Marine photovoltaic marine navigation monitoring system

Abstract

The invention provides a maritime photovoltaic maritime navigation monitoring system, and relates to the technical field of maritime safety monitoring. The maritime photovoltaic maritime navigation monitoring system comprises a radar system, a video monitoring system, a ship automatic identification system, an electronic fence system, a very high frequency communication system, a hydro meteorology acquisition system, an acoustic optical driver isolation system and a processing device, the processing equipment is used for respectively acquiring first navigation data of the target ship detected based on the radar system, second navigation data of the target ship detected based on the video monitoring system and third navigation data of the target ship detected based on the ship automatic identification system; and fusing the first navigation data, the second navigation data and the third navigation data to determine target navigation data of the target ship. According to the invention, the comprehensiveness and accuracy of offshore safety monitoring can be improved.

Description

Background Art

[0002] Unlike land-based projects, offshore photovoltaic projects involve offshore scenes in public waters. Foreign ships and abnormal offshore environments may pose safety hazards to the construction and operation of the projects.

[0003] The offshore scenes of offshore photovoltaic projects are characterized by large areas, complex and diverse sources of safety hazards, and difficulty in equipment installation and construction. As a result, ordinary monitoring solutions such as cameras may not be able to meet the needs of this scene.

[0004] Currently, monitoring strategies generally suffer from poor comprehensiveness and accuracy.

[0005] It should be noted that the information disclosed in the above background technology section is only used to enhance the understanding of the background of the present disclosure, and therefore may include information that does not constitute the prior art known to ordinary technicians in the field. Summary of the invention

[0006] The purpose of the present disclosure is to provide a marine navigation monitoring system for offshore photovoltaics, thereby overcoming the problem of insufficient comprehensiveness and accuracy of marine navigation monitoring for offshore photovoltaics at least to a certain extent.

[0007] According to a first aspect of the present disclosure, a marine navigation monitoring system for offshore photovoltaics is provided, comprising: a radar system installed in a booster station of the onshore part of the offshore photovoltaic project, the radar system being used to monitor ships in the offshore photovoltaic area; a video monitoring system, comprising a plurality of cameras arranged at the periphery of the offshore photovoltaic area, the video monitoring system being used to monitor ships in the offshore photovoltaic area; an automatic ship identification system being used to monitor ships in the offshore photovoltaic area; an electronic fence system being used to divide the offshore photovoltaic area into a plurality of fence areas, the safety alarm levels of the fence areas being not completely the same; and a very high frequency communication system being used to monitor ships on board. When a ship enters the warning area, a connection is established with the communication terminal of the ship and a warning is issued; a hydrological and meteorological collection system is used to detect hydrological and meteorological information and issue a warning when the hydrological and meteorological information is abnormal; an acoustic and optical repelling system is used to drive the ship away by sound and / or laser when the ship enters the warning area; a processing device is used to respectively obtain the first navigation data of the target ship detected by the radar system, the second navigation data of the target ship detected by the video monitoring system, and the third navigation data of the target ship detected by the ship automatic identification system, and fuse the first navigation data, the second navigation data, and the third navigation data to determine the target navigation data of the target ship.

[0008] Optionally, the maritime navigation monitoring system also includes: an electronic nautical chart system for displaying data fed back by various systems or devices included in the maritime navigation monitoring system, and adjusting display content and / or display mode in response to user operations.

[0009] Optionally, the processing device is also used to receive data fed back by various systems or devices included in the marine navigation monitoring system, analyze and process the data, and feed the analyzed and processed data back to the electronic nautical chart system for display.

[0010] Optionally, the electronic nautical chart system is further used to simultaneously display the first navigation data, the second navigation data, the third navigation data and the target navigation data of the target ship in different display styles.

[0011] Optionally, the navigation data includes navigation elements of multiple categories; wherein the process in which the processing device fuses the first navigation data, the second navigation data, and the third navigation data to determine the target navigation data of the target ship is configured as: fusing the navigation elements of the first navigation data, the navigation elements of the second navigation data, and the navigation elements of the third navigation data according to the categories of the navigation elements to obtain the navigation elements of the target ship; and combining the navigation elements of the target ship into the target navigation data of the target ship.

