Comprehensive evaluation method of navigation system

Abstract

The embodiment of the invention provides a comprehensive evaluation method of a navigation system. The method is applied to the technical field of marine navigation and comprises the following steps: S1, dividing the whole world into a plurality of grids according to latitude and longitude coordinates; s2, collecting monitoring data of each single system in real time, and performing grid single system availability evaluation on the grid; s3, fusing monitoring data of each single system, and performing grid comprehensive availability evaluation on the grid; s4, based on the grid single-system availability evaluation and the grid comprehensive availability evaluation, performing region-level availability evaluation; and S5, carrying out visual display on various availability evaluations, and issuing early warning information when the navigation system is unavailable. In this way, the technical problem that the evaluation object of the navigation-aided system is single is solved, availability evaluation on the navigation-aided system from the two aspects of positioning and communication is achieved, the overall reliability of the navigation-aided system is improved, area-level availability evaluation is achieved, and navigation-aided requirements of different areas can be met.

Description

Technical Field

[0001] The present disclosure relates to the field of maritime navigation technology, and in particular to a comprehensive evaluation method for a navigation aid system. Background Art

[0002] The Maritime Aids to Navigation system is a technical system that uses a variety of navigation, communication, and monitoring technologies to provide safety and information services for maritime navigation. By integrating satellite navigation (such as GPS and Beidou), ground-based navigation (such as radar and VHF shore stations), beacons, and automatic identification systems, it aims to provide ships with positioning, navigation, communication, collision avoidance, channel guidance, and traffic management services to ensure navigation safety, improve navigation efficiency, and maintain maritime traffic order.

[0003] As a key infrastructure for ensuring safe navigation of ships, the performance and service quality of maritime navigation aids systems are directly related to the safety of ships' navigation. Therefore, real-time monitoring and evaluation of maritime navigation aids systems to ensure their availability are also key links in ensuring safe navigation of ships.

[0004] However, existing evaluation methods for maritime navigation aids suffer from the technical problem of a single evaluation object. Specifically, existing evaluation methods for maritime navigation aids systems mostly focus on evaluating the availability of a single system (such as radar, AIS, etc.), lack a comprehensive evaluation of the collaborative work of multiple systems or the overall maritime navigation aid system, and do not consider the interactive impact between different systems (such as AIS, VTS, ECDIS, etc.). This makes it difficult to comprehensively and systematically evaluate the availability of maritime navigation aids systems. As a result, the evaluation results are difficult to reflect the complexity and overall performance of ships in actual operation, making it difficult to meet decision-making needs in complex maritime environments.

[0005] Therefore, the present invention proposes a comprehensive evaluation method for a navigation aid system to solve the above technical problems. Summary of the Invention

[0006] The present disclosure provides a comprehensive evaluation method for a navigation aid system, which solves the technical problem of a single evaluation object of the navigation aid system, realizes the availability evaluation of the navigation aid system from the two aspects of positioning and communication, significantly improves the overall reliability of the navigation aid system, and conducts navigation aid availability evaluation for three different scenarios: coastal waters, exclusive economic zones, and global waters, to better adapt to the navigation and communication needs of different regions.

[0007] According to a comprehensive evaluation method for a navigation aid system, the method comprises the following steps:

[0008] S1. Divide the world into multiple grids based on longitude and latitude coordinates in order to construct a grid evaluation model for the navigation aids system.

[0009] S2. collecting single-system monitoring data of each single system in the navigation aid system in real time, and performing grid single-system availability evaluation on the grid based on the single-system monitoring data;

[0010] S3. Perform multi-source data fusion processing on the single system monitoring data to obtain fused data, and perform a comprehensive grid availability evaluation on the grid based on the fused data;

[0011] S4. Based on the grid single system availability evaluation and the grid comprehensive availability evaluation, perform regional availability evaluation for different regional scenarios;

[0012] S5. Visually display the grid single system availability evaluation, the grid comprehensive availability evaluation, and the regional level availability evaluation, and issue a warning message when the navigation system is unavailable.

