CN105180943A - Ship positioning system and ship positioning method - Google Patents

Abstract

The invention discloses a ship positioning system. The ship positioning system comprises a position information acquiring unit, a sequencing unit, a fusion unit and a monitoring unit, wherein the position information acquiring unit is used for acquiring multiple position information of a ship from a plurality of different positioning terminals; the sequencing unit is used for sequencing the acquired multiple position information according to priority, and sending the multiple position information with the priority greater than a set threshold value to the fusion unit; the fusion unit is used for fusing the multiple position information with the priority greater than the set threshold value to obtain a unique latitude-longitude coordinate of the ship; the monitoring unit is used for acquiring the ship monitoring image according to the latitude-longitude coordinate of the ship. According to the ship positioning system, the accurate positioning of the ship can be realized.

Description

Ship-positioning system and method

Technical field

The invention belongs to field of traffic, particularly a kind of ship-positioning system and method.

Background technology

At present, maritime affairs install the system of a lot of identifications for the boats and ships on cruiseway, such as automatic identification system (AIS), radio frequency identification (RFID), vertical interval test signal (VITS), satnav, radar etc.Each system can have a longitude and latitude position, this background system can be caused to differentiate the position of which longitude and latitude is only accurately.In addition, because these systems are all individualisms, cannot link with closed-circuit TV camera (CCTV), this can cause maritime sector cannot by checking that CCTV video confirms the identity of boats and ships.In existing maritime system, CCTV is separated with positioning system, the real-time video of boats and ships can only be checked by CCTV, the position of boats and ships can only be checked on map by positioning system, this mode has a very large deficiency, and maritime personnel accurately cannot locate the information of boats and ships separately through CCTV or AIS.

Summary of the invention

For the defect of prior art, the invention provides a kind of ship-positioning system and method.

A kind of ship-positioning system, comprising: location information acquiring unit, for obtaining multiple positional informations of boats and ships from multiple different positioning end; Sequencing unit, for sorting according to priority to the multiple positional informations got, multiple positional informations priority being greater than setting threshold value are sent to integrated unit; Integrated unit, multiple positional informations priority being greater than setting threshold value merge, and draw unique boats and ships latitude and longitude coordinates; Monitoring unit, for obtaining ship monitor image according to boats and ships latitude and longitude coordinates.

Optionally, the moment that described positional information comprises the current residing longitude and latitude of boats and ships, positional information obtains and positioning end mark.

Optionally, described multiple positional informations to getting sort according to priority, specifically comprise: moment and the current time of the vessel position information obtained by each positioning end subtract each other, obtain the duration of the positional information distance current time that each positioning end sends, according to duration priority orders from small to large, described multiple positional information is sorted.

Optionally, described multiple different positioning end comprises: AIS, RFID, VITS, satnav and/or radar.

Optionally, described multiple positional informations priority being greater than setting threshold value merge, and draw unique boats and ships latitude and longitude coordinates, specifically comprise: at current time t, if now the actual position of boats and ships is P ^t, before t, the position coordinates that priority is greater than in multiple positional informations of setting threshold value is respectively if these three coordinates respectively corresponding three points are A, V, G respectively, vector velocity is and respectively apart from t according to this coordinate and vector velocity, calculate the reference position of t boats and ships wherein:

A point: ${\hat{P}}_A^t=P_A^t+V_A^t*T_A^t---\left(1\right)$

V point: ${\hat{P}}_V^t=P_V^t+V_V^t*T_V^t---\left(2\right)$

G point: ${\hat{P}}_G^t=P_G^t+V_G^t*T_G^t---\left(3\right)$

Using the earth as with reference to system, according to reference position, the ginseng heart terrestrial coordinate calculated corresponding to A, V, G 3 is respectively (B _a, L _a, H _a), (B _v, L _v, H _v), (B _g, L _g, H _g), wherein, this coordinate system is with the center of reference ellipsoid for true origin, and the minor axis of ellipsoid overlaps with reference ellipsoid turning axle; B is geodetic latitude, is the angle to cross topocentric ellipsoid normal and the ellipsoid equatorial plane; L is geodetic longitude, to cross the angle between topocentric ellipsoid meridian ellipse and initial meridian ellipse; H is geodetic altitude;

