[0019] It should be understood that the content described in this part is not intended to identify the key or important features of the embodiments of the present invention, nor is it used 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 will briefly introduce the drawings required for the description of the embodiments. Obviously, the following drawings are only some embodiments of the present invention, and those of ordinary skill in the art can obtain other drawings without creative efforts based on these drawings.

[0021] Figure 1 It is a flowchart of a ship track information display method provided by an embodiment of the present invention.

[0022] Figure 2 It is a flowchart of a ship track information display method provided by an embodiment of the present invention.

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

[0024] Figure 4 The structural schematic diagram of an electronic device for implementing the ship track information display method according to an embodiment of the present invention. Detailed implementation manners

[0025] In order to enable those skilled in the art to better understand the solution of the present invention, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope 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 drawings are used to distinguish similar objects, and do not necessarily need to describe a specific order or sequence. It should be understood that such data can be interchanged under appropriate circumstances 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 "comprising", "including" and "having" and any variations thereof are intended to cover non-exclusive inclusion. For example, a process, method, system, product or device including a series of steps or units does not necessarily have to be limited to those steps or units clearly listed, but may include other steps or units not clearly listed or inherent to these processes, methods, products or devices.

[0026] Figure 1 The flowchart of a ship track information display method provided by an embodiment of the present invention. This embodiment is applicable to the situation where the track information of a ship is determined during the navigation of the ship, and the track information of the ship is displayed, so as to provide the track information of the ship for the ship's operator to refer to. The track information of the ship may refer to the track direction of the ship. This method can be executed by a ship track information display device, which can be implemented in the form of hardware and / or software, and the ship track information display device can be configured in the integrated management device of the ship. The integrated management device of the ship may be an electronic device provided on the ship for managing various relevant data of the ship during the navigation of the ship. As Figure 1 shown, the method includes:

[0027] Step 101, determine the speed mode of the ship.

[0028] Optionally, the speed mode of the ship can be information used to characterize whether the ship is sailing at a low speed. The ship sailing at a low speed can mean that the speed of the ship is low. When the speed mode of the ship is the low-speed mode, it indicates that the ship is sailing at a low speed. When the speed mode of the ship is the normal sailing mode, it indicates that the ship is not sailing at a low speed.

[0029] Optionally, an inertial navigation device and a satellite navigation device are provided on the ship. The inertial navigation device of the ship can 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 can refer to the moving speed of the ship in the east-west direction. The northward speed of the ship can refer to the moving speed of the ship in the north-south direction. The satellite navigation device of the ship can 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 can regularly 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 can regularly 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 can be a preset frequency. The preset frequency can be n hertz (Hz), where n is a positive integer greater than or equal to 2. Exemplarily, n is 100. The inertial navigation device can regularly measure the longitude and latitude coordinates, eastward speed, and northward speed of the ship at the preset frequency, measure the longitude and latitude coordinates, eastward speed, and northward speed of the ship every 10 milliseconds, and can measure the longitude and latitude coordinates, eastward speed, and northward speed of the ship 100 times per second. The satellite navigation device can regularly measure the longitude and latitude coordinates of the ship at the preset frequency, measure the longitude and latitude coordinates of the ship every 10 milliseconds, and can 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 starts to sail, determining that the speed mode of the ship is the normal sailing mode; regularly detecting whether the absolute values of the latest measured eastward speed and northward speed of the inertial navigation device of the ship are less than a preset value; when it is detected that the absolute values of the latest measured eastward speed and northward speed of the inertial navigation device of the ship are both less than the preset value, updating the speed mode of the ship to the low-speed mode; when it is detected that the absolute value of the latest measured eastward speed or northward speed of the inertial navigation device of the ship is greater than or equal to the preset value, updating the speed mode of the ship to the normal sailing mode.

