CN112346096B - High-low orbit remote sensing satellite ship target track and point track correlation method and system - Google Patents

High-low orbit remote sensing satellite ship target track and point track correlation method and system Download PDF

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CN112346096B
CN112346096B CN202011244309.7A CN202011244309A CN112346096B CN 112346096 B CN112346096 B CN 112346096B CN 202011244309 A CN202011244309 A CN 202011244309A CN 112346096 B CN112346096 B CN 112346096B
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ship target
ship
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target
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CN112346096A (en
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姚力波
刘瑜
孙顺
林迅
丁自然
徐从安
谭大宁
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Naval Aeronautical University
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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
    • G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/393—Trajectory determination or predictive tracking, e.g. Kalman filtering
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
    • G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/396—Determining accuracy or reliability of position or pseudorange measurements
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
    • G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/40—Correcting position, velocity or attitude
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
    • G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/42—Determining position
    • G01S19/421—Determining position by combining or switching between position solutions or signals derived from different satellite radio beacon positioning systems; by combining or switching between position solutions or signals derived from different modes of operation in a single system
    • G01S19/423—Determining position by combining or switching between position solutions or signals derived from different satellite radio beacon positioning systems; by combining or switching between position solutions or signals derived from different modes of operation in a single system by combining or switching between position solutions derived from different satellite radio beacon positioning systems
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
    • G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/42—Determining position
    • G01S19/421—Determining position by combining or switching between position solutions or signals derived from different satellite radio beacon positioning systems; by combining or switching between position solutions or signals derived from different modes of operation in a single system
    • G01S19/425—Determining position by combining or switching between position solutions or signals derived from different satellite radio beacon positioning systems; by combining or switching between position solutions or signals derived from different modes of operation in a single system by combining or switching between signals derived from different satellite radio beacon positioning systems

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  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Radar Systems Or Details Thereof (AREA)

Abstract

The invention relates to a method and a system for associating high and low orbit remote sensing satellite ship target track with point track. The method comprises the following steps: acquiring ship target track data of a high-orbit remote sensing satellite, ship target track information of a low-orbit remote sensing satellite and AIS ship target track data; associating the high-orbit remote sensing satellite with the cooperative ship target of the AIS data based on acquisition time alignment; associating the low-orbit remote sensing satellite with the cooperative ship target of the AIS data based on acquisition time alignment; and determining a high-low orbit remote sensing satellite cooperation ship target track and point track correlation result and a high-low orbit remote sensing satellite non-cooperation ship target track and point track correlation result according to the cooperation ship target correlation result of the high-orbit remote sensing satellite and the AIS data and the cooperation ship target correlation result of the low-orbit remote sensing satellite and the AIS data. The invention can improve the association effectiveness and improve the accuracy of the ship target detection.

Description

High-low orbit remote sensing satellite ship target track and point track correlation method and system
Technical Field
The invention relates to the field of target detection of remote sensing satellite ships, in particular to a method and a system for associating a high-low orbit remote sensing satellite ship target track with a point track.
Background
The high-orbit remote sensing satellite can continuously observe a designated sea area for a period of time, has large imaging width and wide sea area coverage, is resided above a fixed area for a long time by taking a static orbit remote sensing satellite as an example, can quickly adjust an imaging monitoring area as required, has quick response capability to key events and near real-time monitoring capability to key targets, and is very suitable for long-time monitoring and quick imaging access. The high-orbit remote sensing satellite can acquire an image sequence of a designated sea area so as to extract track information of a ship target, and has the defect of low image resolution, so that the high-orbit remote sensing satellite is suitable for large-range sea area search and ship target tracking. The low-orbit remote sensing satellite has the advantages that the image resolution is high, the ship target can be identified, but the low-orbit remote sensing satellite usually works in a sun synchronous orbit, and the single orbit can only obtain a few traces of the ship target, so that the low-orbit remote sensing satellite is suitable for identifying and confirming the ship target.
The high-low orbit remote sensing satellite cooperative detection of the ship target generally has two modes: the method comprises the steps that firstly, a high-orbit remote sensing satellite carries out large-scale rapid search on a task sea area, a ship target is detected and tracked, and a low-orbit remote sensing satellite is guided to identify and confirm the ship target; and secondly, the low-orbit remote sensing satellite detects a task sea area, detects and identifies a ship target, and guides the high-orbit remote sensing satellite to track the ship target. The traditional target track and point track association method generally has a short acquisition time interval of two groups of associated data, and aims at two types of data: the radar and electronic reconnaissance data is characterized by high data sampling rate and is mainly realized based on target motion characteristics; the other is video data, which is high in image resolution, implemented mainly based on target image features.
For the cooperative detection of the ship target by the high-low orbit remote sensing satellite, the resolution of an image sequence obtained by the high-orbit remote sensing satellite is not high, the imaging time interval between the high-orbit remote sensing satellite and the low-orbit remote sensing satellite is usually longer, and the traditional target track and trace association method is not suitable for the scene of the cooperative detection of the ship target by the high-low orbit remote sensing satellite.
Disclosure of Invention
The invention aims to provide a method and a system for associating a high-low orbit remote sensing satellite ship target track with a point track so as to improve association effectiveness and improve accuracy of ship target detection.
In order to achieve the purpose, the invention provides the following scheme:
a high-low orbit remote sensing satellite ship target track and point track correlation method comprises the following steps:
acquiring ship target track data of a high-orbit remote sensing satellite;
acquiring ship target trace information of a low-orbit remote sensing satellite; the ship target point track information comprises a ship target point track, a ship target course and ship target characteristics;
acquiring AIS ship target track data;
associating the high-orbit remote sensing satellite with the cooperative ship target of the AIS data based on acquisition time alignment according to the ship target track data of the high-orbit remote sensing satellite and the AIS ship target track data;
associating the low-orbit remote sensing satellite with the cooperative ship target of the AIS data based on acquisition time alignment according to the ship target point track information of the low-orbit remote sensing satellite and the AIS ship target track data;
determining a high-low orbit remote sensing satellite cooperation ship target track and point track correlation result according to a cooperation ship target correlation result of the high-orbit remote sensing satellite and the AIS data and a cooperation ship target correlation result of the low-orbit remote sensing satellite and the AIS data;
and determining a non-cooperative ship target track and point track correlation result of the high-low orbit remote sensing satellite according to a cooperative ship target correlation result of the high-orbit remote sensing satellite and the AIS data and a cooperative ship target correlation result of the low-orbit remote sensing satellite and the AIS data.
Optionally, the acquiring of the ship target track data of the high orbit remote sensing satellite specifically includes:
acquiring a high-orbit remote sensing satellite image sequence;
removing false alarm targets in the high-orbit remote sensing satellite image sequence according to data association in the ship target tracking process;
carrying out geographical correction on the image sequence of the high-orbit remote sensing satellite without the false alarm target by adopting coastline data, and carrying out target detection and tracking after inter-frame image registration to generate ship target track data of the high-orbit remote sensing satellite; the ship target track data of the high-orbit remote sensing satellite comprises geographic coordinates, course and speed of the ship target.
Optionally, the obtaining of the ship target point trace information of the low-orbit remote sensing satellite specifically includes:
acquiring a low-orbit remote sensing satellite image sequence;
carrying out target detection and tracking on the low-orbit remote sensing satellite image sequence to generate a ship target trace of the low-orbit remote sensing satellite;
extracting a target slice of the ship target in each wave band for each low-orbit remote sensing satellite image;
determining a course angle of a ship target in the target slice by using Radon transformation;
determining the characteristics of the ship target in the target slice based on Radon transformation;
and determining the course of the ship target according to the course angle and the characteristics of the ship target.
The invention also provides a high-low orbit remote sensing satellite ship target track and point track correlation system, which comprises:
the system comprises a ship target track data acquisition module of the high-orbit remote sensing satellite, a data acquisition module and a data acquisition module, wherein the ship target track data acquisition module is used for acquiring ship target track data of the high-orbit remote sensing satellite;
the system comprises a ship target point trace information acquisition module of the low-orbit remote sensing satellite, a data acquisition module and a data acquisition module, wherein the ship target point trace information acquisition module is used for acquiring ship target point trace information of the low-orbit remote sensing satellite; the ship target point track information comprises a ship target point track, a ship target course and ship target characteristics;
the AIS ship target track data acquisition module is used for acquiring AIS ship target track data;
the cooperative ship target association module of the high-orbit remote sensing satellite and the AIS data is used for associating the high-orbit remote sensing satellite with the cooperative ship target of the AIS data based on acquisition time alignment according to the ship target track data of the high-orbit remote sensing satellite and the AIS ship target track data;
the cooperative ship target association module of the low-orbit remote sensing satellite and the AIS data is used for associating the low-orbit remote sensing satellite with the cooperative ship target of the AIS data based on acquisition time alignment according to the ship target point track information of the low-orbit remote sensing satellite and the AIS ship target track data;
the high-low orbit remote sensing satellite cooperation ship target track and point track correlation module is used for determining a high-low orbit remote sensing satellite cooperation ship target track and point track correlation result according to a cooperation ship target correlation result of the high-orbit remote sensing satellite and AIS data and a cooperation ship target correlation result of the low-orbit remote sensing satellite and AIS data;
and the high-low orbit remote sensing satellite non-cooperative ship target track and point track association module is used for determining the high-low orbit remote sensing satellite non-cooperative ship target track and point track association result according to the cooperation ship target association result of the high-orbit remote sensing satellite and the AIS data and the cooperation ship target association result of the low-orbit remote sensing satellite and the AIS data.