[0013] Furthermore, the regional scenarios include coastal waters, exclusive economic zones, and global waters, and the regional-level availability evaluation includes coastal waters availability evaluation, exclusive economic zone availability evaluation, and global waters availability evaluation.

[0014] Furthermore, the single system includes a navigation single system and a communication single system;

[0015] The navigation system includes BeiDou, GPS, RBN-DGNSS, and CORS;

[0016] The single communication system includes Navtex, AIS, VDES, and EGC.

[0017] Furthermore, the step S2 specifically includes the following steps:

[0018] S21, collecting the single-system monitoring data of each monitoring station in the navigation system in real time;

[0019] S22. Preprocess the single-system monitoring data, convert the data of each single system into a unified format, and extract key characteristic indicators of each single system;

[0020] S23. Calculate the grid single system availability evaluation for each grid based on the key characteristic indicators of each single system, the preset key characteristic indicator thresholds of each single system, and availability logic judgment;

[0021] S24: Send the grid single system availability evaluation to a visualization data processing center.

[0022] Furthermore, the step S3 specifically includes the following steps:

[0023] S31. For any grid, integrate the key characteristic indicators of each single system to construct a comprehensive evaluation characteristic indicator of the grid;

[0024] S32, integrating the grid single system availability evaluations to calculate the grid comprehensive availability evaluation;

[0025] S33: Send the grid comprehensive availability evaluation to a visualization data processing center.

[0026] Furthermore, the step S4 specifically includes the following steps:

[0027] S41. For any time t and any grid, calculate whether the single system is available. The calculation formula is:

[0028]

[0029] Among them, A Inst (t) is the availability evaluation of a single system at time t, 1 means available, 0 means unavailable, d OBS (t) is the value of the grid single system availability index at time t, T AL is the threshold of the single system availability indicator;

[0030] S42. For any grid, calculate the value of the grid single system availability evaluation at time t, and calculate the ratio of the number of samples that meet the judgment condition (i.e., the single system is available) to the total number of samples within the statistical time as the value of the grid single system availability evaluation. The formula is:

[0031]

[0032] Among them, A i (φ,λ) is the grid single system availability evaluation of the grid i with longitude and latitude (φ,λ), N i is the total number of samples of grid i within the statistical time.

[0033] S43. Calculate the average value of the grid single system availability evaluation in all grids in the coastal sea area as the value of the coastal sea area availability evaluation, and the formula is:

[0034]

[0035] Among them, A1 is the coastal sea area availability evaluation of the single system, and N1 is the total number of coastal sea area grids;

[0036] S44. Calculate the average value of the availability evaluation of the single grid system in all grids in the exclusive economic zone as the value of the exclusive economic zone availability evaluation. The formula is:

[0037]

[0038] Wherein, A2 is the EEZ availability assessment of the single system, and N2 is the total number of EEZ grids;

[0039] S45. Calculate the average value of the grid single system availability evaluation in all grids in the global ocean area as the value of the global ocean area availability evaluation, and the formula is:

[0040]

[0041] Wherein, A3 is the global ocean area availability evaluation of the single system, and N3 is the total number of global ocean area grids.

[0042] S46, sending the coastal waters navigation aid availability evaluation A1 of the single system, the exclusive economic zone navigation aid availability evaluation A2 of the single system, and the global waters navigation aid availability evaluation A3 of the single system to the visualization data processing center respectively.

[0043] Furthermore, the step S5 specifically includes the following steps:

[0044] S51, visually displaying the grid single system availability evaluation, the grid comprehensive availability evaluation, the coastal waters navigation availability evaluation A1 of the single system, the exclusive economic zone navigation availability evaluation A2 of the single system, and the global waters navigation availability evaluation A3 of the single system received by the visualization data processing center;

[0045] S52: When the navigation aids system is unavailable, issuing warning information via an information broadcasting platform.

