CN102221448A - Method and system for determining maritime SAR (search and rescue) region, and SAR simulator - Google Patents

Method and system for determining maritime SAR (search and rescue) region, and SAR simulator Download PDF

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CN102221448A
CN102221448A CN 201110132594 CN201110132594A CN102221448A CN 102221448 A CN102221448 A CN 102221448A CN 201110132594 CN201110132594 CN 201110132594 CN 201110132594 A CN201110132594 A CN 201110132594A CN 102221448 A CN102221448 A CN 102221448A
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probability distribution
sea
danger
coefficient
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CN102221448B (en
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金一丞
肖方兵
尹勇
张显库
任鸿翔
张秀凤
刘秀文
任俊生
谷伟
张新宇
孙霄峰
张百安
李志华
马烈
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Dalian Maritime University
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Abstract

The invention discloses a method and system for determining a maritime SAR (search and rescue) region, and a SAR simulator, wherein the method comprises the following steps of receiving a distress signal sent by a SAR target; generating a plurality of stochastic particles equivalent to the SAR target; calculating the integrated initial probability distribution of the plurality of stochastic particles on an electronic chart under various distress situations; calculating and displaying the integrated drift probability distribution of the plurality of stochastic particles on the electronic chart after a prearranged time according to the integrated initial probability distribution and prearranged environment information; and subsequently appointing the optimum SAR region according to the integrated drift probability distribution. The method comprehensively considers the various distress situations of a distress target so that the maritime SAR region can be determined more precisely, the SAR risk can be reduced and the previous SAR time is saved for the SAR target.

Description

A kind of method of definite maritime SAR region, system and search and rescue simulator
Technical field
The invention belongs to the maritime search and rescue technical field, relate in particular to a kind of method, system of definite maritime SAR region and search and rescue simulator.
Background technology
Can after casualty take place, find efficiently and effectively and search and rescue target and implement relief, life and property loss be significant for reducing.Owing to search and rescue combined influence and continuous drift that target is easy to be subjected to factors such as wind, wave, stream, particularly casualty often occurs under the bad weather condition, make and determine that there is very big difficulty in the position of searching and rescuing target, therefore, how to determine exactly that comprising the search and rescue region of searching and rescuing target becomes one of important step in the search and rescue process.
Prior art provides the method for search and rescue region on Dinghai really to be based on classical search planing method (Classical Search Planning Method, CSPM), this method originates from the search theory of founding owing to the anti-submarine warfare needs during the World War II.Because it is not high to work as the computer-chronograph popularity, make this method mainly adopt the paper pen to calculate, only be suitable for the search planning under the simply search and rescue condition, and do not consider the multiple uncertain factor that may influence search and rescue region, as: wind field data error, flow field data error etc., and then there is error in the search and rescue region that makes this method of employing determine, can not determine to comprise the search and rescue region of searching and rescuing target accurately, strengthened the search and rescue risk, search and rescue target very likely owing to inaccurate can not get of determining of search and rescue region succoured timely, thereby incured loss through delay the search and rescue time.
Summary of the invention
The purpose of the embodiment of the invention is to provide a kind of method of definite maritime SAR region, provide the method for search and rescue region on Dinghai really to determine search and rescue region to solve prior art based on the search planing method of classics, make the search and rescue region of determining have error, strengthened the problem of searching and rescuing risk.
The embodiment of the invention is achieved in that a kind of method of definite maritime SAR region, said method comprising the steps of:
Receive to search and rescue the distress signal that target sends, generate respectively a plurality of random particles with described search and rescue target Equivalent;
According to described distress signal, calculate the comprehensive initial probability distribution of described a plurality of random particles on electronic chart under the multiple scene in danger;
According to described comprehensive initial probability distribution and the environmental information that prestores, the comprehensive drift probability distribution of described a plurality of random particles on described electronic chart also shows behind the calculating Preset Time, specifies optimum search and rescue territory according to described comprehensive drift probability distribution afterwards.
Wherein, the step of the comprehensive initial probability distribution of the described a plurality of random particles under the multiple scene in danger of described calculating on electronic chart can may further comprise the steps:
Calculate described a plurality of random particles initial probability distribution under corresponding scene in danger, on electronic chart respectively;
With under the difference scene in danger, the described initial probability distribution stack of corresponding random particles on described electronic chart, obtain the comprehensive initial probability distribution of described a plurality of random particles on described electronic chart.
Further, the described a plurality of random particles of described calculating respectively the step of the initial probability distribution under corresponding in danger scene, on electronic chart can may further comprise the steps:
The weight of default described a plurality of scenes in danger;
With the number of described a plurality of random particles respectively with the multiplied by weight of described a plurality of scenes in danger, obtain the random particles number of scene in danger accordingly;
According to the initial probability distribution of scene correspondence in danger, calculate with the corresponding random particles of scene in danger in the initial probability distribution under the corresponding probability distribution, on described electronic chart.
The initial probability distribution of scene in danger wherein can be the probability distribution based on reference point of the last distress position of known search and rescue target, known search and rescue objective plan course line based on the probability distribution of reference data line or the probability distribution based on the reference data zone in known search and rescue target job zone.
When the initial probability distribution of described scene in danger be the last distress position of known search and rescue target based on the probability distribution of reference point the time, the horizontal ordinate of the last distress position of described search and rescue target in described electronic chart coordinate system is X 0, ordinate is Y 0Described calculating and the corresponding random particles of scene in danger the step of the initial probability distribution under the corresponding probability distribution, on described electronic chart can for:
Calculating is (0,0) with the corresponding random particles of scene in danger in average, and mean square deviation is σ 1And σ 2Condition under, the probability distribution density of the two-dimentional normal distribution in the electronic chart coordinate system
Figure BDA0000062451710000021
Figure BDA0000062451710000022
Wherein, X is the horizontal ordinate of described search and rescue target in described electronic chart coordinate system, and Y is the ordinate of described search and rescue target in described electronic chart coordinate system, and X and Y are separate, σ 1=σ 2
With the described two-dimentional normal distribution that obtains along described horizontal ordinate translation X 0, the described two-dimentional normal distribution that will obtain simultaneously is along described ordinate translation Y 0, be the initial probability distribution of the corresponding random particles of scene described and in danger on electronic chart.
Wherein, described according to described comprehensive initial probability distribution and the environmental information that prestores, the step of the comprehensive drift probability distribution of described a plurality of random particles on described electronic chart can may further comprise the steps behind the calculating Preset Time:
According to the environmental information that prestores, and the coefficient of wind pres information calculations and the drift velocity of the corresponding a plurality of random particles of scene in danger on described electronic chart of searching and rescuing the target correspondence;
According to the environmental information that prestores, calculate behind the Preset Time and the drift displacement of the corresponding a plurality of random particles of scene in danger on described electronic chart;
By described comprehensive initial probability distribution, the described drift velocity that calculates and drift displacement, obtain the drift position of described a plurality of random particles under corresponding scene in danger behind the described Preset Time, and then generate the probability distribution of corresponding particle;
With under the difference scene in danger, the described drift probability distribution stack of corresponding random particles on described electronic chart, obtain the comprehensive drift probability distribution of described a plurality of random particles on described electronic chart.