According to the specific embodiment provided by the invention, the invention discloses the following technical effects:
(1) the method has the advantages that the problem of correlation between the target track and the point track of the complex high-low orbit remote sensing satellite ship is divided into a plurality of layers according to the target type and the target motion state for correlation respectively, so that the correlation complexity is effectively reduced, and the operation efficiency of the method is improved;
(2) the course information of the low-orbit remote sensing satellite ship target is estimated based on Radon transformation, so that the association effect can be further improved;
(3) according to the invention, the optimal correlation method is used for realizing correlation according to the information such as the target position information, the motion state, the attribute and the like, so that the correlation accuracy is effectively improved.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings needed to be used in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings without inventive exercise.
FIG. 1 is a schematic flow chart of a method for associating a target track and a point track of a high-low orbit remote sensing satellite ship according to the invention;
FIG. 2 is a schematic structural diagram of a high-low orbit remote sensing satellite ship target track and point track correlation system of the present invention;
FIG. 3 is a schematic flow chart of an embodiment of the present invention;
fig. 4 is a coordinate relationship diagram of Radon transform in an embodiment of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in further detail below.
Fig. 1 is a schematic flow chart of a method for associating a target track and a point track of a high-low orbit remote sensing satellite ship, as shown in fig. 1, the method comprises the following steps:
step 100: and acquiring ship target track data of the high-orbit remote sensing satellite.
Step 200: and acquiring the ship target trace information of the low-orbit remote sensing satellite. The ship target point track information comprises a ship target point track, a ship target course and ship target characteristics. Aiming at the image sequence of the low-orbit remote sensing satellite, ship target trace information of the low-orbit remote sensing satellite is obtained based on Radon transformation.
Step 300: and acquiring AIS ship target track data.
Step 400: and associating the high-orbit remote sensing satellite with the cooperative ship target of the AIS data based on acquisition time alignment according to the ship target track data of the high-orbit remote sensing satellite and the AIS ship target track data. The specific process is as follows:
and projecting the AIS ship target track data to the image acquisition time of the high-orbit remote sensing satellite, and aligning the time between the ship target track data of the high-orbit remote sensing satellite and the AIS ship target track data.
Performing two-dimensional optimal distribution by using a high-orbit static ship target point track in AIS ship target track data and a geographical distance between the static ship target point track suspected in the ship target track data of the high-orbit remote sensing satellite as a cost function by adopting a high-orbit static ship target association model to obtain static ship target association in the high-orbit remote sensing satellite and AIS data cooperation ship target association; the suspicious stationary ship target point track is a ship target point track with the speed less than a first speed threshold in the ship target track data of the high-orbit remote sensing satellite; the high-orbit static ship target association model comprises the following steps:
Figure BDA0002769441460000051
Figure BDA0002769441460000052
Figure BDA0002769441460000053
in the formula (I), the compound is shown in the specification,
Figure BDA0002769441460000054
for a stationary ship target point track set in AIS ship target track data
Figure BDA0002769441460000055
The target point trace in (1) is,
Figure BDA0002769441460000056
is composed of
Figure BDA0002769441460000057
The latitude of (d);
Figure BDA0002769441460000058
is composed of
Figure BDA0002769441460000059
Longitude of (d);
Figure BDA00027694414600000510
suspected stationary ship target point track set in ship target track data of high-orbit remote sensing satellite
Figure BDA0002769441460000061
Target point trace in (1);
Figure BDA0002769441460000062
is composed of
Figure BDA0002769441460000063
The latitude of (d);
Figure BDA0002769441460000064
is composed of
Figure BDA0002769441460000065
Longitude of (d); dimFor aiming a trace at a ship
Figure BDA0002769441460000066
And a trace
Figure BDA0002769441460000067
The geographic distance between; msIs a set
Figure BDA0002769441460000068
The number of medium ship targets; ksIs a set
Figure BDA00027694414600000630
The number of medium ship targets; rearthIs the average earth radius; kdAssociating a threshold value for the distance; t isimThe result matrix is associated with the stationary ship target and expressed as
Figure BDA0002769441460000069
Obtaining a moving ship target association in the high-orbit remote sensing satellite and AIS data cooperation ship target association by adopting a high-orbit moving ship target association model based on the optimal association of the moving position, the course and the speed information; the high-orbit motion ship target association model comprises the following steps:
Figure BDA00027694414600000610
Figure BDA00027694414600000611
in the formula, the distance threshold associated with the motion is:
Figure BDA00027694414600000612
in the formula, KmIs a distance threshold, Km1Is a first distance threshold, Km2Is a second distance threshold; delta T is high orbit satellite interval time, namely track prediction time; delta s is the maximum speed difference between the high-orbit remote sensing satellite and the ship target in the AIS data; smeanIs the average velocity of the target; delta theta is a course threshold; delta thetaimAnd d'imRespectively as a set of target tracks of moving ships in AIS ship target track data
Figure BDA00027694414600000613
Target point trace in
Figure BDA00027694414600000614
Moving ship target point track in ship target track data of high-orbit remote sensing satelliteSet HK′Target point trace in
Figure BDA00027694414600000615
The difference in heading and the geographic distance between them,
Figure BDA00027694414600000616
Figure BDA00027694414600000617
Figure BDA00027694414600000618
is composed of
Figure BDA00027694414600000619
The heading of the vehicle to the ground,
Figure BDA00027694414600000620
is composed of
Figure BDA00027694414600000621
The ground heading of (1); Δ simIs composed of
Figure BDA00027694414600000622
And
Figure BDA00027694414600000623
the difference in the speed of flight of (c),
Figure BDA00027694414600000624
Figure BDA00027694414600000625
is composed of
Figure BDA00027694414600000626
The speed of the flight to the ground of (c),
Figure BDA00027694414600000627
is composed of
Figure BDA00027694414600000628
To the groundSpeed; t'imFor the moving vessel target, the result matrix is associated, expressed as
Figure BDA00027694414600000629
Step 500: and associating the low-orbit remote sensing satellite with the cooperative ship target of the AIS data based on acquisition time alignment according to the ship target point track information of the low-orbit remote sensing satellite and the AIS ship target track data. The specific process is as follows:
and projecting the AIS ship target track data to the image acquisition time of the low-orbit remote sensing satellite, and aligning the time between the ship target track information of the low-orbit remote sensing satellite and the AIS ship target track data.
Associating the low-orbit remote sensing satellite with the stationary ship target in AIS data cooperation ship target association by adopting a low-orbit stationary ship target association model and an optimal association method based on stationary position information; the low-orbit static ship target association model comprises the following steps:
Figure BDA0002769441460000071
Figure BDA0002769441460000072
Figure BDA0002769441460000073
in the formula (I), the compound is shown in the specification,
Figure BDA0002769441460000074
for a stationary ship target point track set in AIS ship target track data
Figure BDA0002769441460000075
The target point trace in (1) is,
Figure BDA0002769441460000076
is composed of
Figure BDA0002769441460000077
The latitude of (d);
Figure BDA0002769441460000078
is composed of
Figure BDA0002769441460000079
Longitude of (d);
Figure BDA00027694414600000710
ship target point trace information static ship target point trace set L of low-orbit remote sensing satelliteNTarget point trace in (1);
Figure BDA00027694414600000711
is composed of
Figure BDA00027694414600000712
The latitude of (d);
Figure BDA00027694414600000713
is composed of
Figure BDA00027694414600000714
Longitude of (d); msIs a set
Figure BDA00027694414600000715
The number of medium ship targets; n is the set LNThe number of medium ship targets; rearthIs the average earth radius; kdAssociating a threshold value for the distance; t isjnThe result matrix is associated with the stationary ship target and expressed as
Figure BDA00027694414600000716
Associating the low-orbit remote sensing satellite with the course moving ship target in AIS data cooperation ship target association by adopting a course low-orbit moving ship target association model based on position and course information; the target association model of the ship moving along the course low orbit is as follows:
Figure BDA00027694414600000717
Figure BDA00027694414600000718
in the formula, KmIs a distance threshold; delta theta is a course threshold; delta thetajnAnd d'jnRespectively as a set of target tracks of a ship moving along course in AIS ship target track data
Figure BDA0002769441460000081
Target point trace in
Figure BDA0002769441460000082
The ship target point track information of the low-orbit remote sensing satellite has a course moving ship target point track set LN′Target point trace in
Figure BDA0002769441460000083
The difference in heading and the geographic distance between them,
Figure BDA0002769441460000084
Figure BDA0002769441460000085
Figure BDA0002769441460000086
is composed of
Figure BDA0002769441460000087
The heading of the vehicle to the ground,
Figure BDA0002769441460000088
is composed of
Figure BDA0002769441460000089
The ground heading of (1); m' is a set
Figure BDA00027694414600000810
The number of medium ship targets; n' is the set LN′The number of medium ship targets; t'jnFor the ship target with course movement, the result matrix is expressed as
Figure BDA00027694414600000811
Associating the low-orbit remote sensing satellite with the non-course moving ship target in AIS data cooperation ship target association by adopting a non-course low-orbit moving ship target association model based on the movement position; the target association model of the no-heading low-orbit motion ship is as follows:
Figure BDA00027694414600000812
Figure BDA00027694414600000813
in the formula, d ″)jnIs composed of
Figure BDA00027694414600000814
And LN″The geographical distance between the target point traces in (1),
Figure BDA00027694414600000815
T″jnthe result matrix is associated with the target of the ship moving without the heading and is expressed as
Figure BDA00027694414600000816
Figure BDA00027694414600000817
Collecting target tracks of the no-course moving ship in AIS ship target track data; l isN″Collecting target point tracks of a ship moving without course in target point track information of the ship of the low-orbit remote sensing satellite; m' is a set
Figure BDA00027694414600000818
The number of medium ship targets; n' is the set LN″Number of medium vessel targets.