Terrestrial coordinate is converted to rectangular space coordinate, and conversion formula is:

In rectangular coordinate system in space, 1) to join heart O for true origin; 2) minor axis of Z axis and reference ellipsoid coincides; 3) X-axis overlaps with the intersection in initial meridian ellipse and equator; 4) Y-axis is vertical with X-axis on face under the line, forms right hand rectangular coordinate system O-XYZ; In above-mentioned formula (4), N is the radius-of-curvature of ellipsoid prime vertical, and e is the length radius of the first excentricity of ellipsoid, a, b ellipsoid, and W is the first auxiliary coefficient; Wherein: a=6378.137km; B=6356.7523141km;

$N=\frac{a}{W}---\left(5\right)$

The coordinate of A, V, G 3 is substituted into above-mentioned formula (5)-(7), and the rectangular space coordinate calculating A, V, G corresponding is respectively (X _a, Y _a, Z _a), (X _v, Y _v, Z _v), (X _g, Y _g, Z _g); A, V, G 3 are fused into a bit, and make this point be S point, algorithm is as follows:

$\left\{\begin{array}{c}{X}_s=\frac{X_A+X_V+X_G}{3}\\ Y_s=\frac{Y_A+Y_V+Y_G}{3}\\ Z_s=\frac{Z_A+Z_V+Z_G}{3}\end{array}\right.---\left(8\right)$

Obtaining S point coordinate is thus (X _s, Y _s, Z _s); In order to obtain latitude and longitude coordinates, rectangular space coordinate is converted to terrestrial coordinate, conversion formula is as follows:

After integrated unit process, just obtaining unique latitude and longitude coordinates S point is (B _s, L _s, H _s).

Optionally, described for obtaining ship monitor image according to boats and ships latitude and longitude coordinates, specifically comprise: set the boats and ships latitude and longitude coordinates that obtains as S point, obtain the horizontal range a of camera and S point, camera and ground distance b are known, according to right-angle triangle Pythagorean theorem:

$C=\sqrt{a^2+b^2}---\left(10\right)$

Obtain the distance c of camera and S point, thus camera focal length adjusted, according to this right-angle surface, can determine that the angle of depression α of this camera is simultaneously:

$\mathrm{\α}=\mathrm{arc}sin\frac{a}{c}---\left(11\right)$

Next obtain the true azimuth of S point relative to camera, namely from the real north line of certain point, according to the horizontal sextant angle between clockwise direction to target direction line, adopt site-centric coordinate system to calculate true azimuth; If the position of camera is M point, the terrestrial coordinate of this point is (B _m, L _m, H _m), through above-mentioned Formula of Coordinate System Transformation (4), be converted to rectangular space coordinate, i.e. (X _m, Y _m, Z _m), be station heart rectangular coordinate system with the coordinate at M point place, be designated as M-NEU, the rectangular space coordinate of known M point, S point, according to the translation rotation relationship between Two coordinate system, obtains:

Wherein,

$R_1=\left[\begin{array}{ccc}1& 0& 0\\ 0& -1& 0\\ 0& 0& 1\end{array}\right]---\left(16\right)$

Thus try to achieve the coordinate (N, E, U) of S point in a M place site-centric coordinate system:

$\left[\begin{array}{c}N\\ E\\ U\end{array}\right]=\left[\begin{array}{ccc}-\sin B_M\cos L_M& -\sin L_M\sin B_M& \cos B_M\\ -\sin L_M& \cos L_M& 0\\ \cos B_M\cos L_M& \cos B_M\sin L_M& \sin B_M\end{array}\right]*\left[\begin{array}{c}{X}_S-X_M\\ Y_S-Y_M\\ Z_S-Z_M\end{array}\right]---\left(17\right)$

Then M point to the position angle of S point is: θ=arctan (E/N) (18)

True azimuth is according to this position angle of definition, according to true azimuth θ, adjustment camera position.

