CN107330803A - It is a kind of based on the illegal behavior method of discrimination fished for of multifunction radar ship - Google Patents
It is a kind of based on the illegal behavior method of discrimination fished for of multifunction radar ship Download PDFInfo
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Abstract
The invention discloses a kind of based on the illegal behavior method of discrimination fished for of multifunction radar ship, the illegal alarm regulation fished for and default supervision regional ensemble S are preset first；Secondly, by handling radar scanning echo data in real time, the information such as position, size and motion state of ship in the range of default supervision region is obtained；Again, according to it is default it is illegal fish for alarm regulation, differentiate whether object ship only illegal, and outputting alarm rank；Finally, according to alarm level, triggering different type alarm.The present invention is based on actual law enforcement experience, with reference to the radar exploration technique, the automatic identification that decision rule realizes illegal ship is fished for by illegal, effectively lift the waters ability to supervise based on multifunction radar system, in time, it is effective to grasp waterborne vessel dynamic, it is that law enfrocement official and supervision department provide timely, the effective illegal information of ship, improves law enforcement supervisory efficiency, executive cost is reduced, effectively hits and waterborne illegal fishes for behavior.
Description
Technical field
Regulation technique field is fished for the present invention relates to sea fishery is illegal, it is particularly a kind of to be disobeyed based on multifunction radar ship
The behavior method of discrimination that method is fished for.
Background technology
China is an ocean big country, possesses more than 300 ten thousand square kilometres of maritime territories, be richly stored with fishery resources,
A large amount of high-quality foods are provided for the mankind, while bringing huge economic benefit；But in recent years, fished for increasingly with illegal
Wildness, illegal means of fishing for increasingly are modernized, and cause fishery resources unbalance of structure, destroy water area ecological environment, challenge China
The sustainable development of fishery resources, has had a strong impact on the process of China's Ecological Civilization Construction.
Tradition fishery mangement and enforcement of the law, relies on reports at present, with reference to law enforcement ship patrol, realizes the monitoring and management in waters, this
The law enforcement mode of sample, because that can not grasp waters situation in real time comprehensively, lacks effective information mutual communication, causes law enforcement efficiency low, hold
Method cost is high and law enforcement is passive；Along with the equipment such as the development of modern sensor means, particularly radar, infrared electro and AIS,
Can be achieved that waters is round-the-clock, full-time empty monitoring, realize law enforcement by being become possible to by the transformation of trend active, but only rely on radar,
The equipment such as infrared electro and AIS, can only obtain water surface ship real-time condition, it is impossible to effectively judge whether ship is illegal, it is necessary to right
The data of these equipment collection are further analyzed and handled.
The present invention is based on actual law enforcement experience, with reference to the radar exploration technique, by being realized to the illegal behavior fished for
The automatic identification of illegal ship, effectively waters ability to supervise of the lifting based on multifunction radar system, realize round-the-clock, full-time sky
The monitoring of the illegal ship of the water surface, solve it is illegal the problem of fish for difficult regulatory, for law enfrocement official, supervision department provide in time,
The effective illegal information of ship, improves law enforcement supervisory efficiency, reduces executive cost, effectively hits and waterborne illegal fishes for behavior.
The content of the invention
In view of the above-mentioned deficiencies of the prior art, the technical problem to be solved by the present invention is to provide one kind is based on multi-functional thunder
Up to the illegal behavior method of discrimination fished for of ship, it should be based on based on the illegal behavior method of discrimination fished for of multifunction radar ship
Actual law enforcement experience, and multifunction radar Detection Techniques are combined, automatic discrimination target whether there is the illegal behavior fished for, then
Related warning information is sent, decision-making foundation is provided for law enfrocement official, administrative department, so that the problem of solving fish-farming operation difficult regulatory.
In order to solve the above technical problems, the technical solution adopted by the present invention is：
It is a kind of based on the illegal behavior method of discrimination fished for of multifunction radar ship, comprise the following steps.
Step 1, the illegal alarm regulation fished for is preset：The illegal alarm regulation fished for includes four types, respectively prohibits
Fishing is alerted, forbidden alarm, time-out alarm, hypervelocity alarm.
The presetting method of every kind of alarm regulation is as follows：
--- alarm of prohibiting fishing：When target ship is exceeding predetermined threshold value at the holdup time in supervising region, in conjunction with mesh
The behavior of ship is marked, whether illegal intelligent decision is carried out.
The behavior of target ship includes single ship fishing behavior and double ship fishing behaviors.
Whether illegal intelligent determination method, including following two steps：
Step 11, single ship fishes alarm of prohibiting fishing：Using sliding window algorithm one, namely first set a He of sliding time interval one
One time window one, the time, per one time interval one of forward slip, counts the fortune of target ship in a time window one
Dynamic rail mark, and calculated curve curvature, when curvature of curve exceedes predetermined threshold value, then the behavior for judging target ship is single ship fishing
Behavior, and target ship is illegal.
