Ship position monitoring alarm system and method based on multi-source satellite positioning

Abstract

The invention provides a ship position monitoring and alarming system and method based on multi-source satellite positioning, and relates to the technical field of ship navigation and safety monitoring, each positioning device receives various satellite signals in real time and determines ship positioning information, and the problem that the accuracy is low due to the fact that ship positioning is carried out only through single positioning equipment is solved. According to ship positioning information, a single device monitoring module in an intelligent analysis engine is used for automatically carrying out anomaly detection on a positioning device through three anomaly detection modes of position jump detection, horizontal precision factor HDOP monitoring and satellite number monitoring, so that the accuracy of ship positioning is ensured. And the ship position difference value is verified through a multi-device cross verification module. And the alarm management module is used for determining an abnormal detection result, determining an alarm type according to the abnormal detection result when the abnormal detection result of any positioning device is abnormal, determining an alarm mode according to the alarm type and automatically giving an alarm so as to timely process the abnormal condition of the ship position.

Description

TECHNICAL FIELD

[0001] The present specification relates to the technical field of ship navigation and safety monitoring, and particularly relates to a ship position monitoring and alarm system and method based on multi-source satellite positioning. BACKGROUND

[0002] At present, the traditional ship navigation system only relies on the received GPS signal for ship positioning, but in complex sea conditions, signal drift is easy to occur, which leads to inaccurate ship positioning and easy occurrence of positioning abnormality. Moreover, the existing system has a long response time and a high false alarm rate for the positioning abnormality, and cannot meet the requirements of the International Maritime Organization (IMO) safety specification. Therefore, how to monitor the ship position and quickly alarm when the positioning abnormality occurs is a very important problem.

[0003] Based on this, the present specification provides a ship position monitoring and alarm system and method based on multi-source satellite positioning. SUMMARY

[0004] In order to solve the problem that the prior art only relies on a single positioning device for ship positioning, which has low accuracy and is prone to positioning abnormality, and has a long response time and a high false alarm rate for the positioning abnormality, the present specification provides a ship position monitoring and alarm system and method based on multi-source satellite positioning. A plurality of positioning devices of multiple types are used to obtain ship positioning information, so as to avoid the problem of low accuracy of ship positioning by relying on a single positioning device. The single device monitoring module and the multi-device cross verification module in the intelligent analysis engine jointly detect and cross verify the plurality of positioning devices, so as to accurately monitor whether the positioning device is abnormal, improve the abnormal response time, and thus ensure the accuracy of ship positioning. The alarm management module automatically alarms to timely handle the abnormal situation of the ship position.

[0005] The present specification adopts the following technical solutions:

[0006] The present specification provides a ship position monitoring and alarm system based on multi-source satellite positioning, which comprises a plurality of positioning devices, an intelligent analysis engine and an alarm management module, wherein:

[0007] Each positioning device is configured to receive a plurality of satellite signals in real time, and determine ship positioning information in combination with the plurality of satellite signals, wherein the ship positioning information comprises a ship position.

[0008] The intelligent analysis engine comprises a single-device monitoring module and a multi-device cross verification module, the single-device monitoring module is configured to perform anomaly detection on each positioning device according to the ship positioning information determined by the positioning device, and determine a single-device detection result of the positioning device; the anomaly detection comprises position jump detection; the position jump detection comprises: setting a position jump threshold value adaptively according to a current speed of the ship, and performing position jump detection according to a position change of the ship between two continuous frames and the position jump threshold value; the multi-device cross verification module is configured to, when the single-device detection result of each positioning device is normal, obtain a cross verification result according to the ship position determined by each positioning device and a distance between the positioning devices.

[0009] The alarm management module is configured to determine an anomaly detection result of each positioning device according to the single-device detection result and the cross verification result of the positioning device; when the anomaly detection result of any positioning device is abnormal, determine an alarm type according to the anomaly detection result, and determine an alarm mode and automatically alarm according to the alarm type.

[0010] Optionally, the satellite signals comprise GPS satellite signals and Beidou satellite signals.

[0011] Optionally, the multi-device cross verification module is specifically configured to, when the single-device detection result of each positioning device is normal, determine a position difference value between the positioning devices according to the ship position determined by each positioning device; determine whether the position difference value is in a pre-set difference value range; if yes, determine that the cross verification result of the positioning devices is normal; and if no, determine that the cross verification result of the positioning devices is abnormal.

[0012] Optionally, the position jump detection method comprises: determining a position jump threshold value according to a current speed of the ship and a basic threshold value; for each positioning device, calculating a ship position change according to the ship positions determined by the positioning device between two continuous frames; determining whether the ship position change exceeds the position jump threshold value; if yes, determining that a first detection result of the positioning device is abnormal; and if no, determining that the first detection result of the positioning device is normal.

[0013] Optionally, the ship positioning information further comprises a horizontal dilution of precision (HDOP) value; and the anomaly detection further comprises horizontal dilution of precision (HDOP) monitoring.

[0014] The method for monitoring the horizontal dilution of precision HDOP comprises the following steps: for each positioning device, determining the state of the positioning device according to the horizontal dilution of precision HDOP value determined by the positioning device by using a pre-set hierarchical response mechanism; and determining the second detection result of the positioning device according to the state; the hierarchical response mechanism comprises a state corresponding to the value range of each horizontal dilution of precision HDOP value.

[0015] Optionally, the ship positioning information further comprises a number of effective satellites; and the anomaly detection further comprises satellite number monitoring.

[0016] The method for monitoring the number of satellites comprises the following steps: for each positioning device, starting a timer when the number of effective satellites determined by the positioning device is less than a preset number; and determining that the third detection result of the positioning device is abnormal when the time recorded by the timer reaches a preset time and the number of effective satellites determined by the positioning device is less than the preset number within the preset time.

[0017] Optionally, the alarm management module is specifically configured to determine the priority corresponding to the alarm type, and determine the final alarm type from the alarm types according to the alarm suppression logic and the priority; and automatically alarm according to the alarm mode corresponding to the final alarm type; each alarm type has a preset priority and alarm mode, and the alarm suppression logic is a suppression relationship between the alarm types.

[0018] Optionally, the intelligent analysis engine further comprises a fault prediction module, which is configured to, when the anomaly detection results of the plurality of positioning devices are normal, for each positioning device, calculate the horizontal dilution of precision HDOP change trend according to the horizontal dilution of precision HDOP value currently determined by the positioning device and the horizontal dilution of precision HDOP value determined in history; calculate the satellite number change trend according to the number of effective satellites currently determined by the positioning device and the number of effective satellites determined in history; and predict the fault probability of the positioning device by using a fault prediction algorithm according to the horizontal dilution of precision HDOP change trend and the satellite number change trend.

[0019] The alarm management module is further configured to, when the fault probability of each positioning device exceeds a preset threshold, generate fault prompt information and display the fault prompt information to a user.

[0020] The present specification provides a ship position monitoring and alarming method based on multi-source satellite positioning, which comprises the following steps:

[0021] S1: data acquisition: each positioning device receives multiple satellite signals in real time, and determines ship positioning information by combining the multiple satellite signals, wherein the ship positioning information comprises a ship position;

[0022] S2: Single device detection: according to the ship positioning information determined by each positioning device, performing anomaly detection on each positioning device to determine a single device detection result of each positioning device; the anomaly detection includes position jump detection; the position jump detection includes: adaptively setting a position jump threshold according to a current speed of the ship, and performing position jump detection according to a position change of the ship between two consecutive frames and the position jump threshold;

[0023] S3: Multi-device cross verification: when the single device detection result of each positioning device is normal, obtaining a cross verification result according to the ship position determined by each positioning device and the distance between each positioning device;

[0024] S4: Detection result generation: according to the single device detection result and the cross verification result of each positioning device, determining an anomaly detection result of each positioning device;

[0025] S5: Automatic alarm: when the anomaly detection result of any positioning device is abnormal, determining an alarm type according to the anomaly detection result, and determining an alarm mode and automatically alarming according to the alarm type.

