Method, device and equipment for evaluating service performance of maritime navigation system

Abstract

The invention provides a service performance evaluation method, device and equipment of a maritime navigation system. The method comprises the following steps: acquiring first maritime navigation data received by a plurality of first receivers in a preset coverage range of the maritime navigation system at each receiving moment, and a single system availability index corresponding to each single system of the maritime navigation system, and after a second receiver receives second maritime navigation data in a preset route, calculating a coverage range index, a service continuity index, a positioning precision index, a service availability index and a service integrity index of the maritime navigation system according to the data, and further calculating a performance evaluation score of the maritime navigation system. According to the scheme, the service performance evaluation of the maritime navigation system is realized through the coverage range index, the service continuity index, the positioning precision index, the service availability index and the service integrity index.

Description

Technical Field

[0001] The present application relates to the field of maritime navigation technology, and in particular to a method, device and equipment for evaluating the service performance of a maritime navigation system. Background Art

[0002] With the continuous development of science and technology, maritime navigation aids systems have been continuously improved, providing convenience for ship navigation safety, maritime traffic organization, marine environmental protection and other operations in global waters. A maritime navigation aid system is composed of multiple individual systems, which can be either a navigation system or a navigation aid system.

[0003] Since there are many individual systems that make up the maritime navigation aids system and the system contains a lot of data, there may be problems such as data anomalies and data accuracy anomalies due to poor performance, which may cause problems in ship navigation and maritime traffic command.

[0004] Therefore, there is an urgent need for a service performance evaluation method for a maritime navigation aid system that can evaluate the service performance of a maritime navigation aid system. Summary of the Invention

[0005] The embodiments of the present application provide a method, apparatus, and device for evaluating the service performance of a maritime navigation aid system, which are used to evaluate the service performance of a maritime navigation aid system.

[0006] In a first aspect, an embodiment of the present application provides a method for evaluating the service performance of a maritime navigation aid system, comprising:

[0007] Obtaining first maritime navigation data received by a plurality of first receivers at each receiving moment, a single system availability indicator corresponding to each single system of a maritime navigation aid system, and second maritime navigation data received by a second receiver along a preset route, wherein the plurality of first receivers are located within a preset coverage range of the maritime navigation aid system;

[0008] Determining, based on each first maritime navigation data, a coverage index, a service continuity index, and a positioning accuracy index of the maritime navigation aids system;

[0009] Determining the service availability index of the maritime navigation aids system according to the single system availability index corresponding to each single system and the preset business information of each navigation aids service business;

[0010] determining a service integrity indicator of the maritime navigation aids system according to each second maritime navigation data;

[0011] A performance evaluation score of the maritime navigation aids system is calculated based on the coverage index, service continuity index, positioning accuracy index, service availability index and service integrity index of the maritime navigation aids system.

[0012] In a possible implementation, each first maritime navigation data includes a horizontal positioning error, a vertical positioning error, and an observed positioning coordinate, and determining the coverage index, service continuity index, and positioning accuracy index of the maritime navigation aids system based on each first maritime navigation data includes:

[0013] determining a coverage index of the maritime navigation aids system according to each first maritime navigation data and a preset navigation data requirement;

[0014] Determining a positioning accuracy index of the maritime navigation aids system based on the observed positioning coordinates received by each first receiver at each receiving moment and the preset actual coordinates of each first receiver at each receiving moment;

[0015] The service continuity index of the maritime navigation aids system is determined according to the horizontal positioning error and the vertical positioning error received by each first receiver at each receiving moment.

[0016] In a possible implementation, determining the coverage index of the maritime navigation aids system according to each first maritime navigation data and the preset navigation data requirement includes:

[0017] For each first maritime navigation data, if the first maritime navigation data meets the preset navigation data requirement, the first maritime navigation data is regarded as valid navigation data;

[0018] For each first receiver, if the ratio of the valid navigation data of the first receiver to the first maritime navigation data of the first receiver is greater than a preset ratio threshold, the first receiver is regarded as a valid receiver;

[0019] The ratio of the number of effective receivers to the number of all first receivers is used as the coverage index.

[0020] In a possible implementation, determining the service continuity indicator of the maritime navigation aids system based on the horizontal positioning error and the vertical positioning error received by each first receiver at each receiving moment includes:

[0021] For each first receiver, calculating a positioning error accumulation index of the first receiver based on a horizontal positioning error and a vertical positioning error received by the first receiver at each receiving moment;

[0022] An average value of the cumulative positioning error indicators of all first receivers is used as the service continuity indicator.

[0023] In a possible implementation, determining the positioning accuracy index of the maritime navigation aids system based on the observed positioning coordinates received by each first receiver at each receiving moment and the preset actual coordinates of each first receiver at each receiving moment includes:

[0024] For each first receiver, calculating the horizontal disparity and vertical disparity of the first receiver based on the observed positioning coordinates received by the first receiver at each receiving moment and the actual coordinates of the first receiver at each receiving moment;

[0025] The average of the horizontal differences of all first receivers is used as the horizontal accuracy index;

[0026] The average of the vertical discrepancies of all first receivers is used as the vertical accuracy index;

[0027] The horizontal accuracy index and the vertical accuracy index are used as the positioning accuracy index.

[0028] In a possible implementation, the service information of each navigation service includes a single system and a single system architecture corresponding to the navigation service, where the single system architecture is a serial architecture or a parallel architecture;

[0029] Determining the service availability index of the maritime navigation aids system according to the single system availability index corresponding to each single system and the preset service information of each navigation aids service business includes:

[0030] For each navigation aid service, calculating an availability parameter of the navigation aid service based on the single system and single system architecture corresponding to the navigation aid service, and the single system availability index corresponding to each single system;

[0031] The service availability index is calculated according to the availability parameter of each navigation service.

[0032] In a possible implementation, each second maritime navigation data includes a status identifier indicating whether a satellite signal broadcast status is normal, and determining the service integrity indicator of the maritime navigation aids system based on each second maritime navigation data includes:

[0033] The navigation data whose status identifier in all the second maritime navigation data indicates that the satellite signal broadcasting status is normal is regarded as normal navigation data;

[0034] The ratio of the amount of normal navigation data to the amount of second maritime navigation data is used as the service integrity indicator.