Step 12, double ships fish alarm of prohibiting fishing：Using sliding window algorithm two, namely first set a He of sliding time interval two
One time window two, time one time interval two of every forward slip, in time window two：First, extract and object ship
Only it is smaller than the ship set Tdis of pre-determined distance threshold value；Then, target ship and all ships in ship set Tdis are calculated
Flight path coefficient correlation only, speed of a ship or plane coefficient correlation, if flight path coefficient correlation exceedes predetermined threshold value with speed of a ship or plane coefficient correlation, sentence
The behavior for being set to two target ships is double ship fishing behaviors；If double ship fishing behavioral durations exceed preset time threshold
When, then illegal ship is defined as, and be set as Level 1Alarming.
--- forbidden alarm：As long as thering is object ship to only enter in supervision region, that is, illegal ship is defined as, and be set as
Level 1Alarming.
--- time-out alarm：Target ship is when the residence time in supervising region exceeding default time threshold, then fixed
Justice is illegal ship.
--- speed limit is alerted, when minimum speed limit threshold value or height of the current speed of a ship or plane less than the setting of supervision region of target ship
When Maximum speed limit threshold value, it is judged as illegal ship, and be set as that three-level is alerted.
Step 2, supervision regional ensemble S is preset：It is multiple to supervise region, and each supervision region is polygonal region, often
Individual supervision region includes at least three summits being not arranged on the same straight line, and each apex coordinate is represented with longitude and latitude；Often
Individual supervision region carries out default, the default alarm rule in all supervision regions and supervision region of alarm regulation type in step 1
Then type, constitutes default supervision regional ensemble S.
Step 3, supervision region ship information is obtained：Automatic radar plotting aid ARPA receives radar return data and counted automatically
The information for obtaining all target ships is calculated, target ship set T is formed；The information of each target ship is wrapped in goal set T
Containing positional information and movement state information, wherein, positional information is represented with longitude and latitude, and movement state information includes the speed of a ship or plane and boat
To.
Step 4, differentiate whether object ship is only illegal：Whether illegal object ship specific method of discrimination be as follows：
Step 41, the default supervision regional ensemble S of obtaining step 1.
Step 42, some supervision region S (i) in supervision regional ensemble S is chosen, while the target in obtaining step 2
Ship set T；Target ship set T is traveled through, when target ship information meets supervision region S (i) default alarm regulation, then
Alarm is provided.
Step 43, repeat step 42, traversal supervision regional ensemble S, complete the judgement to all illegal ships.
Step 5, triggering alarm：Target ship warning information is inputted, alarm device is triggered.
Step 11, the fishing of single ship prohibit fishing alarm when, the calculation formula of curvature of curve is as follows：
In formula：AngRate is curvature of curve；N is the points of flight path in time window one；I is i-th of track points；angi
For the corresponding course of i-th of track points, unit is radian；angi+1For the corresponding course of i+1 track points, unit is radian.
Step 11, the fishing of single ship prohibit fishing alarm when, the predetermined threshold value of curvature of curve includes first order predetermined threshold value, the second level
Predetermined threshold value and third level predetermined threshold value, and third level predetermined threshold value ＞ second level predetermined threshold value ＞ first order predetermined threshold values；It is bent
When line curvature exceedes first order predetermined threshold value, it is set as that three-level is alerted；When curvature of curve exceedes second level predetermined threshold value, it is set as
Two grades of alarms；When curvature of curve exceedes third level predetermined threshold value, it is set as Level 1Alarming.
First order predetermined threshold value span is 20%~30%；Second level predetermined threshold value span be 30%~
40%；Third level predetermined threshold value span is 40%~50%.
Prohibit fishing in step 1 alarm when, the predetermined threshold value span of holdup time is 10~120 minutes.
Step 11, the fishing of double ships prohibit fishing alarm when, using the boat of all ships in Pearson Y-factor method Y set of computations Tdis
Mark coefficient correlation, speed of a ship or plane coefficient correlation；
Flight path coefficient correlation computational methods are：The position of flight path is represented with longitude and latitude, it is assumed that two target ships are respectively A
The Pearson coefficients of ship and B ships, then A ships and B ship flight paths, calculation formula is as follows：
In formula：r1For A ships and the Pearson coefficients of B ship flight paths；N is the points of flight path in time window two；I is i-th
Track points；M values are 2, as j=1, AmnFor the longitude of n-th of track points of A ship flight paths in time window two, BmnFor the time
The longitude of n-th of track points of B ships flight path in window two；As j=2, AmnFor n-th of boat of A ship flight paths in time window two
The latitude of mark point, BmnFor the latitude of n-th of track points of B ship flight paths in time window two；A is A ship flight paths in time window two
The average of all longitude and latitudes；B is the average of all longitude and latitudes of B ship flight paths in time window two.
Speed of a ship or plane coefficient correlation calculation formula is as follows：
In formula：R is the Pearson coefficients of speed；X, y are respectively the speed of two target ships, and unit is m/s；When n is
Between in window two flight path points；I is i-th of track points.
In step 1, prohibit fishing alarm and when the behavior of target ship is double ships fishing behavior, the distance threshold of two ships takes
It is 50~1500 meters to be worth scope, and the predetermined threshold value span of double ship fishing behavioral durations is 8~30 minutes；Two ships
The predetermined threshold value span of flight path coefficient correlation is 0.5~0.9, the predetermined threshold value value model of two ship speed of a ship or plane coefficient correlations
Enclose for 0.5~0.9.