Further, the environmental information that prestores in described basis, and searched and rescued the coefficient of wind pres information calculations of target correspondence and the corresponding a plurality of random particles of scene in danger before the step of the drift velocity on the described electronic chart, described method can also may further comprise the steps: prestore as the seawater surface ocean current flow velocity of described environmental information, apart from the 10 meters high wind speed in sea, and search and rescue target accordingly apart from the leeward wind speed slope coefficient on 10 meters high on sea respectively with in the scene in danger, leeward side-play amount coefficient, beam wind direction wind speed slope coefficient, beam wind direction side-play amount coefficient; The environmental information that described basis prestores, and search and rescue the coefficient of wind pres information calculations of target correspondence and the step of the drift velocity of the corresponding a plurality of random particles of scene in danger on described electronic chart can may further comprise the steps:
Described according to what prestore apart from the 10 meters high wind speed in sea, and search and rescue the corresponding described leeward wind speed slope coefficient of target, leeward side-play amount coefficient respectively with in the scene in danger apart from 10 meters high on sea, calculate leeward blast vector, described apart from satisfying relation: L between the 10 meters high wind speed in sea, leeward wind speed slope coefficient, leeward side-play amount coefficient and the leeward blast vector apart from 10 meters high on sea d=a dW 10+ b d, wherein, W 10For described apart from the 10 meters high wind speed in sea, a dBe described leeward wind speed slope coefficient, b apart from 10 meters high on sea dBe described leeward side-play amount coefficient, L dBe described leeward blast vector;
Described according to what prestore apart from the 10 meters high wind speed in sea, and search and rescue the corresponding beam wind direction of target wind speed slope coefficient, beam wind direction side-play amount coefficient respectively with in the scene in danger, calculate beam wind direction blast vector, described apart from the 10 meters high wind speed in sea, satisfy relation: L between beam wind direction wind speed slope coefficient, the beam wind direction side-play amount coefficient c=a cW 10+ b c, wherein, a cBe described beam wind direction wind speed slope coefficient, b cBe described beam wind direction side-play amount coefficient, L cBe described beam wind direction blast vector;
With described leeward blast vector and the synthetic blast vector of beam wind direction blast vector that calculates; With the synthetic drift velocity of the corresponding a plurality of random particles of scene described and in danger on described electronic chart that obtain of synthetic described blast vector and the described seawater surface ocean current flow velocity that prestores.
Further, the environmental information that described basis prestores, calculate behind the Preset Time with the corresponding a plurality of random particles of scene in danger before the step of the drift displacement on the described electronic chart, can also may further comprise the steps: prestore as the ocean current mean flow rate apart from the 0.5 meter degree of depth in sea of described environmental information, the variance of flow velocity disturbance, mean value apart from the 10 meters high wind speed in sea, the variance of wind speed disturbance, and search and rescue target accordingly apart from the leeward wind speed slope coefficient on 10 meters high on sea respectively with in the scene in danger, leeward side-play amount coefficient, beam wind direction wind speed slope coefficient, beam wind direction side-play amount coefficient, the variance of coefficient of wind pres disturbance; The environmental information that described basis prestores, the step with the drift displacement of the corresponding a plurality of random particles of scene in danger on described electronic chart behind the calculating Preset Time can may further comprise the steps:
Calculate apart from the 10 meters high wind speed in sea described mean value, wind speed disturbance and apart from satisfying relation between the 10 meters high wind speed in sea apart from the 10 meters high wind speed in sea according to described mean value and the wind speed disturbance that prestores apart from the 10 meters high wind speed in sea:
Figure BDA0000062451710000041
Wherein, Be described mean value apart from the 10 meters high wind speed in sea, u ' is described wind speed disturbance, and described wind speed disturbance u ' is 0 from average, and the disturbance variance is σ WCircular normal distribution in randomly draw;
According to prestore described apart from 10 meters high on sea leeward wind speed slope coefficient and the coefficient of wind pres disturbance calculate with the scene of getting into danger in search and rescue target accordingly apart from the leeward wind speed slope coefficient estimated value on 10 meters high on sea, described leeward wind speed slope coefficient, coefficient of wind pres disturbance and apart from satisfying relation: a between the leeward wind speed slope coefficient estimated value on 10 meters high on sea apart from 10 meters high on sea 1d=a d+ τ/20, wherein, a 1dBe described leeward wind speed slope coefficient estimated value apart from 10 meters high on sea, wherein, τ is described coefficient of wind pres disturbance, and described coefficient of wind pres disturbance τ is 0 from average, and the disturbance variance is σ LCircular normal distribution in randomly draw; According to the described leeward side-play amount coefficient that prestores and coefficient of wind pres disturbance calculate with the scene of getting into danger in search and rescue target accordingly apart from the leeward side-play amount coefficient estimation value on 10 meters high on sea, described leeward side-play amount coefficient, coefficient of wind pres disturbance and apart from satisfying relation: b between the leeward side-play amount coefficient estimation value on 10 meters high on sea 1d=b d+ τ/2, wherein, b 1dBe described leeward side-play amount coefficient estimation value apart from 10 meters high on sea; Calculate leeward blast vector according to the described leeward wind speed slope coefficient estimated value that calculates, leeward side-play amount coefficient estimation value and apart from the 10 meters high wind speed in sea;
According to prestore apart from the beam wind direction wind speed slope coefficient on 10 meters high on sea and coefficient of wind pres disturbance calculate with the scene of getting into danger in search and rescue target accordingly apart from the beam wind direction wind speed slope coefficient estimated value on 10 meters high on sea, described beam wind direction wind speed slope coefficient, coefficient of wind pres disturbance and apart from satisfying relation: a between the beam wind direction wind speed slope coefficient estimated value on 10 meters high on sea apart from 10 meters high on sea 1c=a c+ τ/20, wherein, a 1cBe described beam wind direction wind speed slope coefficient estimated value apart from 10 meters high on sea; According to the beam wind direction side-play amount coefficient that prestores and coefficient of wind pres disturbance calculate with the scene of getting into danger in search and rescue target accordingly apart from the beam wind direction side-play amount coefficient estimation value on 10 meters high on sea, described beam wind direction side-play amount coefficient, coefficient of wind pres disturbance and apart from satisfying relation: b between the beam wind direction side-play amount coefficient estimation value on 10 meters high on sea 1c=b c+ τ/2, wherein, b 1cBe described beam wind direction side-play amount coefficient estimation value apart from 10 meters high on sea; Calculate beam wind direction blast vector according to the described beam wind direction wind speed slope coefficient estimated value that calculates, beam wind direction side-play amount coefficient estimation value and apart from the 10 meters high wind speed in sea;
With described leeward blast vector and the synthetic blast vector of beam wind direction blast vector that calculates;
According to the described ocean current mean flow rate apart from the 0.5 meter degree of depth in sea that prestores, the flow velocity disturbance calculates seawater surface ocean current flow velocity, satisfies relation between described ocean current mean flow rate apart from the 0.5 meter degree of depth in sea, flow velocity disturbance and the seawater surface ocean current flow velocity:
Figure BDA0000062451710000051
Wherein,
Figure BDA0000062451710000052
Be described ocean current mean flow rate apart from the 0.5 meter degree of depth in sea, w ' is the flow velocity disturbance, and described flow velocity disturbance w ' is 0 from average, and the disturbance variance is σ CCircular normal distribution in randomly draw;
According to synthetic described blast vector and the described seawater surface ocean current flow velocity that calculates, with the drift displacement of the corresponding a plurality of random particles of scene in danger on described electronic chart, described blast vector, seawater surface ocean current flow velocity and a plurality of random particles satisfy relation between the drift displacement on the described electronic chart behind the calculating Preset Time:
Figure BDA0000062451710000053
Wherein, S (t) is the position of random particles on electronic chart behind the Preset Time, S 0Be the initial position of random particles on electronic chart, S (t)-S 0Be the drift displacement of random particles on described electronic chart, t is default drift time, and C (t) is a seawater surface ocean current flow velocity, and L (t) is the blast vector.
Another purpose of the embodiment of the invention is to provide a kind of system of definite maritime SAR region, and described system comprises:
The environmental information storage unit, environmental information and electronic chart are used to prestore;
Signal receiving unit is used to receive the distress signal of searching and rescuing the target transmission;
The particle generation unit is used to generate respectively a plurality of random particles with described search and rescue target Equivalent;
Comprehensive initial probability distribution computing unit, be used for the described distress signal that receives according to described signal receiving unit, calculate the comprehensive initial probability distribution of described a plurality of random particles on the described electronic chart of described environmental information cell stores that described particle generation unit generates;
Comprehensive drift probability distribution computing unit, be used for the described environmental information that the described comprehensive initial probability distribution that calculates according to described comprehensive initial probability distribution computing unit and described environmental information storage unit prestore, calculate the comprehensive drift probability distribution of described a plurality of random particles on described electronic chart that described particle generation unit generates behind the Preset Time;
Display unit is used to the described comprehensive drift probability distribution that shows that described comprehensive drift probability distribution computing unit calculates;
Search and rescue the territory designating unit, be used for specifying the optimum territory of searching and rescuing according to the described comprehensive drift probability distribution that described comprehensive drift probability distribution computing unit calculates.