Step 600: and determining a high-low orbit remote sensing satellite cooperation ship target track and point track correlation result according to the cooperation ship target correlation result of the high-orbit remote sensing satellite and the AIS data and the cooperation ship target correlation result of the low-orbit remote sensing satellite and the AIS data. The specific process is as follows:
and judging whether the ith track point in the AIS ship target track data is associated with the track point in the ship target track data of the high-orbit remote sensing satellite and is associated with a target point in the ship target track information of the low-orbit remote sensing satellite.
If the correlation between the ith track point and a track point in the ship target track data of the high-orbit remote sensing satellite is met, the ith track point is correlated with a target point in the ship target track information of the low-orbit remote sensing satellite; and associating the track point associated with the ith track point in the ship target track data of the high-orbit remote sensing satellite with the target point associated with the ith track point in the ship target track information of the low-orbit remote sensing satellite.
And sequentially traversing each track point in the AIS ship target track data to obtain a high-low orbit remote sensing satellite cooperation ship target track and point track correlation result.
Step 700: and determining a non-cooperative ship target track and point track correlation result of the high-low orbit remote sensing satellite according to a cooperative ship target correlation result of the high-orbit remote sensing satellite and the AIS data and a cooperative ship target correlation result of the low-orbit remote sensing satellite and the AIS data. The specific process is as follows:
and determining a target point which is not associated with the AIS ship target track data in the ship target track data of the high-orbit remote sensing satellite as a high-orbit non-cooperative ship target to obtain a high-orbit non-associated ship target set.
And determining target points which are not associated with the AIS ship target track data in the ship target point track information of the low-orbit remote sensing satellite as low-orbit non-cooperative ship targets to obtain a low-orbit non-associated ship target set.
And projecting the ship target track data of the high-orbit remote sensing satellite to the image acquisition time of the low-orbit remote sensing satellite, and aligning the time between the ship target track information of the low-orbit remote sensing satellite and the ship target track data of the high-orbit remote sensing satellite.
And associating all low-orbit non-cooperative ship targets in the low-orbit non-associated ship target set with the high-orbit non-cooperative ship targets suspected to be static in the high-orbit non-associated ship target set based on the optimal association method of the static position information to obtain a static non-cooperative association matrix.
And updating the high-rail unassociated ship target set and the low-rail unassociated ship target set.
For the high-orbit non-cooperative ship targets moving in the high-orbit non-associated ship target set, if the high-orbit non-cooperative ship targets have course information, associating the high-orbit non-cooperative ship targets moving in the high-orbit non-associated ship target set with all the low-orbit non-cooperative ship targets in the low-orbit non-associated ship target set by adopting an association method based on position and course information; if the high-orbit non-cooperative ship target has no course information, associating the high-orbit non-cooperative ship target moving in the high-orbit non-associated ship target set with all low-orbit non-cooperative ship targets in the low-orbit non-associated ship target set by adopting a position-based association method; and obtaining a motion non-cooperative incidence matrix.
Based on the high-low orbit remote sensing satellite ship target track and point track association method shown in fig. 1, the invention also provides a high-low orbit remote sensing satellite ship target track and point track association system, and fig. 2 is a structural schematic diagram of the high-low orbit remote sensing satellite ship target track and point track association system. As shown in fig. 2, the system for associating the target track and the point track of the high and low orbit remote sensing satellite ship comprises:
the ship target track data acquisition module 201 of the high-orbit remote sensing satellite is used for acquiring ship target track data of the high-orbit remote sensing satellite.
The acquisition module 202 of the ship target trace information of the low-orbit remote sensing satellite is used for acquiring the ship target trace information of the low-orbit remote sensing satellite; the ship target point track information comprises a ship target point track, a ship target course and ship target characteristics.
The AIS ship target track data acquisition module 203 is used for acquiring AIS ship target track data.
And the cooperative ship target association module 204 of the high-orbit remote sensing satellite and the AIS data is used for associating the high-orbit remote sensing satellite with the cooperative ship target of the AIS data based on acquisition time alignment according to the ship target track data of the high-orbit remote sensing satellite and the AIS ship target track data.
And the cooperative ship target association module 205 of the low-orbit remote sensing satellite and the AIS data is used for associating the low-orbit remote sensing satellite with the cooperative ship target of the AIS data based on acquisition time alignment according to the ship target point track information of the low-orbit remote sensing satellite and the AIS ship target track data.
And the high-low orbit remote sensing satellite cooperation ship target track and point track association module 206 is used for determining a high-low orbit remote sensing satellite cooperation ship target track and point track association result according to the cooperation ship target association result of the high-low orbit remote sensing satellite and the AIS data and the cooperation ship target association result of the low-orbit remote sensing satellite and the AIS data.
And the high-low orbit remote sensing satellite non-cooperative ship target track and point track association module 207 is used for determining the high-low orbit remote sensing satellite non-cooperative ship target track and point track association result according to the cooperation ship target association result of the high-orbit remote sensing satellite and the AIS data and the cooperation ship target association result of the low-orbit remote sensing satellite and the AIS data.
As a specific embodiment, in the system for associating a target track with a point track of a ship by using a high-low orbit remote sensing satellite, the cooperative ship target association module 204 for associating the high-orbit remote sensing satellite with AIS data specifically includes:
and the time alignment unit is used for projecting the AIS ship target track data to the image acquisition time of the high-orbit remote sensing satellite and aligning the time between the ship target track data of the high-orbit remote sensing satellite and the AIS ship target track data.
The high-orbit static naval vessel target association unit is used for adopting a high-orbit static naval vessel target association model to perform two-dimensional optimal distribution by taking the geographical distance between a static naval vessel target point track in AIS naval vessel target track data and a static naval vessel target point track suspected in the naval vessel target track data of the high-orbit remote sensing satellite as a cost function to obtain the static naval vessel target association in the high-orbit remote sensing satellite and AIS data cooperation naval vessel target association; the suspicious stationary ship target point track is a ship target point track with the speed less than a first speed threshold in the ship target track data of the high-orbit remote sensing satellite; the high-orbit static ship target association model comprises the following steps:
Figure BDA0002769441460000111
Figure BDA0002769441460000112
Figure BDA0002769441460000113
in the formula (I), the compound is shown in the specification,
Figure BDA0002769441460000114
for a stationary ship target point track set in AIS ship target track data
Figure BDA0002769441460000115
The target point trace in (1) is,
Figure BDA0002769441460000116
is composed of
Figure BDA0002769441460000117
The latitude of (d);
Figure BDA0002769441460000118
is composed of
Figure BDA0002769441460000119
Longitude of (d);
Figure BDA00027694414600001110
suspected stationary ship target point track set in ship target track data of high-orbit remote sensing satellite
Figure BDA00027694414600001111
Target point trace in (1);
Figure BDA00027694414600001112
is composed of
Figure BDA00027694414600001113
The latitude of (d);
Figure BDA00027694414600001114
is composed of
Figure BDA00027694414600001115
Longitude of (d); dimFor aiming a trace at a ship
Figure BDA00027694414600001116
And a trace
Figure BDA00027694414600001117
The geographic distance between; msIs a set
Figure BDA00027694414600001118
The number of medium ship targets; ksIs a set
Figure BDA00027694414600001119
The number of medium ship targets; rearthIs the average earth radius; kdAssociating a threshold value for the distance; t isimThe result matrix is associated with the stationary ship target and expressed as
Figure BDA00027694414600001120
The high-orbit motion ship target association unit is used for obtaining motion ship target association in the high-orbit remote sensing satellite and AIS data cooperation ship target association based on the optimal association of motion position, course and speed information by adopting a high-orbit motion ship target association model; the high-orbit motion ship target association model comprises the following steps:
Figure BDA00027694414600001121
Figure BDA00027694414600001122
in the formula, the distance threshold associated with the motion is:
Figure BDA0002769441460000121
in the formula, KmIs a distance threshold, Km1Is a first distance threshold, Km2Is a second distance threshold; delta T is high orbit satellite interval time, namely track prediction time; delta s is the maximum speed difference between the high-orbit remote sensing satellite and the ship target in the AIS data; smeanIs the average velocity of the target; delta theta is a course threshold; delta thetaimAnd d'imRespectively as a set of target tracks of moving ships in AIS ship target track data
Figure BDA0002769441460000122
Target point trace in
Figure BDA0002769441460000123
Moving ship target point track set H in ship target track data of high-orbit remote sensing satelliteK′Target point trace in
Figure BDA0002769441460000124
The difference in heading and the geographic distance between them,
Figure BDA0002769441460000125
Figure BDA0002769441460000126
Figure BDA0002769441460000127
is composed of
Figure BDA0002769441460000128
The heading of the vehicle to the ground,
Figure BDA0002769441460000129
is composed of
Figure BDA00027694414600001210
The ground heading of (1); Δ simIs composed of
Figure BDA00027694414600001211
And
Figure BDA00027694414600001212
the difference in the speed of flight of (c),
Figure BDA00027694414600001213
Figure BDA00027694414600001214
is composed of
Figure BDA00027694414600001215
The speed of the flight to the ground of (c),
Figure BDA00027694414600001216
is composed of
Figure BDA00027694414600001217
Speed of the ground; t'imFor the moving vessel target, the result matrix is associated, expressed as
Figure BDA00027694414600001218
As a specific embodiment, in the system for associating a target track with a point track of a ship by using a high-low orbit remote sensing satellite, the cooperative ship target association module 205 for associating the low-orbit remote sensing satellite with AIS data specifically includes:
and the time alignment unit is used for projecting the AIS ship target track data to the low-orbit remote sensing satellite image acquisition time and aligning the time between the ship target track information of the low-orbit remote sensing satellite and the AIS ship target track data.