[0035] In a possible implementation, before calculating the performance evaluation score of the maritime navigation aids system based on the coverage indicator, service continuity indicator, positioning accuracy indicator, service availability indicator, and service integrity indicator of the maritime navigation aids system, the method further includes:

[0036] Obtain the third navigation data of each single system;

[0037] preprocessing each third navigation data to obtain fourth navigation data;

[0038] Inputting the fourth navigation data and the service availability index into a model in a dynamic Bayesian network to obtain a corrected service availability index;

[0039] Calculating the performance evaluation score of the maritime navigation aids system according to the coverage index, service continuity index, positioning accuracy index, service availability index, and service integrity index of the maritime navigation aids system includes:

[0040] The performance evaluation score of the maritime navigation aids system is calculated based on the coverage index, service continuity index, positioning accuracy index and service integrity index of the maritime navigation aids system, as well as the corrected service availability index.

[0041] In a second aspect, an embodiment of the present application provides a service performance evaluation device for a maritime navigation aid system, comprising:

[0042] an acquisition module, configured to acquire first maritime navigation data received by a plurality of first receivers at each reception moment, a single system availability indicator corresponding to each single system of a maritime navigation aid system, and second maritime navigation data received by a second receiver along a preset route, wherein the plurality of first receivers are located within a preset coverage range of the maritime navigation aid system;

[0043] Processing module for:

[0044] Determining, based on each first maritime navigation data, a coverage index, a service continuity index, and a positioning accuracy index of the maritime navigation aids system;

[0045] Determining the service availability index of the maritime navigation aids system according to the single system availability index corresponding to each single system and the preset business information of each navigation aids service business;

[0046] determining a service integrity indicator of the maritime navigation aids system according to each second maritime navigation data;

[0047] An evaluation module is used to calculate a performance evaluation score of the maritime navigation aids system based on a coverage index, a service continuity index, a positioning accuracy index, a service availability index, and a service integrity index of the maritime navigation aids system.

[0048] In a third aspect, an embodiment of the present application provides an electronic device, including:

[0049] Processor, memory, communication interface;

[0050] The memory is used to store executable instructions of the processor;

[0051] The processor is configured to execute the service performance evaluation method of the maritime navigation aids system as described in any one of the first aspects by executing the executable instructions.

[0052] The embodiments of the present application provide a method, device, and equipment for evaluating the service performance of a maritime navigation aid system. After obtaining the first maritime navigation data received at each receiving moment by multiple first receivers located within a preset coverage area of the maritime navigation aid system, the single system availability index corresponding to each single system of the maritime navigation aid system, and the second maritime navigation data received by the second receiver in the preset route, the method determines the coverage index, service continuity index, and positioning accuracy index of the maritime navigation aid system based on the first maritime navigation data; determines the service availability index of the maritime navigation aid system based on the single system availability index; and determines the service integrity index of the maritime navigation aid system based on the second maritime navigation data. Furthermore, the performance evaluation score of the maritime navigation aid system is calculated based on the coverage index, service continuity index, positioning accuracy index, service availability index, and service integrity index of the maritime navigation aid system. This solution implements service performance evaluation of the maritime navigation aid system through coverage index, service continuity index, positioning accuracy index, service availability index, and service integrity index. BRIEF DESCRIPTION OF THE DRAWINGS

[0053] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present application and, together with the description, serve to explain the principles of the present application.

[0054] Figure 1a A flowchart of a first embodiment of a method for evaluating the service performance of a maritime navigation aid system provided in this application;

[0055] Figure 1b Schematic diagram of the serial architecture provided for this application;

[0056] Figure 1c Schematic diagram of the parallel architecture provided for this application;

[0057] Figure 2A flowchart of a second embodiment of a method for evaluating the service performance of a maritime navigation aid system provided in this application;

[0058] Figure 3 This is a flow chart of Example 3 of the service performance evaluation method for the maritime navigation aid system provided in this application;

[0059] Figure 4 This is a schematic diagram of the structure of an embodiment of a service performance evaluation device for a maritime navigation aid system provided by this application;

[0060] Figure 5 This is a schematic diagram of the structure of an electronic device provided in this application.

[0061] The above drawings illustrate specific embodiments of the present application, which will be described in more detail below. These drawings and the textual description are not intended to limit the scope of the present application in any way, but rather to illustrate the concepts of the present application to those skilled in the art by reference to specific embodiments. DETAILED DESCRIPTION

[0062] Exemplary embodiments will be described in detail herein, with examples illustrated in the accompanying drawings. In the following description, when referring to the drawings, identical numerals in different figures represent identical or similar elements, unless otherwise indicated. The embodiments described in the following exemplary embodiments are not intended to represent all embodiments consistent with the present application. Rather, they are merely examples of apparatus and methods consistent with certain aspects of the present application, as detailed in the appended claims.

[0063] The terms "first," "second," "third," "fourth," and so forth (if any) in the specification and claims of this application and in the accompanying drawings are used to distinguish similar objects and are not necessarily used to describe a particular order or sequential sequence. It should be understood that the terms used in this manner are interchangeable where appropriate, so that the embodiments of the application described herein can be implemented in orders other than those illustrated or described herein. In addition, the terms "including" and "having," and any variations thereof, are intended to cover non-exclusive inclusions. For example, a process, method, system, product, or apparatus comprising a series of steps or elements is not necessarily limited to those steps or elements explicitly listed, but may include other steps or elements not explicitly listed or inherent to such process, method, product, or apparatus.

[0064] To ensure global maritime navigation safety, maritime traffic organization, and marine environmental protection, as well as to promote the development of multi-modal, reliable, and available ship navigation technologies, maritime navigation aids systems are constantly being improved. A maritime navigation aid system is comprised of multiple individual systems, which can be either navigation systems or navigation aids systems.

[0065] Exemplarily, a single system may be a Global Positioning System (GPS), a Global Navigation Satellite System (GNSS), a Vessel Traffic Service (VTS), an Electronic Chart Display and Information System (ECDIS), an Automatic Identification System (AIS), a Global Maritime Distress and Safety System (GMDSS), a Long Range Identification and Tracking of ships (LRIT), a shipborne compass system, a shipborne radar system, etc.

[0066] For communication between devices using navigation aids, ships can communicate with each other, and between ships and shore-based equipment, via the Very High Frequency Data Exchange System (VDES). Satellites can communicate with receivers via the Maritime Safety Information (MSI) system.

[0067] With the continuous development and improvement of navigation aids, the increasing number of individual systems and the resulting high volume of data within these systems can lead to data anomalies and inaccuracies due to poor performance. This can make it difficult for personnel to determine if there are data issues, leading to problems with ship navigation and maritime traffic control. Furthermore, with the implementation of e-navigation strategies and the continuous development of flexible Position, Navigation, and Time (PNT) technology, the performance of maritime navigation aids systems needs to be determined.