A kind of ship's fix method, comprises the steps: S100: the multiple positional informations obtaining boats and ships from multiple different positioning end; S200: the multiple positional informations got are sorted according to priority, multiple positional informations priority being greater than setting threshold value are sent to integrated unit; S300: multiple positional informations priority being greater than setting threshold value merge, and draw unique boats and ships latitude and longitude coordinates; S400: obtain ship monitor image according to boats and ships latitude and longitude coordinates.

Optionally, the moment that described positional information comprises the current residing longitude and latitude of boats and ships, positional information obtains and positioning end mark.

Optionally, described step S200 specifically comprises: moment and the current time of the vessel position information obtained by each positioning end subtract each other, obtain the duration of the positional information distance current time that each positioning end sends, according to duration priority orders from small to large, described multiple positional information is sorted.

Optionally, described multiple different positioning end comprises: AIS, RFID, VITS, satnav and/or radar.

The invention has the beneficial effects as follows: after the present invention draws longitude and latitude by the blending algorithm of longitude and latitude position, link with supervisory system, maritime personnel can be allowed just accurately to learn the relevant information of boats and ships in video, thus boats and ships can be located accurately carry out video monitoring.

Accompanying drawing explanation

Fig. 1 is the structural representation of ship-positioning system of the present invention;

Fig. 2 is geodetic coordinates in space system;

Fig. 3 is rectangular coordinate system in space;

Fig. 4 is that monitoring unit and S point link schematic diagram;

Fig. 5 is station center right-angle coordinate in horizon system and rectangular coordinate system in space schematic diagram;

Fig. 6 is the process flow diagram of ship's fix method of the present invention.

Embodiment

For enabling above-mentioned purpose of the present invention, feature and advantage become apparent more, are described in detail the specific embodiment of the present invention below in conjunction with accompanying drawing, make above-mentioned and other object of the present invention, Characteristics and advantages will be more clear.Reference numeral identical in whole accompanying drawing indicates identical part.Deliberately do not draw accompanying drawing in proportion, focus on purport of the present invention is shown.

Embodiment 1

As shown in Figure 1, ship-positioning system of the present invention comprises the location information acquiring unit, sequencing unit, integrated unit and the monitoring unit that connect successively.First this system collects by location information acquiring unit the vessel position information that all positioning ends upload up, then sequencing unit and integrated unit passing through relevant rule judgment, calculating a unique latitude and longitude information, for representing the geographic position of boats and ships accurately.Accurate geographic position is sent to monitoring unit by system, and monitoring unit combines the geographic position of uploading up according to the boats and ships image of controlling oneself in range of video, the top of boats and ships in video can design a floating window, for demonstrating the relevant information of these boats and ships.

Location information acquiring unit, it is for obtaining multiple positional informations of boats and ships from different positioning end, generally speaking, boats and ships can install multiple positioning end, such as the first positioning end (can be AIS), second positioning end (can be RFID), 3rd positioning end (VITS), 4th positioning end (can be GPS), 5th positioning end (can be radar) etc., location information acquiring unit receives the vessel position information that multiple positioning end sends, the current residing longitude and latitude of boats and ships can be comprised in this vessel position information, the time that positional information obtains and positioning end mark etc., it is to be noted in the present invention that positioning end mark refers to this positional information of instruction is the mark obtained by which positioning end, such as the 4th positioning end, the positional information that boats and ships send to location information acquiring unit by the 4th positioning end positioning end for: (31.203181,121.505543), 20150910153008, GPS, this information represents that boats and ships are in north latitude N31 ° 20 ' 31.81 " east longitude E121 ° 50 ' 55.43 " at present, when the acquisition time of this positional information is 10 days 15 September in 2015 30 points 08 second, for the positional information obtained from GPS positioning end, in this information, GPS is just positioning mark, P _grepresent the position coordinates of boats and ships.The positioning mark that different positioning end has different positioning marks such as AIS can be the positioning mark of AIS, RFID can be RFID etc.