[0026] Optionally, the ship positioning information further includes a horizontal dilution of precision (HDOP) value and a number of valid satellites; and the anomaly detection further includes HDOP monitoring and satellite number monitoring.

[0027] The method of the HDOP monitoring includes: for each positioning device, determining a state of the positioning device according to a HDOP value determined by the positioning device, using a pre-set hierarchical response mechanism; and determining a second detection result of the positioning device according to the state; the hierarchical response mechanism includes a state corresponding to a value range of each HDOP value.

[0028] The method of the satellite number monitoring includes: for each positioning device, when a number of valid satellites determined by the positioning device is less than a preset number, starting a timer; and when a time recorded by the timer reaches a preset time and the number of valid satellites determined by the positioning device is less than the preset number within the preset time, determining a third detection result of the positioning device as abnormal.

[0029] The above at least one technical solution adopted by the present specification can achieve the following beneficial effects:

[0030] The ship position monitoring alarm system based on multi-source satellite positioning provided in the specification can receive multiple satellite signals in real time by each positioning device, and determine the ship positioning information by combining multiple satellite signals, so as to obtain the ship positioning information by multiple positioning devices based on multiple types of satellite signals such as GPS satellite signals and Beidou satellite signals, thereby avoiding the problem of low accuracy of ship positioning by relying on a single positioning device. Then, the single-device monitoring module in the intelligent analysis engine detects the ship positioning information determined by each positioning device to detect the abnormality of each positioning device and determine the single-device detection result of each positioning device. Specifically, the abnormality of each positioning device can be detected automatically by position jump detection to accurately monitor whether the positioning device is abnormal, that is, to monitor the reliability of the output ship position, and to improve the abnormal response time, thereby ensuring the accuracy of ship positioning. At the same time, when the single-device detection result is normal, the cross-validation result is obtained according to the distance between the ship position determined by each positioning device and each positioning device. Specifically, the ship position difference value and difference interval determined by multiple positioning devices can be used to determine whether the output ship position is accurate in the case that the abnormality detection of the single device itself is normal, thereby improving the accuracy of ship positioning. Then, the alarm management module determines the abnormality detection result of each positioning device according to the single-device detection result and the cross-validation result of each positioning device. When the abnormality detection result of any positioning device is abnormal, the alarm type is determined according to the abnormality detection result, and the alarm mode is determined according to the alarm type and automatically alarms to timely handle the abnormal situation of the ship position.

[0031] In the present application, the position jump threshold is adaptively set according to the ship speed, and the position jump detection is performed according to the change of the ship position in two consecutive frames and the position jump threshold, which is more consistent with the actual ship operation scene, thereby avoiding false alarm. In addition, the abnormality detection in the present application also includes horizontal dilution of precision (HDOP) monitoring. The abnormality detection is performed by horizontal dilution of precision (HDOP) monitoring to monitor the positioning accuracy of the positioning device. Specifically, the horizontal dilution of precision (HDOP) monitoring can be performed by a hierarchical response mechanism and a horizontal dilution of precision (HDOP) value, so as to classify and evaluate the horizontal dilution of precision (HDOP) value by the state (i.e. the degree of accuracy degradation) corresponding to different HDOP value ranges, thereby ensuring the accuracy of the second detection result. At the same time, the abnormality detection in the present application also includes satellite number monitoring. The abnormality detection is performed by satellite number monitoring to monitor the signal strength of the positioning device. Specifically, the satellite number monitoring can be performed by the number of effective satellites and a preset number, and the duration that the number of effective satellites is less than the preset number is monitored by a timer, thereby ensuring the accuracy of the third detection result and avoiding false alarm.

[0032] The alarm management module in the application can determine the priority corresponding to the alarm type, and determine the final alarm type from the alarm type according to the alarm suppression logic and the priority. Automatic alarm according to the alarm mode corresponding to the final alarm type. Hierarchical alarm is performed through the alarm suppression logic and the priority of the alarm type to avoid the conflict situation when alarm is performed according to the alarm mode of different alarm types.

[0033] In the application, when the abnormality detection results of the plurality of positioning devices are normal, the fault prediction module calculates the horizontal dilution of precision HDOP change trend of each positioning device according to the current determined horizontal dilution of precision HDOP value and the historically determined horizontal dilution of precision HDOP value of the positioning device. The satellite number change trend is calculated according to the current determined number of effective satellites and the historically determined number of effective satellites of the positioning device. The fault prediction algorithm is used to predict the fault probability of the positioning device according to the horizontal dilution of precision HDOP change trend and the satellite number change trend, so as to realize the prediction of the future abnormal situation of each positioning device. When the fault probability exceeds the preset threshold, the fault prompt information can be generated and displayed to the user, so that the user can know the fault probability of the positioning device, and the positioning device can be checked and processed in advance to avoid the abnormal situation of the positioning device in the future.

[0034] The ship position monitoring alarm method based on multi-source satellite positioning provided in the specification receives multiple satellite signals in real time through each positioning device, and determines the ship positioning information by combining multiple satellite signals, so as to obtain the ship positioning information through multiple positioning devices of multiple types such as GPS satellite signals and Beidou satellite signals, thereby avoiding the problem of low accuracy of ship positioning by relying on a single positioning device. Then, according to the ship positioning information determined by each positioning device, the abnormality of each positioning device is detected, and the single-device detection result of each positioning device is automatically detected by three abnormality detection methods of position jump detection, horizontal dilution of precision (HDOP) monitoring and satellite number monitoring, so as to accurately monitor whether the positioning device is abnormal, that is, to monitor the reliability, positioning accuracy and signal strength of the output ship position, and to improve the abnormal response time, thereby ensuring the accuracy of ship positioning. At the same time, when the single-device detection result is normal, the cross-validation result is obtained according to the distance between the ship position determined by each positioning device and each positioning device, which can be determined by the ship position difference value and difference interval determined by multiple positioning devices, so that in the case that the abnormality detection of the single device itself is normal, the multiple devices further verify whether the output ship position is accurate, thereby improving the accuracy of ship positioning. Then, according to the single-device detection result of each positioning device and the cross-validation result, the abnormality detection result of each positioning device is determined. When the abnormality detection result of any positioning device is abnormal, the alarm type is determined according to the abnormality detection result, and the alarm mode is determined according to the alarm type and automatically alarms, so as to timely handle the abnormal situation of the ship position. BRIEF DESCRIPTION OF DRAWINGS

[0035] The drawings described herein are used to provide further understanding of the specification, and form a part of the specification. The illustrative embodiments of the specification and their descriptions serve to explain the specification, and do not constitute an improper limitation on the specification. In the drawings:

[0036] Figure 1 The structure schematic diagram of the ship position monitoring alarm system based on multi-source satellite positioning provided in the specification;

[0037] Figure 2 The structure schematic diagram of another ship position monitoring alarm system based on multi-source satellite positioning provided in the specification;

[0038] Figure 3 The schematic diagram of the positioning device dynamic recovery mechanism provided in the specification;

[0039] Figure 4 The schematic diagram of the single-device monitoring workflow provided in the specification;

[0040] Figure 5A schematic diagram of determining a comprehensive health score provided in the specification;

[0041] Figure 6 A schematic diagram of a ship position monitoring alarm method based on multi-source satellite positioning provided in the specification;

[0042] Figure 7 A schematic diagram of a system hardware deployment provided in the specification;

[0043] Figure 8 A schematic diagram of a ship position monitoring alarm process provided in the specification;

[0044] Figure 9 A flowchart of a ship position monitoring alarm method based on multi-source satellite positioning provided in the specification. DETAILED DESCRIPTION

[0045] For the purpose, technical solutions and advantages of the specification to be clearer, the technical solutions of the specification will be described clearly and completely below in combination with specific embodiments of the specification and corresponding drawings. Obviously, the described embodiments are only part of the embodiments of the specification, not all the embodiments. Based on the embodiments in the specification, all other embodiments obtained by those of ordinary skill in the art without creative labor fall within the scope of protection of the specification.