The low-orbit static ship target association unit is used for associating the static ship target in the low-orbit remote sensing satellite and AIS data cooperation ship target association by adopting a low-orbit static ship target association model and an optimal association method based on static position information; the low-orbit static ship target association model comprises the following steps:
Figure BDA0002769441460000131
Figure BDA0002769441460000132
Figure BDA0002769441460000133
in the formula (I), the compound is shown in the specification,
Figure BDA0002769441460000134
for a stationary ship target point track set in AIS ship target track data
Figure BDA0002769441460000135
The target point trace in (1) is,
Figure BDA0002769441460000136
is composed of
Figure BDA0002769441460000137
The latitude of (d);
Figure BDA0002769441460000138
is composed of
Figure BDA0002769441460000139
Longitude of (d);
Figure BDA00027694414600001310
ship target point trace information static ship target point trace set L of low-orbit remote sensing satelliteNTarget point trace in (1);
Figure BDA00027694414600001311
is composed of
Figure BDA00027694414600001312
The latitude of (d);
Figure BDA00027694414600001313
is composed of
Figure BDA00027694414600001314
Longitude of (d); msIs a set
Figure BDA00027694414600001315
The number of medium ship targets; n is the set LNThe number of medium ship targets; rearthIs the average earth radius; kdAssociating a threshold value for the distance; t isjnThe result matrix is associated with the stationary ship target and expressed as
Figure BDA00027694414600001316
The heading low-orbit motion ship target association unit is used for associating the heading motion ship target in the low-orbit remote sensing satellite and AIS data cooperation ship target association by adopting a heading low-orbit motion ship target association model based on position and heading information; the target association model of the ship moving along the course low orbit is as follows:
Figure BDA00027694414600001317
Figure BDA00027694414600001318
in the formula, KmIs a distance threshold; delta theta is a course threshold; delta thetajnAnd d'jnRespectively as a set of target tracks of a ship moving along course in AIS ship target track data
Figure BDA00027694414600001319
Target point trace in
Figure BDA00027694414600001320
The ship target point track information of the low-orbit remote sensing satellite has a course moving ship target point track set LN′Target point trace in
Figure BDA00027694414600001321
The difference in heading and the geographic distance between them,
Figure BDA00027694414600001322
Figure BDA00027694414600001323
Figure BDA00027694414600001324
is composed of
Figure BDA00027694414600001325
The heading of the vehicle to the ground,
Figure BDA00027694414600001326
is composed of
Figure BDA00027694414600001327
The ground heading of (1); m' is a set
Figure BDA00027694414600001328
The number of medium ship targets; n' is the set LN′The number of medium ship targets; t'jnFor the ship target with course movement, the result matrix is expressed as
Figure BDA00027694414600001329
The non-heading low-orbit motion ship target association unit is used for associating the non-heading motion ship target in the low-orbit remote sensing satellite and AIS data cooperation ship target association by adopting a non-heading low-orbit motion ship target association model based on the motion position; the target association model of the no-heading low-orbit motion ship is as follows:
Figure BDA0002769441460000141
Figure BDA0002769441460000142
in the formula, d ″)jnIs composed of
Figure BDA0002769441460000143
And LN″The geographical distance between the target point traces in (1),
Figure BDA0002769441460000144
T″jnthe result matrix is associated with the target of the ship moving without the heading and is expressed as
Figure BDA0002769441460000145
Figure BDA0002769441460000146
Collecting target tracks of the no-course moving ship in AIS ship target track data; l isN″Collecting target point tracks of a ship moving without course in target point track information of the ship of the low-orbit remote sensing satellite; m' is a set
Figure BDA0002769441460000147
The number of medium ship targets; n' is the set LN″Number of medium vessel targets.
The following provides a specific embodiment to further illustrate the present invention.
FIG. 3 is a flow chart illustrating an embodiment of the present invention. As shown in fig. 3, the method comprises the following steps:
step 1: high-orbit remote sensing satellite ship target track pretreatment
When the high-orbit remote sensing satellite is adopted to detect the ship target, the signal-to-noise ratio is higher, the number of false alarm targets is more, and a part of the false alarm targets can be removed through a data association process in tracking. In addition, for the high-orbit remote sensing satellite image sequence, geography correction is carried out by adopting coastline data, target detection and tracking are carried out after inter-frame image registration, and then ship target track data of the high-orbit remote sensing satellite can be generated, wherein the ship target track data comprises information such as geographic coordinates, course, speed and the like of a target.
Step 2: pretreatment of target point trace of low-orbit remote sensing satellite ship
For the low-orbit remote sensing satellite, in the actual ship target detection process, possible broken clouds, broken waves, seaweeds and the like can be mistakenly detected as the ship target. Due to the fact that the low-orbit remote sensing satellite is high in resolution, in order to further reduce false targets, target slices of the targets in all wave bands can be extracted, and then artificial ship identification is conducted.
Step 2.1: low-orbit remote sensing satellite ship target course estimation based on Radon transformation
Because the resolution ratio of the remote sensing image of the low-orbit remote sensing satellite is higher, the information of the target length and the ship angle in the target slice can be extracted, and the ship angle is approximate to the course. In image processing, Radon transform is often used as line detection, which projects the image intensity along a radial line in a specific angular direction, and accumulates energy in the oblique direction of the image. Since the ship target is long and narrow and is distributed in a linear form in the target slice, the angle of the target can be extracted by Radon transformation. In order to avoid that the energy accumulation on the diagonal line exceeds the direction of the target inclination angle, the mean value of the detected target slice is removed, then Radon transformation is carried out, and the rotation angle of the target on the slice is extracted. The Radon transform of an image can be expressed as
Figure BDA0002769441460000151
Wherein the relationship between the plane coordinates (x, y) and (ρ, l) is
Figure BDA0002769441460000152
As shown in fig. 4, by rotating the rectangular coordinates (x, y) counterclockwise by an angle θ, a new rectangular coordinate system (ρ, l) can be obtained. Integration parallel to the l-axis with different values of p, where-infinity < p < ∞ and 0 < theta < pi, p represents the position where the origin is shifted, results in a Radon transform. The Radon transform is a two-dimensional function of p and theta, which is a generalized integral or projection integral. Assuming that the energy of f (x, y) is concentrated on the straight line PQ, when the change of θ makes the ρ axis and the straight line PQ perpendicular to each other, the energy projected onto the ρ axis by the straight line PQ is maximum, and the ship target course θ corresponds to the maximum value in R (ρ, θ).
In order to obtain the heading theta of the target under the geographic coordinatetrue(true heading) the image angle θ needs to be further translated. Setting the coordinates of the centroid of the object in the image as A point (x, y), extending L pixels in the angle direction to obtain B point (x + Lcos theta, y-Lsin theta), and passing through the coordinate conversion function f from the image side to the object sidesat(. e.g. RPC transformation relation) to obtain geographic coordinates of
Figure BDA0002769441460000153
The true course angle of the ship target is
Figure BDA0002769441460000154
Wherein, Δ λ ═ λ2-λ1，
Figure BDA0002769441460000155
Is fcourse(x, y) angle transfer function
Figure BDA0002769441460000161
Step 2.2: low-orbit remote sensing satellite ship target length estimation based on Radon transformation
And rotating the slice to a horizontal position according to the target inclination angle, and performing horizontal direction projection to obtain a contour map of the target energy. And obtaining two ends of the target by setting a certain threshold value, thereby obtaining the length of the target.
Step 2.3: ship target course deblurring
And performing linear fitting on the contour map to obtain a distribution angle of the target energy. And judging the direction of the target in the image according to the angle direction and the size. The main basis for the judgment is that a wake flow is generated when the moving target navigates, and the energy distribution of the optical image is trailing with a certain length. And judging the positive and negative of the course through the slope obtained after linear fitting, and eliminating 180-degree ambiguity of the course.
In addition, in order to ensure the reliability of the navigation track and prevent the correlation error caused by the course extraction error, the course can be judged only when the length estimation of the ship target exceeds a certain threshold (set as 150m in the invention), otherwise, no course information is considered.