In step 1, during time-out alarm, when the preset time threshold of residence time includes first order time threshold, the second level
Between threshold value and third level time threshold；And first order time threshold ＜ second level time threshold ＜ third level time thresholds；Work as mesh
Ship is marked when the controlled area residence time exceeding first order time threshold, then is defined as illegal ship, and be set as that three-level is alerted；
Target ship upgrades to two grades of alarms when the controlled area residence time exceeding second level time threshold；Target ship is in controlled area
When residence time exceedes third level time threshold, upgrade to Level 1Alarming.
In step 1, during time-out alarm, first order time threshold span is 0~60 minute, and second level time threshold takes
It is 60~120 minutes to be worth scope, and third level time threshold span is 120~240 minutes.
In step 1, when speed limit is alerted, the minimum speed limit threshold value span that supervision region is set is 0.1~5 section；Highest
Speed limit threshold value span is 5~15 sections.
The present invention can judge in multiple supervision regions, if there is illegal ship, and produce simultaneously using after the above method
Warning information.The illegal alarm regulation fished for and default supervision regional ensemble S are preset first；Secondly, by handling radar in real time
Scan echo data, obtain the information such as position, size and motion state of ship in the range of default supervision region；Again, according to
It is default it is illegal fish for alarm regulation, differentiate whether object ship only illegal, and outputting alarm rank；Finally, according to alarm level, touch
Different type alarm is sent out, so as to effectively improve law enforcement supervisory efficiency, executive cost is reduced, hits and waterborne illegal fishes for behavior.
Brief description of the drawings
Fig. 1 is a kind of schematic flow sheet based on the illegal behavior method of discrimination fished for of multifunction radar ship of the present invention.
Embodiment
The present invention is further detailed explanation with specific better embodiment below in conjunction with the accompanying drawings.
As shown in figure 1, it is a kind of based on the illegal behavior method of discrimination fished for of multifunction radar ship, comprise the following steps.
Step 1, the illegal alarm regulation fished for is preset, namely inputs and illegal fishes for alarm regulation.
The illegal alarm regulation fished for includes four types, alarm of respectively prohibiting fishing, forbidden alarm, time-out alarm, hypervelocity
Alarm.
The first：Prohibit fishing alarm.
First holdup time of the target ship in supervision region is compared with predetermined threshold value, the holdup time in the present invention
Predetermined threshold value preferred span be 10~120 minutes, more preferably 10 minutes.
The behavior of target ship includes single ship fishing behavior and double ship fishing behaviors.
Exceed predetermined threshold value when holdup time of the target ship in supervision region, the behavior of combining target ship is carried out
Whether intelligent decision is illegal.
Whether illegal intelligent determination method, including following two steps.
Step 11, single ship fishes alarm of prohibiting fishing
Using sliding window algorithm one, namely first set a sliding time interval one and a time window one, the time often to
The movement locus of target ship in one time interval one of front slide, time window one of statistics, and calculated curve curvature, when
When curvature of curve exceedes predetermined threshold value, then the behavior for judging target ship is single ship fishing behavior, and target ship is illegal.
The predetermined threshold value of curvature of curve includes first order predetermined threshold value, second level predetermined threshold value and third level predetermined threshold value,
And third level predetermined threshold value ＞ second level predetermined threshold value ＞ first order predetermined threshold values.Wherein, the preferred value of first order predetermined threshold value
Scope is 20%~30%, more preferably 25%；Predetermined threshold value preferred span in the second level is 30%~40%, enters one
Step is preferably 35%；The preferred span of third level predetermined threshold value is 40%~50%, more preferably 45%.
When curvature of curve exceedes first order predetermined threshold value, it is set as that three-level is alerted；Curvature of curve exceedes the second level and presets threshold
During value, it is set as two grades of alarms；When curvature of curve exceedes third level predetermined threshold value, it is set as Level 1Alarming.
It is as follows according to the ship range formula of two ship calculation of longitude ＆ latitude two：
In formula：LAT, LON are respectively latitude and longitude, and unit is radian；A be earth major radius (under WGS-84 coordinate systems,
Value is 6378137.0 meters)；B is earth minor radius, and unit is rice；E is eccentricity of the earth；X and Y are respectively target in space
Transverse and longitudinal coordinate in rectangular coordinate system, unit is rice；D is 2 points of (X0, Y0)、(X1, Y1The distance between), unit is rice.
Wherein, the calculation formula of curvature of curve is as follows：
In formula：AngRate is curvature of curve；N is the points of flight path in time window one；I is i-th of track points；angi
For the corresponding course of i-th of track points, unit is radian；angi+1For the corresponding course of i+1 track points, unit is radian.
Step 12, double ships fish alarm of prohibiting fishing
Using sliding window algorithm two, namely a sliding time interval two and a time window two are first set, wherein, the time
Interval two can be equal with time interval one, can not also wait, and such as time interval one is 2 minutes, and time interval two is 5 minutes
Deng.