Another purpose of the embodiment of the invention is to provide a kind of search and rescue simulator, and described search and rescue simulator comprises that one determines the system of maritime SAR region, and the system of described definite maritime SAR region comprises:
The environmental information storage unit, environmental information and electronic chart are used to prestore;
Signal receiving unit is used to receive the distress signal of searching and rescuing the target transmission;
The particle generation unit is used to generate respectively a plurality of random particles with described search and rescue target Equivalent;
Comprehensive initial probability distribution computing unit, be used for the described distress signal that receives according to described signal receiving unit, calculate the comprehensive initial probability distribution of described a plurality of random particles on the described electronic chart of described environmental information cell stores that described particle generation unit generates;
Comprehensive drift probability distribution computing unit, be used for the described environmental information that the described comprehensive initial probability distribution that calculates according to described comprehensive initial probability distribution computing unit and described environmental information storage unit prestore, calculate the comprehensive drift probability distribution of described a plurality of random particles on described electronic chart that described particle generation unit generates behind the Preset Time;
Display unit is used to the described comprehensive drift probability distribution that shows that described comprehensive drift probability distribution computing unit calculates;
Search and rescue the territory designating unit, be used for specifying the optimum territory of searching and rescuing according to the described comprehensive drift probability distribution that described comprehensive drift probability distribution computing unit calculates.
The embodiment of the invention provides the method for search and rescue region on Dinghai really to adopt the random particles simulation method, to search and rescue target Equivalent and become a plurality of random particles, and calculate these a plurality of random particles under difference scene in danger, comprehensive initial probability distribution on electronic chart, and the comprehensive drift probability distribution of these a plurality of random particles behind Preset Time, show the probability distribution of comprehensively to drift about afterwards intuitively, to specify the optimum territory of searching and rescuing, because this method synthesis has been considered the scene multiple in danger of target in danger, make it can determine maritime SAR region more accurately, reduced the search and rescue risk, striven for the valuable search and rescue time for searching and rescuing target.
Description of drawings
Below the present invention is described in detail by drawings and the specific embodiments.
Fig. 1 is the process flow diagram that the embodiment of the invention provides the method for search and rescue region on Dinghai really;
Fig. 2 is the decomposing schematic representation of the blast that provides of the embodiment of the invention;
Fig. 3 is the principle assumption diagram that the embodiment of the invention provides the system of search and rescue region on Dinghai really;
Fig. 4 adopts the embodiment of the invention that the T=0min that the search and rescue region method obtains on Dinghai really, T=130min, the comprehensive drift probability distribution graph of T=230min random particles constantly are provided.
Embodiment
In order to make purpose of the present invention, technical scheme and advantage clearer,, the present invention is further elaborated below in conjunction with drawings and Examples.Should be appreciated that specific embodiment described herein only in order to explanation the present invention, and be not used in qualification the present invention.
Fig. 1 shows the flow process that the embodiment of the invention provides the method for search and rescue region on Dinghai really.
In step S101, receive and search and rescue the distress signal that target sends, generate a plurality of random particles of searching and rescuing target Equivalent respectively with this.
Each random particles wherein all has the attribute identical with searching and rescuing target and is subjected to the effect of outside marine environment (as: wind, stream etc.) and drifts about, and in the drift process, residing position is uncorrelated before with it in each random particles position at any one time.For each random particles, its drift velocity is subjected to the marine environment factor and searches and rescues influencing jointly of target blast attribute factor, and different types of search and rescue target (as: persons falling in water, survival craft etc.) has different search and rescue target blast attributes.
In step S102,, calculate the comprehensive initial probability distribution of a plurality of random particles on electronic chart under the multiple scene in danger according to distress signal.Distress signal wherein comprises the positional information and the communication facilities information of identification code of searching and rescuing target at least, in addition, can also comprise information such as time in danger, character in danger, necessary relief form, the speed of a ship or plane, course, ship name, kind, nationality's catchword, contact method.
Particularly, this step can may further comprise the steps: calculate a plurality of random particles initial probability distribution under corresponding scene in danger, on electronic chart respectively, should scene in danger be meant a series of facts and the hypothesis of describing the contingent situation of survivor, normally by the forming of a succession of up till now before surviving an accident or imaginary incident, different scenes in danger is owing to the difference of the information of searching and rescuing target blast attribute and/or obtaining from distress signal has different initial probability distribution; With under the difference scene in danger, the initial probability distribution stack of corresponding random particles on electronic chart, obtain the comprehensive initial probability distribution of a plurality of random particles on electronic chart.
Consider the search and rescue Reliability of Information difference of obtaining from distress signal or other approach, the search and rescue target generally comprises a plurality of scenes in danger and different scenes in danger has different weights, in order to obtain the initial probability distribution of random particles more accurately, in the embodiment of the invention, calculate a plurality of random particles respectively the step of the initial probability distribution under corresponding in danger scene, on electronic chart may further include following steps again: the weight of default a plurality of scenes in danger; With the number of a plurality of random particles respectively with the multiplied by weight of a plurality of scenes in danger, obtain the random particles number of scene in danger accordingly; According to the initial probability distribution of scene correspondence in danger, calculate and the initial probability distribution of the corresponding random particles of scene in danger under corresponding probability distribution, on electronic chart.For example, suppose that the number with the random particles of this search and rescue target Equivalent is J, the individual scene in danger of N (N 〉=1) is arranged, (1≤n≤N) weight of individual scene in danger is q to n n, then have
Figure BDA0000062451710000081
Then the random particles number in the individual scene in danger of n is q n* J, this q n* J random particles obeyed the initial probability distribution of n scene correspondence in danger, correspondingly, calculates this q nThe initial probability distribution of * J random particles under the initial probability distribution of n scene correspondence in danger, on electronic chart.
Preferably, the initial probability distribution of this scene in danger can be the probability distribution based on the reference data zone based on the probability distribution of reference data line or known search and rescue target job zone (as: fishing operating area etc.) in the probability distribution based on reference point of the last distress position of known search and rescue target, known search and rescue objective plan course line.Under probability distribution based on reference point, with the be distributed as mean square deviation of the corresponding random particles of scene in danger on electronic chart be σ 1And σ 2Two-dimentional normal distribution, adopt horizontal ordinate X to represent that east-west direction coordinate, ordinate Y represent the North and South direction coordinate in the electronic chart coordinate system if search and rescue the position of target, the coordinate after the positional information of the search and rescue target that the search and rescue target sends is changed in the electronic chart coordinate system is (X 0, Y 0), then calculating is specially with the step of the initial probability distribution of the corresponding random particles of scene in danger under corresponding probability distribution, on electronic chart: calculating is (0,0) with the corresponding random particles of scene in danger in average, and mean square deviation is σ 1And σ 2Condition under, the probability distribution density of the two-dimentional normal distribution in the electronic chart coordinate system
Figure BDA0000062451710000082
Can get σ 1=σ 2, X and Y are separate, make that this two dimension normal distribution is a circular normal distribution; With this circle normal distribution of obtaining along horizontal ordinate translation X 0, this circle normal distribution that will obtain simultaneously is along ordinate translation Y 0, be and the initial probability distribution of the corresponding random particles of scene in danger on electronic chart.Under probability distribution based on the reference data line, with the normal distribution that be distributed as edge search and rescue objective plan course line lateral symmetry of the corresponding random particles of scene in danger on electronic chart, and it is near more from this search and rescue objective plan course line lateral separation, it is big more that probability in danger takes place in this position, far away more from this search and rescue objective plan course line lateral separation, it is more little that probability in danger takes place.Under probability distribution, on electronic chart, be distributed as even distribution in the operating area with the corresponding random particles of scene in danger based on the reference data zone.