[0046] The specification provides a ship position monitoring alarm system and method based on multi-source satellite positioning. The technical solutions provided by each embodiment of the specification will be described in detail below in combination with the drawings.

[0047] Figure 1 A structural schematic diagram of a ship position monitoring alarm system based on multi-source satellite positioning provided in the specification, the system comprising a plurality of positioning devices 100, an intelligent analysis engine 101, and an alarm management module 102. The plurality of positioning devices can be antennas or receivers that receive different satellite signals, and the satellite signals can include GPS satellite signals and Beidou satellite signals. The positioning devices can only receive one of the GPS satellite signals and the Beidou satellite signals, or can receive both the GPS satellite signals and the Beidou satellite signals, which is not specifically limited in the specification. It should be noted that, Figure 1 Only two positioning devices 100, i.e., positioning device 1 and positioning device 2, are shown. The positioning devices 100 are installed on a ship, which can be any type of ship, especially marine, fishing, and special operation ships that have high requirements for ship positioning accuracy and navigation safety.

[0048] Each positioning device 100 can receive multiple satellite signals in real time and determine the ship positioning information in combination with the multiple satellite signals. The ship positioning information includes the ship position and can also include the horizontal dilution of precision (HDOP) value and the number of valid satellites. The horizontal dilution of precision (HDOP) is also referred to as the horizontal precision dilution factor. The horizontal dilution of precision (HDOP) can be calculated by the positioning device and is an index for measuring the positioning accuracy of the positioning device.

[0049] The intelligent analysis engine 101 includes a single-device monitoring module 1011 and a multi-device cross-validation module 1012. The single-device monitoring module 1011 can perform anomaly detection on each positioning device 100 according to the ship positioning information determined by the positioning device 100 to determine the single-device detection result of the positioning device 100. The anomaly detection includes position jump detection, HDOP monitoring, and satellite number monitoring. That is, the anomaly detection includes at least one of the position jump detection, the HDOP monitoring, and the satellite number monitoring. The anomaly detection is used to detect each positioning device 100. The single-device detection result can include one of normal and abnormal and can also include a detection type. The detection type can include the three anomaly detections. Therefore, the single-device detection result can be expressed as "detection type: normal or abnormal". The single-device detection result includes a first detection result and can also include a second detection result and a third detection result. When performing the position jump detection, the single-device monitoring module 1011 can perform the position jump detection on each positioning device 100 according to the ship position determined by the positioning device 100 to obtain the first detection result corresponding to the positioning device 100. When performing the HDOP monitoring, the single-device monitoring module 1011 can perform the HDOP monitoring on each positioning device 100 according to the HDOP value determined by the positioning device 100 to obtain the second detection result corresponding to the positioning device 100. When performing the satellite number monitoring, the single-device monitoring module 1011 can perform the satellite number detection on each positioning device 100 according to the number of valid satellites determined by the positioning device 100 to obtain the third detection result corresponding to the positioning device 100.

[0050] Specifically, when performing the position jump detection, the single-device monitoring module 1011 can set the position jump threshold value adaptively according to the current speed of the ship, and perform the position jump detection according to the continuous ship position change and the position jump threshold value. The single-device monitoring module 1011 can directly take the first detection result as the single-device detection result of the positioning device 100. That is, the single-device monitoring module 1011 can determine the position jump threshold value according to the current speed of the ship and a basic threshold value. For each positioning device 100, the ship position change is calculated according to the ship positions of two consecutive frames determined by the positioning device 100. It is judged whether the ship position change exceeds the position jump threshold value. If yes, it is determined that the first detection result of the positioning device 100 is abnormal. If not, it is determined that the first detection result of the positioning device 100 is normal. Wherein, the unit of the speed is knot, the basic threshold value is 50 meters, and the position jump threshold value can be determined by the following formula:

[0051] Position jump threshold value = basic threshold value x (1 + current speed / 50)

[0052] The first detection result can include one of the detection type (i.e. position jump detection) and normal or abnormal.

[0053] When performing the horizontal dilution of precision HDOP monitoring, the single-device monitoring module 1011 can judge, for each positioning device 100, whether the horizontal dilution of precision HDOP value determined by the positioning device 100 exceeds a factor threshold value. If yes, it is determined that the second detection result of the positioning device 100 is abnormal, and if not, it is determined that the second detection result of the positioning device 100 is normal. Wherein, the factor threshold value can be dynamically adjusted according to the current sea condition of the ship, that is, when the ship is at sea, the factor threshold value is 3.0. When the ship is near the shore, the factor threshold value is 2.5. When the ship is in the port, the factor threshold value is 2.0. The single-device monitoring module 1011 can directly take the second detection result as the single-device detection result of the positioning device 100.

[0054] In addition, the single-device monitoring module 1011 can also determine the state of each positioning device 100 according to the horizontal dilution of precision HDOP value determined by the positioning device 100 based on the pre-set hierarchical response mechanism. According to the state, the second detection result of the positioning device 100 is determined. The hierarchical response mechanism includes the state corresponding to the value range of each horizontal dilution of precision HDOP value, which can include excellent, warning and serious degradation, to represent the degree of accuracy degradation. In addition, the hierarchical response mechanism can also include the response measure corresponding to the value range of each horizontal dilution of precision HDOP value, which can include normal display, yellow warning and red alarm + accuracy report. The response measure is used to display the determined horizontal dilution of precision HDOP value. The second detection result can include one of the detection type (i.e. horizontal dilution of precision HDOP monitoring) and normal (i.e. excellent, warning) or abnormal (i.e. serious degradation), and can also directly include the state, or the response measure corresponding to the state. The hierarchical response mechanism can be specifically as shown in Table 1. The value range of the horizontal dilution of precision HDOP value in Table 1 includes (1.0-2.0], (2.0-3.0], and greater than 3.0. The 3.0 is a pre-set factor threshold, and the value range of the horizontal dilution of precision HDOP value can also be adjusted according to the factor threshold. It should be noted that the value range of the horizontal dilution of precision HDOP value in the hierarchical response mechanism (i.e. Table 1) is taken as an example with the factor threshold being 3.0. The value range of (1.0-2.0] corresponds to the state of excellent, and the response measure is normal display. The value range of (2.0-3.0] corresponds to the state of warning, and the response measure is yellow warning. The value range of greater than 3.0 corresponds to the state of serious degradation, and the response measure is "red alarm + accuracy report".