Time, per one time interval two of forward slip, in time window two, using correlation method, is once owned
The judgement of target ship distance correlation.
The specific deterministic process of correlation method is：Assuming that current ship is target ship, on the basis of target ship, to one
In the range of the spacing distance of individual fixation (in the range of such as 100 meters).
First, the ship set Tdis that pre-determined distance threshold value is smaller than with target ship is extracted；Two ships it is above-mentioned
The preferred span of pre-determined distance threshold value is 50~1500 meters, more preferably 100 meters.
Then, flight path coefficient correlation, the speed of a ship or plane coefficient correlation of target ship and all ships in ship set Tdis are calculated,
In the present invention, using flight path coefficient correlation, the speed of a ship or plane coefficient correlation of all ships in Pearson Y-factor method Y set of computations Tdis.
As replacement, also flight path coefficient correlation, speed of a ship or plane coefficient correlation can be calculated using other method well known in the prior art, at this
Within the protection domain of invention.
If flight path coefficient correlation and speed of a ship or plane coefficient correlation exceed predetermined threshold value, it is believed that the flight path and speed of two target ships
Degree is basically identical, then the behavior for being determined as two target ships is double ship fishing behaviors.
If double ship fishing behavioral durations exceed preset time threshold, illegal ship is defined as, and be set as one
Level alarm.
The preferred span of preset time threshold of double ship fishing behavioral durations is 8~30 minutes, further preferably
For 15 minutes.
The preferred span of threshold value of two ship flight path coefficient correlations is 0.5~0.9, more preferably 0.65.
The preferred span of threshold value of two ship speed of a ship or plane coefficient correlations is 0.5~0.9, more preferably 0.7.
Flight path coefficient correlation computational methods method is as follows.
The position of flight path is represented with longitude and latitude, it is assumed that two target ships are respectively A ships and B ships, then A ships and B ship flight paths
Pearson coefficients, calculation formula is as follows：
In formula：r1For A ships and the Pearson coefficients of B ship flight paths；N be time window two in flight path points (namely：
In time window two, the point trace set that A ships are traced to simultaneously with B ships)；I is i-th of track points；M values are 2, work as j=1
When, AmnFor the longitude of n-th of track points of A ship flight paths in time window two, BmnFor n-th of B ship flight paths in time window two
The longitude of track points；As j=2, AmnFor the latitude of n-th of track points of A ship flight paths in time window two, BmnFor time window
The latitude of n-th of track points of B ship flight paths in mouth two；For the average of all longitude and latitudes of A ship flight paths in time window two；For the average of all longitude and latitudes of B ship flight paths in time window two.
The calculation formula of speed of a ship or plane coefficient correlation is as follows：
In formula：R is the Pearson coefficients of speed；X, y are respectively the speed of two target ships, and unit is m/s；When n is
Between in window two flight path points；I is i-th of track points.
Second：Forbidden alarm.
As long as thering is object ship to only enter in supervision region, that is, illegal ship is defined as, and be set as Level 1Alarming.
Judge whether the determination methods being located in polygonal region are a point：All line segments of order traversal polygon,
Two end points of line taking section are respectively (x1, y1)(x2, y2), the position of ARPA targets is (x0, y0), straight line and y=where line segment
y0Intersection point be：
If x1<po int x≤x2And y1<y0≤y2, then the summit and line segment intersection.The number of intersection point is counted, if intersection point
Number is even number, then puts outside polygon；If intersection point number is odd number, put in polygon.
The third：Time-out alarm.
Target ship is then defined as illegal ship when the residence time in supervising region exceeding default time threshold.
During time-out alarm, the preset time threshold of residence time include first order time threshold, second level time threshold and
Third level time threshold；And first order time threshold ＜ second level time threshold ＜ third level time thresholds.In the present invention, first
The preferred span of level time threshold is 0~60 minute, more preferably 30 minutes；The preferred value model of second level time threshold
Enclose for 60~120 minutes, more preferably 90 minutes；The preferred span of third level time threshold is 120~240 minutes,
More preferably 180 minutes.
When target ship is exceeding first order time threshold at the controlled area residence time, then illegal ship is defined as, and set
It is set to three-level alarm；Target ship upgrades to two grades of alarms when the controlled area residence time exceeding second level time threshold；Target
Ship upgrades to Level 1Alarming when the controlled area residence time exceeding third level time threshold.
4th kind：Speed limit is alerted.
When the current speed of a ship or plane of target ship is less than the minimum speed limit threshold value of supervision region setting or higher than Maximum speed limit threshold
During value, it is judged as illegal ship, and be set as that three-level is alerted.
When speed limit is alerted, the minimum preferred span of speed limit threshold value that supervision region is set is further excellent as 0.1~5 section
Elect 3 sections as；The preferred span of Maximum speed limit threshold value is 5~15 sections, more preferably 7 sections.
Step 2, supervision regional ensemble S is preset.
Step 21, supervision regional extent, namely input supervision regional extent are preset.
It is multiple to supervise region, and multiple supervision regions can be independent of each other with overlapping each other.