[0046] The comprehensive evaluation method for a navigation aid system according to claim 7 is characterized in that the warning information includes the coordinates of the unavailable grid, the type of unavailable single system, the unavailable regional scenario, the unavailability reason, and the expected recovery time.

[0047] The technical effects of the present invention are as follows:

[0048] (1) This scheme evaluates the availability of four navigation systems and four communication systems separately, evaluates the availability of the navigation system from the two aspects of positioning and communication, and visualizes the availability evaluation of each single system. It realizes the parallel evaluation of the positioning system and the communication system for the first time, breaks through the limitations of traditional single system evaluation, and improves the overall reliability of the navigation system.

[0049] (2) This program conducts availability evaluation in three different scenarios: coastal waters, exclusive economic zones, and global waters. In this way, this program can better adapt to the navigation and communication needs of different regions, especially in coastal waters and narrow waterways where high-precision navigation and communication requirements are high, and can provide more detailed evaluation results.

[0050] It should be understood that the contents described in the Summary of the Invention section are not intended to limit the key or important features of the embodiments of the present disclosure, nor are they intended to limit the scope of the present disclosure. Other features of the present disclosure will become readily understood through the following description. BRIEF DESCRIPTION OF THE DRAWINGS

[0051] The above and other features, advantages and aspects of the embodiments of the present disclosure will become more apparent with reference to the following detailed description in conjunction with the accompanying drawings. The accompanying drawings are provided for a better understanding of the present disclosure and do not constitute a limitation of the present disclosure. In the accompanying drawings, the same or similar reference numerals represent the same or similar elements, among which:

[0052] Figure 1 This is a flowchart of the comprehensive evaluation method of the navigation aid system disclosed in the present invention. DETAILED DESCRIPTION

[0053] To make the purpose, technical solutions, and advantages of the embodiments of the present disclosure more clear, the technical solutions in the embodiments of the present disclosure will be clearly and completely described below in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present disclosure, not all of the embodiments. Based on the embodiments of the present disclosure, all other embodiments obtained by ordinary technicians in this field without making any creative efforts are within the scope of protection of the present disclosure.

[0054] In this document, the term "and / or" simply describes a relationship between related objects, indicating that three possible relationships exist. For example, "A and / or B" can represent: A exists alone, A and B exist simultaneously, or B exists alone. Furthermore, the character " / " in this document generally indicates that the related objects are in an "or" relationship.

[0055] It should be understood that the various forms of the processes shown above can be used to reorder, add, or delete steps. For example, the steps described in this disclosure can be performed in parallel, sequentially, or in a different order, as long as the desired results of the technical solutions disclosed in this disclosure can be achieved. This is not limited herein.

[0056] like Figure 1 As shown, the present invention proposes a comprehensive evaluation method for a navigation aid system, comprising the following steps:

[0057] S1. Divide the world into multiple grids based on longitude and latitude coordinates in order to construct a grid evaluation model for the navigation aids system.

[0058] S2. Real-time collection of single-system monitoring data of each single system in the navigation aids system, and evaluation of grid single-system availability based on the single-system monitoring data;

[0059] S3, fusing the single system monitoring data with multi-source data to obtain fused data, and performing comprehensive grid availability evaluation on the grid based on the fused data;

[0060] S4. Based on the grid single system availability evaluation and grid comprehensive availability evaluation, regional level availability evaluation is conducted for different regional scenarios;

[0061] S5. Visualize the grid single system availability evaluation, grid comprehensive availability evaluation, and regional level availability evaluation, and issue warning information when the navigation system is unavailable.

[0062] Preferably, in step S1, the world is divided into multiple grids based on longitude and latitude coordinates. The grid size division standard can be set according to the navigation accuracy requirement, for example, decimeter level, 5 meter level, and 10 meter level can be used, and the evaluation accuracy of the navigation system decreases in sequence.