[0055] Table 1

[0056] HDOP value range State Response measure 1.0-2.0 Excellent Normal display 2.0-3.0 Warning Yellow alert ＞3.0 Severe degradation Red alert + accuracy report

[0057] Specifically, when determining the second detection result, the single-device monitoring module 1011 can determine the value range corresponding to the horizontal dilution of precision HDOP value determined by each positioning device 100 in the pre-set hierarchical response mechanism, and determine the state of the positioning device 100 according to the determined value range. When the determined state is excellent and warning, the second detection result of the positioning device 100 is normal, and when the determined state is serious degradation, the second detection result of the positioning device 100 is abnormal. Of course, the determined state (or the state and the corresponding response measure) can also be directly used as the second detection result of the positioning device 100.

[0058] When the satellite number monitoring is performed, the single-device monitoring module 1011 can start a timer when the valid satellite number determined by each positioning device 100 is less than the preset number. When the time recorded by the timer reaches the preset time and the valid satellite number determined by the positioning device 100 is less than the preset number within the preset time, it is determined that the third detection result of the positioning device 100 is abnormal. The preset number is preset and can be 4. The preset time is also preset and can be 5 seconds. The timer is used to record the time when the valid satellite number is less than the preset number, that is, the timer starts timing when the valid satellite number is less than the preset number, and stops timing when the valid satellite number is not less than the preset number or the time recorded by the timer reaches the preset time. If the time recorded by the timer does not reach the preset time, it is determined that the third detection result of the positioning device 100 is normal. The single-device monitoring module 1011 can directly take the third detection result as the single-device detection result of the positioning device 100.

[0059] The multi-device cross verification module 1012 can obtain a cross verification result by cross verifying the plurality of positioning devices 100 when the single-device detection result of each positioning device 100 is normal, according to the ship position determined by each positioning device 100 and the distance between each positioning device 100. The cross verification result is one of normal and abnormal. The distance between each positioning device 100 refers to the distance between the installation positions of each positioning device 100 on the ship. The physical constraint verification is realized by the multi-device cross verification module 1012. Specifically, the multi-device cross verification module 1012 can determine the position difference between the plurality of positioning devices according to the ship position determined by each positioning device when the single-device detection result of each positioning device is normal. It is determined whether the position difference is within a preset difference interval. If yes, it is determined that the cross verification result of the plurality of positioning devices is normal. If no, it is determined that the cross verification result of the plurality of positioning devices is abnormal. The position difference is determined based on the ship positions determined by the plurality of positioning devices, and specifically, the position difference between the ship position determined by the first positioning device and the ship position determined by the second positioning device is taken as an example. The difference interval is preset, and the difference interval can be determined based on the installation positions of the plurality of positioning devices on the ship. Specifically, the installation position of the first positioning device and the installation position of the second positioning device are taken as an example. The actual position difference between the installation position of the first positioning device and the installation position of the second positioning device is determined, and then the difference interval is set based on the actual position difference. For example, the actual position difference is 30 meters, and the difference interval can be 0-30 meters. The cross verification results of each positioning device 100 are the same.

[0060] The alarm management module 102 can determine the abnormal detection result of each positioning device 100 according to the single-device detection result and the cross-verification result of each positioning device 100. When the abnormal detection result of any positioning device 100 is abnormal, the alarm type is determined according to the abnormal detection result, the alarm mode is determined according to the alarm type, and the alarm is automatically triggered. The alarm can be realized by the sound and light alarm device installed on the ship. The abnormal detection result can be the single-device detection result and the multi-device detection result (i.e., the cross-verification result). The alarm type can be determined according to the abnormal detection result, and can specifically include four alarm types, i.e., the first alarm type is that the ship position change exceeds the position jump threshold value (i.e., based on the position jump detection), the second alarm type is that the horizontal dilution of precision HDOP value is greater than the factor threshold value (i.e., based on the horizontal dilution of precision HDOP monitoring), the third alarm type is that the number of effective satellites is less than the preset threshold value and reaches the preset time (i.e., based on the satellite number monitoring), and the fourth alarm type is that the position difference value is in the preset difference value interval (i.e., based on the multi-device cross-verification module 1012). Each alarm type has a preset priority and an alarm mode. The alarm mode includes two modes of alarm, i.e., visual alarm mode and sound alarm mode. The priority of the first alarm type is 1, and the corresponding alarm mode is red flashing (i.e., visual alarm mode) and continuous buzzing (i.e., sound alarm mode). The priority of the second alarm type is 2, and the corresponding alarm mode is yellow constant light (i.e., visual alarm mode) and intermittent buzzing (i.e., sound alarm mode). The priority of the third alarm type is 3, and the corresponding alarm mode is blue flashing (i.e., visual alarm mode) and single-time prompt (i.e., sound alarm mode). The priority of the fourth alarm type is 1, and the corresponding alarm mode is red flashing (i.e., visual alarm mode) and continuous buzzing (i.e., sound alarm mode). In addition, each alarm type has a corresponding response time, i.e., the response time of the first alarm type is less than 1 second, the response time of the second alarm type is less than 3 seconds, the response time of the third alarm type is less than 5 seconds, and the response time of the fourth alarm type is less than 1 second.

[0061] In addition, the alarm management module 102 can derive multiple alarm types. In order to avoid conflicts when alarms are given according to alarm modes of different alarm types, the alarm management module 102 can determine the priority corresponding to the alarm type when determining the alarm mode according to the alarm type and automatically giving the alarm, and determine the final alarm type from the alarm types according to the alarm suppression logic and the priority. The alarm is automatically given according to the alarm mode corresponding to the final alarm type. Each alarm type has a preset priority and alarm mode, and the alarm suppression logic is the suppression relationship between each alarm type. The alarm suppression logic can be: when there is an alarm type with a priority of 1 in the determined alarm types, automatically suppress the alarm type with a priority of 3; the same alarm type is not triggered repeatedly within a specified time (such as 30 seconds); the alarm is automatically reset after the ship bridge confirms the alarm. When the determined alarm types include alarm types with a priority of 1 and a priority of 3, the alarm types other than the alarm type with a priority of 3 can be directly selected as candidate alarm types. Then, for each candidate alarm type, it is judged whether the alarm corresponding to the candidate alarm type has been triggered in the past specified time. If yes, the candidate alarm type is removed; if no, the candidate alarm type is retained. Then, the retained candidate alarm type is determined as the final alarm type.

[0062] Each alarm type, priority, response time, visual alarm mode, and sound alarm mode in the above table 2 can be as shown in the following table 2.

[0063] Table 2

[0064] Alarm type Priority Response time Visual alarm mode Sound alarm mode Ship position change > 50 meters 1 < 1 second Red flashing Continuous beeping Horizontal accuracy factor HDOP value > 3.0 2 < 3 seconds Yellow constant Intermittent beeping Effective satellite number < 4 for 5 seconds 3 < 5 seconds Blue flashing Single prompt Position difference > 30 meters 1 < 1 second Red flashing Continuous beeping

[0065] The "ship position change > 50 meters" in the above table 2 is the first alarm type, and "50 meters" is the position jump threshold. The "horizontal dilution of precision HDOP value > 3.0" is the second alarm type, and "3.0" is the factor threshold. The "number of valid satellites < 4 and lasting for 5 seconds" is the third alarm type, "4" is the preset number, and "5" is the preset time. The "position difference value > 30 meters" is the fourth alarm type, and "position difference value > 30 meters" is the difference interval. It should be noted that the above table 2 is only an example of each alarm type, priority, response time, visual alarm mode, and sound alarm mode.