Each supervision region is polygonal region, and each supervision region includes at least three be not arranged on the same straight line
Individual summit, each apex coordinate is represented with longitude and latitude.
Step 22, alarm regulation type is preset：Each supervision region carries out the default of alarm regulation type in step 1.
Step 23, default supervision regional ensemble S is formed：Controlled area in the default all supervision regions of step 21 and step 22
The default alarm regulation type in domain, constitutes default supervision regional ensemble S.
Step 3, supervision region ship information is obtained.
Automatic radar plotting aid ARPA receives radar return data and calculates the information for obtaining all target ships, shape automatically
Into target ship set T；The information of each target ship includes positional information and movement state information in goal set T, its
In, positional information is represented with longitude and latitude, and movement state information includes the speed of a ship or plane and course.
Step 4, differentiate whether object ship is only illegal：Whether illegal object ship specific method of discrimination be as follows.
Step 41, the default supervision regional ensemble S of obtaining step 1.
Step 42, some supervision region S (i) in supervision regional ensemble S is chosen, while the target in obtaining step 2
Ship set T；Target ship set T is traveled through, when target ship information meets supervision region S (i) default alarm regulation, then
Alarm is provided.
Step 43, repeat step 42, traversal supervision regional ensemble S, complete the judgement to all illegal ships.
Step 5, triggering alarm：The target ship warning information that input step 4 is produced, includes position, the boat of target ship
Speed, course and alarm type, trigger alarm device, and show the information such as ship position, the speed of a ship or plane and course, are provided for supervisor
Warning information.
In summary, the present invention, with reference to the radar exploration technique, decision rule is fished for by illegal based on actual law enforcement experience
The automatic identification of illegal ship is realized, effectively waters ability to supervise of the lifting based on multifunction radar system, in time, effectively slapped
Waterborne vessel dynamic is held, is that law enfrocement official and supervision department provide timely, the effective illegal information of ship, improves law enforcement supervision effect
Rate, reduces executive cost, effectively hits and waterborne illegal fishes for behavior.
The preferred embodiment of the present invention described in detail above, still, the present invention are not limited in above-mentioned embodiment
Detail, in the range of the technology design of the present invention, a variety of equivalents can be carried out to technical scheme, this
A little equivalents belong to protection scope of the present invention.
Claims (10)
1. it is a kind of based on the illegal behavior method of discrimination fished for of multifunction radar ship, it is characterised in that：Comprise the following steps：
Step 1, the illegal alarm regulation fished for is preset：The illegal alarm regulation fished for includes four types, announcement of respectively prohibiting fishing
It is alert, forbidden alarm, time-out alarm, hypervelocity alarm；
The presetting method of every kind of alarm regulation is as follows：
--- alarm of prohibiting fishing：When target ship is exceeding predetermined threshold value at the holdup time in supervising region, in conjunction with object ship
Whether illegal behavior only, carry out intelligent decision；The behavior of target ship includes single ship fishing behavior and double ship fishing behaviors；
Whether illegal intelligent determination method, including following two steps：
Step 11, single ship fishes alarm of prohibiting fishing：Using sliding window algorithm one, namely first set a sliding time interval one and one
Time window one, the time, per one time interval one of forward slip, counts the motion rail of target ship in a time window one
Mark, and calculated curve curvature, when curvature of curve exceedes predetermined threshold value, then the behavior for judging target ship is single ship fishing row
For, and target ship is illegal；
Step 12, double ships fish alarm of prohibiting fishing：Using sliding window algorithm two, namely first set a sliding time interval two and one
Time window two, time one time interval two of every forward slip, in time window two：First, extract between target ship
Ship set Tdis away from less than pre-determined distance threshold value；Then, target ship and all ships in ship set Tdis are calculated
Flight path coefficient correlation, speed of a ship or plane coefficient correlation, if flight path coefficient correlation exceedes predetermined threshold value with speed of a ship or plane coefficient correlation, are determined as
The behavior of two target ships is double ship fishing behaviors；If double ship fishing behavioral durations exceed preset time threshold,
Illegal ship is defined as, and is set as Level 1Alarming；
--- forbidden alarm：As long as thering is object ship to only enter in supervision region, that is, illegal ship is defined as, and be set as one-level
Alarm；
--- time-out alarm：Target ship is then defined as when the residence time in supervising region exceeding default time threshold
Illegal ship；
--- speed limit is alerted, when the current speed of a ship or plane of target ship is less than the minimum speed limit threshold value of supervision region setting or higher than most
During high speed limit threshold value, it is judged as illegal ship, and be set as that three-level is alerted；
Step 2, supervision regional ensemble S is preset：It is multiple to supervise region, and each supervision region is polygonal region, Mei Gejian
Area under control domain includes at least three summits being not arranged on the same straight line, and each apex coordinate is represented with longitude and latitude；Each prison
Area under control domain carries out default, all supervision regions and the supervision default alarm regulation class in region of alarm regulation type in step 1
Type, constitutes default supervision regional ensemble S；
Step 3, supervision region ship information is obtained：Automatic radar plotting aid ARPA receives radar return data and calculated and obtains automatically
The information of all target ships is taken, target ship set T is formed；The information of each target ship includes position in goal set T
Confidence ceases and movement state information, wherein, positional information is represented with longitude and latitude, and movement state information includes the speed of a ship or plane and course；
Step 4, differentiate whether object ship is only illegal：Whether illegal object ship specific method of discrimination be as follows：
Step 41, the default supervision regional ensemble S of obtaining step 1；
Step 42, some supervision region S (i) in supervision regional ensemble S is chosen, while the target ship in obtaining step 2
Set T；Target ship set T is traveled through, when target ship information meets supervision region S (i) default alarm regulation, is then provided
Alarm；
Step 43, repeat step 42, traversal supervision regional ensemble S, complete the judgement to all illegal ships；
Step 5, triggering alarm：Target ship warning information is inputted, alarm device is triggered.