[0063] Preferably, in step S1, in order to facilitate data analysis, the longitude and latitude coordinates of each grid are used as the unique number of the grid.

[0064] Furthermore, regional scenarios include coastal waters, exclusive economic zones, and global waters, and regional-level availability evaluation includes coastal waters availability evaluation, exclusive economic zones availability evaluation, and global waters availability evaluation.

[0065] Furthermore, the single system includes a navigation single system and a communication single system;

[0066] Navigation single systems include BeiDou, GPS, RBN-DGNSS, and CORS;

[0067] The communication system includes Navtex, AIS, VDES and EGC.

[0068] Furthermore, step S2 specifically includes the following steps:

[0069] S21, real-time collection of single-system monitoring data of each monitoring station in the navigation aids system;

[0070] S22. Preprocess the single system monitoring data, convert the data of each single system into a unified format, and extract key characteristic indicators of each single system;

[0071] S23. Calculate the grid single system availability evaluation for each grid based on the key characteristic indicators of each single system, the preset key characteristic indicator thresholds of each single system, and the availability logic judgment;

[0072] S24. Send the grid single system availability evaluation to the visualization data processing center.

[0073] Preferably, in step S2, the key characteristic indicators and availability logic judgment of each single system are shown in the following figure:

[0074]

[0075] Preferably, in step S21, high-precision sensors are equipped at distributed monitoring stations to collect real-time monitoring data of navigation systems (such as Beidou, GPS, RBN-DGNSS, CORS) and communication systems (such as Navtex, AIS, VDES, EGC).

[0076] Preferably, step S22, performing data preprocessing on the single system monitoring data specifically includes the following steps:

[0077] (1) Eliminate noise data and abnormal values from the monitoring data of each single system;

[0078] (2) Performing spatiotemporal alignment on the monitoring data of each single system, using interpolation to time-align the data of different sampling frequencies, and mapping all the monitoring data of the single system to the grid divided in step S1 for spatial alignment;

[0079] (3) Convert the monitoring data of each single system into a unified format (such as JSON / Protobuf) and extract the key characteristic indicators of each single system. The monitoring data fields of each single system may include grid number, timestamp, single system name, key characteristic indicators, and availability status.

[0080] Furthermore, step S3 specifically includes the following steps:

[0081] S31. For any grid, integrate the key characteristic indicators of each single system to construct a comprehensive evaluation characteristic indicator of the grid;

[0082] S32, Fusion Grid Single System Availability Evaluation, Computational Grid Comprehensive Availability Evaluation;

[0083] S33. Send the grid comprehensive availability evaluation to the visualization data processing center.

[0084] Preferably, in step S31 , for each single system of any grid, the key characteristic index of each single system is calculated, and the grid single system availability evaluation of each single system is calculated, and the grid single system availability evaluation is converted into a Boolean value (0 / 1).

[0085] Preferably, in step S32, for any grid, the grid single system availability evaluation is integrated into the grid comprehensive availability evaluation by using a weighted voting method.

[0086] The weighted voting method is an existing technology and will not be described in detail here.

[0087] Furthermore, step S4 specifically includes the following steps:

[0088] S41. For any time t and any grid, calculate whether a single system is available. The calculation formula is:

[0089]

[0090] Among them, A Inst (t) is the availability evaluation of a single system at time t, 1 means available, 0 means unavailable, d OBS (t) is the value of the grid single system availability index at time t, T AL is the threshold of the single system availability indicator;

[0091] S42. For any grid, calculate the value of the grid single system availability evaluation at time t, and calculate the ratio of the number of samples that meet the judgment condition (i.e., the single system is available) to the total number of samples within the statistical time as the value of the grid single system availability evaluation. The formula is:

[0092]

[0093] Among them, A i (φ,λ) is the grid single system availability evaluation of grid i with longitude and latitude (φ,λ), N i is the total number of samples of grid i within the statistical time.