[0066] In some embodiments of the present specification, the intelligent analysis engine 101 further includes a fault prediction module 1013, as shown in Figure 2 Figure 2 ​For another structure diagram of a ship position monitoring and alarming system based on multi-source satellite positioning provided in the specification, when the abnormality detection result of the plurality of positioning devices is abnormal, the fault prediction module 1013 can calculate, for each positioning device, a horizontal dilution of precision HDOP change trend according to the current determined horizontal dilution of precision HDOP value and the historically determined horizontal dilution of precision HDOP value of the positioning device. According to the current determined number of effective satellites and the historically determined number of effective satellites, the satellite number change trend is calculated. According to the horizontal dilution of precision HDOP change trend and the satellite number change trend, the fault prediction algorithm is used to predict the fault probability of the positioning device. Wherein, the horizontal dilution of precision HDOP change trend can be calculated by a trend calculation function, specifically, it can be realized by "hdop_slope = calculate_trend(hdop_history, 10)", wherein "calculate_trend" is a trend calculation function, "hdop_slope" represents the horizontal dilution of precision HDOP change trend, "hdop_history" represents the horizontal dilution of precision HDOP value used for calculation, that is, the current determined horizontal dilution of precision HDOP value and the historically determined horizontal dilution of precision HDOP value, and "10" represents the data amount corresponding to the horizontal dilution of precision HDOP value used for calculation, specifically, 10 is taken as an example. The satellite number change trend can also be calculated by a trend calculation function, specifically, it can be realized by "sat_slope = calculate_trend(sat_history, 10)", wherein "calculate_trend" is a trend calculation function, "sat_slope" represents the satellite number change trend, "sat_history" represents the number of effective satellites used for calculation, that is, the current determined number of effective satellites and the historically determined number of effective satellites, and "10" represents the data amount corresponding to the number of effective satellites used for calculation, specifically, 10 is taken as an example. When predicting the fault probability of the positioning device, the following algorithm can be used:

[0067] failure_prob = (

[0068] 0.6 * min(1, max(0, (hdop_slope - 0.1) / 0.2)) +

[0069] 0.4 * min(1, max(0, (-sat_slope - 0.05) / 0.1))

[0070] Wherein, the "failure_prob" represents the predicted failure probability, i.e., the comprehensive risk. The "0.6" represents the proportion of the failure risk caused by the HDOP trend in the comprehensive risk. The "0.1" in "hdop_slope - 0.1" is the risk threshold of the HDOP trend, that is, the HDOP trend starts to contribute to the failure risk when it exceeds the risk threshold. The "0.2" is the scaling factor of the HDOP trend. The "0.4" represents the proportion of the failure risk caused by the satellite number trend in the comprehensive risk. The "0.05" is the risk threshold of the satellite number trend, that is, the satellite number trend starts to contribute to the failure risk when it exceeds the risk threshold. The "0.1" in "(-sat_slope - 0.05) / 0.1" is the scaling factor of the satellite number trend. The above-mentioned numerical values (such as "0.6", "0.1", "0.2", "0.05", "0.4", etc.) can be pre-set, and the above is only an example, and the present specification does not limit the specific numerical values.

[0071] Based on this, the above-mentioned alarm management module 102 can also generate failure prompt information and display it to the user when the failure probability of each positioning device 100 exceeds the preset threshold. Wherein, the preset threshold can be pre-set, which can be 0.7. The above-mentioned failure prompt information is used to prompt the user that there is a failure risk on the positioning device 100 on the ship, and the above-mentioned failure prompt information can also include the failure probability of each positioning device 100.

[0072] In some embodiments of the present specification, the above-mentioned system can also include a ship positioning generation module 103, as shown in Figure 2 The above-mentioned ship positioning generation module 103 can determine the positioning device 100 with the abnormal detection result as normal, and as the target positioning device 100. According to the ship position determined by the target positioning device 100, the ship positioning coordinates are determined. Specifically, the ship position determined by the target positioning device 100 can be directly taken as the ship positioning coordinates. After the ship positioning coordinates are determined, the ship positioning coordinates can be displayed to the user. In addition, the ship positioning coordinates can also be synchronized to the navigation system.

[0073] In some embodiments of the present specification, if the final alarm type includes the third alarm type, after the alarm is given according to the alarm mode corresponding to the third alarm type, the single-device monitoring module 1011 continues to monitor the number of valid satellites determined by each positioning device 100. For each positioning device 100, when the number of valid satellites determined by the positioning device 100 is not less than the preset number, start the timer, record the duration of the number of valid satellites being not less than the preset number until the duration reaches the first specified time, and determine that the positioning device 100 returns to normal. Then, continue to record the duration of the number of valid satellites being not less than the preset number until the duration reaches the second specified time, and determine that the positioning device 100 is normally stable. Subsequently, the ship positioning generation module 103 can use the ship position determined by the positioning device 100 to determine the ship positioning coordinates. The first specified time and the second specified time are preset, and the first specified time can be 10 seconds and the second specified time can be 60 seconds.

[0074] Specifically, as shown in Figure 3 , Figure 3 is a schematic diagram of a positioning device dynamic recovery mechanism provided in the present specification. Figure 3 Taking one positioning device 100 as an example, first, the single-device monitoring module 1011 can monitor the number of valid satellites determined by the positioning device 100 in real time. When the number of valid satellites is less than the preset number and lasts for a preset time, i.e. Figure 3 “Satellite shortage”, “valid satellite number <4 (i.e. taking 4 as an example of the preset number) and lasting for 5 seconds (i.e. taking 5 seconds as an example of the preset time)”, determine that the third detection result of the positioning device 100 is abnormal, and the abnormal detection result of the positioning device 100 includes the third detection result, i.e. abnormal. Assuming that the final alarm type includes the third alarm type, then the alarm is given according to the alarm mode corresponding to the third alarm type, i.e. Figure 3 “Alarm activation”, “automatic alarm”. Then the single-device monitoring module 1011 continues to monitor the number of valid satellites determined by the positioning device 100, i.e. Figure 3 “Resuming monitoring”. When the number of valid satellites determined by the positioning device 100 is not less than the preset number, i.e. Figure 3 “valid satellite number ≥4”, start the timer, record the duration of the number of valid satellites being not less than the preset number until the duration reaches the first specified time, i.e. Figure 3 “valid satellite number ≥4 and lasting for 10 seconds (i.e. taking 10 seconds as an example of the first specified time)”, determine that the positioning device 100 returns to normal, i.e. Figure 3 “returns to normal”. Then, continue to record the duration of the number of valid satellites being not less than the preset number until the duration reaches the second specified time, i.e. Figure 3“effective satellite number ≥ 4 and continuous for 60 seconds (i.e. taking 60 seconds as an example for the second specified time)”, it is determined that the positioning device 100 is normally stable, i.e. Figure 3 “normally stable” in the above.

[0075] In some embodiments of the present specification, as shown in Figure 4 , Figure 4 is a schematic diagram of a single-device monitoring workflow provided in the present specification, Figure 4 taking a positioning device as an example, Figure 4 including a positioning device 100, an intelligent analysis engine 101 and an alarm management module 102. The positioning device 100 can send the real-time determined ship positioning information to the intelligent analysis engine 101, i.e. Figure 4 “real-time data (ship position, HDOP value, effective satellite number)” in the above. The single-device monitoring module 1011 in the above intelligent analysis engine 101 can perform “position jump detection”, i.e. calculating the ship position change of two consecutive frames, i.e. Figure 4 “calculating the ship position change” in the above. When the ship position change exceeds the position jump threshold, i.e. Figure 4 “ship position change > 50 meters (i.e. taking 50 meters as an example for the position jump threshold)”, it is determined that the first detection result is abnormal. Assuming that the final alarm type includes the alarm type (i.e. the first alarm type) corresponding to the position jump detection, the alarm management device 102 alarms according to the alarm mode corresponding to the first alarm type, i.e. Figure 4 “position jump alarm” in the above.