The above-mentioned multiple positional information got is sent to sequencing unit by location information acquiring unit, multiple positional informations that in the present invention, sequencing unit is mainly used in getting sort according to priority, and positional information priority being greater than setting threshold value is sent to integrated unit.Specifically, location information acquiring unit can get the positional information that different positioning end sends in the different time, in order to ensure the degree of accuracy of the vessel position that follow-up blending algorithm obtains, need to sort to these multiple positional informations, carry out prioritization according to the acquisition time of locating information in the present invention, give up priority locating information rearward after sequence, thus ensure that the locating information that blending algorithm uses is up-to-date locating information, improve positioning precision.Such as need at current time t the position obtaining boats and ships in positioning system, boats and ships are provided with multiple positioning end, such as before t, the last position positional information that the first positioning end, the second positioning end, the 3rd positioning end, the 4th positioning end provide is respectively: wherein represent the vessel position coordinate that the first positioning end, the second positioning end, the 3rd positioning end, the 4th positioning end obtain, t respectively _a, t _r, t _v, t _grepresent the moment of the vessel position information that the first positioning end, the second positioning end, the 3rd positioning end, the 4th positioning end obtain respectively, AIS, RFID, VITS, GPS represent the positioning mark of the first positioning end, the second positioning end, the 3rd positioning end, the 4th positioning end respectively.After getting above-mentioned positional information, positioning mark in sequencing unit first reading information, thus determine this positional information is from which positioning end, then the moment of obtained vessel position information and current time t subtract each other by sequencing unit, thus get the duration of the positional information distance current time t that different positioning end sends, namely $T_A^t=t_A-t,T_R^t=-t_R-t,T_V^t=t_V-t,T_G^t=-t_G-t,$ In formula represent the duration of the positional information distance current time that the first positioning end, the second positioning end, the 3rd positioning end, the 4th positioning end send respectively.After the duration getting the positional information distance current time t that different positioning end sends, each duration compares by sequencing unit, sorts according to order from small to large, and such as ranking results is: this illustrates that the locating information distance current time t duration obtained from the first positioning end is the shortest, and the locating information distance current time t duration obtained from the 4th positioning end is the longest.Sequencing unit carries out ranking results to the multiple positional informations got according to priority and is thus: the first positioning end > the 3rd positioning end > the 4th positioning end > second positioning end, if the first positioning end, the second positioning end, the 3rd positioning end, the 4th positioning end represent AIS, RFID, VITS, GPS respectively, then the priority of the positional information obtained from these four positioning ends is: AIS > VITS > GPS > RFID.Namely the priority of this four systems is respectively 1,2,3,4, if the threshold value of default is 2, then the positional information obtained from the first positioning end and the 3rd positioning end can be sent to integrated unit by sequencing unit, if the threshold value of default is 3, then the positional information obtained from the first positioning end, the 3rd positioning end, the 4th positioning end can be sent to integrated unit by sequencing unit.

Integrated unit, the priority receiving sequencing unit transmission is greater than multiple positional informations of setting threshold value, and multiple positional informations priority being greater than setting threshold value merge, and draw unique boats and ships latitude and longitude coordinates.Specifically, if the positional information obtained from the first positioning end, the 3rd positioning end, the 4th positioning end can be sent to integrated unit by sequencing unit.According to sequence, show that the position coordinates that the first positioning end, the 3rd positioning end, the 4th positioning end (AIS, VITS, satnav) provide is respectively P _a, P _v, P _g.At a certain concrete moment t, if now the actual position of boats and ships is P ^t.Before t, the last position coordinates that AIS, VITS, satnav provide is respectively if these three coordinates respectively corresponding three points are A, V, G respectively.Vector velocity is and respectively apart from t according to this coordinate and vector velocity, the reference position of t boats and ships can be extrapolated wherein:

A point: ${\hat{P}}_A^t=P_A^t+V_A^t*T_A^t---\left(1\right)$

V point: ${\hat{P}}_V^t=P_V^t+V_V^t*T_V^t---\left(2\right)$

G point: ${\hat{P}}_G^t=P_G^t+V_G^t*T_G^t---\left(3\right)$

As shown in Figure 2, using the earth as reference system, according to reference position, the ginseng heart terrestrial coordinate that can obtain corresponding to A, V, G 3 is respectively (B _a, L _a, H _a), (B _v, L _v, H _v), (B _g, L _g, H _g), wherein, this coordinate system is with the center of reference ellipsoid for true origin, and the minor axis of ellipsoid overlaps with reference ellipsoid turning axle; B is geodetic latitude, is the angle to cross topocentric ellipsoid normal and the ellipsoid equatorial plane; L is geodetic longitude, to cross the angle between topocentric ellipsoid meridian ellipse and initial meridian ellipse; H is geodetic altitude, because the coordinate of each point longitude and latitude and the spacing of each point are non-linear transformations, so in order to obtain unique longitude and latitude, terrestrial coordinate be converted to rectangular space coordinate, this conversion formula is:

As shown in Figure 3, in rectangular coordinate system in space, 1) to join heart O for true origin; 2) minor axis (turning axle) of Z axis and reference ellipsoid coincides; 3) X-axis overlaps with the intersection in initial meridian ellipse and equator; 4) Y-axis is vertical with X-axis on face under the line, forms right hand rectangular coordinate system O-XYZ; In above-mentioned formula, N is the radius-of-curvature of ellipsoid prime vertical, and e is the length radius of the first excentricity of ellipsoid, a, b ellipsoid, and W is the first auxiliary coefficient; Wherein: a=6378.137km; B=6356.7523141km;

$N=\frac{a}{W}---\left(5\right)$

The coordinate of A, V, G 3 is substituted into above-mentioned formula, and the rectangular space coordinate that just can obtain A, V, G corresponding is respectively (XA, YA, ZA), (XV, YV, ZV), (XG, YG, ZG), in order to obtain the more accurate positional information of boats and ships, the present invention will be fused into a bit A, V, G at 3, makes this point be S point, herein, the present invention takes algorithm as follows:

$\left\{\begin{array}{c}{X}_s=\frac{X_A+X_V+X_G}{3}\\ Y_s=\frac{Y_A+Y_V+Y_G}{3}\\ Z_s=\frac{Z_A+Z_V+Z_G}{3}\end{array}\right.---\left(8\right)$

Can obtain S point coordinate is thus (X _s, Y _s, Z _s); In order to obtain latitude and longitude coordinates, also need rectangular space coordinate to convert terrestrial coordinate to herein, conversion formula is as follows:

After integrated unit process, just can obtain unique latitude and longitude coordinates S point is (B _s, L _s, H _s).The highly effective accuracy that improve ship's fix of this algorithm.

After obtaining boats and ships latitude and longitude coordinates S point, this coordinate is sent to monitoring unit by integrated unit, monitoring unit just can link with this boats and ships latitude and longitude coordinates, such as monitoring unit can open the monitoring probe of this latitude and longitude coordinates annex, by this monitoring probe, image capturing is carried out to these boats and ships, so just, this boats and ships video monitoring image can be obtained, a floating window can be set in monitor screen for showing the boats and ships image captured in real time, screen remainder can by the position of the current boats and ships of map denotation, so just, the interlock of video monitoring and positioning end can be realized.

In order to make monitoring probe to capture boats and ships, as shown in Figure 4, after obtaining S dot position information, just can obtain the horizontal range a of camera and S point, camera and ground distance b are known, according to right-angle triangle Pythagorean theorem:

$C=\sqrt{a^2+b^2}---\left(10\right)$

Just can obtain the distance c of camera and S point, video CCTV just according to this positional information, can adjust camera focal length thus.According to this right-angle surface, can determine that the angle of depression α of this camera is simultaneously:

$\mathrm{\α}=\mathrm{arc}sin\frac{a}{c}---\left(11\right)$

Below in order to camera is better located, also should obtain the true azimuth (Azimuth) of S point relative to camera, namely from the real north line of certain point, according to the horizontal sextant angle between clockwise direction to target direction line, be the true azimuth of this point.