[0068] Since there is no method for evaluating the performance of a maritime navigation aid system in the prior art, there is an urgent need for a method for evaluating the service performance of a maritime navigation aid system, which can evaluate the service performance of a maritime navigation aid system.

[0069] In response to the problems existing in the prior art, the inventors discovered during their research on the service performance evaluation of the maritime navigation aids system that the performance of the maritime navigation aids system can be reflected in five aspects, namely, coverage, service continuity, positioning accuracy, service availability index, and service integrity. Therefore, the five indicators can be calculated based on the first maritime navigation data received at each receiving moment by multiple first receivers located in the preset coverage area of the maritime navigation aids system, the single system availability index corresponding to each single system of the maritime navigation aids system, and the second maritime navigation data received by the second receiver in the preset route, and then the performance evaluation score of the maritime navigation aids system can be calculated to achieve the service performance evaluation of the maritime navigation aids system. Based on the above-mentioned inventive concept, the service performance evaluation scheme of the maritime navigation aids system in this application is designed.

[0070] The execution subject of the service performance evaluation method of the maritime navigation aid system in this application can be a server, or it can be a computer, terminal equipment, ship, receiver, etc. This application does not limit it. The following description will be made using the server as an example.

[0071] The following is an example of an application scenario of the service performance evaluation method of the maritime navigation aids system provided in this application.

[0072] For example, in this application scenario, after the maritime navigation aids system is established, multiple first receivers are installed within the system's preset coverage area to evaluate its performance. This allows a vessel to follow a preset route, and a second receiver is installed on the vessel. The receivers can receive maritime navigation data transmitted by satellite.

[0073] The receiver may send the acquired maritime navigation data to the server, and the server may acquire the first maritime navigation data received by the plurality of first receivers at each receiving moment, and the second maritime navigation data received by the second receiver.

[0074] It should be noted that the receiving time is also called epoch.

[0075] The staff can use the terminal device to send the single system availability index corresponding to each single system of the maritime navigation system to the server, and the server can obtain the single system availability index corresponding to each single system.

[0076] The server then determines the coverage index, service continuity index and positioning accuracy index of the maritime navigation aids system based on each first maritime navigation data; determines the service availability index of the maritime navigation aids system based on the single system availability index corresponding to each single system and the preset business information of each navigation aids service business; and determines the service integrity index of the maritime navigation aids system based on each second maritime navigation data.

[0077] The server calculates the performance evaluation score of the maritime navigation aids system based on the coverage index, service continuity index, positioning accuracy index, service availability index and service integrity index of the maritime navigation aids system.

[0078] The subsequent server can send the performance evaluation score of the maritime navigation aids system to the command center and the ship so that the staff can determine whether to use the navigation data of the maritime navigation aids system.

[0079] It should be noted that the above scenario is only an example of an application scenario provided by an embodiment of the present application. The embodiment of the present application does not limit the actual form of the various devices included in the scenario, nor does it limit the interaction method between the devices. In the specific application of the solution, it can be set according to actual needs.

[0080] The technical solution of the present application is described in detail below through specific embodiments. It should be noted that the following specific embodiments can be combined with each other, and the same or similar concepts or processes may not be described in detail in some embodiments.

[0081] Figure 1a This is a flow chart of the first embodiment of the service performance evaluation method of the maritime navigation aid system provided by this application. This embodiment of the application describes the situation in which the server evaluates the performance of the maritime navigation aid system after calculating the coverage index, service continuity index, positioning accuracy index, service availability index and service integrity index of the maritime navigation aid system. The method in this embodiment can be implemented by software, hardware or a combination of software and hardware. Figure 1a As shown, the service performance evaluation method of the maritime navigation aid system specifically includes the following steps:

[0082] S101: Acquire first maritime navigation data received by multiple first receivers at each receiving moment, a single system availability indicator corresponding to each single system of a maritime navigation aid system, and second maritime navigation data received by a second receiver in a preset route.

[0083] To evaluate the performance of a maritime navigation aid system, multiple first receivers are installed within the system's pre-set coverage area. Each first receiver transmits first maritime navigation data received at each reception moment to a server. To control a vessel's navigation along a pre-set route, a second receiver is installed on the vessel and transmits second maritime navigation data received to the server.

[0084] In this step, the server can obtain the first maritime navigation data received by multiple first receivers at each reception moment and the second maritime navigation data received by the second receiver during the preset route. In addition, personnel can use a terminal device to send the single-system availability indicator corresponding to each individual system of the maritime navigation system to the server, and the server can then obtain the single-system availability indicator corresponding to each individual system.

[0085] S102: Determine a coverage index, a service continuity index, and a positioning accuracy index of a maritime navigation aid system according to each first maritime navigation data.

[0086] In this step, after the server obtains the first maritime navigation data, it can determine the coverage index, service continuity index and positioning accuracy index of the maritime navigation aids system according to each first maritime navigation data.

[0087] It should be noted that the coverage index is used to characterize the size of the coverage range of the maritime navigation aids system; the service continuity index is used to characterize the degree to which the maritime navigation aids system can continuously and accurately locate; and the positioning accuracy index is used to characterize the positioning accuracy of the maritime navigation aids system.

[0088] S103: Determine the service availability index of the maritime navigation aids system according to the single system availability index corresponding to each single system and the preset service information of each navigation aids service.

[0089] In this step, after obtaining the single system availability index, the server can determine the service availability index of the maritime navigation aids system according to the single system availability index corresponding to each single system and the preset business information of each navigation aids service business.

[0090] It should be noted that the service availability indicator is used to characterize the extent to which the system's output data can meet usage requirements.

[0091] Specifically, the service information of each navigation assistance service includes a single system and a single system architecture corresponding to the navigation assistance service. The single system architecture is a series architecture or a parallel architecture.

[0092] A cascade architecture involves connecting multiple single systems in series. For each system, if it is not the last one, its output data is transferred to the next system for processing. If it is the last one, its output data is used to provide navigation services.

[0093] The serial architecture means that multiple single systems are independent of each other and the output data of each single system is used to implement navigation services.

[0094] For example, Figure 1b The schematic diagram of the serial architecture provided for this application is as follows: Figure 1b As shown in the figure, the single systems corresponding to the navigation aid service are single system A, single system B, single system C, and single system D. The output data of single system A is transmitted to single system B, which processes the output data of single system A to obtain output data. The output data of single system B is transmitted to single system C, which processes the output data of single system B to obtain output data. The output data of single system C is transmitted to single system D, which processes the output data of single system C to obtain output data. The navigation aid service is implemented using the output data of single system D.