In step S103, according to comprehensive initial probability distribution and the environmental information that prestores, and the comprehensive drift probability distribution of a plurality of random particles on electronic chart and demonstration behind the coefficient of wind pres information calculations Preset Time of search and rescue target correspondence, afterwards according to being somebody's turn to do the comprehensively optimum search and rescue of drift probability distribution appointment territory.
Particularly, according to comprehensive initial probability distribution and the environmental information that prestores, and the step of the comprehensive drift probability distribution of a plurality of random particles on electronic chart may further comprise the steps behind the coefficient of wind pres information calculations Preset Time of search and rescue target correspondence: according to the environmental information that prestores, and the coefficient of wind pres information calculations and the drift velocity of the corresponding a plurality of random particles of scene in danger on electronic chart of searching and rescuing the target correspondence; According to the environmental information that prestores, calculate behind the Preset Time and the drift displacement of the corresponding a plurality of random particles of scene in danger on electronic chart; By comprehensive initial probability distribution, the drift direction that calculates and drift displacement, obtain the drift position of a plurality of random particles under corresponding scene in danger behind the Preset Time, and then generate the probability distribution of corresponding particle; With under the difference scene in danger, the drift probability distribution stack of corresponding random particles on electronic chart, obtain the comprehensive drift probability distribution of a plurality of random particles on electronic chart.
For the drift velocity of random particles on electronic chart, it is by blast vector and the common decision of seawater surface ocean current flow velocity C.Blast is meant because wind acts on the above water of searching and rescuing target, makes to search and rescue the relative motion of target generation to ambient water, and it is a vector, is shown by the size of blast and two scales of direction of blast.The size of blast is meant searches and rescues the movement velocity size of target with respect to ambient water, and the direction of blast is meant the angle of searching and rescuing wind direction under the target offset, and this angle is called leeway.All there is influence in the ratio of the area of the shape of search and rescue target, size, direction of motion and search and rescue target above water, underwater portion to blast, and general in practice experiential method is determined the corresponding relation between blast and the wind speed.Show the decomposing schematic representation of blast as Fig. 2, wherein, L is the blast vector, and α is a leeway, L dBe the leeward blast vector that blast decomposes along leeward, L cBe the beam wind direction blast vector that blast decomposes along vertical leeward, the relation between it satisfies: L d=| L|cos α; L c=| L|sin α.
Leeward blast vector L dAnd the relation between the 10 meters high wind speed in distance sea satisfies formula 1:L d=a dW 10+ b d, wherein, W 10Be the 10 meters high wind speed in distance sea, a dAnd b dBe blast regression coefficient, a dBe the leeward wind speed slope coefficient on 10 meters high on distance sea, b dBe leeward side-play amount coefficient, in like manner, at known beam wind direction wind speed slope coefficient a cWith beam wind direction side-play amount coefficient b cCondition under, can get beam wind direction blast vector L cDifferent search and rescue targets has different blast attributes, its a d, b d, a cAnd b cValue also different, and for same search and rescue target, its probability that is offset under original state about leeward equates, can not accurately determine the offset direction of drift before drift motion, but in case along a certain direction drift, the direction of blast will can not change again.
In view of the above, according to the environmental information that prestores, and searched and rescued the coefficient of wind pres information calculations of target correspondence and the corresponding a plurality of random particles of scene in danger before the step of the drift velocity on the electronic chart, further comprising the steps of: as to prestore as the seawater surface ocean current flow velocity C of environmental information, apart from the wind speed W on 10 meters high on sea 10, and respectively with search and rescue target accordingly apart from the leeward wind speed slope coefficient a on 10 meters high on sea d, leeward side-play amount coefficient b d, beam wind direction wind speed slope coefficient a c, beam wind direction side-play amount coefficient b cAt this moment, according to the environmental information that prestores, and search and rescue the coefficient of wind pres information calculations of target correspondence and the step of the drift velocity of the corresponding a plurality of random particles of scene in danger on electronic chart is specially: according to the wind speed W that prestores apart from 10 meters high on sea 10, and search and rescue target accordingly apart from the leeward wind speed slope coefficient a on 10 meters high on sea respectively with in the scene in danger d, leeward side-play amount coefficient b d, calculate leeward blast vector L dAccording to the wind speed W that prestores apart from 10 meters high on sea 10, and search and rescue the corresponding beam wind direction of target wind speed slope coefficient a respectively with in the scene in danger c, beam wind direction side-play amount coefficient b c, calculate beam wind direction blast vector L cWith the leeward blast vector L that calculates dWith beam wind direction blast vector L cSynthetic blast vector L; With synthetic blast vector L and synthetic the obtaining and the drift velocity of the corresponding a plurality of random particles of scene in danger on electronic chart of seawater surface ocean current flow velocity C that prestore.Those skilled in the art should understand, and in order to make the search and rescue region of determining more accurate, a plurality of random particles by the difference about the skew leeward, can obtain the drift velocity direction of two symmetries under corresponding scene in danger.
For the drift displacement of random particles on electronic chart, owing to search and rescue target after in danger, the acting in conjunction of wind-engaging, wave, stream three class power at sea and drifting about, according to Newton second law, its acceleration equation is:
Figure BDA0000062451710000101
Wherein, V is for searching and rescuing the drift velocity of target, and ∑ F is for searching and rescuing the suffered external force sum of target, F aBe the power that pulls of wind, F wBe the radiant force of wave, F cBe the power that pulls of stream, additional mass m ' derives from the acceleration attached to the water particle of searching and rescuing target surface; And F w=1/2C IwG ρ wL tA 2,
Figure BDA0000062451710000103
Wherein, C dAnd C CdBe respectively the force coefficient of dragging of dragging force coefficient and stream of wind, C IwBe the reflection coefficient of wave, ρ aAnd ρ wBe respectively the density of air and the density of seawater, A aAnd A wBe respectively the area of searching and rescuing target above water and underwater portion, A is the wave amplitude of wave, W aAnd L bBe respectively the charming appearance and behaviour drift velocity of sea wind speed and search and rescue target, L tFor searching and rescuing the length of target, g is an acceleration of gravity.Those skilled in the art should understand, when the length of searching and rescuing target with respect to the wavelength of wave less (being generally less than 50 meters), for example, when to search and rescue target be ship wreckage, persons falling in water, survival craft raft, baby plane etc., the radiant force F of wave wCan ignore, thus, search and rescue the drift velocity V=V of target Curr+ V Rel, wherein, V CurrBe ocean current speed over the ground, it causes stokes drift two parts by sea surface current and wave forms, and sea surface current comprises Ai Keman drift, the motion of baroclining, trend and inertia flow etc.; V RelFor searching and rescuing target to the speed of seawater on every side, it has embodied wind and wave to searching and rescuing the influence of target drift velocity, mainly be subjected to the influence of blast, do not consider that promptly wave is to searching and rescuing the influence of target drift, the drift velocity V that searches and rescues target can be expressed as: V=C+L, wherein C is a seawater surface ocean current flow velocity, and L is charming appearance and behaviour drift velocity (blast); At this moment, search and rescue drift displacement S (the t)-S of target 0Satisfy formula 2:
Figure BDA0000062451710000111
Wherein, S (t) searches and rescues the position of target on electronic chart, S behind the Preset Time 0For searching and rescuing the initial position of target on electronic chart, S (t)-S 0For searching and rescuing the drift displacement of target on described electronic chart, t is default drift time, and C (t) is a seawater surface ocean current flow velocity, and L (t) is the blast vector.