[0094] S43. Calculate the average value of the availability evaluation of the single grid system in all grids in the coastal waters as the value of the availability evaluation of the coastal waters. The formula is:

[0095]

[0096] Among them, A1 is the coastal sea area availability evaluation of a single system, and N1 is the total number of coastal sea area grids;

[0097] S44. Calculate the average value of the availability evaluation of the single grid system in all grids in the exclusive economic zone as the value of the exclusive economic zone availability evaluation. The formula is:

[0098]

[0099] Among them, A2 is the EEZ availability evaluation of a single system, and N2 is the total number of EEZ grids;

[0100] S45. Calculate the average value of the availability evaluation of the grid single system in all grids in the global ocean area as the value of the global ocean area availability evaluation. The formula is:

[0101]

[0102] Among them, A3 is the global ocean availability evaluation of a single system, and N3 is the total number of global ocean grids.

[0103] S46, sending the coastal waters navigation aid availability evaluation A1 of the single system, the exclusive economic zone navigation aid availability evaluation A2 of the single system, and the global waters navigation aid availability evaluation A3 of the single system to the visualization data processing center respectively.

[0104] Preferably, the coastal waters navigation aids availability evaluation A1, the exclusive economic zone navigation aids availability evaluation A2, and the global waters navigation aids availability evaluation A3 of 8 single systems can be calculated and visualized.

[0105] Furthermore, step S5 specifically includes the following steps:

[0106] S51, visually displaying the grid single system availability evaluation, grid comprehensive availability evaluation, single system coastal waters navigation availability evaluation A1, single system exclusive economic zone navigation availability evaluation A2, and single system global waters navigation availability evaluation A3 received by the visualization data processing center;

[0107] S52. When the navigation aids system is unavailable, issue warning information through the information broadcasting platform.

[0108] Preferably, in step S51, various types of usability evaluation data received by the visualization data processing center are integrated to ensure a unified data format, and geographic data are converted into visual information using GIS technology, and usability evaluation results are displayed through mapping, symbolic annotation, heat map, etc.;

[0109] Visualizing various usability evaluation data is an existing technology and will not be described in detail here.

[0110] Preferably, in step S52, when the system detects that the navigation system is unavailable, it issues a warning message through the information broadcasting platform to notify relevant personnel to take timely measures;

[0111] Issuing early warning information is an existing technology and will not be described in detail here.

[0112] Furthermore, the warning information includes the coordinates of the unavailable grid, the type of unavailable single system, the unavailable regional scenario, the unavailability reason, and the expected recovery time.

[0113] The above specific embodiments do not constitute a limitation on the scope of protection of this disclosure. Those skilled in the art will appreciate that various modifications, combinations, sub-combinations, and substitutions may be made based on design requirements and other factors. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this disclosure shall be included within the scope of protection of this disclosure.

Claims

1. A comprehensive evaluation method for a navigation aid system, characterized in that: The following steps are involved: S1. Divide the world into multiple grids based on longitude and latitude coordinates in order to construct a grid evaluation model for the navigation aids system. S2. collecting single-system monitoring data of each single system in the navigation aid system in real time, and performing grid single-system availability evaluation on the grid based on the single-system monitoring data; S3. Perform multi-source data fusion processing on the single system monitoring data to obtain fused data, and perform a comprehensive grid availability evaluation on the grid based on the fused data; S4. Based on the grid single system availability evaluation and the grid comprehensive availability evaluation, perform regional availability evaluation for different regional scenarios; S5. Visually display the grid single system availability evaluation, the grid comprehensive availability evaluation, and the regional level availability evaluation, and issue a warning message when the navigation system is unavailable.

2. A comprehensive evaluation method for a navigation aid system according to claim 1, characterized in that: The regional scenarios include coastal waters, exclusive economic zones, and global waters, and the regional-level availability evaluation includes coastal waters availability evaluation, exclusive economic zone availability evaluation, and global waters availability evaluation.