[0095] For example, Figure 1c The parallel architecture diagram provided for this application is as follows: Figure 1c As shown in FIG, the single systems corresponding to the navigation aid service business are single system E, single system F, and single system G. The output data of single system E, single system F, and single system G are used to implement the navigation aid service business.

[0096] For each navigation aid service, the availability parameter of the navigation aid service is calculated according to the single system and single system architecture corresponding to the navigation aid service, and the single system availability index corresponding to each single system.

[0097] If the single system architecture corresponding to the navigation service business is a serial architecture, then according to the formula , calculate the availability parameter of the navigation service. Where x represents the xth navigation service, represents the availability parameter of the x-th navigation aid service, i represents the i-th single system corresponding to the x-th navigation aid service, represents the availability index of the i-th single system corresponding to the x-th navigation aids service, and M represents the number of single systems corresponding to the x-th navigation aids service.

[0098] If the single system architecture corresponding to the navigation service business is a parallel architecture, then according to the formula , calculate the availability parameter of the navigation service. Where x represents the xth navigation service, represents the availability parameter of the x-th navigation aid service, j represents the j-th single system corresponding to the x-th navigation aid service, represents the availability index of the jth single system corresponding to the xth navigation aids service, and N represents the number of single systems corresponding to the xth navigation aids service.

[0099] Then, the service availability index is calculated based on the availability parameters of each navigation service business.

[0100] According to the formula , calculate the service availability index of the maritime navigation aid system. Among them, R represents the service availability index of the maritime navigation aid system, x represents the xth navigation aid service business, represents the availability parameter of the xth navigation aid service, and K represents the number of navigation aid services.

[0101] S104: Determine a service integrity index of the maritime navigation aids system according to each second maritime navigation data.

[0102] In this step, after acquiring the second maritime navigation data, the server determines the service integrity index of the maritime navigation aids system according to each second maritime navigation data.

[0103] It should be noted that the service integrity index is used to characterize the number of satellite signals in normal broadcasting status received by the ship through the receiver during navigation.

[0104] Specifically, each second maritime navigation data includes a status identifier indicating whether the satellite signal broadcasting status is normal.

[0105] All navigation data whose status identifiers in the second maritime navigation data indicate that the satellite signal broadcasting status is normal are regarded as normal navigation data; and the ratio of the number of normal navigation data to the number of second maritime navigation data is regarded as the service integrity indicator.

[0106] S105: Calculate the performance evaluation score of the maritime navigation aids system based on the coverage index, service continuity index, positioning accuracy index, service availability index, and service integrity index of the maritime navigation aids system.

[0107] In this step, after the server obtains the coverage index, service continuity index, positioning accuracy index, service availability index and service integrity index of the maritime navigation aids system, it can calculate the performance evaluation score of the maritime navigation aids system based on the coverage index, service continuity index, positioning accuracy index, service availability index and service integrity index of the maritime navigation aids system.

[0108] Specifically, the positioning accuracy index includes the horizontal accuracy index and the vertical accuracy index.

[0109] , calculate the performance evaluation score of the maritime navigation aid system. Where P represents the performance evaluation score of the maritime navigation aid system, represents the coverage indicator, represents the service continuity indicator, Indicates the horizontal accuracy index, Indicates the vertical accuracy index, represents the service availability indicator, represents the service integrity indicator, Indicates the preset weight corresponding to the coverage indicator, Indicates the preset weight corresponding to the service continuity indicator, Indicates the preset weight corresponding to the horizontal accuracy index, Indicates the preset weight corresponding to the vertical accuracy index, Indicates the preset weight corresponding to the service availability indicator, Indicates the preset weight corresponding to the service integrity indicator.

[0110] It should be noted that the preset weights corresponding to the coverage indicator, service continuity indicator, horizontal accuracy indicator, vertical accuracy indicator, service availability indicator and service integrity indicator can be 0.1, 0.3, 0.5, 0.8, 0.9, etc. The embodiment of the present application does not limit the preset weights corresponding to the coverage indicator, service continuity indicator, horizontal accuracy indicator, vertical accuracy indicator, service availability indicator and service integrity indicator, and can be determined according to actual conditions.

[0111] The service performance evaluation method for a maritime navigation aid system provided in this embodiment obtains the first maritime navigation data received at each receiving moment by multiple first receivers located within a preset coverage area of the maritime navigation aid system, the single system availability index corresponding to each single system of the maritime navigation aid system, and the second maritime navigation data received by the second receiver in the preset route. Based on the first maritime navigation data, the coverage index, service continuity index, and positioning accuracy index of the maritime navigation aid system are determined; based on the single system availability index, the service availability index of the maritime navigation aid system is determined; and based on the second maritime navigation data, the service integrity index of the maritime navigation aid system is determined. Furthermore, based on the coverage index, service continuity index, positioning accuracy index, service availability index, and service integrity index of the maritime navigation aid system, a performance evaluation score of the maritime navigation aid system is calculated. This solution implements service performance evaluation of the maritime navigation aid system through the coverage index, service continuity index, positioning accuracy index, service availability index, and service integrity index, and the evaluation accuracy is relatively high.

[0112] Figure 2 This is a flow chart of the second embodiment of the service performance evaluation method of the maritime navigation aid system provided by this application. Based on the above embodiment, this embodiment of the application describes how the server determines the coverage index, service continuity index and positioning accuracy index of the maritime navigation aid system based on each first maritime navigation data. Figure 2 As shown, the service performance evaluation method of the maritime navigation aid system specifically includes the following steps:

[0113] S201: Determine a coverage index of a maritime navigation aid system according to each first maritime navigation data and preset navigation data requirements.

[0114] In this step, after obtaining the first maritime navigation data, the server determines the coverage index of the maritime navigation aids system according to each first maritime navigation data and the preset navigation data requirements.

[0115] Specifically, for each first maritime navigation data, if the first maritime navigation data meets the preset navigation data requirement, the first maritime navigation data is used as valid navigation data.

[0116] Each first maritime navigation data includes receiver position and single system performance information. The single system performance information includes horizontal direction data, alarm limit data, alarm time data, integrity risk data, availability data, continuity data, coverage data, and positioning interval data. The coverage data can be global, regional, or local.

[0117] Illustratively, Table 1 is a data table of preset navigation data requirements provided by this application.

[0118] Table 1

[0119]

[0120] Therefore, the row of data in Table 1 to be used can be determined based on the receiver location in the first maritime navigation data. For example, if the receiver is located on the coast, the row of data corresponding to the coast is used. If the receiver is located on an inland river, the row of data corresponding to the inland river is used.