[0012] Optionally, multiple categories of navigation elements include a target navigation element; wherein the processing device merges the navigation elements of the first navigation data, the navigation elements of the second navigation data, and the navigation elements of the third navigation data according to the categories of the navigation elements to obtain the process of each navigation element of the target ship is configured as: determining the target navigation element of the first navigation data and the credibility of the target navigation element of the first navigation data; determining the target navigation element of the second navigation data and the credibility of the target navigation element of the second navigation data; determining the target navigation element of the third navigation data and the credibility of the target navigation element of the third navigation data; determining the target navigation element of the target ship based on the target navigation element of the first navigation data, the credibility of the target navigation element of the first navigation data, the target navigation element of the second navigation data, the credibility of the target navigation element of the second navigation data, the target navigation element of the third navigation data, and the credibility of the target navigation element of the third navigation data.

[0013] Optionally, the processing device is also used to obtain multiple historical target navigation elements detected by the radar; evaluate the accuracy of the target navigation elements detected by the radar in combination with the multiple historical target navigation elements; and determine the credibility of the target navigation elements of the first navigation data based on the evaluation results.

[0014] Optionally, the process of evaluating the accuracy of target navigation elements detected by radar by the processing device in combination with multiple historical target navigation elements is configured as follows: determining the element standard value corresponding to each historical target navigation element; respectively determining the difference between each historical target navigation element and the corresponding element standard value; determining the number of differences greater than a difference threshold, and calculating the ratio of the number to the number of historical target navigation elements to obtain a first evaluation result of accuracy; determining a statistical value of the difference, and determining a second evaluation result of accuracy based on the statistical value of the difference; wherein the statistical value of the difference includes the mean or median of the difference, and the combination of the first evaluation result and the second evaluation result is used as the result of the accuracy evaluation.

[0015] Optionally, the process of the processing device determining the target navigation element of the target ship is configured to: convert the credibility of the target navigation element of the first navigation data into the weight of the target navigation element of the first navigation data; convert the credibility of the target navigation element of the second navigation data into the weight of the target navigation element of the second navigation data; convert the credibility of the target navigation element of the third navigation data into the weight of the target navigation element of the third navigation data; use the weight of the target navigation element of the first navigation data, the weight of the target navigation element of the second navigation data and the weight of the target navigation element of the third navigation data to perform weighted averaging processing on the target navigation element of the first navigation data, the target navigation element of the second navigation data and the target navigation element of the third navigation data to determine the target navigation element of the target ship.

[0016] Optionally, the processing device is also used to unify the first navigation data, the second navigation data, and the third navigation data into the same coordinate system before fusing the first navigation data, the second navigation data, and the third navigation data; wherein data fusion is performed using the data unified into the same coordinate system.

[0017] In the technical solutions provided in some embodiments of the present disclosure, the marine navigation monitoring system of offshore photovoltaics includes a radar system, a video monitoring system, an automatic ship identification system, an electronic fence system, a very high frequency communication system, a hydrological and meteorological collection system, an acoustic and optical drive-off system, and a processing device. Through the configuration of the disclosed system, the natural factors, ships, and human factors that affect the safety of marine navigation can be better monitored, and the monitoring is highly comprehensive. In addition, data fusion is achieved through processing equipment, thereby solving or at least alleviating the problem of insufficient accuracy that may occur in a single monitoring method.

[0018] It is to be understood that the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the present disclosure. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] The accompanying drawings herein are incorporated into the specification and constitute a part of the specification, illustrate embodiments consistent with the present disclosure, and together with the specification are used to explain the principles of the present disclosure. Obviously, the accompanying drawings described below are only some embodiments of the present disclosure, and for ordinary technicians in this field, other accompanying drawings can be obtained based on these accompanying drawings without creative work.

[0020] Figure 1 A schematic diagram of a marine navigation monitoring system for offshore photovoltaics according to an exemplary embodiment of the present disclosure is shown.

[0021] Figure 2 A schematic diagram showing a deployment scheme of a radar system according to an embodiment of the present disclosure is shown.

[0022] Figure 3 A schematic diagram showing a deployment scheme of a video surveillance system according to an embodiment of the present disclosure is shown.

[0023] Figure 4 The flowchart of the method for determining target navigation data of a target ship by a processing device according to an embodiment of the present disclosure is schematically shown.