[0076] At the same time, the single-device monitoring module 1011 in the above intelligent analysis engine 101 can perform “horizontal dilution of precision HDOP monitoring”, i.e. determining the horizontal dilution of precision HDOP value, i.e. Figure 4 “checking the HDOP value” in the above, and when the horizontal dilution of precision HDOP value exceeds the factor threshold, i.e. Figure 4 “HDOP value > 3.0 (i.e. taking 3.0 as an example for the factor threshold)”, it is determined that the second detection result is abnormal. Assuming that the final alarm mode includes the alarm type (i.e. the second alarm type) corresponding to the horizontal dilution of precision HDOP monitoring, the alarm management device 102 alarms according to the alarm mode corresponding to the second alarm type, i.e. Figure 4 “precision degradation alarm” in the above.

[0077] At the same time, the single-device monitoring module 1011 in the above intelligent analysis engine 101 can perform “satellite number monitoring”, i.e. determining the effective satellite number, and when the effective satellite number is less than the preset number, i.e. Figure 4“effective satellite quantity < 4 (i.e. taking the preset number 4 as an example)”, start the timer, when the time recorded by the timer reaches the preset time and the effective satellite quantity determined by the positioning device 100 within the preset time is all less than the preset number, the positioning device 100 determines that the satellite quantity is insufficient, and the alarm management device 102 sends an alarm according to the alarm mode corresponding to the satellite quantity insufficient alarm type, i.e. Figure 4 “start the timer” and “effective satellite quantity < 4 and last for 5 seconds (i.e. taking the preset number 5 seconds as an example)”, determine that the third detection result is abnormal, and if the final alarm mode includes the alarm type corresponding to the satellite quantity monitoring (i.e. the third alarm type), the alarm management device 102 alarms according to the alarm mode corresponding to the third alarm type, i.e. Figure 2 “satellite quantity insufficient alarm”.

[0078] In some embodiments of the present disclosure, the above system can further include a detection report generation module 104, as shown in Figure 5 For each positioning device 100, the detection report generation module 104 can generate a detection report of the positioning device according to the ship positioning information and the abnormal detection result of the positioning device 100. Of course, the detection report generation module 104 can also generate a final detection report according to the detection report of each positioning device 100. The final detection report is composed of the detection report of each positioning device. In addition, the detection report can also include the horizontal dilution of precision (HDOP) change trend, the satellite quantity change trend, and the failure probability, and can also include the detection time and the installation position of the positioning device. Of course, the detection report can also include the abnormal reason and the solution measure of the positioning device, and the abnormal reason and the solution measure can be preset according to the abnormal detection result. For example, when the abnormal detection result includes the position jump detection and is abnormal, the corresponding abnormal reason is the position jump. When the abnormal detection result includes the satellite quantity monitoring and is abnormal, the corresponding abnormal reason can include the strong interference of satellite signal, the internal failure of receiver, the antenna connection problem, etc., wherein if the effective satellite quantity < 4, the abnormal reason is the strong interference of satellite signal. If the effective satellite quantity = 0, the abnormal reason is the antenna connection problem and the internal failure of receiver. Each abnormal reason has a preset solution measure, such as immediately switching to a backup positioning device, checking the antenna connection and signal quality, restarting the positioning device, etc. The detection report generation module 104 can determine the corresponding failure reason and failure solution measure according to the alarm type, and generate a detection report.

[0079] Specifically, taking the detection report of the positioning device 1 as an example, the detection report can be as follows:

[0080] “Detection report of positioning device 1:

[0081] Detection time: 2025-07-08 15:45:22 UTC

[0082] Installation location: 35.2°N, 122.8°E

[0083] Anomaly detection:

[0084] 1. Position jump detection:

[0085] - Previous position: 35.2001°N, 122.8002°E

[0086] - Current position: 35.2050°N, 122.8100°E

[0087] - Jump distance (i.e., change in vessel position): 58.3 meters (> 50-meter threshold)

[0088] - Vessel speed: 12.5 knots (impossible to move instantaneously)

[0089] - First detection result: Anomaly

[0090] 2. Horizontal dilution of precision (HDOP) monitoring:

[0091] - Current HDOP value: 3.8 (> 3.0 threshold)

[0092] - Trend in horizontal dilution of precision (HDOP) changes: 2.1 → 2.8 → 3.2 → 3.8 (continuous deterioration)

[0093] - Second detection result: Anomaly

[0094] 3. Satellite number monitoring:

[0095] - Number of valid satellites: 5 (normal)

[0096] - 3 GPS satellites, 2 Beidou satellites

[0097] - Third detection result: Normal

[0098] Anomaly detection results:

[0099] - First detection result: Anomaly

[0100] - Third detection result: Anomaly

[0101] - Third detection result: Normal

[0102] Anomaly causes:

[0103] Possible causes for the positioning device 1 to have a serious signal anomaly:

[0104] ✓ Satellite signals are subject to strong interference

[0105] ✓ Receiver internal failure

[0106] ✓ Antenna connection issues

[0107] Solutions:

[0108] 1. Switch immediately to backup positioning device

[0109] 2. Check antenna connection and signal quality

[0110] 3. Restart the positioning device 1”.

[0111] In some embodiments of the present specification, the above-mentioned horizontal dilution of precision HDOP monitoring is actually precision degradation detection, the above-mentioned satellite number monitoring is actually signal strength monitoring, and the above-mentioned fault prediction module 1013 can further determine a comprehensive health score of each positioning device according to the detection results of the three detections of position jump detection, precision degradation detection and signal strength detection. Specifically, the score corresponding to a normal detection result can be set to 1, and the score corresponding to an abnormal detection result can be set to 0. In addition, different score weights can be set for each detection, and the comprehensive health score can be determined according to the score weight of each detection and the score corresponding to each detection result. The comprehensive health score can be the sum of the products of N score weights and scores, and N represents the number of detections, i.e. N = 3. Specifically, as shown in Figure 5 , Figure 5 is a schematic diagram of determining a comprehensive health score provided in the present specification. The position jump detection can be performed based on the ship position (i.e. the “position data” in Figure 5 ), to obtain a first detection result. The precision degradation detection can be performed based on the horizontal dilution of precision HDOP value (i.e. the “HDOP value” in Figure 5 ), to obtain a second detection result. The signal strength detection can be performed based on the number of effective satellites (i.e. the “satellite number” in Figure 6 ), to obtain a third detection result. The comprehensive health score can be determined according to the first detection result, the second detection result and the third detection result. In addition, the above-mentioned comprehensive health score can be displayed to the user, and the comprehensive health score can be included in the above-mentioned detection report.