[0121] Then, it is determined whether the horizontal direction data, alarm limit data, alarm time data, integrity risk data, availability data, continuity data, coverage data and positioning time interval data all meet the requirements of the data. If they all meet the requirements, the first maritime navigation data is used as valid navigation data. For example, the receiver is located on the coast. If the horizontal direction data is less than or equal to 10, the alarm limit data is less than or equal to 25, the alarm time data is less than or equal to 10, and the integrity risk data is less than or equal to , availability data is less than or equal to , continuous data is less than or equal to , the coverage data is global, and the positioning time interval data is less than or equal to 1, the first maritime navigation data is regarded as valid navigation data.

[0122] It should be noted that Table 1 is only an example of the preset navigation data requirements. The embodiment of the present application does not limit the preset navigation data requirements, which can be determined according to actual conditions.

[0123] After the server determines the valid navigation data, for each first receiver, if the ratio of the valid navigation data of the first receiver to the first maritime navigation data of the first receiver is greater than a preset ratio threshold, then the first receiver is regarded as a valid receiver;

[0124] The ratio of the number of effective receivers to the number of all first receivers is used as the coverage index.

[0125] It should be noted that the preset ratio threshold may be 50%, 60%, 80%, etc. The embodiment of the present application does not limit the preset ratio threshold and may be determined according to actual conditions.

[0126] S202: Determine a positioning accuracy index of the maritime navigation aids system according to the observed positioning coordinates received by each first receiver at each receiving moment and the preset actual coordinates of each first receiver at each receiving moment.

[0127] In this step, after the server obtains the first maritime navigation data, each first maritime navigation data also includes observed positioning coordinates. The positioning accuracy index of the maritime navigation system can be determined based on the observed positioning coordinates received by each first receiver at each receiving moment, and the preset actual coordinates of each first receiver at each receiving moment.

[0128] Specifically, for each first receiver, the horizontal disparity and vertical disparity of the first receiver are calculated based on the observed positioning coordinates received by the first receiver at each reception time and the actual coordinates of the first receiver at each reception time. The observed positioning coordinates and the actual coordinates include three coordinate components: longitude, latitude, and altitude.

[0129] According to the formula , calculate the horizontal gap of the first receiver. represents the horizontal difference of the first receiver, i represents the i-th receiving moment, represents the longitude component of the observed positioning coordinates received by the first receiver at the i-th receiving time, represents the longitude component of the actual coordinates of the first receiver at the i-th receiving time, represents the dimensional component of the observation positioning coordinates received by the first receiver at the i-th receiving time, represents the dimensional component of the actual coordinates of the first receiver at the i-th receiving time, and n represents the number of receiving time moments.

[0130] According to the formula , calculate the vertical gap of the first receiver. represents the vertical gap of the first receiver, i represents the i-th receiving moment, represents the height component of the observed positioning coordinates received by the first receiver at the i-th receiving moment, represents the height component of the actual coordinates of the first receiver at the i-th receiving time, and n represents the number of receiving time.

[0131] The average value of the horizontal differences of all first receivers is used as the horizontal accuracy index.

[0132] The average of the vertical differences of all first receivers is used as the vertical accuracy index.

[0133] The horizontal accuracy index and the vertical accuracy index are used as positioning accuracy indicators.

[0134] S203: Determine a service continuity index of the maritime navigation aids system according to the horizontal positioning error and the vertical positioning error received by each first receiver at each receiving moment.

[0135] In this step, after the server obtains the first maritime navigation data, each first maritime navigation data also includes a horizontal positioning error and a vertical positioning error. The service continuity index of the maritime navigation system can be determined based on the horizontal positioning error and vertical positioning error received by each first receiver at each receiving moment.

[0136] Specifically, for each first receiver, the positioning error accumulation index of the first receiver is calculated based on the horizontal positioning error and the vertical positioning error received by the first receiver at each receiving moment.

[0137] That is, for the first receiver at each receiving moment, if the horizontal positioning error and the vertical positioning error at the receiving moment are both less than or equal to the preset error threshold, the error reference value at the receiving moment is determined to be 1. If the horizontal positioning error or the vertical positioning error at the receiving moment is greater than the preset error threshold, the error reference value at the receiving moment is determined to be 0.

[0138] Then, the first receiver is divided into groups at each receiving time in order from early to late to obtain multiple time groups.

[0139] According to the formula , calculate the cumulative positioning error index of the first receiver. represents the cumulative positioning error index of the first receiver, k represents the kth time group, M represents the number of time groups, j represents the jth receiving time, represents the number of received moments in the kth moment group, Indicates the error reference value of the jth receiving time in the kth time group.

[0140] Then, the average value of the cumulative positioning error indicators of all first receivers is used as the service continuity indicator.

[0141] It should be noted that the order for determining the coverage indicator, service continuity indicator, positioning accuracy indicator, service availability indicator, and service integrity indicator of the maritime navigation aid system can be: coverage indicator, service continuity indicator, positioning accuracy indicator, service availability indicator, and service integrity indicator. It can also be: service continuity indicator, positioning accuracy indicator, coverage indicator, service availability indicator, and service integrity indicator. It can also be: coverage indicator, positioning accuracy indicator, service availability indicator, service integrity indicator, and service continuity indicator. The embodiments of the present application do not limit the order for determining the coverage indicator, service continuity indicator, positioning accuracy indicator, service availability indicator, and service integrity indicator of the maritime navigation aid system, and can be determined according to actual conditions.

[0142] The service performance evaluation method of the maritime navigation aids system provided in this embodiment determines the coverage index, service continuity index and positioning accuracy index of the maritime navigation aids system through each first maritime navigation data, thereby improving the accuracy of the coverage index, service continuity index and positioning accuracy index.

[0143] Figure 3 This is a flow chart of the third embodiment of the service performance evaluation method of the maritime navigation system provided by this application. Based on the above embodiment, this embodiment of the application describes the situation of correcting the service availability index. Figure 3 As shown, the service performance evaluation method of the maritime navigation aid system specifically includes the following steps:

[0144] S301: Acquire the third navigation data of each single system.

[0145] In this step, after the server obtains the service availability index of the maritime navigation aid system, it can also update it to improve its accuracy. It is necessary to obtain the third navigation data of each single system.

[0146] S302: Preprocess each third navigation data to obtain fourth navigation data.

[0147] In this step, after obtaining the third navigation data, the server pre-processes each third navigation data to obtain fourth navigation data.