[0032] Optionally, it can be detected whether the integrated management device has received a navigation start prompt message. When it is detected that the integrated management device has received the navigation start prompt message, it can be determined that the ship has started sailing, and then the speed mode of the ship can be determined as the normal navigation mode. The navigation start prompt message can be pre-set information used to indicate that the ship has started sailing. When the ship starts sailing, the target user can send the navigation start prompt message to the integrated management device through the terminal device. The target user can be a technician responsible for managing the integrated management device.

[0033] Optionally, the eastward speed and northward speed sent by the inertial navigation device that the integrated management device has most recently received are the eastward speed and northward speed most recently measured by the inertial navigation device. Timely detecting whether the absolute values of the eastward speed and northward speed measured by the inertial navigation device of the ship are less than a preset value includes: performing the following operations at regular intervals according to a first time interval: detecting whether the absolute value of the eastward speed sent by the inertial navigation device that the integrated management device has most recently received is less than the preset value, and detecting whether the absolute value of the eastward speed sent by the inertial navigation device that the integrated management device has most recently received is less than the preset value. The first time interval can be a pre-set time interval. Exemplarily, the first time interval is 10 seconds. After determining that the ship has started sailing, the speed mode of the ship can be determined as the normal navigation mode, and then the operation of detecting whether the absolute value of the eastward speed sent by the inertial navigation device that the integrated management device has most recently received is less than the preset value and detecting whether the absolute value of the eastward speed sent by the inertial navigation device that the integrated management device has most recently received is less than the preset value can be performed every first time interval. The preset value can be a pre-set speed value. Generally, when the absolute values of the eastward speed and northward speed most recently measured by the inertial navigation device are both less than the preset value, it indicates that the ship is sailing at a low speed, and the speed mode of the ship can be determined as the low-speed mode. When the absolute value of the eastward speed or northward speed most recently measured by the inertial navigation device is greater than or equal to the preset value, it indicates that the ship is not sailing at a low speed, and the speed mode of the ship can be determined as the normal navigation mode. In the embodiments of the present invention, the unit of speed 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 received by the integrated management device most recently is less than a preset value and the absolute value of the eastward speed measured by the inertial navigation device received by the integrated management device most recently is less than the preset value, that is, when it is detected that the absolute values of the eastward speed and northward speed measured by the inertial navigation device of the ship most recently are both less than the preset value, the speed mode of the ship can be updated to the low-speed mode. When it is detected that the absolute value of the eastward speed measured by the inertial navigation device received by the integrated management device most recently is greater than or equal to the preset value or the absolute value of the eastward speed measured by the inertial navigation device received by the integrated management device most recently is greater than or equal to the preset value, that is, when it is detected that the absolute value of the eastward speed or northward speed measured by the inertial navigation device of the ship most recently is greater than or equal to the preset value, the speed mode of the ship can be updated to the normal navigation mode.

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

[0036] Optionally, the mode selection information may be information used to represent that the speed mode of the ship is the low-speed mode or the normal navigation mode. The mode selection information includes low-speed mode selection information and normal navigation mode selection information. The low-speed mode selection information may be information used to represent that the speed mode of the ship is the low-speed mode. The normal navigation mode selection information may be information used to represent that the speed mode of the ship is the normal navigation mode. After the ship starts sailing, the target user can input the mode selection information by filling in or selecting the mode selection information in the mode selection information input area on 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 the relevant data of the ship input by the user. The mode selection information input area may be a page area set on the ship navigation management page for filling in or selecting the mode selection information.

[0037] Optionally, the target user can fill in or select the normal navigation mode selection information in the mode selection information input area of the ship navigation management page of the integrated management device, so as to input the normal navigation mode selection information. The target user can fill in or select the low-speed mode selection information in the mode selection information input area of the ship navigation management page of the integrated management device, so as to input the low-speed mode selection information. According to the mode selection information input by the target user, determine the speed mode of the ship, including: when it is detected that the target user fills in or selects the normal navigation mode selection information in the mode selection information input area of the ship navigation management page of the integrated management device, determine that the speed mode of the ship is the normal navigation mode; when it is detected that the target user fills in or selects the low-speed mode selection information in the mode selection information input area of the ship navigation management page of the integrated management device, determine that the speed mode of the ship is the low-speed mode.