In the embodiment of the invention, W 10The wind speed mean value that can get apart from 10 meters high on sea calculates blast vector L, sea surface current flow velocity C can get the ocean current mean flow rate apart from the 0.5 meter degree of depth in sea, and come the drift velocity of random particles is calculated, thereby try to achieve drift displacement S (the t)-S that searches and rescues target according to this blast vector L and sea surface current flow velocity C 0
In view of the above, according to the environmental information that prestores, calculate behind the Preset Time with the corresponding a plurality of random particles of scene in danger before the step of the drift displacement on the electronic chart, can also may further comprise the steps: prestore as the seawater surface ocean current flow velocity C of environmental information, apart from the wind speed W on 10 meters high on sea 10, and search and rescue target accordingly apart from the leeward wind speed slope coefficient a on 10 meters high on sea respectively with in the scene in danger d, leeward side-play amount coefficient b d, beam wind direction wind speed slope coefficient a c, beam wind direction side-play amount coefficient b cAt this moment, according to the environmental information that prestores, the step of calculating after the time of establishing with the drift displacement of the corresponding a plurality of random particles of scene in danger on electronic chart is specially: according to the wind speed W apart from 10 meters high on sea that prestores 10, and search and rescue target accordingly apart from the leeward wind speed slope coefficient a on 10 meters high on sea respectively with in the scene in danger d, leeward side-play amount coefficient b d, calculate leeward blast vector L dAccording to the wind speed W that prestores apart from 10 meters high on sea 10, and search and rescue the corresponding beam wind direction of target wind speed slope coefficient a respectively with in the scene in danger c, beam wind direction side-play amount coefficient b c, calculate beam wind direction blast vector L cWith the leeward blast vector L that calculates dWith beam wind direction blast vector L cThe synthetic blast vector L that obtains; According to synthetic blast vector L and the seawater surface ocean current flow velocity C that prestores, calculate the drift displacement of a plurality of random particles on electronic chart.
Further, in order to improve the accuracy of definite search and rescue region, the embodiment of the invention can be considered the environmental perturbation that random particles is suffered when calculating with the drift displacement of the corresponding a plurality of random particles of scene in danger on electronic chart, at this moment, seawater surface ocean current flow velocity C satisfies formula three:
Figure BDA0000062451710000112
Wherein
Figure BDA0000062451710000113
Be the ocean current mean flow rate of the 0.5 meter degree of depth in distance sea, w ' is the flow velocity disturbance, and this flow velocity disturbance w ' is 0 from average, and mean square deviation is σ CCircular normal distribution in randomly draw; Leeward blast vector L dSatisfy formula four: L d=a 1dW 10+ b 1d, a wherein 1dFor with scene in danger in search and rescue target accordingly apart from the leeward wind speed slope coefficient estimated value on 10 meters high on sea, and satisfy formula five: a 1d=a d+ τ/20, b wherein 1dFor with scene in danger in search and rescue target accordingly apart from the leeward side-play amount coefficient estimation value on 10 meters high on sea, and satisfy formula six: b 1d=b d+ τ/2, the τ in formula five and the formula six is the coefficient of wind pres disturbance of random particles, and this coefficient of wind pres disturbance τ is 0 from average, and variance is σ LCircular normal distribution in randomly draw the wind speed W that its middle distance sea is 10 meters high 10Satisfy formula seven:
Figure BDA0000062451710000121
Wherein
Figure BDA0000062451710000122
Be the mean value of the 10 meters high wind speed in distance sea, u ' wherein is the wind speed disturbance, and wind speed disturbance u ' is 0 from average, and variance is σ WCircular normal distribution in randomly draw, in like manner can get beam wind direction blast vector L c, and according to the leeward blast vector L that obtains dWith beam wind direction blast vector L cThe synthetic blast vector L that obtains.
At this moment, according to the environmental information that prestores, calculate behind the Preset Time with the corresponding a plurality of random particles of scene in danger before the step of the drift displacement on the electronic chart, can also may further comprise the steps: prestore as the ocean current mean flow rate apart from the 0.5 meter degree of depth in sea of environmental information
Figure BDA0000062451710000123
The variances sigma of flow velocity disturbance w ' C, apart from the wind speed W on 10 meters high on sea 10Mean value
Figure BDA0000062451710000124
The variances sigma of wind speed disturbance u ' W, and search and rescue target accordingly apart from the leeward wind speed slope coefficient a on 10 meters high on sea respectively with in the scene in danger d, leeward side-play amount coefficient b d, beam wind direction wind speed slope coefficient a c, beam wind direction side-play amount coefficient b c, coefficient of wind pres disturbance τ variances sigma LAt this moment, according to the environmental information that prestores, the step of calculating behind the Preset Time with the drift displacement of the corresponding a plurality of random particles of scene in danger on electronic chart is specially: calculate wind speed W apart from 10 meters high on sea according to what prestore apart from the mean value of the 10 meters high wind speed in sea and wind speed disturbance u ' 10According to the leeward wind speed slope coefficient a that prestores apart from 10 meters high on sea dWith coefficient of wind pres disturbance τ calculate with the scene of getting into danger accordingly apart from the leeward wind speed slope coefficient estimated value a on 10 meters high on sea 1d, according to the leeward side-play amount coefficient b that prestores dWith coefficient of wind pres disturbance τ calculate with the scene of getting into danger accordingly apart from the leeward side-play amount coefficient estimation value b on 10 meters high on sea 1dAccording to the leeward wind speed slope coefficient estimated value a that calculates 1d, leeward side-play amount coefficient estimation value b 1d, and apart from the wind speed W on 10 meters high on sea 10Calculate leeward blast vector L dAccording to the beam wind direction wind speed slope coefficient a that prestores apart from 10 meters high on sea cWith coefficient of wind pres disturbance τ calculate with the scene of getting into danger in search and rescue target accordingly apart from the beam wind direction wind speed slope coefficient estimated value a on 10 meters high on sea 1c, according to the beam wind direction side-play amount coefficient b that prestores cWith coefficient of wind pres disturbance τ calculate with the scene of getting into danger accordingly apart from the beam wind direction side-play amount coefficient estimation value b on 10 meters high on sea 1cAccording to the beam wind direction wind speed slope coefficient estimated value a that calculates 1c, beam wind direction side-play amount coefficient estimation value b 1c, and apart from the wind speed W on 10 meters high on sea 10Calculate beam wind direction blast vector L cWith the leeward blast vector L that calculates dWith beam wind direction blast vector L cThe synthetic blast vector L that obtains; According to the ocean current mean flow rate that prestores apart from the 0.5 meter degree of depth in sea
Figure BDA0000062451710000131
Flow velocity disturbance w ' calculates seawater surface ocean current flow velocity C; According to synthetic blast vector L and the seawater surface ocean current flow velocity C that calculates, calculate a plurality of random particles in the drift velocity on the electronic chart and then after calculating Preset Time with the drift displacement of the corresponding a plurality of random particles of scene in danger on electronic chart.
The embodiment of the invention provides the method for search and rescue region on Dinghai really to adopt the random particles simulation method, to search and rescue target Equivalent and become a plurality of random particles, and calculate these a plurality of random particles under difference scene in danger, comprehensive initial probability distribution on electronic chart, and the comprehensive drift probability distribution of these a plurality of random particles behind Preset Time, show the probability distribution of comprehensively to drift about afterwards intuitively, to specify the optimum territory of searching and rescuing, because this method synthesis has been considered multiple scene in danger, make it can determine maritime SAR region more accurately, reduced the search and rescue risk, striven for the valuable search and rescue time for searching and rescuing target.
For the ease of on electronic chart, showing the probability distribution of random particles intuitively, the embodiment of the invention is before step S102, can also may further comprise the steps: electronic chart is divided into two or more grid cells, then in step S103, specify optimum step of searching and rescuing the territory specifically according to this comprehensive drift probability distribution:, will comprise the maximum grid cell of random particles number and be defined as the optimum territory of searching and rescuing according to this comprehensive drift probability distribution.
Fig. 3 shows the system principle structure that the embodiment of the invention provides search and rescue region on Dinghai really.