2. it is according to claim 1 based on the illegal behavior method of discrimination fished for of multifunction radar ship, it is characterised in that：
Step 11, the fishing of single ship prohibit fishing alarm when, the calculation formula of curvature of curve is as follows：
<mrow>
<mi>a</mi>
<mi>n</mi>
<mi>g</mi>
<mi>R</mi>
<mi>a</mi>
<mi>t</mi>
<mi>e</mi>
<mo>=</mo>
<mfrac>
<mrow>
<munderover>
<mi>&Sigma;</mi>
<mrow>
<mi>i</mi>
<mo>=</mo>
<mn>1</mn>
</mrow>
<mi>n</mi>
</munderover>
<mrow>
<mo>|</mo>
<mrow>
<msub>
<mi>ang</mi>
<mrow>
<mi>i</mi>
<mo>+</mo>
<mn>1</mn>
</mrow>
</msub>
<mo>-</mo>
<msub>
<mi>ang</mi>
<mi>i</mi>
</msub>
</mrow>
<mo>|</mo>
</mrow>
</mrow>
<mrow>
<mn>2</mn>
<mi>&pi;</mi>
</mrow>
</mfrac>
<mo>&times;</mo>
<mn>100</mn>
<mi>%</mi>
</mrow>
In formula：AngRate is curvature of curve；N is the points of flight path in time window one；I is i-th of track points；angiFor i-th
The corresponding course of individual track points, unit is radian；angi+1For the corresponding course of i+1 track points, unit is radian.
3. according to claim 1 or 2 based on the illegal behavior method of discrimination fished for of multifunction radar ship, its feature exists
In：Step 11, the fishing of single ship prohibit fishing alarm when, the predetermined threshold value of curvature of curve includes first order predetermined threshold value, the second level and preset
Threshold value and third level predetermined threshold value, and third level predetermined threshold value ＞ second level predetermined threshold value ＞ first order predetermined threshold values；Curve is bent
When rate exceedes first order predetermined threshold value, it is set as that three-level is alerted；When curvature of curve exceedes second level predetermined threshold value, it is set as two grades
Alarm；When curvature of curve exceedes third level predetermined threshold value, it is set as Level 1Alarming.
4. it is according to claim 3 based on the illegal behavior method of discrimination fished for of multifunction radar ship, it is characterised in that：
First order predetermined threshold value span is 20%~30%；Second level predetermined threshold value span is 30%~40%；The third level
Predetermined threshold value span is 40%~50%.
5. it is according to claim 1 based on the illegal behavior method of discrimination fished for of multifunction radar ship, it is characterised in that：
Prohibit fishing in step 1 alarm when, the predetermined threshold value span of holdup time is 10~120 minutes.
6. it is according to claim 1 based on the illegal behavior method of discrimination fished for of multifunction radar ship, it is characterised in that：
In step 1, prohibit fishing alarm and when the behavior of target ship is double ships fishing behavior, using Pearson Y-factor method Y set of computations
The flight path coefficient correlation of all ships, speed of a ship or plane coefficient correlation in Tdis；
Flight path coefficient correlation computational methods are：The position of flight path is represented with longitude and latitude, it is assumed that two target ships be respectively A ships and
The Pearson coefficients of B ships, then A ships and B ship flight paths, calculation formula is as follows：
<mrow>
<msub>
<mi>r</mi>
<mn>1</mn>
</msub>
<mo>=</mo>
<mfrac>
<mrow>
<munderover>
<mo>&Sigma;</mo>
<mrow>
<mi>i</mi>
<mo>=</mo>
<mn>1</mn>
</mrow>
<mi>n</mi>
</munderover>
<munderover>
<mo>&Sigma;</mo>
<mrow>
<mi>j</mi>
<mo>=</mo>
<mn>1</mn>
</mrow>
<mi>m</mi>
</munderover>
<mo>&lsqb;</mo>
<mrow>
<mo>(</mo>
<msub>
<mi>A</mi>
<mrow>
<mi>m</mi>
<mi>n</mi>