3. A comprehensive evaluation method for a navigation aid system according to claim 2, characterized in that: The single system includes a navigation single system and a communication single system; The navigation system includes BeiDou, GPS, RBN-DGNSS, and CORS; The single communication system includes Navtex, AIS, VDES, and EGC.

4. A comprehensive evaluation method for a navigation aid system according to claim 3, characterized in that: The step S2 specifically includes the following steps: S21, collecting the single-system monitoring data of each monitoring station in the navigation system in real time; S22. Preprocess the single-system monitoring data, convert the data of each single system into a unified format, and extract key characteristic indicators of each single system; S23. Calculate the grid single system availability evaluation for each grid based on the key characteristic indicators of each single system, the preset key characteristic indicator thresholds of each single system, and availability logic judgment; S24: Send the grid single system availability evaluation to a visualization data processing center.

5. A comprehensive evaluation method for a navigation aid system according to claim 4, characterized in that: The step S3 specifically includes the following steps: S31. For any grid, integrate the key characteristic indicators of each single system to construct a comprehensive evaluation characteristic indicator of the grid; S32, integrating the grid single system availability evaluations to calculate the grid comprehensive availability evaluation; S33: Send the grid comprehensive availability evaluation to a visualization data processing center.

6. A comprehensive evaluation method for a navigation aid system according to claim 5, characterized in that: The step S4 specifically includes the following steps: S41. For any time t and any grid, calculate whether the single system is available. The calculation formula is: Among them, A Inst (t) is the availability evaluation of a single system at time t, 1 means available, 0 means unavailable, d OBS (t) is the value of the grid single system availability index at time t, T AL is the threshold of the single system availability indicator; S42. For any grid, calculate the value of the grid single system availability evaluation at time t, and calculate the ratio of the number of samples that meet the judgment condition (i.e., the single system is available) to the total number of samples within the statistical time as the value of the grid single system availability evaluation. The formula is: Among them, A i (φ,λ) is the grid single system availability evaluation of the grid i with longitude and latitude (φ,λ), N i is the total number of samples of grid i within the statistical time. S43. Calculate the average value of the grid single system availability evaluation in all grids in the coastal sea area as the value of the coastal sea area availability evaluation, and the formula is: Among them, A1 is the coastal sea area availability evaluation of the single system, and N1 is the total number of coastal sea area grids; S44. Calculate the average value of the availability evaluation of the single grid system in all grids in the exclusive economic zone as the value of the exclusive economic zone availability evaluation. The formula is: Wherein, A2 is the EEZ availability assessment of the single system, and N2 is the total number of EEZ grids; S45. Calculate the average value of the grid single system availability evaluation in all grids in the global ocean area as the value of the global ocean area availability evaluation, and the formula is: Wherein, A3 is the global ocean area availability evaluation of the single system, and N3 is the total number of global ocean area grids. S46, sending the coastal waters navigation aid availability evaluation A1 of the single system, the exclusive economic zone navigation aid availability evaluation A2 of the single system, and the global waters navigation aid availability evaluation A3 of the single system to the visualization data processing center respectively.

7. A comprehensive evaluation method for a navigation aid system according to claim 6, characterized in that: The step S5 specifically includes the following steps: S51, visually displaying the grid single system availability evaluation, the grid comprehensive availability evaluation, the coastal waters navigation availability evaluation A1 of the single system, the exclusive economic zone navigation availability evaluation A2 of the single system, and the global waters navigation availability evaluation A3 of the single system received by the visualization data processing center; S52: When the navigation aids system is unavailable, issuing warning information via an information broadcasting platform.

8. A comprehensive evaluation method for a navigation aid system according to claim 7, characterized in that: The warning information includes the coordinates of the unavailable grid, the type of unavailable single system, the unavailable regional scenario, the unavailability reason, and the expected recovery time.

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