[0038] Step 102, when the speed mode of the ship is the low-speed mode, statistically calculate 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 determine 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 statistically calculated within N seconds before the current moment, and 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.

[0039] Optionally, the eastward speed measured by the inertial navigation device of the ship received per second is all the eastward speeds sent by the inertial navigation device received within each second. The northward speed measured by the inertial navigation device received per second is all the northward speeds sent by the inertial navigation device received within each second. When the speed mode of the ship is the low-speed mode, for all the eastward speeds sent by the inertial navigation device received within each second, statistically calculate the average value of all the eastward speeds sent by the inertial navigation device received within each second. For all the northward speeds sent by the inertial navigation device received within each second, statistically calculate the average value of all the northward speeds sent by the inertial navigation device received within each second.

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

[0042] Optionally, after the number of seconds of statistics reaches N, it is possible to start timing to determine the longitude position change value and the latitude position change value of the ship according to the average values of the eastward velocity and the northward velocity statistically obtained 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.

[0043] Optionally, timing to determine the longitude position change value and the latitude position change value of the ship according to the average values of the eastward velocity and the northward velocity statistically obtained 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, including: timing to perform the following operations: determining the longitude position change value of the ship according to the average value of the eastward velocity statistically obtained within N seconds before the current moment; determining the latitude position change value of the ship according to the average value of the northward velocity statistically obtained 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 the second time interval: determine the longitude position change value of the ship according to the average value of the eastward speed statistically obtained 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 statistically obtained 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. The second time interval may be a preset time interval. Exemplarily, the second time interval is 1 second. After the statistical number of seconds reaches N, the operations 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 statistically obtained 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 may be performed every second time interval: determine the longitude position change value of the ship according to the average value of the eastward speed statistically obtained 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 statistically obtained 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.

[0045] Optionally, the average value of the eastward speed statistically obtained within N seconds before the current moment is the average value of the latest N eastward speeds statistically obtained before the current moment. The longitude position change value of the ship is a value that can be used to characterize the position change of the ship in the longitude direction. The longitude position change value of the ship may refer to the sum of the average values of the eastward speeds statistically obtained within N seconds before the current moment. Determining the longitude position change value of the ship according to the average value of the eastward speed statistically obtained within N seconds before the current moment includes: calculating the sum of the average values of the latest N eastward speeds statistically obtained before the current moment to obtain the longitude position change value of the ship. The longitude position change value of the ship can be expressed as . Wherein, is the longitude position change value of the ship, is the i-th average value among the average values of the latest N eastward speeds statistically obtained before the current moment, i = 1, 2,..., N, is the sum of the average values of the latest N eastward speeds statistically obtained before the current moment. N may be a positive integer greater than or equal to 3. Exemplarily, N is 3.

[0046] Optionally, the average value of the northward speed statistically calculated within N seconds before the current moment is the average value of the latest statistically calculated N northward speeds before the current moment. The change value of the ship's latitude position is a value that can be used to characterize the position change of the ship in the latitude direction. The change value of the ship's latitude position may refer to the sum of the average values of the northward speeds statistically calculated within N seconds before the current moment. Determining the change value of the ship's latitude position according to the average value of the northward speeds statistically calculated within N seconds before the current moment includes: calculating the sum of the average values of the latest statistically calculated N northward speeds before the current moment to obtain the change value of the ship's latitude position. The change value of the ship's latitude position can be expressed as . Among them, is the change value of the ship's latitude position, is the i-th average value among the average values of the latest statistically calculated N northward speeds before the current moment, i = 1, 2,... N, is the sum of the average values of the latest statistically calculated N northward speeds before the current moment. N can be a positive integer greater than or equal to 3. Exemplarily, N is 3.