[0148] Specifically, the data format of the third navigation data can be converted into a preset format, and the time in the third navigation data can be converted into a time under a preset time standard. Then, data that does not conform to the data format, customized data, and data with data abnormality flags can be eliminated to obtain the fourth navigation data.

[0149] S303: Input the fourth navigation data and the service availability index into a model in a dynamic Bayesian network to obtain a corrected service availability index.

[0150] In this step, after obtaining the fourth navigation data, the server inputs the fourth navigation data and the service availability index into a model in a dynamic Bayesian network to obtain a corrected service availability index.

[0151] It should be noted that a multi-state theoretical model can also be used to process the availability parameters of each navigation service to obtain a corrected availability parameter for each navigation service. A new service availability index can then be calculated based on the corrected availability parameter for each navigation service. The fourth navigation data and the new service availability index are then input into the dynamic Bayesian network model to obtain a corrected service availability index.

[0152] S304: Calculate the performance evaluation score of the maritime navigation aids system based on the coverage index, service continuity index, positioning accuracy index and service integrity index of the maritime navigation aids system, as well as the corrected service availability index.

[0153] In this step, after obtaining the corrected service availability index, the server calculates the performance evaluation score of the maritime navigation aids system based on the coverage index, service continuity index, positioning accuracy index and service integrity index of the maritime navigation aids system, as well as the corrected service availability index.

[0154] It should be noted that this step is similar to step S105 in the first embodiment and will not be described again here.

[0155] The service performance evaluation method for a maritime navigation aid system provided in this embodiment corrects the service availability index through the third navigation data of a single system and a model in a dynamic Bayesian network, thereby improving the accuracy of the service availability index.

[0156] The following describes other indicators of the maritime navigation aids system through the third embodiment of the service performance evaluation method of the maritime navigation aids system provided by this application.

[0157] Sea areas can be divided into ocean waters, coastal waters, port entry and exit waters and restricted waters.

[0158] The open sea area is located outside the continental shelf (water depth of 200m) and more than 50 nautical miles away from land. The waters cannot be located by visual sighting of land, fixed markers or floating markers; it is far enough away from the mainland and traffic-intensive areas that the risk of shallow water and collision is quite small.

[0159] Coastal waters are within 50 nautical miles from the shore, or within the continental shelf (water depth 200 meters); located in waters adjacent to the continent or archipelago, where ocean routes converge as the destination port approaches; there are also many routes between ports, and their routes are basically parallel to the coastline.

[0160] The entry and exit waters are located at the entrances of bays, rivers or ports.

[0161] Restricted sea areas are designated dangerous areas, such as strait areas.

[0162] For the global radio navigation system, the system's indicators include health indicators, continuity indicators, operational performance indicators in different sea areas, information release channels, etc.

[0163] The health index is a parameter that characterizes whether the satellite navigation signal is available. It is generally obtained from the satellite navigation message and is usually divided into two states: healthy and unhealthy.

[0164] The continuity index represents the probability that the satellite navigation system will not have unplanned interruptions within a specified period of time, providing users with continuous positioning service accuracy thresholds.

[0165] The operational performance indicators in the open ocean include positioning accuracy, coverage, communication path reliability indicators, position update rate, signal availability indicators, trusted information service indicators, etc.

[0166] Positioning accuracy refers to the difference between the position determined by the user using the navigation signal and its actual position, including horizontal positioning accuracy and vertical positioning accuracy.

[0167] The signal availability indicator depends on the availability of the satellite navigation system itself, that is, the percentage of time that the constellation can provide services that meet the specified accuracy requirements for a given service area, and the availability of the space signals broadcast by the satellite navigation system that can be received and used by terminals.

[0168] The operational performance indicators for coastal waters and port entry and exit areas include positioning accuracy, communication path reliability indicators, position update rate, signal availability indicators, signal continuity indicators, integrity alarm time, trusted information service indicators, etc.

[0169] The signal continuity index is the ratio of the signal that can be effectively received and effectively positioned within any 15 minutes.

[0170] The integrity alarm time is the time from when it is determined that the navigation positioning accuracy does not meet the integrity threshold requirement to when the alarm is issued.

[0171] For the navigation aids radar system, the system indicators include detection range indicator, maximum effective distance indicator, measurement accuracy indicator and resolution indicator.

[0172] The maximum range indicator is the maximum distance at which a standard reflector can be detected on a flat surface. It is related to factors such as radar transmitter power, receiver sensitivity, antenna gain, and atmospheric attenuation. This indicator reflects the system's comprehensive ability to detect both long-range and close-range small targets.

[0173] Measurement accuracy indicators include static and dynamic measurement accuracy. Static measurement accuracy includes ranging and azimuth accuracy. Dynamic measurement accuracy includes speed and heading accuracy in addition to ranging and azimuth accuracy. Measurement accuracy is related to factors such as the radar pulse duration, antenna horizontal beamwidth, and signal-to-noise ratio.

[0174] Resolution refers to the radar's ability to distinguish nearby targets, including range resolution and azimuth resolution. Range resolution is mainly determined by the duration of the transmitted pulse, while azimuth resolution is mainly determined by the antenna's horizontal beamwidth.

[0175] For the navigation aids communication system, the system indicators include communication processing time indicator, communication continuity indicator, availability indicator and integrity indicator.

[0176] The communication processing time metric represents the maximum time required to complete a communication processing operation.

[0177] The communication continuity index is the probability that the communication processing operation can be completed within the communication processing time.

[0178] The availability metric is the probability that a communication processing operation can be started.

[0179] The integrity indicator is the probability that the communication processing operation can be completed within the communication processing time without undetected errors.

[0180] The service performance evaluation method for a maritime navigation aid system provided in this embodiment expands the indicators of the navigation aid system by determining other indicators of the navigation aid system, making the operation of the navigation aid system more intuitive, capable of measuring the navigation aid system, and facilitating the operation of the navigation aid system.

[0181] The following are device embodiments of the present application, which can be used to implement the method embodiments of the present application. For details not disclosed in the device embodiments of the present application, please refer to the method embodiments of the present application.