And step 3: AIS ship target track pretreatment
Respectively calculating the longitude and latitude coordinate ranges of the imaging areas of the high-orbit remote sensing satellite remote sensing image sequence and the low-orbit remote sensing satellite remote sensing image according to the RPC models of the high-orbit remote sensing satellite remote sensing image sequence and the low-orbit remote sensing satellite image, wherein the frame number of the high-orbit remote sensing satellite remote sensing image sequence is N, and the imaging moment of the first frame remote sensing image is tHThe time required for shooting N frames of remote sensing images is delta T, and the imaging time of the low-orbit remote sensing satellite image is TL。
The ship target track set provided by AIS data covering high-orbit staring remote sensing satellite imaging area and imaging time period is assumed as
Figure BDA0002769441460000162
Ship provided by AIS data covering low-orbit remote sensing satellite imaging area and imaging momentThe target track set is
Figure BDA0002769441460000163
Figure BDA0002769441460000164
And
Figure BDA0002769441460000165
and M represents the number of common cooperative ship target tracks of an imaging area and an imaging time period of a high-orbit remote sensing satellite, an imaging area and an imaging moment of a low-orbit remote sensing satellite. The ship target track provided by the AIS data can be expressed as
Figure BDA0002769441460000171
Wherein the content of the first and second substances,
Figure BDA0002769441460000172
AIS data at time k, MMSI, lat, lon, COG, SOG represent the ship's maritime mobile service identification number (MMSI), latitude, longitude, course to ground (COG), and speed to ground (SOG), respectively,
Figure BDA0002769441460000173
and
Figure BDA0002769441460000174
for vessel target track TiThe first and last state update times.
And 4, step 4: high-orbit remote sensing satellite and AIS data cooperation ship target association
The high orbit remote sensing satellite ship target track and the AIS data ship target track are track association at the same time, namely synchronous track association, but the duration time and the data rate of the high orbit remote sensing satellite ship target track and the AIS data ship target track are different, and the set of ship target tracks observed by high orbit remote sensing satellite imaging is assumed to be
Figure BDA0002769441460000175
Figure BDA0002769441460000176
And K represents the number of ship target tracks observed by the high-orbit remote sensing satellite.
The ship target track of high orbit remote sensing satellite imaging observation is formed by tracking and filtering the trace of a point of the same ship target in each frame of a plurality of single imaging observation remote sensing image sequences,
Figure BDA0002769441460000177
can be expressed as
Figure BDA0002769441460000178
Figure BDA0002769441460000179
Representing vessel target track in one imaging observation
Figure BDA00027694414600001710
The trace of dots at time k is,
Figure BDA00027694414600001711
and
Figure BDA00027694414600001712
respectively a latitude and a longitude, respectively,
Figure BDA00027694414600001713
and
Figure BDA00027694414600001714
respectively representing the estimated target heading and speed,
Figure BDA00027694414600001715
and
Figure BDA00027694414600001716
for tracing the target of a ship
Figure BDA00027694414600001717
The first and last state update times.
Step 4.1: image acquisition time of AIS track projection high-orbit remote sensing satellite
The AIS data is usually continuously generated, and the high orbit remote sensing satellite performs data acquisition at fixed intervals, so that the AIS track needs to be projected to the satellite image acquisition time, so that the time alignment between the ship target track of the high orbit remote sensing satellite image and the AIS ship target track is realized. For this purpose, the AIS data is linearly interpolated to the acquisition time of the high orbit remote sensing satellite image.
Step 4.2: association of suspicious stationary high-orbit remote sensing satellite ship targets
The medium speed of the ship target of the high-orbit remote sensing satellite is less than vminThe target (2 kn in the present invention) is a stationary target as a suspicion. Setting a distance correlation threshold KdTwo-dimensional optimal distribution is carried out by using the geographical distance between the stationary ship target point track in the AIS data and the ship target point track suspected to be stationary in the high-orbit remote sensing satellite as a cost function, namely the optimal correlation based on the stationary position information is
Figure BDA0002769441460000181
If the suspicious stationary target in the high-orbit remote sensing satellite is associated with the stationary ship target point track of the AIS, the suspicious stationary target is a real stationary cooperative target, otherwise, the suspicious stationary target is considered to be a moving cooperative target, a non-cooperative target or a fixed clutter. Representing the set of remaining ship targets on the unassociated links as
Figure BDA0002769441460000182
And
Figure BDA0002769441460000183
k 'and M' represent the respective remaining target numbers.
Step 4.3: correlating moving high-orbit remote sensing satellite ship targets
And for the moving ship target track, performing target association based on the position, the course and the speed information. Firstly, calculating course difference between AIS ship target and ship target moving in high-orbit remote sensing satellite as
Figure BDA0002769441460000184
Calculating the difference of the flight speeds as
Figure BDA0002769441460000185
The distance threshold associated with the movement is set to be a distance threshold due to positional deviation caused by factors such as speed, heading, and interrupt time interval
Figure BDA0002769441460000186
Wherein, the delta T is the satellite interval time, namely the track prediction time, the delta s is the maximum speed difference, and the s ismeanThe target association problem can be converted into the following optimization problem, namely the optimal association based on the information of the motion position, the course and the navigational speed is the average speed of the target
Figure BDA0002769441460000191
Wherein, the delta theta is a course threshold, and the delta s is a navigation speed threshold. Note that the heading difference Δ θ is calculatedimSpeed difference Δ simAnd geographical distance d'imAll using only
Figure BDA0002769441460000192
And HK'Target trace in (1). For representing convenience, the optimal correlation method based on the motion position, the course and the navigation speed information is represented as
Figure BDA0002769441460000193
The correlation results T of step 4.2 and step 4.3 are integratedimAnd T'imThe correlation result of the AIS data and the high-orbit remote sensing satellite to the track of the cooperative ship target can be obtained, and the rest ship targets which are not correlated in the high-orbit remote sensing satellite are regarded as non-cooperative ship targets and are expressed as the non-cooperative ship targets
Figure BDA0002769441460000194
KrThe number of non-cooperative ship targets.
And 5: low-orbit remote sensing satellite and AIS data cooperation ship target association
The set of ship target point traces observed by imaging of the low-orbit remote sensing satellite is assumed as
Figure BDA0002769441460000195
Figure BDA0002769441460000196
And (4) representing a target point trace of a ship, wherein N represents the number of ship targets detected by the low-orbit satellite remote sensing image.
Can be expressed as
Figure BDA0002769441460000197
Figure BDA0002769441460000198
Representing vessel target track in one imaging observation
Figure BDA0002769441460000199
At knThe trace of the point in time is,
Figure BDA00027694414600001910
and
Figure BDA00027694414600001911
respectively a latitude and a longitude, respectively,
Figure BDA00027694414600001912
representing the estimated target heading.
The low-orbit satellite remote sensing image is usually medium-high resolution (better than 10m), can judge the type of the ship target, can estimate the motion course information of the target according to a single image, but is difficult to obtain high-precision navigational speed information.
Step 5.1: image acquisition time of AIS (automatic identification system) track projection low-orbit remote sensing satellite
The AIS ship target track is generally continuous, and the sampling interval of the low-orbit remote sensing satellite is larger, so that the AIS track needs to be projected to the satellite image acquisition time, and the time alignment between the AIS ship target track and the ship target track of the low-orbit remote sensing satellite image is realized. For this purpose, the AIS data is linearly interpolated to the acquisition time of the low-orbit remote sensing satellite image.
Step 5.2: correlation between static ship target point track of low-orbit remote sensing satellite and AIS track
The optimal association method based on the static position information is used for associating the static ship target point trace in the AIS data with the low-orbit remote sensing satellite ship target point trace, and the static ship target set in the AIS data is set as
Figure BDA0002769441460000201
The association process is as follows:
Figure BDA0002769441460000202
wherein the content of the first and second substances,
Figure BDA0002769441460000203
for AIS track set
Figure BDA0002769441460000204
One ship target track in knTrace of time, TjnFor a binary track correlation result matrix, the optimal correlation process based on the static position information can be expressed as
Figure BDA0002769441460000205
Targets not associatedThe cooperative targets, non-cooperative targets or fixed clutter, which are considered to be moving, i.e. the set of remaining vessel targets, may be represented as
Figure BDA0002769441460000206
And
Figure BDA0002769441460000207
m "and N' represent the number of ship targets remaining, respectively.
Step 5.3: low-orbit remote sensing satellite motion ship target point track with course information is associated with AIS track
For a moving vessel target, target correlation is first performed using location-based and heading information. Firstly, calculating course difference between AIS ship target and ship target moving in high-orbit remote sensing satellite as
Figure BDA0002769441460000208
The optimal association method based on the motion position and the course information is used for associating the moving ship target with the course information in the low-orbit remote sensing satellite with the AIS static ship target:
Figure BDA0002769441460000209
wherein, Delta theta is a course threshold, KmIs a distance threshold associated with the motion. Note that the heading difference Δ θ is calculatedjnAnd geographical distance d'jnAll using only
Figure BDA00027694414600002010
And LN'Target trace in (1). For the convenience of representation, the optimal correlation method based on the motion position and the heading information is represented as
Figure BDA0002769441460000211
And representing the remaining set of ship targets as
Figure BDA0002769441460000212
And LN″M' "and N" are the number of ship targets remaining, respectively.
Step 5.4: course information-free low-orbit remote sensing satellite motion ship target point track and AIS track association
For a moving ship target without course information in the low-orbit remote sensing satellite, an optimal association method based on movement position information is used:
Figure BDA0002769441460000213
note that the geographic distance d "is calculatedjnWhen using only
Figure BDA0002769441460000214
And LN″Target trace in (1). For convenience of presentation, the above process may be represented as
Figure BDA0002769441460000215
The correlation results T of the step 5.2 to the step 5.4 are integratedjn、T′jnAnd T ″)jnAnd a preliminary correlation result of the low-orbit remote sensing satellite and the AIS data to the cooperative ship target can be obtained.