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

[0048] ,

[0049] where COG is the course over ground of the ship, is the change value of the ship's longitude position, is the change value of the ship's latitude position, and atctg() is the arc tangent function. The first calculation formula can be a formula preset in the integrated management device for determining the course over ground of the ship according to the change value of the ship's longitude position and the change value of the ship's latitude position.

[0050] Optionally, displaying the course over ground of the ship on the ship navigation management page includes: displaying the course over ground of the ship in the course over ground display area on the ship navigation management page. The course over ground display area can be a page area set on the ship navigation management page for displaying the course over ground of the ship.

[0051] Optionally, when the inertial navigation device interrupts sending the eastward speed and northward speed, stop performing the operation of determining the course of the ship, and clear the received eastward speed and northward speed. When the inertial navigation device resumes sending the eastward speed and northward speed, start 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 determine the longitude position change value and latitude position change value of the ship according to the average values of the eastward speed and northward speed statistically obtained within N seconds before the current moment, determine the course of the ship according to the longitude position change value and the latitude position change value, and display the course of the ship.

[0052] Step 103, when the speed mode of the ship is the normal navigation mode, regularly determine the course of the ship according to the position information measured by the satellite navigation device of the ship, and display the course of the ship.

[0053] Optionally, in the case where the speed mode of the ship is the normal navigation mode, the course information of the ship can be determined according to the position information measured by the satellite navigation device, and the course information of the ship can be displayed.

[0054] Optionally, regularly determining the course of the ship according to the position information measured by the satellite navigation device of the ship and displaying the course of the ship includes: regularly performing the following operations: using a preset course calculation algorithm, calculating the course of the ship according to the latest measured longitude and latitude coordinates of two ships by the satellite navigation device, and displaying the course of the ship. The preset course calculation algorithm can be an algorithm preset in the integrated management device for calculating the course of the ship according to two continuously measured longitude and latitude coordinates of the ship. Displaying the course of the ship on the ship navigation management page includes: displaying the course of the ship in the course display area of the ship navigation management page.

[0055] Optionally, the following operations can be regularly performed at a second time interval: using a preset course calculation algorithm, calculating the course of the ship according to the latest measured longitude and latitude coordinates of two ships by the satellite navigation device, and displaying the course of the ship. When the speed mode of the ship is the normal navigation mode, the operation of using a preset course calculation algorithm to calculate the course of the ship according to the latest measured longitude and latitude coordinates of two ships by the satellite navigation device and displaying the course of the ship can be performed every second time interval. Exemplarily, the second time interval is 1 second.

[0056] Optionally, it further includes: in the initial stage of determining the course of the ship, regularly performing a stationarity test on M consecutive courses determined before the current moment, and storing the M consecutive courses that pass the stationarity test.

[0057] Optionally, M can be a positive integer greater than or equal to 6. Exemplarily, N is 6. The initial stage of the track direction of the ship can refer to the target time period after the track direction of the first ship is determined, or can also refer to the target time period after the track direction of the first ship is redetermined when the inertial navigation device resumes sending the eastward speed and northward speed. The target time period can be a preset time period. Exemplarily, the target time period is 3 minutes or 5 minutes.

[0058] Optionally, perform a stationarity test on M consecutive track directions determined before the current moment, and store the M consecutive track directions that pass the stationarity test, including: after each determination of M consecutive track directions, calculate the difference between each of the M consecutive track directions and the previous track direction; determine whether the absolute value of the difference between each track direction and the previous track direction is less than or equal to the 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, it is determined that the M consecutive track directions pass the stationarity test, and the M consecutive track directions that pass the stationarity test are stored in the 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, it is determined that the M consecutive track directions do not pass the stationarity test.