[0112] In some embodiments of the present specification, as shown in Figure 6 , Figure 6 is a schematic diagram of a ship position monitoring and alarming method based on multi-source satellite positioning provided in the present specification, Figure 7Taking two positioning devices 100 as an example, namely positioning device 1 and positioning device 2, these two devices can receive signals from GPS or BeiDou satellites and determine the ship's positioning information. Based on the ship's positioning information, an intelligent analysis engine performs single-device monitoring and multi-device cross-verification. Single-device monitoring includes three types of anomaly detection: position jump detection, horizontal accuracy factor (HDOP) monitoring, and satellite count monitoring, implemented through the single-device monitoring module 1011. Multi-device cross-verification includes position difference comparison (i.e., comparison of position difference with difference intervals), implemented through the multi-device cross-verification module 1012. The results obtained from single-device monitoring and multi-device cross-verification are then aggregated in the alarm management module 102 to trigger an alarm via an audible and visual alarm device and simultaneously sent to the navigation system.

[0113] In some embodiments of this specification, such as Figure 7 As shown, Figure 7 This is a schematic diagram of a system hardware deployment provided in this specification. The intelligent analysis engine 101 and alarm management module 102 in the above system can be deployed in the central processing unit of the ship's equipment compartment. This equipment compartment also houses a data storage server and a network switch, and the central processing unit is connected to the data storage server and the network switch, respectively. Multiple positioning devices (i.e....) Figure 8 The GPS / BeiDou antennas 1-3 can be deployed on the exterior of the vessel's hull. An anemometer and odometer can also be deployed on the exterior of the hull. These positioning devices, anemometer, and odometer communicate with the central processing unit. The vessel's bridge houses the main control console, alarm display panel, audible and visual alarm (i.e., audible and visual alarm device), and navigation workstation. The main control console communicates with the alarm display panel, audible and visual alarm, and navigation workstation. A USP power system is deployed in the backup system and connected to the central processing unit.

[0114] In some embodiments of this specification, such as Figure 8 As shown, Detection item This diagram illustrates a ship position monitoring and alarm process as provided in this specification. The aforementioned wind speed and direction meter is used to determine wind speed and direction, the aforementioned log is used to determine ship speed and distance traveled, and the aforementioned central processing unit is used to receive ship positioning information transmitted by the positioning antenna (i.e., GPS / BeiDou antenna). The central processing unit performs data analysis and processing based on the received data to generate anomaly alarm signals and sends them to the alarm system (i.e., audible and visual alarm device). The aforementioned anomaly alarm signals include alarm methods. Furthermore, the central processing unit can also generate comprehensive navigation information (i.e., ship positioning coordinates) for the main control console, and can also generate navigation data records to send to the data storage server for data storage. These navigation data records may include detection time, ship positioning information, anomaly detection results, etc.

[0115] In some embodiments of the present specification, the practicability of the above system is verified using real ship test data. The above real ship test data are as follows:

[0116] Test ship: 200,000-ton container ship;

[0117] Test area: a strait (high interference environment);

[0118] When the practicability is verified, the detection position jump detection rate, HDOP>3.0 detection rate, satellite number insufficient warning time, false alarm rate, and fault prediction accuracy rate can be used to compare the traditional system and the present system, as shown in Table 3. Table 3 shows the comparison results of the traditional system and the present system in multiple detection items.

[0119] Table 3

[0120] Traditional system This system Improvement effect Position jump detection rate HDOP > 3.0 detection rate 68% 100% +32% Satellite number shortage warning time 75% 99.5% +24.5% 0 seconds 15 minutes in advance Newly added ability False alarm rate Fault prediction accuracy 35% 2.1% -94% None Newly added ability 88.7% Figure 9

[0121] Then, the key performance indicators of the traditional system and the present system are compared, and the comparison results are obtained, i.e.

[0122] Response time:

[0123] Position jump alarm: <0.8 seconds;

[0124] HDOP alarm: <1.5 seconds;

[0125] Satellite number insufficient alarm: <3 seconds;

[0126] Reliability index:

[0127] Mean time between failures: >10,000 hours;

[0128] Fault prediction accuracy: >85%;

[0129] False alarm rate: <3%.

[0130] Based on the above ship position monitoring and alarm system based on multi-source satellite positioning, the present specification also provides a ship position monitoring and alarm method based on multi-source satellite positioning. The execution subject of the method can be the above system or one or more modules in the above system, and can also be a server, a computer, etc. running the system, which is not limited in the present specification. For convenience of description, the server is taken as the execution subject for description. The above method is specifically as shown in Figure 9 ​ is a flowchart of a ship position monitoring and alarm method based on multi-source satellite positioning provided in the present specification, which specifically includes the following steps:

[0131] ​S1: data acquisition: receiving multiple satellite signals in real time through each positioning device, and determining ship positioning information in combination with the multiple satellite signals, the ship positioning information including a ship position.

[0132] S2: single-device detection: performing anomaly detection on each positioning device according to the ship positioning information determined by the positioning device, to determine a single-device detection result of the positioning device; the anomaly detection includes position jump detection; the position jump detection includes: adaptively setting a position jump threshold according to a current ship speed, and performing position jump detection according to a change in ship position between two consecutive frames and the position jump threshold.

[0133] S3: multi-device cross-validation: when the single-device detection result of each positioning device is normal, obtaining a cross-validation result according to the ship position determined by each positioning device and the distance between the positioning devices.

[0134] S4: detection result generation: determining an anomaly detection result of each positioning device according to the single-device detection result and the cross-validation result of the positioning device.

[0135] S5: automatic alarm: when the anomaly detection result of any positioning device is abnormal, determining an alarm type according to the anomaly detection result, and determining an alarm mode and automatically alarming according to the alarm type.

[0136] The specific implementation process of S1 is consistent with the implementation process of the multiple positioning devices 100 in the system, and will not be repeated here. The specific implementation process of S2 is consistent with the implementation process of the single-device monitoring module 1011 in the intelligent analysis engine 101 in the system, and will not be repeated here. The specific implementation process of S3 is consistent with the implementation process of the multi-device cross-validation module 1012 in the intelligent analysis engine 101 in the system, and will not be repeated here. The specific implementation process of S4 and S5 is consistent with the implementation process of the alarm management module 102 in the system, and will not be repeated here.

[0137] In some embodiments of the present specification, the ship positioning information further includes a horizontal dilution of precision HDOP value and an effective satellite number, and the anomaly detection further includes horizontal dilution of precision HDOP monitoring and satellite number monitoring. When performing horizontal dilution of precision HDOP monitoring, the server can determine the state of each positioning device according to the horizontal dilution of precision HDOP value determined by the positioning device, using a pre-set hierarchical response mechanism. According to the state, a second detection result of the positioning device is determined. The hierarchical response mechanism includes a state corresponding to each horizontal dilution of precision HDOP value range.

[0138] When the satellite number monitoring is performed, the server can start a timer when the number of valid satellites determined by each positioning device is less than the preset number. When the time recorded by the timer reaches the preset time and the number of valid satellites determined by the positioning device is less than the preset number within the preset time, the third detection result of the positioning device is determined to be abnormal.

[0139] In some embodiments of the present specification, in S3, the server can cross verify the plurality of positioning devices according to the position of the ship determined by each positioning device and the distance between each positioning device when the single device detection result of each positioning device is normal, to determine a cross verification result. The abnormal detection result of each positioning device is determined according to the single device detection result of each positioning device and the cross verification result.

[0140] In some embodiments of the present specification, when the alarm type is determined, the alarm mode is determined and the alarm is automatically generated in S5, the server can determine the priority corresponding to the alarm type, and determine the final alarm type from the alarm type according to the alarm suppression logic and the priority. The alarm is automatically generated according to the alarm mode corresponding to the final alarm type. Each alarm type has a preset priority and alarm mode, and the alarm suppression logic is the suppression relationship between each alarm type.