The embodiment of the invention provides the system of search and rescue region on Dinghai really to comprise: environmental information storage unit 8, and environmental information and electronic chart are used to prestore; Signal receiving unit 1 is used to receive the distress signal of searching and rescuing the target transmission; Particle generation unit 2 is used to generate respectively and a plurality of random particles of searching and rescuing target Equivalent; Comprehensive initial probability distribution computing unit 3 is used for the distress signal that receives according to signal receiving unit 1, calculates the comprehensive initial probability distribution of a plurality of random particles on electronic chart that particle generation unit 2 generates; Comprehensive drift probability distribution computing unit 4, be used for the environmental information that the comprehensive initial probability distribution that calculates according to comprehensive initial probability distribution computing unit 3 and environmental information storage unit 8 prestore, calculate the comprehensive drift probability distribution of a plurality of random particles on electronic chart that particle generation unit 2 generates behind the Preset Time; Display unit 5 is used to the comprehensive drift probability distribution that shows that comprehensive drift probability distribution computing unit 4 calculates; Search and rescue territory designating unit 6, be used for specifying the optimum territory of searching and rescuing according to the comprehensive drift probability distribution that comprehensive drift probability distribution computing unit 4 calculates.
Each random particles wherein all has the attribute identical with searching and rescuing target and is subjected to the effect of outside marine environment (as: wind, stream etc.) and drifts about, and in the drift process, residing position is uncorrelated before with it in each random particles position at any one time.For each random particles, its drift velocity is subjected to the marine environment factor and searches and rescues influencing jointly of target blast attribute factor, and different types of search and rescue target (as: persons falling in water, survival craft etc.) has different search and rescue target blast attributes.
Distress signal wherein comprises the positional information and the communication facilities information of identification code of searching and rescuing target at least, in addition, can also comprise information such as time in danger, character in danger, necessary relief form, the speed of a ship or plane, course, ship name, kind, nationality's catchword, contact method.
Particularly, comprehensive initial probability distribution computing unit 3 can comprise: first computing unit 31, be used to calculate a plurality of random particles that particle generation unit 2 generates initial probability distribution under corresponding scene in danger, on electronic chart respectively, should scene in danger be meant a series of facts and the hypothesis of describing the contingent situation of survivor, normally by the forming of a succession of up till now before surviving an accident or imaginary incident, different scenes in danger is owing to the difference of the information of searching and rescuing target blast attribute and/or obtaining from distress signal has different probability distribution; First superpositing unit 32, be used under 31 that calculate with first computing unit, the different scenes in danger, the initial probability distribution stack of corresponding random particles on electronic chart, obtain the comprehensive initial probability distribution of a plurality of random particles on electronic chart.
More specifically, consider the search and rescue Reliability of Information difference of obtaining from distress signal or other approach, the difference scene in danger of searching and rescuing target has different weights, in order to obtain the initial probability distribution of random particles more accurately, the embodiment of the invention provides the system of search and rescue region on Dinghai really to comprise: default unit 7, the weight that is used for default a plurality of scenes in danger, and the weight of a plurality of scenes in danger that will preset is stored in the environmental information storage unit 8; First computing unit 31 can further include: first computing module 311, the number that is used for a plurality of random particles that particle generation unit 2 is generated respectively with the multiplied by weight of a plurality of scenes in danger of environmental information storage unit 8 storages, obtain the random particles number of scene in danger accordingly; Second computing module 312 is used for the initial probability distribution according to scene correspondence in danger, calculates and the initial probability distribution of the corresponding random particles of scene in danger under corresponding probability distribution, on electronic chart.
Preferably, initial probability distribution that should scene in danger can be the probability distribution based on reference point of the last distress position of known search and rescue target, known search and rescue objective plan course line based on the probability distribution of reference data line or the probability distribution based on the reference data zone of known search and rescue target job zone (as: fishing operating area etc.), its concrete probability distribution does not repeat them here as mentioned above.
Particularly, comprehensive drift probability distribution computing unit 4 also comprises: drift velocity determination module 41, be used for the environmental information that prestores according to environmental information storage unit 8, and the coefficient of wind pres information calculations and the drift velocity of the corresponding a plurality of random particles of scene in danger on electronic chart of searching and rescuing the target correspondence; Drift displacement determination module 42 is used for the environmental information that prestores according to environmental information storage unit 8, calculates behind the Preset Time and the drift displacement of the corresponding a plurality of random particles of scene in danger on electronic chart; Acquisition module 43, be used for the drift displacement that the comprehensive initial probability distribution that is calculated by comprehensive initial probability distribution computing unit 3, the drift velocity that drift velocity determination module 41 calculates and the displacement determination module 42 that drifts about calculate, obtain the drift position of a plurality of random particles under corresponding scene in danger behind the Preset Time, and then generate the probability distribution of corresponding particle; Second superpositing unit 44 is used under 43 that obtain with acquisition module, the different scenes in danger, the drift probability distribution stack of corresponding random particles on electronic chart, obtains the comprehensive drift probability distribution of a plurality of random particles on electronic chart.
Wherein, the step of 41 calculating of drift velocity determination module and the drift velocity of the corresponding a plurality of random particles of scene in danger on electronic chart as mentioned above, the step of 42 calculating of drift displacement determination module and the drift displacement of the corresponding a plurality of random particles of scene in danger on electronic chart does not repeat them here as mentioned above.
For the ease of on electronic chart, showing the probability distribution of random particles intuitively, the embodiment of the invention provides the system of search and rescue region on Dinghai really to comprise: grid dividing unit 9, be used for the electronic chart of environmental information storage unit 8 storages is divided into two or more grid cells, then search and rescue comprehensive drift probability distribution that territory designating unit 6 calculates according to comprehensive drift probability distribution computing unit 4 and specify optimum step of searching and rescuing the territory specifically: search and rescue the comprehensive drift probability distribution that territory designating unit 6 calculates according to comprehensive drift probability distribution computing unit 4, it is maximum to comprise the random particles number, the grid cell that grid dividing unit 9 is divided is defined as the optimum territory of searching and rescuing.
The embodiment of the invention also provides a kind of search and rescue simulator that comprises the system of above-mentioned definite maritime SAR region.
For the validity of method that above-mentioned definite maritime SAR region that the embodiment of the invention provides is described, with the persons falling in water of wearing life jacket that on March 7th, 1993, the staff of U.S. Florida State the Atlantic university was gathered in the Atlantic 2nm (the in the sea) * 2nm (in the sea) that is the center northernmost along long basic overpass the is regional experimental data of drifting about the method for above-mentioned definite maritime SAR region is verified below.Its part experimental data is shown in following table one:
Figure BDA0000062451710000151
Figure BDA0000062451710000161
Wherein, direction is for searching and rescuing the clockwise angle of target offset direct north, comprise persons falling in water actual observation position data and the wind field of correspondence and the environmental information data in flow field, the mean square deviation of wind field data is 0.78m/s, the mean square deviation of flow field data is 0.17m/s, and the coefficient of wind pres data of persons falling in water are shown in following table two:
According to the experimental data shown in table one and the table two, adopt respectively that prior art provides based on the search planing method of classics really on Dinghai the method for search and rescue region and the embodiment of the invention method of search and rescue region on Dinghai really is provided, search and rescue region to persons falling in water is predicted, get random particles number J=1000, random particles is on electronic chart, the initial release point (1392 of persons falling in water,-1064) be the center of circle, 380 meters is the interior abrupt release of circle of uncertainty scope of radius, show the T=0min that the method that adopts the embodiment of the invention that search and rescue region on Dinghai really is provided obtains as Fig. 4, T=130min, the comprehensive drift probability distribution of T=230min random particles constantly, wherein, zone A is for adopting based on the search planing method of the classics search and rescue region that the method for search and rescue region is determined on Dinghai really, and area B provides the determined search and rescue region size of method of search and rescue region on Dinghai really for adopting the embodiment of the invention.Because the existence of wind field data error, flow field data error, coefficient of wind pres error, the search and rescue region of prediction as time passes and are constantly expanded.Show predicting the outcome of T=230min, adopting the embodiment of the invention that the determined search and rescue region size of method of search and rescue region on Dinghai really is provided is to adopt based on 60% of the search planing method of the classics search and rescue region size that the method for search and rescue region is determined on Dinghai really, the degree of accuracy of search and rescue region is higher, has saved the time of follow-up search and rescue.