[0059] Optionally, the previous track direction of the track direction refers to the latest determined track direction 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, use the following second calculation formula to calculate the difference between each of the M consecutive track directions and the previous track direction:

[0060] ,

[0061] where is any one of the M consecutive track directions, is 's previous track direction, is the difference between and the previous track direction. The second calculation formula can be a formula preset in the integrated management device for calculating the difference between the track direction and the previous track direction. represents the moment of determining , represents the moment of determining .

[0062] Optionally, the target value can be the product of the maximum rate of change of the ship's course and the time difference between the moments when two courses are determined. The maximum rate of change of the ship's course can be 10 degrees per second. The time difference between the moments when two courses are determined can be 1 second. The target data file can be a file preset in the integrated management device for storing the courses that pass the smoothness test.

[0063] Optionally, it further includes: every time a new course is determined, data anomaly inspection is performed on the new course according to the previous course to determine whether the new course is valid data or abnormal data. Abnormal data can be a course with numerical anomalies. Valid data can be a course without numerical anomalies. Every time a new course is determined after the first course is determined, data anomaly inspection is performed on the new course according to the previous course to determine whether the new course is valid data or abnormal data.

[0064] Optionally, performing data anomaly inspection on the new course according to the previous course to determine whether the new course is valid data or abnormal data includes: calculating the difference between the new course and the previous course of the new course; determining whether the absolute value of the difference between the new course and the previous course of the new course is less than or equal to the target value; if the absolute value of the difference between the new course and the previous course of the new course is less than or equal to the target value, it is determined that the new course is valid data; if the absolute value of the difference between the new course and the previous course of the new course is greater than the target value, it is determined that the new course is abnormal data.

[0065] Optionally, if it is determined that the new course is valid data, the new course is displayed and stored in the valid data file. The valid data file can be a file preset in the integrated management device for storing valid data.

[0066] Optionally, it further includes: if it is determined that the new course is abnormal data, anomaly data continuation processing is performed according to the valid data determined before the current moment. Performing anomaly data continuation processing can refer to generating a continuation course for the new course. The continuation course of the new course can be a course without numerical anomalies that can be used to replace the new course generated according to the valid data in the valid data file when there are deviations in the data of the new course.

[0067] Optionally, performing anomaly data continuation processing according to the valid data determined before the current moment includes: if the total number of courses stored in the valid data file is less than or equal to 1, it is determined that a continuation course for the new course cannot be generated, and the next new course is continuously determined.

[0068] Optionally, perform abnormal data continuation processing based on the valid data determined before the current moment, including: if the total number of track directions stored in the valid data file is equal to 2, use the following third calculation formula to calculate the difference between the two track directions stored in the valid data file:

[0069] ,

[0070] wherein, and are the two track directions stored in the valid data file, is the track direction that was first stored in the valid data file among the two track directions stored in the valid data file, is the track direction that was later stored in the valid data file among the two track directions stored in the valid data file, is the difference between the two track directions stored in the valid data file; determine the sum of the track direction that was later stored in the valid data file among the two track directions stored in the valid data file and the difference between the two track directions stored in the valid data file as the supplementary track direction of the new track direction; display the supplementary track direction of the new track direction, and clear the track directions stored in the valid data file. The supplementary track direction of the new track direction can be expressed as The supplementary track direction of the new track direction can be expressed as . is the supplementary track direction of the new track direction. The third calculation formula can be a formula preset in the integrated management device for calculating the difference between the two track directions stored in the valid data file.

[0071] Optionally, perform abnormal data continuation processing based on the 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, determine the supplementary track direction of the new track direction according to each track direction stored in the valid data file, and display the supplementary track direction of the new track direction.