Step 5.5: low-orbit remote sensing satellite motion ship target point track and AIS track fine association based on attribute information
Because the low-orbit remote sensing satellite has higher resolution, on the basis of the primary association result of the cooperative target, the attribute information such as the type of the ship target track can be obtained through characteristic identification, and the association accuracy can be further improved by comparing the attribute information of the cooperative ship target in the AIS data, so that the fine association result of the low-orbit remote sensing satellite and the AIS data to the cooperative target can be obtained. The remaining unassociated ship targets in the low-orbit remote sensing satellite are considered as non-cooperative targets, denoted as
Figure BDA0002769441460000216
Wherein N isrThe number of non-cooperative targets in the low-orbit remote sensing satellite.
Step 6: high-low orbit remote sensing satellite cooperation ship target track and point track association
Since the resolution of the low-orbit remote sensing satellite is better than that of the high-orbit remote sensing satellite, the target on the association between the high-orbit remote sensing satellite and the AIS target is associated in the association between the low-orbit remote sensing satellite and the AIS data. Therefore, if the same AIS ship target track and the ship target track T of the high-low orbit remote sensing satellite existiAnd TjIf the correlation relationship is satisfied, the ship target track T can be judgediAnd TjThe method is the track of the same ship target, so that the correlation result of the track and the point track of the high-low orbit remote sensing satellite cooperation ship target is obtained.
And 7: high-low orbit remote sensing satellite non-cooperative ship target track and point track association
Step 7.1: non-cooperative ship target track pretreatment
Compared with a low-orbit remote sensing satellite, the high-orbit remote sensing satellite can continuously observe the same region, the obtained target track is generally more continuous, and a relatively coherent target track can be obtained after tracking and filtering. And the sampling interval of the low-orbit remote sensing satellite is larger. Therefore, the time alignment is realized by using the linear interpolation method to project the ship target track of the high-orbit remote sensing satellite to the acquisition time of the low-orbit remote sensing satellite image.
Step 7.2: suspicious stationary non-cooperative ship target association
The medium speed of the ship target of the high-orbit remote sensing satellite is less than vminThe target (2 kn in the present invention) is a stationary target as a suspicion. Setting a distance correlation threshold, using an optimal correlation method based on static position information to correlate all non-cooperative ship target point tracks in the low-orbit remote sensing satellite and non-cooperative ship target point tracks suspected to be static in the high-orbit remote sensing satellite, and obtaining a binary correlation result matrix
Figure BDA0002769441460000221
Wherein
Figure BDA0002769441460000222
Is a collection of non-cooperative ship targets suspected to be stationary in an elevated remote sensing satellite. The remaining unassociated sets of ship targets are respectively represented as
Figure BDA0002769441460000223
And
Figure BDA0002769441460000224
K′rsand N'rRespectively, the number of ship targets remaining.
Step 7.3: moving uncooperative vessel target correlation with course information
And for the moving non-cooperative ship target track, if the course information of the target can be estimated according to the step 2, the target association is carried out by using the position-based course information and the course information. A binary correlation result matrix can be obtained
Figure BDA0002769441460000225
The remaining unassociated sets of ship targets are respectively represented as
Figure BDA0002769441460000226
And
Figure BDA0002769441460000227
K″rsand N ″)rRespectively, the number of ship targets remaining.
Step 7.4: course information free moving uncooperative vessel target correlation
If the effective course information can not be obtained, only the position information is used for correlating the moving non-cooperative ship target track, and a binary correlation result matrix can be obtained
Figure BDA0002769441460000228
Comprehensive correlation result matrix Tij、T′ijAnd T ″)ijThe correlation result of the non-cooperative ship target track and the point track of the high and low orbit remote sensing satellite can be obtained。
And 8: and (4) integrating the correlation results of the cooperative target and the non-cooperative target in the step 6 and the step 7, and easily obtaining the correlation results of the high-low orbit remote sensing satellite ship target track and the point track.
The embodiments in the present description are described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments are referred to each other. For the system disclosed by the embodiment, the description is relatively simple because the system corresponds to the method disclosed by the embodiment, and the relevant points can be referred to the method part for description.
The principles and embodiments of the present invention have been described herein using specific examples, which are provided only to help understand the method and the core concept of the present invention; meanwhile, for a person skilled in the art, according to the idea of the present invention, the specific embodiments and the application range may be changed. In view of the above, the present disclosure should not be construed as limiting the invention.

Claims (10)

1. A high-low orbit remote sensing satellite ship target track and point track correlation method is characterized by comprising the following steps:
acquiring ship target track data of a high-orbit remote sensing satellite;
acquiring ship target trace information of a low-orbit remote sensing satellite; the ship target point track information comprises a ship target point track, a ship target course and ship target characteristics;
acquiring AIS ship target track data;
associating the high-orbit remote sensing satellite with the cooperative ship target of the AIS data based on acquisition time alignment according to the ship target track data of the high-orbit remote sensing satellite and the AIS ship target track data;
associating the low-orbit remote sensing satellite with the cooperative ship target of the AIS data based on acquisition time alignment according to the ship target point track information of the low-orbit remote sensing satellite and the AIS ship target track data;
determining a high-low orbit remote sensing satellite cooperation ship target track and point track correlation result according to a cooperation ship target correlation result of the high-orbit remote sensing satellite and the AIS data and a cooperation ship target correlation result of the low-orbit remote sensing satellite and the AIS data;
and determining a non-cooperative ship target track and point track correlation result of the high-low orbit remote sensing satellite according to a cooperative ship target correlation result of the high-orbit remote sensing satellite and the AIS data and a cooperative ship target correlation result of the low-orbit remote sensing satellite and the AIS data.
2. The method for associating the ship target track and the point track of the high-low orbit remote sensing satellite according to claim 1, wherein the acquiring of the ship target track data of the high-orbit remote sensing satellite specifically comprises:
acquiring a high-orbit remote sensing satellite image sequence;
removing false alarm targets in the high-orbit remote sensing satellite image sequence according to data association in the ship target tracking process;
carrying out geographical correction on the image sequence of the high-orbit remote sensing satellite without the false alarm target by adopting coastline data, and carrying out target detection and tracking after inter-frame image registration to generate ship target track data of the high-orbit remote sensing satellite; the ship target track data of the high-orbit remote sensing satellite comprises geographic coordinates, course and speed of the ship target.
3. The method for associating the ship target track and the track point of the high-low orbit remote sensing satellite according to claim 1, wherein the obtaining of the ship target track point information of the low-orbit remote sensing satellite specifically comprises:
acquiring a low-orbit remote sensing satellite image sequence;
carrying out target detection and tracking on the low-orbit remote sensing satellite image sequence to generate a ship target trace of the low-orbit remote sensing satellite;
extracting a target slice of the ship target in each wave band for each low-orbit remote sensing satellite image;
determining a course angle of a ship target in the target slice by using Radon transformation;
determining the characteristics of the ship target in the target slice based on Radon transformation;
and determining the course of the ship target according to the course angle and the characteristics of the ship target.