The embodiment of the invention provides the method for search and rescue region on Dinghai really to adopt the random particles simulation method, to search and rescue target Equivalent and become a plurality of random particles, and calculate these a plurality of random particles under difference scene in danger, comprehensive initial probability distribution on electronic chart, and the comprehensive drift probability distribution of these a plurality of random particles behind Preset Time, show the probability distribution of comprehensively to drift about afterwards intuitively, to specify the optimum territory of searching and rescuing, because this method synthesis has been considered the scene multiple in danger of target in danger, make it can determine maritime SAR region more accurately, reduced the search and rescue risk, striven for the valuable search and rescue time for searching and rescuing target; In addition, when calculating the drift distance of random particles on electronic chart, it is also conceivable that environmental perturbations such as blast disturbance that random particles is suffered and ocean current disturbance, further improved definite precision of searching and rescuing territories.
The above; only be the preferable embodiment of the present invention; but protection scope of the present invention is not limited thereto; anyly be familiar with those skilled in the art in the technical scope that the present invention discloses; be equal to replacement or change according to technical scheme of the present invention and inventive concept thereof, all should be encompassed within protection scope of the present invention.

Claims (10)

1. the method for a definite maritime SAR region is characterized in that, said method comprising the steps of:
Receive to search and rescue the distress signal that target sends, generate respectively a plurality of random particles with described search and rescue target Equivalent;
According to described distress signal, calculate the comprehensive initial probability distribution of described a plurality of random particles on electronic chart under the multiple scene in danger;
According to described comprehensive initial probability distribution and the environmental information that prestores, the comprehensive drift probability distribution of described a plurality of random particles on described electronic chart also shows behind the calculating Preset Time, specifies optimum search and rescue territory according to described comprehensive drift probability distribution afterwards.
2. the method for definite maritime SAR region as claimed in claim 1 is characterized in that, the step of the comprehensive initial probability distribution of the described a plurality of random particles under the multiple scene in danger of described calculating on electronic chart may further comprise the steps:
Calculate described a plurality of random particles initial probability distribution under corresponding scene in danger, on electronic chart respectively;
With under the difference scene in danger, the described initial probability distribution stack of corresponding random particles on described electronic chart, obtain the comprehensive initial probability distribution of described a plurality of random particles on described electronic chart.
3. the method for definite maritime SAR region as claimed in claim 2 is characterized in that, the described a plurality of random particles of the described calculating step of the initial probability distribution under corresponding scene in danger, on electronic chart respectively may further comprise the steps:
The weight of default described a plurality of scenes in danger;
With the number of described a plurality of random particles respectively with the multiplied by weight of described a plurality of scenes in danger, obtain the random particles number of scene in danger accordingly;
According to the initial probability distribution of scene correspondence in danger, calculate with the corresponding random particles of scene in danger in the initial probability distribution under the corresponding probability distribution, on described electronic chart.
4. the method for definite maritime SAR region as claimed in claim 3, it is characterized in that, the initial probability distribution of described scene in danger be the probability distribution based on reference point of the last distress position of known search and rescue target, known search and rescue objective plan course line based on the probability distribution of reference data line or the probability distribution based on the reference data zone in known search and rescue target job zone.
5. the method for definite maritime SAR region as claimed in claim 4, it is characterized in that, the initial probability distribution of described scene in danger is the probability distribution based on reference point of the last distress position of known search and rescue target, and the horizontal ordinate of the last distress position of described search and rescue target in described electronic chart coordinate system is X 0, ordinate is Y 0Described calculating with the corresponding random particles of scene in danger in the step of the initial probability distribution under the corresponding probability distribution, on described electronic chart is:
Calculating is (0,0) with the corresponding random particles of scene in danger in average, and mean square deviation is σ 1And σ 2Condition under, the probability distribution density of the two-dimentional normal distribution in the electronic chart coordinate system
Figure FDA0000062451700000021
Figure FDA0000062451700000022
Wherein, X is the horizontal ordinate of described search and rescue target in described electronic chart coordinate system, and Y is the ordinate of described search and rescue target in described electronic chart coordinate system, and X and Y are separate, σ 1=σ 2
With the described two-dimentional normal distribution that obtains along described horizontal ordinate translation X 0, the described two-dimentional normal distribution that will obtain simultaneously is along described ordinate translation Y 0, be the initial probability distribution of the corresponding random particles of scene described and in danger on electronic chart.
6. the method for definite maritime SAR region as claimed in claim 1, it is characterized in that, described according to described comprehensive initial probability distribution and the environmental information that prestores, the step of the comprehensive drift probability distribution of described a plurality of random particles on described electronic chart may further comprise the steps behind the calculating Preset Time:
According to the environmental information that prestores, and the coefficient of wind pres information calculations and the drift velocity of the corresponding a plurality of random particles of scene in danger on described electronic chart of searching and rescuing the target correspondence;
According to the environmental information that prestores, calculate behind the Preset Time and the drift displacement of the corresponding a plurality of random particles of scene in danger on described electronic chart;
By described comprehensive initial probability distribution, the described drift velocity that calculates and drift displacement, obtain the drift position of described a plurality of random particles under corresponding scene in danger behind the described Preset Time, and then generate the probability distribution of corresponding particle;
With under the difference scene in danger, the described drift probability distribution stack of corresponding random particles on described electronic chart, obtain the comprehensive drift probability distribution of described a plurality of random particles on described electronic chart.
7. the method for definite maritime SAR region as claimed in claim 6, it is characterized in that, the environmental information that prestores in described basis, and searched and rescued the coefficient of wind pres information calculations of target correspondence and the corresponding a plurality of random particles of scene in danger before the step of the drift velocity on the described electronic chart, described method is further comprising the steps of: prestore as the seawater surface ocean current flow velocity of described environmental information, apart from the 10 meters high wind speed in sea, and search and rescue target accordingly apart from the leeward wind speed slope coefficient on 10 meters high on sea respectively with in the scene in danger, leeward side-play amount coefficient, beam wind direction wind speed slope coefficient, beam wind direction side-play amount coefficient; The environmental information that described basis prestores, and search and rescue the coefficient of wind pres information calculations of target correspondence and the step of the drift velocity of the corresponding a plurality of random particles of scene in danger on described electronic chart may further comprise the steps:
Described according to what prestore apart from the 10 meters high wind speed in sea, and search and rescue the corresponding described leeward wind speed slope coefficient of target, leeward side-play amount coefficient respectively with in the scene in danger apart from 10 meters high on sea, calculate leeward blast vector, described apart from satisfying relation: L between the 10 meters high wind speed in sea, leeward wind speed slope coefficient, leeward side-play amount coefficient and the leeward blast vector apart from 10 meters high on sea d=a dW 10+ b d, wherein, W 10For described apart from the 10 meters high wind speed in sea, a dBe described leeward wind speed slope coefficient, b apart from 10 meters high on sea dBe described leeward side-play amount coefficient, L dBe described leeward blast vector;
Described according to what prestore apart from the 10 meters high wind speed in sea, and respectively with the corresponding beam wind direction of scene in danger wind speed slope coefficient, beam wind direction side-play amount coefficient, calculate beam wind direction blast vector, described apart from the 10 meters high wind speed in sea, satisfy relation: L between beam wind direction wind speed slope coefficient, the beam wind direction side-play amount coefficient c=a cW 10+ b c, wherein, a cBe described beam wind direction wind speed slope coefficient, b cBe described beam wind direction side-play amount coefficient, L cBe described beam wind direction blast vector;
With described leeward blast vector and the synthetic blast vector of beam wind direction blast vector that calculates;
With the synthetic drift velocity of the corresponding a plurality of random particles of scene described and in danger on described electronic chart that obtain of synthetic described blast vector and the described seawater surface ocean current velocity vector that prestores.