[0072] Optionally, there are m track directions stored in the valid data file, where m is a positive integer greater than 2. The m track directions are arranged in the order of the time of storage in the valid data file. The track direction that was first stored in the valid data file is ranked first. The track direction that was second stored in the valid data file is ranked second. And so on, the track direction that was the mth stored in the valid data file is ranked the mth. For each of the m track directions, the previous track direction of the track direction refers to the track direction ranked one position before the track direction. For each of the m track directions except the track direction ranked first, use the second calculation formula to calculate the difference between the track direction and the previous track direction, and obtain m - 1 differences. is the difference between the track direction ranked the ith among the m track directions and the previous track direction,​​ To determine the moment of the track direction ranked at the \(i\)-th position among \(m\) track directions, where \(i = 2,\cdots,m\). Is the difference between the track direction ranked second among \(m\) track directions and the previous track direction. Is the difference between the track direction ranked \(m\)-th among \(m\) track directions and the previous track direction. Then, using the \(m - 1\) calculated differences, find the fitting function such that it satisfies: . The fitting function in \((k = 0,1)\), \((k = 0,1)\) being constants, thus obtaining the fitting function . The fitting function is the fitting function of the data \((i = 2,\cdots,m)\). Is the current moment. Substitute into the fitting function , and the obtained value is the predicted value of the difference between the \((m + 1)\)-th track direction stored in the valid data file and the previous track direction . Determine the sum of the track direction ranked \(m\)-th among \(m\) track directions and the predicted value of the difference between the \((m + 1)\)-th track direction stored in the valid data file and the previous track direction as the supplementary track direction of the new track direction. The supplementary track direction of the new track direction can be expressed as . Is the supplementary track direction of the new track direction.

[0073] Optionally, through the conditions for finding the extreme value of a multivariate function, we get: , where \(j = 0,1\). Represent the above equation in matrix form, then the coefficient matrix of the system of equations is a symmetric positive definite matrix, so there is a unique solution, and solve for \((k = 0,1)\) from the equation.

[0074] Optionally, if the next new track direction is still abnormal data, continue to generate the supplementary track direction of the next new track direction. At most \(m / 2\) data can be supplemented in one fitting. After 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 preset duration. If the next new track direction is valid data, clear the valid data stored in the valid data file and store the new valid data again.

[0075] Optionally, boundary value processing needs to be performed on the generated supplementary track direction to prevent the supplementary track direction from exceeding the boundary. The processing algorithm for boundary value processing of the supplementary track direction is as follows:

[0076] ,

[0077] Among them, is the generated supplementary track direction.

[0078] In the technical solution of the embodiment of the present invention, by determining 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 received per second and the average value of the northward speed measured by the inertial navigation device received per second are statistically calculated, and the longitude position change value and the latitude position change value of the ship are determined regularly according to the average values of the eastward speed and the northward speed statistically calculated 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 navigation 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, which solves the problem that the ship track information display solution in the related technology only determines and displays the ship track information based on the position information of the ship measured by the satellite navigation device, and cannot stably display the ship track information in the case of low-speed navigation of the ship. It can increase the information source of the track direction, determine and display the ship track information based on the information measured by the inertial navigation device or the satellite navigation device of the ship, and in the case of low-speed navigation of the ship, based on the eastward speed and the northward speed measured by the inertial navigation device of the ship, accurately determine the track direction of the ship and display the track direction of the ship, making the ship track information display process relatively stable and improving the stability and accuracy of the ship track information display process.

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

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

[0083] Step 203: 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.

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

[0085] Figure 3 It is a schematic structural diagram of a ship track information display device provided by an embodiment of the present invention. The device can be configured in an electronic device. As Figure 3 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, calculate 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 determine 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 statistically obtained 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, it statistically calculates 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, and regularly determines 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 statistically calculated within N seconds before the current moment, determines the track direction of the ship according to the longitude position change value and the latitude position change value, and displays the track direction of the ship; when the speed mode of the ship is the normal navigation mode, it regularly determines the track direction of the ship according to the position information measured by the satellite navigation device of the ship and displays the track direction of the ship, solving the problem that the ship track information display solution in the related art only determines and displays the ship track information based on the position information of the ship measured by the satellite navigation device and cannot stably display the ship track information in the case of low-speed navigation of the ship. It can increase the information source of the track direction, determine and display the ship track information based on the information measured by the inertial navigation device or the satellite navigation device of the ship, and can accurately determine the track direction of the ship based on the eastward speed and the northward speed measured by the inertial navigation device of the ship and display the track direction of the ship in the case of low-speed navigation of the ship, making the ship track information display process relatively stable and improving the stability and accuracy of the ship track information display process.