In order to obtain true azimuth, this patent adopts site-centric coordinate system to calculate true azimuth.If the position of camera is M point, the terrestrial coordinate of this point is (B _m, L _m, H _m), through above-mentioned Formula of Coordinate System Transformation, be converted to rectangular space coordinate, i.e. (X _m, Y _m, Z _m).As shown in Figure 5, be station heart rectangular coordinate system with the coordinate at M point place, be designated as M-NEU.According to above, the rectangular space coordinate of known M point, S point, according to the translation rotation relationship between Two coordinate system, can obtain:

Wherein,

$R_1=\left[\begin{array}{ccc}1& 0& 0\\ 0& -1& 0\\ 0& 0& 1\end{array}\right]---\left(16\right)$

Thus can in the hope of the coordinate (N, E, U) of S point in a M place site-centric coordinate system:

$\left[\begin{array}{c}N\\ E\\ U\end{array}\right]=\left[\begin{array}{ccc}-\sin B_M\cos L_M& -\sin L_M\sin B_M& \cos B_M\\ -\sin L_M& \cos L_M& 0\\ \cos B_M\cos L_M& \cos B_M\sin L_M& \sin B_M\end{array}\right]*\left[\begin{array}{c}{X}_S-X_M\\ Y_S-Y_M\\ Z_S-Z_M\end{array}\right]---\left(17\right)$

Then M point to the position angle of S point is: θ=arctan (E/N) (18)

True azimuth is according to this position angle of definition.According to true azimuth θ, camera just can adjust camera position in the horizontal plane, and monitoring unit just can obtain boats and ships relevant information accurately thus.

Embodiment 2

Refer to Fig. 6, present invention also offers a kind of ship's fix method accordingly, it is characterized in that comprising the steps: S100: the multiple positional informations obtaining boats and ships from multiple different positioning end; S200: the multiple positional informations got are sorted according to priority, multiple positional informations priority being greater than setting threshold value are sent to integrated unit; S300: multiple positional informations priority being greater than setting threshold value merge, and draw unique boats and ships latitude and longitude coordinates; S400: obtain ship monitor image according to boats and ships latitude and longitude coordinates.

Further, the moment that described positional information comprises the current residing longitude and latitude of boats and ships, positional information obtains and positioning end mark.Described multiple positional informations to getting sort according to priority, specifically comprise: moment and the current time of the vessel position information obtained by each positioning end subtract each other, obtain the duration of the positional information distance current time that each positioning end sends, according to duration priority orders from small to large, described multiple positional information is sorted.

In sum, in order to obtain the accurate location information of boats and ships, the present invention passes through blending algorithm, determine unique longitude and latitude of boats and ships, after obtaining this positional information, will adjust camera, through calculating, can obtain the angle of depression α of camera, then establish site-centric coordinate system, object is to obtain the true azimuth θ of boats and ships relative to camera, therefore, camera, after the adjustment of angle of depression α, horizontal angle θ, just can obtain the relevant information of boats and ships accurately and efficiently.

Set forth a lot of detail in the above description so that fully understand the present invention.But above description is only preferred embodiment of the present invention, the present invention can be much different from alternate manner described here to implement, and therefore the present invention is not by the disclosed concrete restriction implemented above.Any those skilled in the art are not departing under technical solution of the present invention ambit simultaneously, the Method and Technology content of above-mentioned announcement all can be utilized to make many possible variations and modification to technical solution of the present invention, or be revised as the Equivalent embodiments of equivalent variations.Every content not departing from technical solution of the present invention, according to technical spirit of the present invention to any simple modification made for any of the above embodiments, equivalent variations and modification, all still belongs in the scope of technical solution of the present invention protection.