[0024] Figure 5 A block diagram of an electronic device according to an exemplary embodiment of the present disclosure is schematically shown. DETAILED DESCRIPTION

[0025] Example embodiments will now be described more fully with reference to the accompanying drawings. However, example embodiments can be implemented in a variety of forms and should not be construed as being limited to the examples set forth herein; on the contrary, these embodiments are provided so that the present disclosure will be more comprehensive and complete, and the concepts of the example embodiments are fully conveyed to those skilled in the art. The described features, structures, or characteristics may be combined in one or more embodiments in any suitable manner. In the following description, many specific details are provided to provide a full understanding of the embodiments of the present disclosure. However, those skilled in the art will appreciate that the technical solutions of the present disclosure may be practiced while omitting one or more of the specific details, or other methods, components, devices, steps, etc. may be adopted. In other cases, known technical solutions are not shown or described in detail to avoid obscuring various aspects of the present disclosure.

[0026] In addition, the accompanying drawings are only schematic illustrations of the present disclosure and are not necessarily drawn to scale. The same reference numerals in the figures represent the same or similar parts, and their repeated description will be omitted. Some of the block diagrams shown in the accompanying drawings are functional entities and do not necessarily correspond to physically or logically independent entities. These functional entities can be implemented in software form, or implemented in one or more hardware modules or integrated circuits, or implemented in different networks and / or processor devices and / or microcontroller devices.

[0027] The flowcharts shown in the accompanying drawings are only exemplary and do not necessarily include all the steps. For example, some steps may be decomposed, while some steps may be combined or partially combined, so the actual execution order may change according to the actual situation. In addition, all the terms "first", "second", "third", etc. below are only for the purpose of distinction and should not be used as limitations of the present disclosure.

[0028] Figure 1 A schematic diagram of a marine navigation monitoring system for offshore photovoltaics according to an exemplary embodiment of the present disclosure is shown. Figure 1 The marine navigation monitoring system of the offshore photovoltaic system of the embodiment of the present disclosure may include a radar system, a video monitoring system, an automatic identification system (Automatic Identification System, AIS), an electronic fence system, a very high frequency (VHF) communication system, a hydrological and meteorological collection system, an acoustic and optical drive-off system, an electronic nautical chart system and processing equipment.

[0029] The radar system can be installed in the booster station of the onshore part of the offshore photovoltaic project. Figure 2 A schematic diagram of the deployment scheme of the radar system of the embodiment of the present disclosure is shown. For example, a tower is built in the booster station, and the height of the radar system installation platform in the tower is about 28m, so that the height of the radar antenna is about 30m above sea level. The radar system can be used to monitor ships in the offshore area of ​​offshore photovoltaics.

[0030] The video monitoring system may include a plurality of cameras configured at the periphery of the offshore area of ​​the offshore photovoltaic project. Specifically, the number of cameras configured may be determined according to the image acquisition range of the cameras and the area of ​​the offshore photovoltaic array. Figure 3 A schematic diagram showing a layout scheme of a video surveillance system according to an embodiment of the present disclosure is shown. Figure 3 For example, camera 1, camera 2, camera 3, camera 4, camera 5 and camera 6 may be configured around the offshore photovoltaic array, for a total of six cameras. The video monitoring system may be used to monitor ships in the offshore area of ​​offshore photovoltaics.

[0031] The automatic identification system for ships is a new digital navigation system that integrates network technology, modern communication technology, computer technology, and electronic information display technology. It can be composed of shore-based (base station) facilities and ship-borne equipment. Through this system, the navigation data of ships can be queried in real time to realize the monitoring of ships in the offshore area of ​​offshore photovoltaics.

[0032] The electronic fence system can be used to divide the offshore area of ​​offshore photovoltaics into multiple fence areas, and the safety alarm levels of each fence area are not exactly the same.

[0033] The VHF communication system can be used to establish a connection with the communication terminal of the ship and issue an alarm when the ship enters the alarm area. The alarm area can be demarcated by the electronic fence system.