[0088] In an alternative embodiment of the 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 values of the eastward speed and the northward speed statistically 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, it specifically is used for: regularly performing the following operations: determining the longitude position change value of the ship according to the average value of the eastward speed statistically calculated 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 statistically 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 on the ship navigation management page.

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

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

[0091] In an alternative embodiment of the embodiment of the present invention, optionally, the ship track information display device further includes: an inspection module, configured to, at the initial stage of determining the track direction of the ship, regularly perform a smoothness inspection on M consecutive track directions determined before the current moment, and store the M consecutive track directions that pass the smoothness inspection.

[0092] In an alternative embodiment of the embodiment of the present invention, optionally, the ship track information display device further includes: an inspection module, configured to, when a new track direction is determined each time, perform data anomaly inspection on the new track direction according to the previous track direction, and determine whether the new track direction is valid data or anomaly data.

[0093] In an alternative embodiment of the embodiment of the present invention, optionally, the ship track information display device further includes: a continuation processing module, configured to, if it is determined that the new track direction is anomaly data, perform anomaly data continuation processing according to the valid data determined before the current moment.

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

[0095] Figure 4FIG. 0 shows a schematic structural diagram of an electronic device 10 that can be used to implement the ship track information display method according to an embodiment of the present invention. The electronic device is intended to represent various forms of digital computers, such as, laptop computers, desktop computers, workstations, 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 processors, 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 herein and / or claimed.

[0096] As Figure 4 shown, the electronic device 10 includes at least one processor 11, and a memory communicatively connected to the at least one processor 11, such as a read-only memory (ROM) 12, a random access memory (RAM) 13, etc. Among them, the memory stores a computer program executable by the at least one processor. 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 into 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] Multiple 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 magnetic 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 can be various general-purpose and / or special-purpose 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 dedicated 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 the ship track information display method.

[0099] In some embodiments, the ship track information display method may be implemented as a computer program tangibly embodied 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 onto the heterogeneous hardware accelerator via the ROM and / or the communication unit. When the computer program is loaded into the RAM and executed by the 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 by any other suitable means (e.g., by means of firmware).

[0100] The various embodiments of the systems and techniques described above in this document may be implemented in digital electronic circuitry, integrated circuit systems, field programmable gate arrays (FPGA), application specific integrated circuits (ASIC), application specific standard products (ASSP), system on a chip (SOC), complex programmable logic devices (CPLD), computer hardware, firmware, software, and / or combinations thereof. These various embodiments may include: being implemented in one or more computer programs executable and / or interpretable on a programmable system including at least one programmable processor, which may be a special-purpose or general-purpose programmable processor that receives data and instructions from a storage system, at least one input device, and at least one output device, and transmits the data and instructions to the storage system, the at least one input device, and the at least one output device.

[0101] The computer program for implementing the method 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, such that when the computer programs are executed by the processor, the functions / operations specified in the flowcharts and / or block diagrams are implemented. The computer programs may be executed entirely on the machine, partly on the machine, as a stand-alone software package partly on the machine and partly on a remote machine, or entirely on a remote machine or electronic device.

[0102] In the context of the present invention, a computer-readable storage medium can be a tangible medium that can contain or store a computer program for use by or in connection with an instruction execution system, apparatus, or device. The computer-readable storage medium can include, but is not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, apparatus, or devices, or any suitable combination of the foregoing. Alternatively, the computer-readable storage medium can be a machine-readable signal medium. More specific examples of the machine-readable storage medium would include an electrical connection based on one or more wires, 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 disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.