Claims (10)

1. a ship-positioning system, is characterized in that comprising:

Location information acquiring unit, for obtaining multiple positional informations of boats and ships from multiple different positioning end;

Sequencing unit, for sorting according to priority to the multiple positional informations got, multiple positional informations priority being greater than setting threshold value are sent to integrated unit;

Integrated unit, multiple positional informations priority being greater than setting threshold value merge, and draw unique boats and ships latitude and longitude coordinates;

Monitoring unit, for obtaining ship monitor image according to boats and ships latitude and longitude coordinates.

2. ship-positioning system according to claim 1, is characterized in that described positional information comprises the current residing longitude and latitude of boats and ships, positional information obtains moment and positioning end mark.

3. ship-positioning system according to claim 1, it is characterized in that described multiple positional informations to getting sort according to priority, specifically comprise: moment and the current time of the vessel position information obtained by each positioning end subtract each other, obtain the duration of the positional information distance current time that each positioning end sends, according to duration priority orders from small to large, described multiple positional information is sorted.

4. ship-positioning system according to claim 1, is characterized in that described multiple different positioning end comprises: AIS, RFID, VITS, satnav and/or radar.

5. ship-positioning system according to claim 1, it is characterized in that described multiple positional informations priority being greater than setting threshold value merge, draw unique boats and ships latitude and longitude coordinates, specifically comprise: at current time t, if now the actual position of boats and ships is P ^t, before t, the position coordinates that priority is greater than in multiple positional informations of setting threshold value is respectively if these three coordinates respectively corresponding three points are A, V, G respectively, vector velocity is and respectively apart from t according to this coordinate and vector velocity, calculate the reference position of t boats and ships wherein:

A point: ${\hat{P}}_A^t=P_A^t+V_A^t*T_A^t---\left(1\right)$

V point: ${\hat{P}}_V^t=P_V^t+V_V^t*T_V^t---\left(2\right)$

G point: ${\hat{P}}_G^t=P_G^t+V_G^t*T_G^t---\left(3\right)$

Using the earth as with reference to system, according to reference position, the ginseng heart terrestrial coordinate calculated corresponding to A, V, G 3 is respectively (B _a, L _a, H _a), (B _v, L _v, H _v), (B _g, L _g, H _g), wherein, this coordinate system is with the center of reference ellipsoid for true origin, and the minor axis of ellipsoid overlaps with reference ellipsoid turning axle; B is geodetic latitude, is the angle to cross topocentric ellipsoid normal and the ellipsoid equatorial plane; L is geodetic longitude, to cross the angle between topocentric ellipsoid meridian ellipse and initial meridian ellipse; H is geodetic altitude;

Terrestrial coordinate is converted to rectangular space coordinate, and conversion formula is:

In rectangular coordinate system in space, 1) to join the heart 0 for true origin; 2) minor axis of Z axis and reference ellipsoid coincides; 3) X-axis overlaps with the intersection in initial meridian ellipse and equator; 4) Y-axis is vertical with X-axis on face under the line, forms right hand rectangular coordinate system 0-XYZ; In above-mentioned formula (4), N is the radius-of-curvature of ellipsoid prime vertical, and e is the length radius of the first excentricity of ellipsoid, a, b ellipsoid, and W is the first auxiliary coefficient; Wherein: a=6378.137km; B=6356.7523141km;

$N=\frac{a}{W}---\left(5\right)$

The coordinate of A, V, G 3 is substituted into above-mentioned formula (5)-(7), and the rectangular space coordinate calculating A, V, G corresponding is respectively (X _a, Y _a, Z _a), (X _v, Y _v, Z _v), (X _g, Y _g, Z _g); A, V, G 3 are fused into a bit, and make this point be S point, algorithm is as follows:

$\left\{\begin{array}{c}{X}_s=\frac{X_A+X_V+X_G}{3}\\ Y_s=\frac{Y_A+Y_V+Y_G}{3}\\ Z_s=\frac{Z_A+Z_V+Z_G}{3}\end{array}\right.---\left(8\right)$

Obtaining S point coordinate is thus (X _s, Y _s, Z _s); In order to obtain latitude and longitude coordinates, rectangular space coordinate is converted to terrestrial coordinate, conversion formula is as follows:

After integrated unit process, just obtaining unique latitude and longitude coordinates S point is (B _s, L _s, H _s).