[0141] In some embodiments of the present specification, when the abnormal detection result of the plurality of positioning devices is abnormal, the server can calculate the horizontal dilution of precision HDOP trend according to the current determined horizontal dilution of precision HDOP value and the historically determined horizontal dilution of precision HDOP value of each positioning device. The satellite number trend is calculated according to the current determined number of valid satellites and the historically determined number of valid satellites of the positioning device. The failure probability of the positioning device is predicted by using a failure prediction algorithm according to the horizontal dilution of precision HDOP trend and the satellite number trend. When the failure probability of each positioning device exceeds the preset threshold, a failure prompt information is generated and displayed to the user.

[0142] The above only describes the embodiments of the present specification and is not intended to limit the present specification. Various changes and modifications can be made to the present specification by those skilled in the art. Any modification, equivalent replacement, improvement, etc. within the spirit and principles of the present specification shall be included in the scope of claims of the present specification.

Claims

1. A ship position monitoring alarm system based on multi-source satellite positioning, characterized in that, The system comprises a plurality of positioning devices, an intelligent analysis engine, and an alarm management module, wherein: Each positioning device is configured to receive a plurality of satellite signals in real time, and determine ship positioning information based on the plurality of satellite signals, the ship positioning information comprising a ship position; The intelligent analysis engine comprises a single-device monitoring module and a multi-device cross-verification module, the single-device monitoring module being configured to perform anomaly detection on each positioning device based on the ship positioning information determined by the positioning device, and determine a single-device detection result of the positioning device, the anomaly detection comprising position jump detection, the position jump detection comprising: setting a position jump threshold value adaptively based on a current ship speed, and performing position jump detection based on a change in ship position between two consecutive frames and the position jump threshold value; the multi-device cross-verification module being configured to obtain a cross-verification result based on a distance between the ship position determined by each positioning device and the positioning device when the single-device detection result of the positioning device is normal; The alarm management module is configured to determine an anomaly detection result of each positioning device based on the single-device detection result and the cross-verification result of the positioning device, and determine an alarm type based on the anomaly detection result when the anomaly detection result of any positioning device is abnormal, and determine an alarm mode and automatically alarm based on the alarm type.

2. A ship position monitoring and alarm system based on multi-source satellite positioning according to claim 1, characterized in that, The satellite signals comprise GPS satellite signals and Beidou satellite signals.

3. A ship position monitoring and alarm system based on multi-source satellite positioning as claimed in claim 1, characterized in that, The multi-device cross-verification module is specifically configured to determine a position difference value between the plurality of positioning devices based on the ship position determined by each positioning device when the single-device detection result of the positioning device is normal, determine whether the position difference value is within a pre-set difference value range, and determine that the cross-verification result of the plurality of positioning devices is normal if the position difference value is within the pre-set difference value range. The position jump detection method comprises: determining a position jump threshold value based on a current ship speed and a base threshold value, calculating a ship position change based on two consecutive frames of ship positions determined by each positioning device, determining whether the ship position change exceeds the position jump threshold value, and determining that a first detection result of the positioning device is abnormal if the ship position change exceeds the position jump threshold value.

4. A ship position monitoring and alarm system based on multi-source satellite positioning according to claim 1, characterized in that, The ship positioning information further comprises a horizontal dilution of precision (HDOP) value, and the anomaly detection further comprises HDOP monitoring.

5. A ship position monitoring and alarm system based on multi-source satellite positioning as claimed in claim 1, wherein, The HDOP monitoring method comprises: determining a state of each positioning device based on a HDOP value determined by the positioning device using a pre-set hierarchical response mechanism, and determining a second detection result of the positioning device based on the state, the hierarchical response mechanism comprising a state corresponding to a value range of each HDOP value. The ship positioning information further comprises a number of valid satellites, and the anomaly detection further comprises satellite number monitoring.

6. A ship position monitoring and alarm system based on multi-source satellite positioning as claimed in claim 1, wherein, ​ The method for monitoring the number of satellites is: for each positioning device, when the number of effective satellites determined by the positioning device is less than a preset number, starting a timer; when the time recorded by the timer reaches a preset time and the number of effective satellites determined by the positioning device is less than the preset number within the preset time, determining that the third detection result of the positioning device is abnormal.

7. A ship position monitoring and alarm system based on multi-source satellite positioning as claimed in claim 1, wherein, The alarm management module is specifically configured to determine the priority corresponding to the alarm type, and determine the final alarm type from the alarm types according to the alarm suppression logic and the priority; and automatically alarm according to the alarm mode corresponding to the final alarm type; each alarm type has a preset priority and alarm mode, and the alarm suppression logic is the suppression relationship between each alarm type.

8. A ship position monitoring and alarm system based on multi-source satellite positioning as claimed in claim 1, wherein, The intelligent analysis engine further comprises a fault prediction module, which is configured to, when the abnormal detection result of each positioning device is normal, calculate the horizontal dilution of precision (HDOP) change trend of the positioning device according to the current HDOP value determined by the positioning device and the historical HDOP value determined by the positioning device; calculate the satellite number change trend according to the current number of effective satellites determined by the positioning device and the historical number of effective satellites determined by the positioning device; and predict the fault probability of the positioning device by using a fault prediction algorithm according to the HDOP change trend and the satellite number change trend. The alarm management module is further configured to, when the fault probability of each positioning device exceeds a preset threshold, generate fault prompt information and display it to the user.

9. A ship position monitoring alarm method based on multi-source satellite positioning, characterized in that, The method comprises: S1: data acquisition: each positioning device receives multiple satellite signals in real time, and determines ship positioning information by combining the multiple satellite signals, wherein the ship positioning information comprises ship position; S2: single-device detection: according to the ship positioning information determined by each positioning device, performing abnormal detection on each positioning device to determine the single-device detection result of each positioning device; the abnormal detection comprises position jump detection; the position jump detection comprises: adaptively setting a position jump threshold according to the current ship speed, and performing position jump detection according to the change of two consecutive ship positions and the position jump threshold; S3: multi-device cross-validation: when the single-device detection result of each positioning device is normal, obtaining a cross-validation result according to the distance between the ship position determined by each positioning device and each positioning device; S4: detection result generation: determining the abnormal detection result of each positioning device according to the single-device detection result and the cross-validation result of each positioning device; S5: automatic alarm: when the abnormal detection result of any positioning device is abnormal, determining the alarm type according to the abnormal detection result, and determining the alarm mode and automatically alarming according to the alarm type.

10. A ship position monitoring and alarming method based on multi-source satellite positioning according to claim 9, characterized in that, The ship positioning information further comprises a horizontal dilution of precision (HDOP) value and a number of effective satellites; and the abnormal detection further comprises HDOP monitoring and satellite number monitoring. The method for monitoring the horizontal dilution of precision HDOP comprises the following steps: for each positioning device, determining the state of the positioning device according to the horizontal dilution of precision HDOP value determined by the positioning device by using a pre-set hierarchical response mechanism; determining the second detection result of the positioning device according to the state; the hierarchical response mechanism comprises a state corresponding to the value range of each horizontal dilution of precision HDOP value; The method for monitoring the number of satellites comprises the following steps: for each positioning device, starting a timer when the number of effective satellites determined by the positioning device is less than a pre-set number; When the time recorded by the timer reaches a pre-set time and the number of effective satellites determined by the positioning device is less than the pre-set number within the pre-set time, determining that the third detection result of the positioning device is abnormal.

Images