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

[0104] The systems and techniques described herein can 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 having a graphical user interface or a web browser through which the user can interact with an implementation 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 can be interconnected to each other by any form or medium of digital data communication (e.g., a communication network). Examples of the communication network include: a local area network (LAN), a wide area network (WAN), a blockchain network, and the Internet.

[0105] A computing system may include a client and an electronic device. The client and the electronic device are generally far from each other and usually interact via a communication network. The relationship between the client and the electronic device is generated by computer programs running on respective 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 a cloud computing service system, and solves the defects of difficult management and weak business scalability existing in traditional physical hosts and VPS services.

[0106] It should be understood that various forms of processes shown above can be used, steps can be reordered, added or deleted. For example, the steps recited in the present invention can be executed in parallel, sequentially or in a different order, as long as the desired results of the technical solution of the present invention can be achieved, and no limitation is made herein.

[0107] The above specific embodiments do not constitute a limitation on the protection scope of the present invention. Those skilled in the art should understand that various modifications, combinations, sub-combinations and substitutions can be made according to design requirements and other factors. Any modifications, equivalent substitutions and improvements made within the spirit and principle of the present invention shall be included within the protection scope of the present invention.

Claims

1. A method for displaying ship track information, characterized in that: include: Determine the speed mode of the ship; wherein, after determining that the ship starts sailing, determine that the speed mode of the ship is a normal sailing 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 a preset value; 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 value, 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 sailing mode; when it is detected that the target user fills in or selects the normal sailing mode selection information in the mode selection information input area of ​​the ship navigation management page of the integrated management device, determine that the speed mode of the ship is a normal sailing mode; when it is detected that the target user fills in or selects the low speed mode selection information in the mode selection information input area of ​​the ship navigation management page of the integrated management device, determine that the speed mode of the ship is a low speed mode; 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; 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: Calculate the sum of the average values ​​of the N eastward speeds that have been most recently counted before the current moment to obtain the longitude position change value of the ship; Calculate the sum of the average values ​​of the N northward velocities that have been most recently counted before the current moment to obtain the latitude position change value of the ship; The following first calculation formula is used to calculate the track direction of the ship: ， Wherein, COG is the track direction of the ship, is the change in longitude position of the ship, is the change in latitude of the ship, and atctg() is the inverse tangent function; Display the track direction of the vessel on the vessel navigation management page; 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: 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.

3. 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.

4. The method for displaying ship track information according to claim 3, 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.

5. A ship track information display device, characterized in that: include: A mode determination module is used to determine the speed mode of a ship; wherein, after determining that the ship starts sailing, determining that the speed mode of the ship is a normal sailing mode; regularly detecting whether the absolute values ​​of the eastward speed and the northward speed measured by the inertial navigation device of the ship are less than a preset value; 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 value, 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 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 sailing mode; when it is detected that the target user fills in or selects the normal sailing mode selection information in the mode selection information input area of ​​the ship navigation management page of the integrated management device, determining that the speed mode of the ship is a normal sailing mode; when it is detected that the target user fills in or selects the low speed mode selection information in the mode selection information input area of ​​the ship navigation management page of the integrated management device, determining that the speed mode of the ship is a low speed mode; 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; A 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; 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: Calculate the sum of the average values ​​of the N eastward speeds that have been most recently counted before the current moment to obtain the longitude position change value of the ship; Calculate the sum of the average values ​​of the N northward velocities that have been most recently counted before the current moment to obtain the latitude position change value of the ship; The following first calculation formula is used to calculate the track direction of the ship: ， Wherein, COG is the track direction of the ship, is the change in longitude position of the ship, is the change value of the latitude position of the ship, and atctg() is the inverse tangent function; The track direction of the vessel is displayed on the vessel navigation management page.

6. 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 1-4.

7. 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 4 when executed.

Images