8. the method for definite maritime SAR region as claimed in claim 7, it is characterized in that, the environmental information that described method prestores in described basis, calculate behind the Preset Time with the corresponding a plurality of random particles of scene in danger before the step of the drift displacement on the described electronic chart, further comprising the steps of: as to prestore as the ocean current mean flow rate apart from the 0.5 meter degree of depth in sea of described environmental information, the variance of flow velocity disturbance, mean value apart from the 10 meters high wind speed in sea, the variance of wind speed disturbance, and search and rescue target accordingly apart from the leeward wind speed slope coefficient on 10 meters high on sea respectively with in the scene in danger, leeward side-play amount coefficient, beam wind direction wind speed slope coefficient, the variance of beam wind direction side-play amount coefficient and coefficient of wind pres disturbance; The environmental information that described basis prestores, the step with the drift displacement of the corresponding a plurality of random particles of scene in danger on described electronic chart behind the calculating Preset Time may further comprise the steps:
Calculate apart from the 10 meters high wind speed in sea described mean value, wind speed disturbance and apart from satisfying relation between the 10 meters high wind speed in sea apart from the 10 meters high wind speed in sea according to described mean value and the wind speed disturbance that prestores apart from the 10 meters high wind speed in sea:
Figure FDA0000062451700000031
Wherein, Be described mean value apart from the 10 meters high wind speed in sea, u ' is described wind speed disturbance, and described wind speed disturbance u ' is 0 from average, and wind speed disturbance variance is σ WCircular normal distribution in randomly draw;
Calculate and get into danger scene according to described leeward wind speed slope coefficient and the coefficient of wind pres disturbance apart from 10 meters high on sea that prestores, described leeward wind speed slope coefficient, coefficient of wind pres disturbance and apart from satisfying relation: a between the leeward wind speed slope coefficient estimated value on 10 meters high on sea apart from 10 meters high on sea accordingly apart from the leeward wind speed slope coefficient estimated value on 10 meters high on sea 1d=a d+ τ/20, wherein, a 1dBe described leeward wind speed slope coefficient estimated value apart from 10 meters high on sea, wherein, τ is described coefficient of wind pres disturbance, and described coefficient of wind pres disturbance τ is 0 from average, and coefficient of wind pres disturbance variance is σ LCircular normal distribution in randomly draw; According to the described leeward side-play amount coefficient that prestores and coefficient of wind pres disturbance calculate with the scene of getting into danger accordingly apart from the leeward side-play amount coefficient estimation value on 10 meters high on sea, described leeward side-play amount coefficient, coefficient of wind pres disturbance and apart from satisfying relation: b between the leeward side-play amount coefficient estimation value on 10 meters high on sea 1d=b d+ τ/2, wherein, b 1dBe described leeward side-play amount coefficient estimation value apart from 10 meters high on sea; Calculate the leeward vector according to the described leeward wind speed slope coefficient estimated value that calculates, leeward side-play amount coefficient estimation value and apart from the 10 meters high wind speed in sea;
Calculate and get into danger scene apart from the beam wind direction wind speed slope coefficient on 10 meters high on sea and coefficient of wind pres disturbance according to what prestore, described beam wind direction wind speed slope coefficient, coefficient of wind pres disturbance and apart from satisfying relation: a between the beam wind direction wind speed slope coefficient estimated value on 10 meters high on sea apart from 10 meters high on sea accordingly apart from the beam wind direction wind speed slope coefficient estimated value on 10 meters high on sea 1c=a c+ τ/20, wherein, a 1cBe described beam wind direction wind speed slope coefficient estimated value apart from 10 meters high on sea; According to the beam wind direction side-play amount coefficient that prestores and coefficient of wind pres disturbance calculate with the scene of getting into danger accordingly apart from the beam wind direction side-play amount coefficient estimation value on 10 meters high on sea, described beam wind direction side-play amount coefficient, coefficient of wind pres disturbance and apart from satisfying relation: b between the beam wind direction side-play amount coefficient estimation value on 10 meters high on sea 1c=b c+ τ/2, wherein, b 1cBe described beam wind direction side-play amount coefficient estimation value apart from 10 meters high on sea; Calculate beam wind direction blast vector according to the described beam wind direction wind speed slope coefficient estimated value that calculates, beam wind direction side-play amount coefficient estimation value and apart from the 10 meters high wind speed in sea;
With described leeward blast vector and the synthetic blast vector of beam wind direction blast vector that calculates;
According to the described ocean current mean flow rate apart from the 0.5 meter degree of depth in sea that prestores, the flow velocity disturbance calculates seawater surface ocean current flow velocity, satisfies relation between described ocean current mean flow rate apart from the 0.5 meter degree of depth in sea, flow velocity disturbance and the seawater surface ocean current flow velocity:
Figure FDA0000062451700000041
Wherein,
Figure FDA0000062451700000042
Be described ocean current mean flow rate apart from the 0.5 meter degree of depth in sea, w ' is the flow velocity disturbance, and described flow velocity disturbance w ' is 0 from average, and the disturbance variance is σ CCircular normal distribution in randomly draw;
According to synthetic described blast vector and the described seawater surface ocean current flow velocity that calculates, with the drift displacement of the corresponding a plurality of random particles of scene in danger on described electronic chart, described blast vector, seawater surface ocean current flow velocity and a plurality of random particles satisfy relation between the drift displacement on the described electronic chart behind the calculating Preset Time:
Figure FDA0000062451700000051
Wherein, S (t) is the position of random particles on electronic chart behind the Preset Time, S 0Be the initial position of random particles on electronic chart, S (t)-S 0Be the drift displacement of random particles on described electronic chart, t is default drift time, and C (t) is a seawater surface ocean current flow velocity, and L (t) is the blast vector.
9. the system of a definite maritime SAR region is characterized in that, described system comprises:
The environmental information storage unit, environmental information and electronic chart are used to prestore;
Signal receiving unit is used to receive the distress signal of searching and rescuing the target transmission;
The particle generation unit is used to generate respectively a plurality of random particles with described search and rescue target Equivalent;
Comprehensive initial probability distribution computing unit, be used for the described distress signal that receives according to described signal receiving unit, calculate the comprehensive initial probability distribution of described a plurality of random particles on the described electronic chart of described environmental information cell stores that described particle generation unit generates;
Comprehensive drift probability distribution computing unit, be used for the described environmental information that the described comprehensive initial probability distribution that calculates according to described comprehensive initial probability distribution computing unit and described environmental information storage unit prestore, calculate the comprehensive drift probability distribution of described a plurality of random particles on described electronic chart that described particle generation unit generates behind the Preset Time;
Display unit is used to the described comprehensive drift probability distribution that shows that described comprehensive drift probability distribution computing unit calculates;
Search and rescue the territory designating unit, be used for specifying the optimum territory of searching and rescuing according to the described comprehensive drift probability distribution that described comprehensive drift probability distribution computing unit calculates.
10. a search and rescue simulator is characterized in that, described search and rescue simulator comprises that one determines the system of maritime SAR region, and the system of described definite maritime SAR region comprises:
The environmental information storage unit, environmental information and electronic chart are used to prestore;
Signal receiving unit is used to receive the distress signal of searching and rescuing the target transmission;
The particle generation unit is used to generate respectively a plurality of random particles with described search and rescue target Equivalent;
Comprehensive initial probability distribution computing unit, be used for the described distress signal that receives according to described signal receiving unit, calculate the comprehensive initial probability distribution of described a plurality of random particles on the described electronic chart of described environmental information cell stores that described particle generation unit generates;
Comprehensive drift probability distribution computing unit, be used for the described environmental information that the described comprehensive initial probability distribution that calculates according to described comprehensive initial probability distribution computing unit and described environmental information storage unit prestore, calculate the comprehensive drift probability distribution of described a plurality of random particles on described electronic chart that described particle generation unit generates behind the Preset Time;
Display unit is used to the described comprehensive drift probability distribution that shows that described comprehensive drift probability distribution computing unit calculates;
Search and rescue the territory designating unit, be used for specifying the optimum territory of searching and rescuing according to the described comprehensive drift probability distribution that described comprehensive drift probability distribution computing unit calculates.
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