[0034] The hydrometeorological data collection system can be used to detect hydrometeorological information and issue warnings when the hydrometeorological information is abnormal. Specifically, the hydrometeorological data collection system can realize the detection of hydrometeorological elements, electrical signal conversion, quantization coding, and conversion into data signals. It also involves functions such as data transmission, data quality control, data storage and management. Among them, meteorological detection content may include but is not limited to temperature indicators, precipitation indicators, temperature indicators, wind indicators, fog indicators, etc. Hydrological detection content may include but is not limited to tidal indicators, wave indicators, ocean current indicators, etc.

[0035] The sound and light drive away system can be used to drive away ships by sound and / or laser when ships enter the warning area. The demarcation of the warning area here can still be made by the electronic fence system.

[0036] The electronic nautical chart system can be used to display data fed back by various systems or devices included in the marine navigation monitoring system, and to adjust the display content and / or display mode in response to user operations.

[0037] In addition, the electronic chart system can also be connected only to the processing device. In this case, the processing device can receive data fed back by various systems or devices included in the marine navigation monitoring system, analyze and process the data, and feed the analyzed and processed data back to the electronic chart system for display.

[0038] The processing device can also be used to respectively obtain the first navigation data of the target ship detected by the radar system, the second navigation data of the target ship detected by the video surveillance system, and the third navigation data of the target ship detected by the ship automatic identification system, and fuse the first navigation data, the second navigation data, and the third navigation data to determine the target navigation data of the target ship.

[0039] As for the display function of the electronic nautical chart system, the electronic nautical chart system can also be used to simultaneously display the first navigation data, the second navigation data, the third navigation data and the target navigation data of the target ship in different display styles. The different display styles refer to one or more differences in the size, color and style of the font or symbol.

[0040] Reference below Figure 4 The method for determining the target navigation data of a target ship by a processing device in an embodiment of the present disclosure is described. The method may include the following steps:

[0041] S42. Acquire first navigation data of the target ship detected by the radar system.

[0042] The processing device can receive the data sent by the radar system, and after analyzing and processing the data, the first navigation data of the target ship can be obtained.

[0043] In an exemplary embodiment of the present disclosure, the target ship may be any ship in the current offshore photovoltaic scene.

[0044] The navigation data may include multiple categories of navigation elements, wherein the multiple categories of navigation elements may include position coordinates, speed, heading, acceleration, etc.

[0045] In the embodiment of the present disclosure, the navigation data of the target ship detected by the radar system is recorded as the first navigation data of the target ship.

[0046] S44. Acquire second navigation data of the target ship detected by the video surveillance system.

[0047] The processing device can receive data sent by the video surveillance system, and after analyzing and processing the data, the second navigation data of the target ship can be obtained. Similarly, in the embodiment of the present disclosure, the navigation data of the target ship detected by the video surveillance system is recorded as the second navigation data of the target ship.

[0048] S46. Obtain third navigation data of the target ship detected by the ship automatic identification system.

[0049] The processing device can receive data sent by the ship automatic identification system, and after analyzing and processing the data, the third navigation data of the target ship can be obtained. Similarly, in the embodiment of the present disclosure, the navigation data of the target ship detected by the ship automatic identification system is recorded as the third navigation data of the target ship.

[0050] On the one hand, the present disclosure does not limit the analysis and processing process of the data in step S42 to step S46. On the other hand, the present disclosure does not limit the execution order of step S42, step S44 and step S46.

[0051] S48. Fusing the first navigation data, the second navigation data, and the third navigation data to determine target navigation data of the target ship.

[0052] In an exemplary embodiment of the present disclosure, the navigation elements of the first navigation data, the navigation elements of the second navigation data, and the navigation elements of the third navigation data may be merged according to the categories of the above navigation elements to obtain the navigation elements of the target ship, and then the navigation elements of the target ship are combined into the target navigation data of the target ship.

[0053] Taking the navigation elements including position coordinates, speed, heading and acceleration as an example, for the position coordinates, the position coordinates in the first navigation data, the position coordinates in the second navigation data and the position coordinates in the third navigation data can be fused to obtain the position coordinates of the target ship; for the speed, the speed in the first navigation data, the speed in the second navigation data and the speed in the third navigation data can be fused to obtain the speed of the target ship; for the heading, the heading in the first navigation data, the heading in the second navigation data and the heading in the third navigation data can be fused to obtain the heading of the target ship; for the acceleration, the ship acceleration in the first navigation data, the ship acceleration in the second navigation data and the ship acceleration in the third navigation data can be fused to obtain the acceleration of the target ship.