4. The method for associating the ship target track and the point track of the high-low orbit remote sensing satellite according to claim 1, wherein the associating the high-orbit remote sensing satellite with the cooperative ship target of the AIS data based on the acquisition time alignment according to the ship target track data of the high-orbit remote sensing satellite and the AIS ship target track data specifically comprises:
projecting the AIS ship target track data to the image acquisition time of the high-orbit remote sensing satellite, and aligning the time between the ship target track data of the high-orbit remote sensing satellite and the AIS ship target track data;
performing two-dimensional optimal distribution by using a high-orbit static ship target point track in AIS ship target track data and a geographical distance between the static ship target point track suspected in the ship target track data of the high-orbit remote sensing satellite as a cost function by adopting a high-orbit static ship target association model to obtain static ship target association in the high-orbit remote sensing satellite and AIS data cooperation ship target association; the suspicious stationary ship target point track is a ship target point track with the speed less than a first speed threshold in the ship target track data of the high-orbit remote sensing satellite; the high-orbit static ship target association model comprises the following steps:
Figure FDA0003545009420000021
Figure FDA0003545009420000022
Figure FDA0003545009420000023
in the formula (I), the compound is shown in the specification,
Figure FDA0003545009420000031
for a stationary ship target point track set in AIS ship target track data
Figure FDA0003545009420000032
The target point trace in (1) is,
Figure FDA0003545009420000033
is composed of
Figure FDA0003545009420000034
The latitude of (d);
Figure FDA0003545009420000035
is composed of
Figure FDA0003545009420000036
Longitude of (d);
Figure FDA0003545009420000037
suspected stationary ship target point track set in ship target track data of high-orbit remote sensing satellite
Figure FDA0003545009420000038
Target point trace in (1);
Figure FDA0003545009420000039
is composed of
Figure FDA00035450094200000310
The latitude of (d);
Figure FDA00035450094200000311
is composed of
Figure FDA00035450094200000312
Longitude of (d); dimFor aiming a trace at a ship
Figure FDA00035450094200000313
And a trace
Figure FDA00035450094200000314
The geographic distance between; msIs a set
Figure FDA00035450094200000315
The number of medium ship targets; ksIs a set
Figure FDA00035450094200000316
The number of medium ship targets; rearthIs the average earth radius; kdAssociating a threshold value for the distance; t isimThe result matrix is associated with the stationary ship target and expressed as
Figure FDA00035450094200000317
Obtaining a moving ship target association in the high-orbit remote sensing satellite and AIS data cooperation ship target association by adopting a high-orbit moving ship target association model based on the optimal association of the moving position, the course and the speed information; the high-orbit motion ship target association model comprises the following steps:
Figure FDA00035450094200000318
Figure FDA00035450094200000319
in the formula, the distance threshold associated with the motion is:
Figure FDA00035450094200000320
in the formula, KmIs a distance threshold, Km1Is a first distance threshold, Km2Is a secondA distance threshold; delta T is high orbit satellite interval time, namely track prediction time; delta s is the maximum speed difference between the high-orbit remote sensing satellite and the ship target in the AIS data; smeanIs the average velocity of the target; delta theta is a course threshold; delta thetaimAnd d'imRespectively as a set of target tracks of moving ships in AIS ship target track data
Figure FDA00035450094200000321
Target point trace in
Figure FDA00035450094200000322
Moving ship target point track set H in ship target track data of high-orbit remote sensing satelliteK′Target point trace in
Figure FDA00035450094200000323
The difference in heading and the geographic distance between them,
Figure FDA00035450094200000324
Figure FDA00035450094200000325
Figure FDA00035450094200000326
is composed of
Figure FDA00035450094200000327
The heading of the vehicle to the ground,
Figure FDA00035450094200000328
is composed of
Figure FDA00035450094200000329
The ground heading of (1); Δ simIs composed of
Figure FDA00035450094200000330
And
Figure FDA00035450094200000331
the difference in the speed of flight of (c),
Figure FDA00035450094200000332
Figure FDA00035450094200000333
is composed of
Figure FDA00035450094200000334
The speed of the flight to the ground of (c),
Figure FDA00035450094200000335
is composed of
Figure FDA00035450094200000336
Speed of the ground; t'imFor the moving vessel target, the result matrix is associated, expressed as
Figure FDA0003545009420000041
5. The method for associating the ship target track and the point track of the high-low orbit remote sensing satellite according to claim 1, wherein the associating the low-orbit remote sensing satellite with the cooperative ship target of the AIS data based on the acquisition time alignment according to the ship target point track information of the low-orbit remote sensing satellite and the AIS ship target track data specifically comprises:
projecting the AIS ship target track data to the image acquisition time of the low-orbit remote sensing satellite, and aligning the time between the ship target track information of the low-orbit remote sensing satellite and the AIS ship target track data;
associating the low-orbit remote sensing satellite with the stationary ship target in AIS data cooperation ship target association by adopting a low-orbit stationary ship target association model and an optimal association method based on stationary position information; the low-orbit static ship target association model comprises the following steps:
Figure FDA0003545009420000042
Figure FDA0003545009420000043
Figure FDA0003545009420000044
in the formula (I), the compound is shown in the specification,
Figure FDA0003545009420000045
for a stationary ship target point track set in AIS ship target track data
Figure FDA0003545009420000046
The target point trace in (1) is,
Figure FDA0003545009420000047
is composed of
Figure FDA0003545009420000048
The latitude of (d);
Figure FDA0003545009420000049
is composed of
Figure FDA00035450094200000410
Longitude of (d);
Figure FDA00035450094200000411
ship target point trace information static ship target point trace set L of low-orbit remote sensing satelliteNTarget point trace in (1);
Figure FDA00035450094200000412
is composed of
Figure FDA00035450094200000413
The latitude of (d);
Figure FDA00035450094200000414
is composed of
Figure FDA00035450094200000415
Longitude of (d); djnFor aiming a trace at a ship
Figure FDA00035450094200000416
And a trace
Figure FDA00035450094200000417
The geographic distance between; msIs a set
Figure FDA00035450094200000418
The number of medium ship targets; n is the set LNThe number of medium ship targets; rearthIs the average earth radius; kdAssociating a threshold value for the distance; t isjnThe result matrix is associated with the stationary ship target and expressed as
Figure FDA00035450094200000419
Associating the low-orbit remote sensing satellite with the course moving ship target in AIS data cooperation ship target association by adopting a course low-orbit moving ship target association model based on position and course information; the target association model of the ship moving along the course low orbit is as follows:
Figure FDA0003545009420000051
Figure FDA0003545009420000052
in the formula, KmIs a distanceLeaving the threshold; delta theta is a course threshold; delta thetajnAnd d'jnRespectively as a set of target tracks of a ship moving along course in AIS ship target track data
Figure FDA0003545009420000053
Target point trace in
Figure FDA0003545009420000054
The ship target point track information of the low-orbit remote sensing satellite has a course moving ship target point track set LN′Target point trace in
Figure FDA0003545009420000055
The difference in heading and the geographic distance between them,
Figure FDA0003545009420000056
Figure FDA0003545009420000057
Figure FDA0003545009420000058
is composed of
Figure FDA0003545009420000059
The heading of the vehicle to the ground,
Figure FDA00035450094200000510
is composed of
Figure FDA00035450094200000511
The ground heading of (1); m' is a set
Figure FDA00035450094200000512
The number of medium ship targets; n' is the set LN′The number of medium ship targets; t'jnFor the ship target with course movement, the result matrix is expressed as
Figure FDA00035450094200000513
Associating the low-orbit remote sensing satellite with the non-course moving ship target in AIS data cooperation ship target association by adopting a non-course low-orbit moving ship target association model based on the movement position; the target association model of the no-heading low-orbit motion ship is as follows:
Figure FDA00035450094200000514
Figure FDA00035450094200000515
in the formula, d ″)jnIs composed of
Figure FDA00035450094200000516
And LN″The geographical distance between the target point traces in (1),
Figure FDA00035450094200000517
T″jnthe result matrix is associated with the target of the ship moving without the heading and is expressed as
Figure FDA00035450094200000518
Figure FDA00035450094200000519
Collecting target tracks of the no-course moving ship in AIS ship target track data; l isN″Collecting target point tracks of a ship moving without course in target point track information of the ship of the low-orbit remote sensing satellite; m' is a set
Figure FDA00035450094200000520
The number of medium ship targets; n' is the set LN″Number of medium vessel targets.
6. The method for associating the target track with the point track of the high-low orbit remote sensing satellite ship according to claim 1, wherein the step of determining the association result of the target track with the point track of the high-low orbit remote sensing satellite cooperation ship according to the association result of the target track with the AIS data and the association result of the target track with the AIS data comprises the following specific steps:
judging whether the ith track point in the AIS ship target track data is associated with the track point in the ship target track data of the high-orbit remote sensing satellite and is associated with a target point in the ship target track information of the low-orbit remote sensing satellite;
if the correlation between the ith track point and a track point in the ship target track data of the high-orbit remote sensing satellite is met, the ith track point is correlated with a target point in the ship target track information of the low-orbit remote sensing satellite; associating a track point associated with the ith track point in the ship target track data of the high-orbit remote sensing satellite with a target point associated with the ith track point in the ship target track information of the low-orbit remote sensing satellite;
and sequentially traversing each track point in the AIS ship target track data to obtain a high-low orbit remote sensing satellite cooperation ship target track and point track correlation result.
7. The method for associating the ship target track and the point track of the high-low orbit remote sensing satellite according to claim 1, wherein the determining of the association result of the ship target track and the point track of the non-cooperative ship target of the high-low orbit remote sensing satellite according to the association result of the high-orbit remote sensing satellite and the AIS data and the association result of the low-orbit remote sensing satellite and the AIS data specifically comprises the following steps:
determining a target point which is not associated with the AIS ship target track data in the ship target track data of the high-orbit remote sensing satellite as a high-orbit non-cooperative ship target to obtain a high-orbit non-associated ship target set;
determining target points which are not associated with the AIS ship target track data in the ship target point track information of the low-orbit remote sensing satellite as low-orbit non-cooperative ship targets to obtain a low-orbit non-associated ship target set;
projecting the ship target track data of the high-orbit remote sensing satellite to the acquisition time of the image of the low-orbit remote sensing satellite, and aligning the time between the ship target track information of the low-orbit remote sensing satellite and the ship target track data of the high-orbit remote sensing satellite;
associating all low-orbit non-cooperative ship targets in the low-orbit non-associated ship target set with high-orbit non-cooperative ship targets suspected to be static in the high-orbit non-associated ship target set based on an optimal association method of static position information to obtain a static non-cooperative association matrix;
updating the high-rail unassociated ship target set and the low-rail unassociated ship target set;
for the high-orbit non-cooperative ship targets moving in the high-orbit non-associated ship target set, if the high-orbit non-cooperative ship targets have course information, associating the high-orbit non-cooperative ship targets moving in the high-orbit non-associated ship target set with all the low-orbit non-cooperative ship targets in the low-orbit non-associated ship target set by adopting an association method based on position and course information; if the high-orbit non-cooperative ship target has no course information, associating the high-orbit non-cooperative ship target moving in the high-orbit non-associated ship target set with all low-orbit non-cooperative ship targets in the low-orbit non-associated ship target set by adopting a position-based association method; and obtaining a motion non-cooperative incidence matrix.