</mrow>
</msub>
<mo>-</mo>
<mover>
<mi>A</mi>
<mo>&OverBar;</mo>
</mover>
<mo>)</mo>
</mrow>
<mo>&times;</mo>
<mrow>
<mo>(</mo>
<msub>
<mi>B</mi>
<mrow>
<mi>m</mi>
<mi>n</mi>
</mrow>
</msub>
<mo>-</mo>
<mover>
<mi>B</mi>
<mo>&OverBar;</mo>
</mover>
<mo>)</mo>
</mrow>
<mo>&rsqb;</mo>
</mrow>
<msqrt>
<mrow>
<mo>(</mo>
<munderover>
<mo>&Sigma;</mo>
<mrow>
<mi>i</mi>
<mo>=</mo>
<mn>1</mn>
</mrow>
<mi>n</mi>
</munderover>
<munderover>
<mo>&Sigma;</mo>
<mrow>
<mi>j</mi>
<mo>=</mo>
<mn>1</mn>
</mrow>
<mi>m</mi>
</munderover>
<msup>
<mrow>
<mo>(</mo>
<mrow>
<msub>
<mi>A</mi>
<mrow>
<mi>m</mi>
<mi>n</mi>
</mrow>
</msub>
<mo>-</mo>
<mover>
<mi>A</mi>
<mo>&OverBar;</mo>
</mover>
</mrow>
<mo>)</mo>
</mrow>
<mn>2</mn>
</msup>
<mo>)</mo>
<mo>&times;</mo>
<mo>(</mo>
<munderover>
<mo>&Sigma;</mo>
<mrow>
<mi>i</mi>
<mo>=</mo>
<mn>1</mn>
</mrow>
<mi>n</mi>
</munderover>
<munderover>
<mo>&Sigma;</mo>
<mrow>
<mi>j</mi>
<mo>=</mo>
<mn>1</mn>
</mrow>
<mi>m</mi>
</munderover>
<msup>
<mrow>
<mo>(</mo>
<mrow>
<msub>
<mi>B</mi>
<mrow>
<mi>m</mi>
<mi>n</mi>
</mrow>
</msub>
<mo>-</mo>
<mover>
<mi>B</mi>
<mo>&OverBar;</mo>
</mover>
</mrow>
<mo>)</mo>
</mrow>
<mn>2</mn>
</msup>
<mo>)</mo>
</mrow>
</msqrt>
</mfrac>
</mrow>
In formula：r1For A ships and the Pearson coefficients of B ship flight paths；N is the points of flight path in time window two；I is i-th of flight path
Point；M values are 2, as j=1, AmnFor the longitude of n-th of track points of A ship flight paths in time window two, BmnFor time window
The longitude of n-th of track points of B ships flight path in two；As j=2, AmnFor n-th of track points of A ship flight paths in time window two
Latitude, BmnFor the latitude of n-th of track points of B ship flight paths in time window two；It is all for A ships flight path in time window two
The average of longitude and latitude；For the average of all longitude and latitudes of B ship flight paths in time window two；
Speed of a ship or plane coefficient correlation calculation formula is as follows：
<mrow>
<mi>r</mi>
<mo>=</mo>
<mfrac>
<mrow>
<mi>n</mi>
<munderover>
<mi>&Sigma;</mi>
<mrow>
<mi>i</mi>
<mo>=</mo>
<mn>1</mn>
</mrow>
<mi>n</mi>
</munderover>
<msub>
<mi>x</mi>
<mi>i</mi>
</msub>
<msub>
<mi>y</mi>
<mi>i</mi>
</msub>
<mo>-</mo>
<munderover>
<mi>&Sigma;</mi>
<mrow>
<mi>i</mi>
<mo>=</mo>
<mn>1</mn>
</mrow>
<mi>n</mi>
</munderover>
<msub>
<mi>x</mi>
<mi>i</mi>
</msub>
<munderover>
<mi>&Sigma;</mi>
<mrow>
<mi>i</mi>
<mo>=</mo>
<mn>1</mn>
</mrow>
<mi>n</mi>
</munderover>
<msub>
<mi>y</mi>
<mi>i</mi>
</msub>
</mrow>
<mrow>
<msqrt>
<mrow>
<mi>n</mi>
<munderover>
<mi>&Sigma;</mi>
<mrow>
<mi>i</mi>
<mo>=</mo>
<mn>1</mn>
</mrow>
<mi>n</mi>
</munderover>
<msubsup>
<mi>x</mi>
<mi>i</mi>
<mn>2</mn>
</msubsup>
<mo>-</mo>
<msup>
<mrow>
<mo>(</mo>
<munderover>
<mi>&Sigma;</mi>
<mrow>
<mi>i</mi>
<mo>=</mo>
<mn>1</mn>
</mrow>
<mi>n</mi>
</munderover>
<msub>
<mi>x</mi>
<mi>i</mi>
</msub>
<mo>)</mo>
</mrow>
<mn>2</mn>
</msup>
</mrow>
</msqrt>
<msqrt>
<mrow>
<mi>n</mi>
<munderover>
<mi>&Sigma;</mi>
<mrow>
<mi>i</mi>
<mo>=</mo>
<mn>1</mn>
</mrow>
<mi>n</mi>
</munderover>
<msubsup>
<mi>y</mi>
<mi>i</mi>
<mn>2</mn>
</msubsup>
<mo>-</mo>
<msup>
<mrow>
<mo>(</mo>
<munderover>
<mi>&Sigma;</mi>
<mrow>
<mi>i</mi>
<mo>=</mo>
<mn>1</mn>
</mrow>
<mi>n</mi>
</munderover>
<msub>
<mi>y</mi>
<mi>i</mi>
</msub>
<mo>)</mo>
</mrow>
<mn>2</mn>
</msup>
</mrow>
</msqrt>
</mrow>
</mfrac>
</mrow>
In formula：R is the Pearson coefficients of speed；X, y are respectively the speed of two target ships, and unit is m/s；N is time window
The points of flight path in mouth two；I is i-th of track points.