[0054] The specific processing process is described by taking the target navigation element as an example, wherein the target navigation element can be any one of the above-mentioned multiple navigation elements.

[0055] In an exemplary embodiment of the present disclosure, a target navigation element of the first navigation data and the credibility of the target navigation element of the first navigation data may be determined.

[0056] In an exemplary embodiment of the present disclosure, the credibility of different navigation elements may be different.

[0057] The process of determining the credibility of the target navigation element of the first navigation data is described below.

[0058] First, the processing device can obtain multiple historical target navigation elements detected by the radar system.

[0059] These historical target navigation elements may be from the same ship or different ships, and the present disclosure is not limited in this regard.

[0060] Next, the processing device may determine an element standard value corresponding to each historical target navigation element.

[0061] Specifically, the standard value of the element may be an accurate value obtained after manual correction.

[0062] Subsequently, the processing device may respectively determine the difference between each historical target navigation element and the corresponding element standard value.

[0063] According to some embodiments of the present disclosure, the difference may be the difference between the value of the historical target navigation element and the standard value of the corresponding element, and then taking the absolute value.

[0064] On the one hand, the number of differences greater than a difference threshold is determined, and the ratio of the number to the number of historical target navigation elements is calculated to obtain a first evaluation result of accuracy.

[0065] On the other hand, a statistical value of the difference is determined, and a second evaluation result of the accuracy is determined based on the statistical value of the difference.

[0066] Specifically, the statistical value of the differences may include the average value or median value of the differences.

[0067] Then, a combination of the first evaluation result and the second evaluation result is taken as a result of the accuracy evaluation.

[0068] Specifically, the second evaluation result may be converted to [0, 1], and the converted result may be added to the first evaluation result to obtain a sum of the results, and the accuracy evaluation result may be obtained based on the sum of the results.

[0069] It should be noted that the sum of the above results is negatively correlated with the result of the accuracy assessment, that is, the larger the sum of the results, the worse the accuracy; the smaller the sum of the results, the better the accuracy. The specific form of this negative correlation can be determined by multiple test fittings, and the present disclosure does not limit this.

[0070] After the evaluation result is determined, the credibility of the target navigation element of the first navigation data detected by the radar may be determined according to the evaluation result.

[0071] In an exemplary embodiment of the present disclosure, a target navigation element of the second navigation data and the credibility of the target navigation element of the second navigation data may be determined.

[0072] In an exemplary embodiment of the present disclosure, the target navigation element of the third navigation data and the credibility of the target navigation element of the third navigation data may be determined.

[0073] The method of determining these two credibility levels is similar to the above detailed process and will not be repeated here.

[0074] Next, the target navigation element of the target ship can be determined based on the target navigation element of the first navigation data, the credibility of the target navigation element of the first navigation data, the target navigation element of the second navigation data, the credibility of the target navigation element of the second navigation data, the target navigation element of the third navigation data and the credibility of the target navigation element of the third navigation data.

[0075] Specifically, on the one hand, the credibility of the target navigation element of the first navigation data is converted into the weight of the target navigation element of the first navigation data; on the other hand, the credibility of the target navigation element of the second navigation data is converted into the weight of the target navigation element of the second navigation data; on the other hand, the credibility of the target navigation element of the third navigation data is converted into the weight of the target navigation element of the third navigation data.

[0076] The mapping relationship between credibility and weight can be pre-constructed, and the mapping relationship can be determined based on human experience and after experimental verification. Therefore, when the credibility is known, the weight can be determined according to the mapping curve.

[0077] It should be noted that different navigation elements may correspond to a mapping relationship. In order to further improve the accuracy, different navigation elements may be pre-configured with different mapping relationships.

[0078] Then, the target navigation elements of the first navigation data, the second navigation data and the third navigation data are weighted averaged using the weights of the target navigation elements of the first navigation data, the second navigation data and the third navigation data to determine the target navigation elements of the target ship.

[0079] In addition, before fusing the first navigation data, the second navigation data, and the third navigation data, the processing device may also unify the first navigation data, the second navigation data, and the third navigation data into the same coordinate system, and then perform data fusion using the data unified into the same coordinate system.