[0182] Figure 4 This is a schematic diagram of the structure of an embodiment of a service performance evaluation device for a maritime navigation system provided by this application. Figure 4 As shown, the service performance evaluation device 40 of the maritime navigation system includes:

[0183] an acquisition module 41, configured to acquire first maritime navigation data received by a plurality of first receivers at each reception moment, a single system availability indicator corresponding to each single system of a maritime navigation aid system, and second maritime navigation data received by a second receiver along a preset route, wherein the plurality of first receivers are located within a preset coverage area of the maritime navigation aid system;

[0184] The processing module 42 is configured to:

[0185] Determining, based on each first maritime navigation data, a coverage index, a service continuity index, and a positioning accuracy index of the maritime navigation aids system;

[0186] Determining the service availability index of the maritime navigation aids system according to the single system availability index corresponding to each single system and the preset business information of each navigation aids service business;

[0187] determining a service integrity indicator of the maritime navigation aids system according to each second maritime navigation data;

[0188] The evaluation module 43 is used to calculate the performance evaluation score of the maritime navigation aids system based on the coverage index, service continuity index, positioning accuracy index, service availability index and service integrity index of the maritime navigation aids system.

[0189] Furthermore, each first maritime navigation data includes a horizontal positioning error, a vertical positioning error, and an observed positioning coordinate. The processing module 42 is specifically configured to:

[0190] determining a coverage index of the maritime navigation aids system according to each first maritime navigation data and a preset navigation data requirement;

[0191] Determining a positioning accuracy index of the maritime navigation aids system based on the observed positioning coordinates received by each first receiver at each receiving moment and the preset actual coordinates of each first receiver at each receiving moment;

[0192] The service continuity index of the maritime navigation aids system is determined according to the horizontal positioning error and the vertical positioning error received by each first receiver at each receiving moment.

[0193] Furthermore, the processing module 42 is further configured to:

[0194] For each first maritime navigation data, if the first maritime navigation data meets the preset navigation data requirement, the first maritime navigation data is regarded as valid navigation data;

[0195] For each first receiver, if the ratio of the valid navigation data of the first receiver to the first maritime navigation data of the first receiver is greater than a preset ratio threshold, the first receiver is regarded as a valid receiver;

[0196] The ratio of the number of effective receivers to the number of all first receivers is used as the coverage index.

[0197] Furthermore, the processing module 42 is further configured to:

[0198] For each first receiver, calculating a positioning error accumulation index of the first receiver based on a horizontal positioning error and a vertical positioning error received by the first receiver at each receiving moment;

[0199] An average value of the cumulative positioning error indicators of all first receivers is used as the service continuity indicator.

[0200] Furthermore, the processing module 42 is further configured to:

[0201] For each first receiver, calculating the horizontal disparity and vertical disparity of the first receiver based on the observed positioning coordinates received by the first receiver at each receiving moment and the actual coordinates of the first receiver at each receiving moment;

[0202] The average of the horizontal differences of all first receivers is used as the horizontal accuracy index;

[0203] The average of the vertical discrepancies of all first receivers is used as the vertical accuracy index;

[0204] The horizontal accuracy index and the vertical accuracy index are used as the positioning accuracy index.

[0205] Furthermore, the service information of each navigation service includes a single system and a single system architecture corresponding to the navigation service, and the single system architecture is a serial architecture or a parallel architecture; the processing module 42 is further configured to:

[0206] Determining the service availability index of the maritime navigation aids system according to the single system availability index corresponding to each single system and the preset service information of each navigation aids service business includes:

[0207] For each navigation aid service, calculating an availability parameter of the navigation aid service based on the single system and single system architecture corresponding to the navigation aid service, and the single system availability index corresponding to each single system;

[0208] The service availability index is calculated according to the availability parameter of each navigation service.

[0209] Furthermore, each second maritime navigation data includes a status identifier indicating whether the satellite signal broadcasting status is normal. The processing module 42 is further configured to:

[0210] The navigation data whose status identifier in all the second maritime navigation data indicates that the satellite signal broadcasting status is normal is regarded as normal navigation data;

[0211] The ratio of the amount of normal navigation data to the amount of second maritime navigation data is used as the service integrity indicator.

[0212] Furthermore, the processing module 42 is further configured to:

[0213] Obtain the third navigation data of each single system;

[0214] preprocessing each third navigation data to obtain fourth navigation data;

[0215] Inputting the fourth navigation data and the service availability index into a model in a dynamic Bayesian network to obtain a corrected service availability index;

[0216] Furthermore, the evaluation module 43 is specifically used to calculate the performance evaluation score of the maritime navigation aids system based on the coverage index, service continuity index, positioning accuracy index and service integrity index of the maritime navigation aids system, as well as the corrected service availability index.

[0217] The service performance evaluation device for a maritime navigation aid system provided in this embodiment is used to execute the technical solution in any of the aforementioned method embodiments. Its implementation principles and technical effects are similar and will not be described in detail here.

[0218] Figure 5 This is a schematic diagram of the structure of an electronic device provided by this application. Figure 5 As shown, the electronic device 50 includes:

[0219] Processor 51, memory 52, and communication interface 53;

[0220] The memory 52 is used to store executable instructions of the processor 51;

[0221] The processor 51 is configured to execute the technical solution in any of the aforementioned method embodiments by executing the executable instructions.

[0222] Optionally, the memory 52 can be independent or integrated with the processor 51.

[0223] Optionally, when the memory 52 is a device independent of the processor 51, the electronic device 50 may further include:

[0224] The bus 54 , the memory 52 and the communication interface 53 are connected to the processor 51 via the bus 54 and communicate with each other. The communication interface 53 is used to communicate with other devices.

[0225] Optionally, the communication interface 53 may be implemented using a transceiver. The communication interface is used to enable communication between the database access device and other devices (e.g., clients, read-write libraries, and read-only libraries). The memory may include random access memory (RAM) and may also include non-volatile memory, such as at least one disk storage device.

[0226] Bus 54 may be a Peripheral Component Interconnect (PCI) bus or an Extended Industry Standard Architecture (EISA) bus. Buses can be categorized as address buses, data buses, and control buses. For ease of illustration, the figure uses only one thick line, but this does not imply that there is only one bus or only one type of bus.

[0227] The above-mentioned processor can be a general-purpose processor, including a central processing unit (CPU), a network processor (NP), etc.; it can also be a digital signal processor (DSP), an application-specific integrated circuit (ASIC), a field programmable gate array (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, and discrete hardware components.

[0228] The electronic device is used to execute the technical solution in any of the aforementioned method embodiments, and its implementation principles and technical effects are similar and will not be repeated here.

[0229] An embodiment of the present application further provides a readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the technical solution provided by any of the aforementioned method embodiments.

[0230] An embodiment of the present application further provides a computer program product, including a computer program, which, when executed by a processor, is used to implement the technical solution provided by any of the aforementioned method embodiments.