6. ship-positioning system according to claim 5, it is characterized in that, described for obtaining ship monitor image according to boats and ships latitude and longitude coordinates, specifically comprise: set the boats and ships latitude and longitude coordinates that obtains as S point, obtain the horizontal range a of camera and S point, camera and ground distance b are known, according to right-angle triangle Pythagorean theorem:

$c=\sqrt{a^2+b^2}---\left(10\right)$

Obtain the distance c of camera and S point, thus camera focal length adjusted, according to this right-angle surface, can determine that the angle of depression α of this camera is simultaneously:

$\mathrm{\α}=\arcsin \frac{a}{c}---\left(11\right)$

Next obtain the true azimuth of S point relative to camera, namely from the real north line of certain point, according to the horizontal sextant angle between clockwise direction to target direction line, adopt site-centric coordinate system to calculate true azimuth; If the position of camera is M point, the terrestrial coordinate of this point is (B _m, L _m, H _m), through above-mentioned Formula of Coordinate System Transformation (4), be converted to rectangular space coordinate, i.e. (X _m, Y _m, Z _m), be station heart rectangular coordinate system with the coordinate at M point place, be designated as M-NEU, the rectangular space coordinate of known M point, S point, according to the translation rotation relationship between Two coordinate system, obtains:

Wherein,

$R_1=\left[\begin{array}{ccc}1& 0& 0\\ 0& -1& 0\\ 0& 0& 1\end{array}\right]---\left(16\right)$

Thus try to achieve the coordinate (N, E, U) of S point in a M place site-centric coordinate system:

$\left[\begin{array}{c}N\\ E\\ U\end{array}\right]=\left[\begin{array}{ccc}-{\mathrm{sinB}}_M{\mathrm{cosL}}_M& -{\mathrm{sinL}}_M{\mathrm{sinB}}_M& {\mathrm{cosB}}_M\\ -{\mathrm{sinL}}_M& {\mathrm{cosL}}_M& 0\\ {\mathrm{cosB}}_M{\mathrm{cosL}}_M& {\mathrm{cosB}}_M{\mathrm{sinL}}_M& {\mathrm{sinB}}_M\end{array}\right]*\left[\begin{array}{c}{X}_S-X_M\\ Y_S-Y_M\\ Z_S-Z_M\end{array}\right]---\left(17\right)$

Then M point to the position angle of S point is: θ=arctan (E/N) (18)

True azimuth is according to this position angle of definition, according to true azimuth θ, adjustment camera position.

7. a ship's fix method, is characterized in that comprising the steps:

S100: the multiple positional informations obtaining boats and ships from multiple different positioning end;

S200: the multiple positional informations got are sorted according to priority, multiple positional informations priority being greater than setting threshold value are sent to integrated unit;

S300: multiple positional informations priority being greater than setting threshold value merge, and draw unique boats and ships latitude and longitude coordinates;

S400: obtain ship monitor image according to boats and ships latitude and longitude coordinates.

8. ship's fix method according to claim 7, is characterized in that described positional information comprises the current residing longitude and latitude of boats and ships, positional information obtains moment and positioning end mark.

9. ship's fix method according to claim 7, it is characterized in that described step S200 specifically comprises: moment and the current time of the vessel position information obtained by each positioning end subtract each other, obtain the duration of the positional information distance current time that each positioning end sends, according to duration priority orders from small to large, described multiple positional information is sorted.

10. ship's fix method according to claim 7, is characterized in that described multiple different positioning end comprises: AIS, RFID, VITS, satnav and/or radar.