7. it is according to claim 6 based on the illegal behavior method of discrimination fished for of multifunction radar ship, it is characterised in that：
In step 1, prohibit fishing alarm and when the behavior of target ship is double ships fishing behavior, the distance threshold span of two ships is
50~1500 meters, the predetermined threshold value span of double ship fishing behavioral durations is 8~30 minutes；Two ship flight paths are related
The predetermined threshold value span of coefficient is 0.5~0.9, and the predetermined threshold value span of two ship speed of a ship or plane coefficient correlations is 0.5
~0.9.
8. it is according to claim 1 based on the illegal behavior method of discrimination fished for of multifunction radar ship, it is characterised in that：
In step 1, during time-out alarm, the preset time threshold of residence time include first order time threshold, second level time threshold and
Third level time threshold；And first order time threshold ＜ second level time threshold ＜ third level time thresholds；When target ship exists
When the controlled area residence time exceedes first order time threshold, then illegal ship is defined as, and be set as that three-level is alerted；Target ship
When the controlled area residence time exceeding second level time threshold, upgrade to two grades of alarms；Target ship is in the controlled area residence time
During more than third level time threshold, upgrade to Level 1Alarming.
9. it is according to claim 8 based on the illegal behavior method of discrimination fished for of multifunction radar ship, it is characterised in that：
In step 1, during time-out alarm, first order time threshold span is 0~60 minute, and second level time threshold span is
60~120 minutes, third level time threshold span was 120~240 minutes.
10. according to claim 1 based on the illegal behavior method of discrimination fished for of multifunction radar ship, its feature exists
In：In step 1, when speed limit is alerted, the minimum speed limit threshold value span that supervision region is set is 0.1~5 section；Maximum speed limit threshold
It is 5~15 sections to be worth span.
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| CN110288855A (en) * | 2019-06-05 | 2019-09-27 | 上海鹰觉科技有限公司 | For the classification method and its categorizing system of marine vessel behavior |
| CN110390288A (en) * | 2019-04-26 | 2019-10-29 | 上海鹰觉科技有限公司 | Intelligent target search, positioning and evidence-obtaining system based on computer vision and method |
| CN110736971A (en) * | 2019-11-05 | 2020-01-31 | 中国电波传播研究所（中国电子科技集团公司第二十二研究所） | real-time recognition method for non-cooperative targets in sea clutter measurement area of shore-based radar |
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| CN112435449A (en) * | 2020-11-24 | 2021-03-02 | 中国水产科学研究院南海水产研究所 | Full-digital intelligent fishery illegal ship identification and troubleshooting system and method |
| CN114217307A (en) * | 2021-11-29 | 2022-03-22 | 福建新继船舶服务有限公司 | Ship abnormal behavior judgment method based on radar and AIS data |
| CN115423225A (en) * | 2022-11-07 | 2022-12-02 | 中国水产科学研究院南海水产研究所 | Fishing port operation management method and system based on big data |
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| CN110288855A (en) * | 2019-06-05 | 2019-09-27 | 上海鹰觉科技有限公司 | For the classification method and its categorizing system of marine vessel behavior |
| CN110736971A (en) * | 2019-11-05 | 2020-01-31 | 中国电波传播研究所（中国电子科技集团公司第二十二研究所） | real-time recognition method for non-cooperative targets in sea clutter measurement area of shore-based radar |
| CN111028545A (en) * | 2019-12-18 | 2020-04-17 | 广州大学华软软件学院 | Lake ship management and monitoring system |
| CN112435449A (en) * | 2020-11-24 | 2021-03-02 | 中国水产科学研究院南海水产研究所 | Full-digital intelligent fishery illegal ship identification and troubleshooting system and method |
| CN114217307A (en) * | 2021-11-29 | 2022-03-22 | 福建新继船舶服务有限公司 | Ship abnormal behavior judgment method based on radar and AIS data |
| CN115423225A (en) * | 2022-11-07 | 2022-12-02 | 中国水产科学研究院南海水产研究所 | Fishing port operation management method and system based on big data |
| CN116743970A (en) * | 2023-08-14 | 2023-09-12 | 安徽塔联智能科技有限责任公司 | Intelligent management platform with video AI early warning analysis |
| CN116743970B (en) * | 2023-08-14 | 2023-11-21 | 安徽塔联智能科技有限责任公司 | Intelligent management platform with video AI early warning analysis |
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