8. A high-low orbit remote sensing satellite ship target track and point track correlation system is characterized by comprising:
the system comprises a ship target track data acquisition module of the high-orbit remote sensing satellite, a data acquisition module and a data acquisition module, wherein the ship target track data acquisition module is used for acquiring ship target track data of the high-orbit remote sensing satellite;
the system comprises a ship target point trace information acquisition module of the low-orbit remote sensing satellite, a data acquisition module and a data acquisition module, wherein the ship target point trace information acquisition module is used for acquiring ship target point trace information of the low-orbit remote sensing satellite; the ship target point track information comprises a ship target point track, a ship target course and ship target characteristics;
the AIS ship target track data acquisition module is used for acquiring AIS ship target track data;
the cooperative ship target association module of the high-orbit remote sensing satellite and the AIS data is used for associating the high-orbit remote sensing satellite with the cooperative ship target of the AIS data based on acquisition time alignment according to the ship target track data of the high-orbit remote sensing satellite and the AIS ship target track data;
the cooperative ship target association module of the low-orbit remote sensing satellite and the AIS data is used for associating the low-orbit remote sensing satellite with the cooperative ship target of the AIS data based on acquisition time alignment according to the ship target point track information of the low-orbit remote sensing satellite and the AIS ship target track data;
the high-low orbit remote sensing satellite cooperation ship target track and point track correlation module is used for determining a high-low orbit remote sensing satellite cooperation ship target track and point track correlation result according to a cooperation ship target correlation result of the high-orbit remote sensing satellite and AIS data and a cooperation ship target correlation result of the low-orbit remote sensing satellite and AIS data;
and the high-low orbit remote sensing satellite non-cooperative ship target track and point track association module is used for determining the high-low orbit remote sensing satellite non-cooperative ship target track and point track association result according to the cooperation ship target association result of the high-orbit remote sensing satellite and the AIS data and the cooperation ship target association result of the low-orbit remote sensing satellite and the AIS data.
9. The system for associating high and low orbit remote sensing satellite ship target track with point track according to claim 8, wherein the module for associating the high orbit remote sensing satellite with the AIS data comprises:
the time alignment unit is used for projecting the AIS ship target track data to the acquisition time of the image of the high-orbit remote sensing satellite and aligning the time between the ship target track data of the high-orbit remote sensing satellite and the AIS ship target track data;
the high-orbit static naval vessel target association unit is used for adopting a high-orbit static naval vessel target association model to perform two-dimensional optimal distribution by taking the geographical distance between a static naval vessel target point track in AIS naval vessel target track data and a static naval vessel target point track suspected in the naval vessel target track data of the high-orbit remote sensing satellite as a cost function to obtain the static naval vessel target association in the high-orbit remote sensing satellite and AIS data cooperation naval vessel target association; the suspicious stationary ship target point track is a ship target point track with the speed less than a first speed threshold in the ship target track data of the high-orbit remote sensing satellite; the high-orbit static ship target association model comprises the following steps:
Figure FDA0003545009420000081
Figure FDA0003545009420000082
Figure FDA0003545009420000083
in the formula (I), the compound is shown in the specification,
Figure FDA0003545009420000084
for a stationary ship target point track set in AIS ship target track data
Figure FDA0003545009420000085
The target point trace in (1) is,
Figure FDA0003545009420000086
is composed of
Figure FDA0003545009420000087
The latitude of (d);
Figure FDA0003545009420000088
is composed of
Figure FDA0003545009420000089
Longitude of (d);
Figure FDA00035450094200000810
suspected stationary ship target point track set in ship target track data of high-orbit remote sensing satellite
Figure FDA00035450094200000811
Target point trace in (1);
Figure FDA00035450094200000812
is composed of
Figure FDA00035450094200000813
The latitude of (d);
Figure FDA00035450094200000814
is composed of
Figure FDA00035450094200000815
Longitude of (d); dimFor aiming a trace at a ship
Figure FDA00035450094200000816
And a trace
Figure FDA00035450094200000817
The geographic distance between; msIs a set
Figure FDA00035450094200000818
The number of medium ship targets; ksIs a set
Figure FDA00035450094200000819
The number of medium ship targets; rearthIs the average earth radius; kdAssociating a threshold value for the distance; t isimThe result matrix is associated with the stationary ship target and expressed as
Figure FDA00035450094200000820
The high-orbit motion ship target association unit is used for obtaining motion ship target association in the high-orbit remote sensing satellite and AIS data cooperation ship target association based on the optimal association of motion position, course and speed information by adopting a high-orbit motion ship target association model; the high-orbit motion ship target association model comprises the following steps:
Figure FDA0003545009420000091
Figure FDA0003545009420000092
in the formula, the distance threshold associated with the motion is:
Figure FDA0003545009420000093
in the formula, KmIs a distance threshold, Km1Is a first distance threshold, Km2Is a second distance threshold; delta T is high orbit satellite interval time, namely track prediction time; delta s is the maximum speed difference between the high-orbit remote sensing satellite and the ship target in the AIS data; smeanIs the average velocity of the target; delta theta is a course threshold; delta thetaimAnd d'imRespectively as a set of target tracks of moving ships in AIS ship target track data
Figure FDA0003545009420000094
Target point trace in
Figure FDA0003545009420000095
Moving ship target point track set H in ship target track data of high-orbit remote sensing satelliteK′Target point trace in
Figure FDA0003545009420000096
The difference in heading and the geographic distance between them,
Figure FDA0003545009420000097
Figure FDA0003545009420000098
Figure FDA0003545009420000099
is composed of
Figure FDA00035450094200000910
The heading of the vehicle to the ground,
Figure FDA00035450094200000911
is composed of
Figure FDA00035450094200000912
The ground heading of (1); Δ simIs composed of
Figure FDA00035450094200000913
And
Figure FDA00035450094200000914
the difference in the speed of flight of (c),
Figure FDA00035450094200000915
is composed of
Figure FDA00035450094200000916
The speed of the flight to the ground of (c),
Figure FDA00035450094200000917
is composed of
Figure FDA00035450094200000918
Speed of the ground; t'imFor the moving vessel target, the result matrix is associated, expressed as
Figure FDA00035450094200000919
10. The system for associating the high-low orbit remote sensing satellite ship target track with the point track according to claim 8, wherein the module for associating the low orbit remote sensing satellite with the AIS data comprises:
the time alignment unit is used for projecting the AIS ship target track data to the low-orbit remote sensing satellite image acquisition time and aligning the time between the ship target track information of the low-orbit remote sensing satellite and the AIS ship target track data;
the low-orbit static ship target association unit is used for associating the static ship target in the low-orbit remote sensing satellite and AIS data cooperation ship target association by adopting a low-orbit static ship target association model and an optimal association method based on static position information; the low-orbit static ship target association model comprises the following steps:
Figure FDA0003545009420000101
Figure FDA0003545009420000102
Figure FDA0003545009420000103
in the formula (I), the compound is shown in the specification,
Figure FDA0003545009420000104
for a stationary ship target point track set in AIS ship target track data
Figure FDA0003545009420000105
The target point trace in (1) is,
Figure FDA0003545009420000106
is composed of
Figure FDA0003545009420000107
The latitude of (d);
Figure FDA0003545009420000108
is composed of
Figure FDA0003545009420000109
Longitude of (d);
Figure FDA00035450094200001010
ship target point trace information static ship target point trace set L of low-orbit remote sensing satelliteNTarget point trace in (1);
Figure FDA00035450094200001011
is composed of
Figure FDA00035450094200001012
The latitude of (d);
Figure FDA00035450094200001013
is composed of
Figure FDA00035450094200001014
Longitude of (d); msIs a set
Figure FDA00035450094200001015
The number of medium ship targets; n is the set LNThe number of medium ship targets; rearthIs the average earth radius; kdAssociating a threshold value for the distance; t isjnThe result matrix is associated with the stationary ship target and expressed as
Figure FDA00035450094200001016
The heading low-orbit motion ship target association unit is used for associating the heading motion ship target in the low-orbit remote sensing satellite and AIS data cooperation ship target association by adopting a heading low-orbit motion ship target association model based on position and heading information; the target association model of the ship moving along the course low orbit is as follows:
Figure FDA00035450094200001017
Figure FDA00035450094200001018
in the formula, KmIs a distance threshold; delta theta is a course threshold; delta thetajnAnd d'jnRespectively as a set of target tracks of a ship moving along course in AIS ship target track data
Figure FDA00035450094200001019
Target point trace in
Figure FDA00035450094200001020
The ship target point track information of the low-orbit remote sensing satellite has a course moving ship target point track set LN′Target point trace in
Figure FDA00035450094200001021
The difference in heading and the geographic distance between them,
Figure FDA00035450094200001022
Figure FDA00035450094200001023
Figure FDA00035450094200001024
is composed of
Figure FDA00035450094200001025
The heading of the vehicle to the ground,
Figure FDA00035450094200001026
is composed of
Figure FDA00035450094200001027
The ground heading of (1); m' is a set
Figure FDA00035450094200001028
The number of medium ship targets; n' is the set LN′The number of medium ship targets; t'jnFor the ship target with course movement, the result matrix is expressed as
Figure FDA00035450094200001029
The non-heading low-orbit motion ship target association unit is used for associating the non-heading motion ship target in the low-orbit remote sensing satellite and AIS data cooperation ship target association by adopting a non-heading low-orbit motion ship target association model based on the motion position; the target association model of the no-heading low-orbit motion ship is as follows:
Figure FDA0003545009420000111
Figure FDA0003545009420000112
in the formula, d ″)jnIs composed of
Figure FDA0003545009420000113
And LN″The geographical distance between the target point traces in (1),
Figure FDA0003545009420000114
T″jnthe result matrix is associated with the target of the ship moving without the heading and is expressed as
Figure FDA0003545009420000115
Collecting target tracks of the no-course moving ship in AIS ship target track data; l isN″Collecting target point tracks of a ship moving without course in target point track information of the ship of the low-orbit remote sensing satellite; m' is a set
Figure FDA0003545009420000116
The number of medium ship targets; n' is the set LN″Number of medium vessel targets.
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