[0080] It should be noted that although the steps of the method in the present disclosure are described in a specific order in the drawings, this does not require or imply that the steps must be performed in this specific order, or that all the steps shown must be performed to achieve the desired results. Additionally or alternatively, some steps may be omitted, multiple steps may be combined into one step, and / or one step may be decomposed into multiple steps, etc.

[0081] In an exemplary embodiment of the present disclosure, a computer-readable storage medium is also provided, on which a program product capable of implementing the above method of the present specification is stored. In some possible implementations, various aspects of the present disclosure may also be implemented in the form of a program product, which includes a program code, and when the program product is run on a terminal device, the program code is used to enable the terminal device to execute the steps according to various exemplary implementations of the present disclosure described in the above "Exemplary Method" section of the present specification.

[0082] The program product for implementing the above method according to the embodiment of the present disclosure can adopt a portable compact disk read-only memory (CD-ROM) and include program code, and can be run on a terminal device, such as a personal computer. However, the program product of the present disclosure is not limited thereto, and in this document, a readable storage medium can be any tangible medium containing or storing a program, which can be used by or in combination with an instruction execution system, an apparatus or a device.

[0083] The program product may use any combination of one or more readable media. The readable medium may be a readable signal medium or a readable storage medium. The readable storage medium may be, for example, but not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, device or device, or any combination of the above. More specific examples (non-exhaustive list) of readable storage media include: an electrical connection with one or more wires, a portable 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 disk, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above.

[0084] Computer readable signal media may include data signals propagated in baseband or as part of a carrier wave, in which readable program code is carried. Such propagated data signals may take a variety of forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination of the above. Readable signal media may also be any readable medium other than a readable storage medium, which may send, propagate, or transmit a program for use by or in conjunction with an instruction execution system, apparatus, or device.

[0085] The program code embodied on the readable medium may be transmitted using any appropriate medium, including but not limited to wireless, wired, optical cable, RF, etc., or any suitable combination of the foregoing.

[0086] Program code for performing the operations of the present disclosure may be written in any combination of one or more programming languages, including object-oriented programming languages ​​such as Java, C++, etc., and conventional procedural programming languages ​​such as "C" or similar programming languages. The program code may be executed entirely on the user computing device, partially on the user device, as a separate software package, partially on the user computing device and partially on a remote computing device, or entirely on a remote computing device or server. In cases involving a remote computing device, the remote computing device may be connected to the user computing device through any type of network, including a local area network (LAN) or a wide area network (WAN), or may be connected to an external computing device (e.g., through the Internet using an Internet service provider).

[0087] In an exemplary embodiment of the present disclosure, an electronic device capable of implementing the above method is also provided. Specifically, the above processing device can be configured in the form of the following electronic device.

[0088] Those skilled in the art will appreciate that various aspects of the present disclosure may be implemented as systems, methods or program products. Therefore, various aspects of the present disclosure may be specifically implemented in the following forms, namely: complete hardware implementation, complete software implementation (including firmware, microcode, etc.), or a combination of hardware and software, which may be collectively referred to herein as "circuits", "modules" or "systems".

[0089] Refer to the following Figure 5 The electronic device 500 according to this embodiment of the present disclosure is described. Figure 5 The electronic device 500 shown is merely an example and should not bring any limitation to the functions and scope of use of the embodiments of the present disclosure.

[0090] like Figure 5 As shown, the electronic device 500 is in the form of a general computing device. The components of the electronic device 500 may include but are not limited to: at least one processing unit 510, at least one storage unit 520, a bus 530 connecting different system components (including the storage unit 520 and the processing unit 510), and a display unit 540.

[0091] The storage unit stores a program code, which can be executed by the processing unit 510, so that the processing unit 510 performs the steps according to various exemplary embodiments of the present disclosure described in the above “Exemplary Method” section of this specification. For example, the processing unit 510 can perform steps S42 to S48 of the embodiments of the present disclosure.

[0092] The storage unit 520 may include a readable medium in the form of a volatile storage unit, such as a random access storage unit (RAM) 5201 and / or a cache storage unit 5202 , and may further include a read-only storage unit (ROM) 5203 .

[0093] The storage unit 520 may also include a program / utility 5204 having a set (at least one) of program modules 5205, such program modules 5205 including but not limited to: an operating system, one or more application programs, other program modules, and program data, each of which or some combination may include an implementation of a network environment.