[0231] Those skilled in the art will appreciate that all or part of the steps in the above-described method embodiments can be implemented using hardware associated with program instructions. The aforementioned program can be stored in a computer-readable storage medium. When executed, the program performs the steps of the above-described method embodiments. The aforementioned storage medium includes various media capable of storing program code, such as ROM, RAM, magnetic disks, or optical disks.

[0232] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit them. Although the present application has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or replace some or all of the technical features therein with equivalents. However, these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present application.

Claims

1. A method for evaluating the service performance of a maritime navigation aid system, characterized in that: include: Obtaining first maritime navigation data received by a plurality of first receivers at each receiving moment, a single system availability indicator corresponding to each single system of a maritime navigation aid system, and second maritime navigation data received by a second receiver along a preset route, wherein the plurality of first receivers are located within a preset coverage range of the maritime navigation aid system; Determining, based on each first maritime navigation data, a coverage index, a service continuity index, and a positioning accuracy index of the maritime navigation aids system; Determining the service availability index of the maritime navigation aids system according to the single system availability index corresponding to each single system and the preset business information of each navigation aids service business; determining a service integrity indicator of the maritime navigation aids system according to each second maritime navigation data; A performance evaluation score of the maritime navigation aids system is calculated based on the coverage index, service continuity index, positioning accuracy index, service availability index and service integrity index of the maritime navigation aids system.

2. The method according to claim 1, characterized in that Each first maritime navigation data includes a horizontal positioning error, a vertical positioning error, and an observed positioning coordinate. Determining, based on each first maritime navigation data, a coverage index, a service continuity index, and a positioning accuracy index of the maritime navigation aids system includes: determining a coverage index of the maritime navigation aids system according to each first maritime navigation data and a preset navigation data requirement; Determining a positioning accuracy index of the maritime navigation aids system based on the observed positioning coordinates received by each first receiver at each receiving moment and the preset actual coordinates of each first receiver at each receiving moment; The service continuity index of the maritime navigation aids system is determined according to the horizontal positioning error and the vertical positioning error received by each first receiver at each receiving moment.

3. The method according to claim 2, characterized in that The determining, based on each first maritime navigation data and the preset navigation data requirement, a coverage index of the maritime navigation aids system includes: For each first maritime navigation data, if the first maritime navigation data meets the preset navigation data requirement, the first maritime navigation data is regarded as valid navigation data; For each first receiver, if the ratio of the valid navigation data of the first receiver to the first maritime navigation data of the first receiver is greater than a preset ratio threshold, the first receiver is regarded as a valid receiver; The ratio of the number of effective receivers to the number of all first receivers is used as the coverage index.

4. The method according to claim 2, characterized in that Determining the service continuity index of the maritime navigation aids system according to the horizontal positioning error and the vertical positioning error received by each first receiver at each receiving moment includes: For each first receiver, calculating a positioning error accumulation index of the first receiver based on a horizontal positioning error and a vertical positioning error received by the first receiver at each receiving moment; An average value of the cumulative positioning error indicators of all first receivers is used as the service continuity indicator.

5. The method according to claim 2, characterized in that Determining the positioning accuracy index of the maritime navigation aid system based on the observed positioning coordinates received by each first receiver at each receiving moment and the preset actual coordinates of each first receiver at each receiving moment includes: For each first receiver, calculating the horizontal disparity and vertical disparity of the first receiver based on the observed positioning coordinates received by the first receiver at each receiving moment and the actual coordinates of the first receiver at each receiving moment; The average of the horizontal differences of all first receivers is used as the horizontal accuracy index; The average of the vertical discrepancies of all first receivers is used as the vertical accuracy index; The horizontal accuracy index and the vertical accuracy index are used as the positioning accuracy index.

6. The method according to claim 1, characterized in that The service information of each navigation service includes a single system and a single system architecture corresponding to the navigation service, wherein the single system architecture is a series architecture or a parallel architecture; Determining the service availability index of the maritime navigation aids system according to the single system availability index corresponding to each single system and the preset service information of each navigation aids service business includes: For each navigation aid service, calculating an availability parameter of the navigation aid service based on the single system and single system architecture corresponding to the navigation aid service, and the single system availability index corresponding to each single system; The service availability index is calculated according to the availability parameter of each navigation service.

7. The method according to claim 1, characterized in that Each second maritime navigation data includes a status identifier indicating whether the satellite signal broadcasting status is normal. Determining the service integrity index of the maritime navigation aids system based on each second maritime navigation data includes: The navigation data whose status identifier in all the second maritime navigation data indicates that the satellite signal broadcasting status is normal is regarded as normal navigation data; The ratio of the amount of normal navigation data to the amount of second maritime navigation data is used as the service integrity indicator.

8. The method according to any one of claims 1 to 7, characterized in that Before calculating the performance evaluation score of the maritime navigation aids system based on the coverage index, service continuity index, positioning accuracy index, service availability index, and service integrity index of the maritime navigation aids system, the method further includes: Obtain the third navigation data of each single system; preprocessing each third navigation data to obtain fourth navigation data; Inputting the fourth navigation data and the service availability index into a model in a dynamic Bayesian network to obtain a corrected service availability index; Calculating the performance evaluation score of the maritime navigation aids system according to the coverage index, service continuity index, positioning accuracy index, service availability index, and service integrity index of the maritime navigation aids system includes: The performance evaluation score of the maritime navigation aids system is calculated based on the coverage index, service continuity index, positioning accuracy index and service integrity index of the maritime navigation aids system, as well as the corrected service availability index.

9. A service performance evaluation device for a maritime navigation aid system, characterized in that: include: an acquisition module, configured to acquire first maritime navigation data received by a plurality of first receivers at each reception moment, a single system availability indicator corresponding to each single system of a maritime navigation aid system, and second maritime navigation data received by a second receiver along a preset route, wherein the plurality of first receivers are located within a preset coverage range of the maritime navigation aid system; Processing module for: Determining, based on each first maritime navigation data, a coverage index, a service continuity index, and a positioning accuracy index of the maritime navigation aids system; Determining the service availability index of the maritime navigation aids system according to the single system availability index corresponding to each single system and the preset business information of each navigation aids service business; determining a service integrity indicator of the maritime navigation aids system according to each second maritime navigation data; An evaluation module is used to calculate a performance evaluation score of the maritime navigation aids system based on the coverage index, service continuity index, positioning accuracy index, service availability index and service integrity index of the maritime navigation aids system.

10. An electronic device, characterized in that: include: Processor, memory, communication interface; The memory is used to store executable instructions of the processor; The processor is configured to execute the service performance evaluation method of the maritime navigation aid system according to any one of claims 1 to 8 by executing the executable instructions.

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