[0094] Bus 530 may represent one or more of several types of bus structures, including a memory unit bus or memory unit controller, a peripheral bus, an accelerated graphics port, a processing unit, or a local bus using any of a variety of bus architectures.

[0095] The electronic device 500 may also communicate with one or more external devices 600 (e.g., keyboards, pointing devices, Bluetooth devices, etc.), may also communicate with one or more devices that enable a user to interact with the electronic device 500, and / or may communicate with any device that enables the electronic device 500 to communicate with one or more other computing devices (e.g., routers, modems, etc.). Such communication may be performed via an input / output (I / O) interface 550. Furthermore, the electronic device 500 may also communicate with one or more networks (e.g., local area networks (LANs), wide area networks (WANs), and / or public networks, such as the Internet) via a network adapter 560. As shown, the network adapter 560 communicates with other modules of the electronic device 500 via a bus 530. It should be understood that, although not shown in the figure, other hardware and / or software modules may be used in conjunction with the electronic device 500, including but not limited to: microcode, device drivers, redundant processing units, external disk drive arrays, RAID systems, tape drives, and data backup storage systems.

[0096] Through the description of the above implementation, it is easy for those skilled in the art to understand that the example implementation described here can be implemented by software, or by software combined with necessary hardware. Therefore, the technical solution according to the implementation of the present disclosure can be embodied in the form of a software product, which can be stored in a non-volatile storage medium (which can be a CD-ROM, a USB flash drive, a mobile hard disk, etc.) or on a network, including several instructions to enable a computing device (which can be a personal computer, a server, a terminal device, or a network device, etc.) to execute the method according to the implementation of the present disclosure.

[0097] In addition, the above-mentioned figures are only schematic illustrations of the processes included in the method according to the exemplary embodiments of the present disclosure, and are not intended to be limiting. It is easy to understand that the processes shown in the above-mentioned figures do not indicate or limit the time sequence of these processes. In addition, it is also easy to understand that these processes can be performed synchronously or asynchronously, for example, in multiple modules.

[0098] It should be noted that, although several modules or units of the device for action execution are mentioned in the above detailed description, this division is not mandatory. In fact, according to the embodiments of the present disclosure, the features and functions of two or more modules or units described above can be embodied in one module or unit. On the contrary, the features and functions of one module or unit described above can be further divided into multiple modules or units to be embodied.

[0099] Those skilled in the art will readily appreciate other embodiments of the present disclosure after considering the specification and practicing what is disclosed herein. This application is intended to cover any variations, uses, or adaptations of the present disclosure that follow the general principles of the present disclosure and include common knowledge or customary technical means in the art that are not disclosed in the present disclosure. The specification and embodiments are to be considered merely as exemplary, and the true scope and spirit of the present disclosure are indicated by the claims.

[0100] It should be understood that the present disclosure is not limited to the exact structures that have been described above and shown in the drawings, and that various modifications and changes may be made without departing from the scope thereof. The scope of the present disclosure is limited only by the appended claims.

Claims

1. A marine photovoltaic navigation monitoring system, characterized in that: include: A radar system installed in a booster station in the onshore portion of an offshore photovoltaic project, the radar system being used to monitor ships in the offshore area of ​​the offshore photovoltaic project; A video monitoring system, comprising a plurality of cameras arranged at the periphery of an offshore area of ​​an offshore photovoltaic project, wherein the video monitoring system is used to monitor ships in the offshore area of ​​the offshore photovoltaic project; Automatic ship identification system, used to monitor ships in offshore areas of offshore photovoltaics; An electronic fence system is used to divide the offshore photovoltaic area into multiple fenced areas, and the safety alarm levels of each fenced area are not exactly the same; A very high frequency communication system for establishing a connection with a communication terminal of the ship and issuing a warning when the ship enters the warning area; A hydrometeorological collection system for detecting hydrometeorological information and issuing a warning when the hydrometeorological information is abnormal; The sound and light repelling system is used to repel ships by means of sound and / or laser when the ships enter the warning area; A processing device is used to respectively obtain the first navigation data of the target ship detected by the radar system, the second navigation data of the target ship detected by the video surveillance system, and the third navigation data of the target ship detected by the ship automatic identification system, and fuse the first navigation data, the second navigation data, and the third navigation data to determine the target navigation data of the target ship.

2. The marine navigation monitoring system according to claim 1, characterized in that: The marine navigation monitoring system also includes: The electronic nautical chart system is used to display the data fed back by each system or device included in the marine navigation monitoring system, and to adjust the display content and / or display mode in response to user operations.

3. The marine navigation monitoring system according to claim 2, characterized in that: The processing device is also used to receive data fed back by various systems or devices included in the marine navigation monitoring system, analyze and process the data, and feed back the analyzed and processed data to the electronic nautical chart system for display.

4. The marine navigation monitoring system according to claim 2, characterized in that: The electronic nautical chart system is also used to simultaneously display the first navigation data, the second navigation data, the third navigation data and the target navigation data of the target ship in different display styles.

5. The marine navigation monitoring system according to claim 1, characterized in that: The navigation data includes navigation elements of multiple categories; wherein, the process in which the processing device fuses the first navigation data, the second navigation data, and the third navigation data to determine the target navigation data of the target ship is configured as: fusing the navigation elements of the first navigation data, the second navigation data, and the third navigation data according to the categories of the navigation elements respectively to obtain the navigation elements of the target ship; and combining the navigation elements of the target ship into the target navigation data of the target ship.

6. The marine navigation monitoring system according to claim 5, characterized in that: The multiple categories of navigation elements include target navigation elements; wherein, the processing device fuses the navigation elements of the first navigation data, the navigation elements of the second navigation data, and the navigation elements of the third navigation data according to the categories of navigation elements to obtain the process of each navigation element of the target ship is configured as: determining the target navigation element of the first navigation data and the credibility of the target navigation element of the first navigation data; determining the target navigation element of the second navigation data and the credibility of the target navigation element of the second navigation data; determining the target navigation element of the third navigation data and the credibility of the target navigation element of the third navigation data; determining the target navigation element of the target ship based on the target navigation element of the first navigation data, the credibility of the target navigation element of the first navigation data, the target navigation element of the second navigation data, the credibility of the target navigation element of the second navigation data, the target navigation element of the third navigation data, and the credibility of the target navigation element of the third navigation data.

7. The marine navigation monitoring system according to claim 6, characterized in that: The processing device is also used to obtain multiple historical target navigation elements detected by the radar; evaluate the accuracy of the target navigation elements detected by the radar in combination with the multiple historical target navigation elements; and determine the credibility of the target navigation elements of the first navigation data based on the evaluation results.

8. The marine navigation monitoring system according to claim 7, characterized in that: The process of evaluating the accuracy of the target navigation element detected by the radar in combination with the plurality of historical target navigation elements by the processing device is configured to: determine the element standard value corresponding to each of the historical target navigation elements; respectively determine the difference between each of the historical target navigation elements and the corresponding element standard value; Determine the number of differences greater than a difference threshold, and calculate the ratio of the number to the number of historical target navigation elements to obtain a first evaluation result of accuracy; determine a statistical value of the difference, and determine a second evaluation result of accuracy based on the statistical value of the difference; wherein the statistical value of the difference includes an average value or a median value of the difference, and the combination of the first evaluation result and the second evaluation result is used as a result of the accuracy evaluation.

9. The marine navigation monitoring system according to claim 6, characterized in that: The process of determining the target navigation element of the target ship by the processing device is configured to: convert the credibility of the target navigation element of the first navigation data into the weight of the target navigation element of the first navigation data; converting the credibility of the target navigation element of the second navigation data into a weight of the target navigation element of the second navigation data; The credibility of the target navigation element of the third navigation data is converted into the weight of the target navigation element of the third navigation data; the weight of the target navigation element of the first navigation data, the weight of the target navigation element of the second navigation data and the weight of the target navigation element of the third navigation data are used to perform weighted averaging processing on the target navigation element of the first navigation data, the target navigation element of the second navigation data and the target navigation element of the third navigation data to determine the target navigation element of the target ship.

10. The marine navigation monitoring system according to any one of claims 1 to 9, characterized in that: The processing device is also used to unify the first navigation data, the second navigation data, and the third navigation data into the same coordinate system before fusing the first navigation data, the second navigation data, and the third navigation data; wherein data fusion is performed using the data unified into the same coordinate system.

Images