CN113190636B - Offshore road network construction method and system - Google Patents
Offshore road network construction method and system Download PDFInfo
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- CN113190636B CN113190636B CN202110444123.4A CN202110444123A CN113190636B CN 113190636 B CN113190636 B CN 113190636B CN 202110444123 A CN202110444123 A CN 202110444123A CN 113190636 B CN113190636 B CN 113190636B
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Abstract
The invention provides a method and a system for constructing an offshore road network, wherein the method for constructing the offshore road network comprises the following steps: determining a reference ship track between two ports based on ship track data and port leaning data; acquiring two target track points with the distance parameter larger than a target distance threshold; confirming that a connecting line between two target track points passes through a land area, and constructing a target track based on an A-algorithm and an offshore key point grid; extracting an intermediate track point of the target track, and iteratively extracting a plurality of intermediate track points by using an A-algorithm between the intermediate track point and the target track point until connecting lines between the plurality of intermediate track points and adjacent track points in the target track point do not pass through a land area; and obtaining a target ship route based on the reference ship track and the plurality of intermediate track points, and generating an offshore road network based on the target ship route. The method and the system for constructing the offshore road network can provide navigation path planning for the ship and estimate the arrival time of the ship.
Description
Technical Field
The invention relates to the technical field of data processing, in particular to a method and a system for constructing an offshore road network.
Background
In the navigation field, a ship sails according to a preset track route in the sailing process from an originating port to a destination port, and the navigation path planning based on ship positions and destinations can be realized by constructing a plurality of sailing tracks in advance.
At present, a track route of the marine ship navigation is generally generated by manually drawn route segments or key points, so that the real-time performance is poor for the daily and lunar shipping field, and the coverage rate of a partial area is low.
Disclosure of Invention
The invention provides a method and a system for constructing an offshore road network, which are used for solving the defects that the real-time performance of a manually drawn route is poor and the coverage rate of partial areas is low in the prior art, realizing providing navigation path planning for ships, improving the area covered by the path and estimating the arrival time of the ships.
The invention provides a method for constructing an offshore road network, which comprises the following steps: determining a reference ship track between two ports based on ship track data and port leaning data; determining a distance parameter between every two adjacent reference track points in the reference ship track, and acquiring two target track points of which the distance parameter is greater than a target distance threshold; confirming that a connecting line between the two target track points passes through a land area, and inserting an offshore key point between the two target track points based on an A-algorithm and an offshore key point grid so as to construct a target track; the offshore key point grid is constructed based on satellite track data and channel canal key point data; extracting an intermediate track point of the target track, and iteratively extracting a plurality of intermediate track points by using an A-type algorithm between the intermediate track point and the target track point until connecting lines between the intermediate track points and adjacent track points in the target track point do not pass through a land area; and obtaining a target ship route based on the reference ship track and the plurality of intermediate track points, and generating a sea road network based on the target ship route.
According to the method for constructing the offshore road network provided by the invention, the step of confirming that the connecting line between the two target track points passes through the land area comprises the following steps: inserting a plurality of equidistant virtual track points between the two target track points based on a great circle route algorithm; and confirming that the altitude parameter of partial track points in the plurality of virtual track points is larger than the target altitude threshold value, and enabling the connecting line between the two target track points to pass through the land area.
According to the method for constructing the offshore road network provided by the invention, the method for confirming that the altitude parameter of part of track points in a plurality of virtual track points is larger than the target altitude threshold value comprises the following steps: acquiring a global elevation dictionary table, wherein the global elevation dictionary table has the corresponding relation between elevation parameters of track points and longitude and latitude information; the altitude parameter of the plurality of virtual track points is determined based on the global altitude dictionary table and longitude and latitude information of the plurality of virtual track points.
According to the method for constructing the offshore road network, the offshore key point grid is determined based on the following steps: removing noise track points on land based on altitude parameters corresponding to the satellite track data to obtain denoising satellite track point data; constructing a plurality of identical track point grids based on the denoising satellite track point data and the channel canal key point data; and reserving a track point close to a grid center point in each track point grid as a grid key point, and constructing the offshore key point grid based on a plurality of grid key points.
According to the method for constructing the offshore road network provided by the invention, the extracting of one middle track point of the target track comprises the following steps: and acquiring distance values on connecting lines of a plurality of track points on the target track and two target track points, and taking the track point with the largest distance value as an intermediate track point of the target track.
According to the method for constructing the offshore road network provided by the invention, the reference ship track between two ports is determined based on ship track data and port leaning data, and the method comprises the following steps: acquiring ship track data and port leaning data; determining a historical ship track between two ports based on the ship track data and the port hitching data; and deleting the abnormal track points in the plurality of historical track points based on the attribute parameters of the plurality of historical track points of the historical ship track to obtain a reference ship track.
According to the method for constructing the offshore road network provided by the invention, the deleting of the abnormal track points in the plurality of history track points based on the attribute parameters of the plurality of history track points of the history ship track to obtain the reference ship track comprises the following steps: deleting flying points in the plurality of historical track points based on the speed parameters of the plurality of historical track points, and performing sparse operation based on a Fabry-Perot algorithm to obtain the reference ship track; and/or deleting the turning points in the plurality of historical track points based on the angle parameters of the plurality of historical track points, and performing sparse operation based on the Douglas-Prak algorithm to obtain the reference ship track.
The invention also provides an offshore road network construction system, which comprises: the determining module is used for determining a reference ship track between two ports based on ship track data and port leaning data; the acquisition module is used for determining a distance parameter between every two adjacent reference track points in the reference ship track and acquiring two target track points of which the distance parameter is larger than a target distance threshold value; the construction module is used for confirming that a connecting line between the two target track points passes through a land area, and inserting an offshore key point between the two target track points based on an A-based algorithm and an offshore key point grid so as to construct a target track; the offshore key point grid is constructed based on satellite track data and channel canal key point data; the extraction module is used for extracting a center track point of the target track, and extracting a plurality of center track points by using an A-algorithm between the center track point and the target track point until connecting lines between the plurality of center track points and adjacent track points in the target track point do not pass through a land area; the generation module is used for obtaining a target ship route based on the reference ship track and the plurality of center track points and generating an offshore road network based on the target ship route.
The invention also provides an electronic device comprising a memory, a processor and a computer program stored in the memory and capable of running on the processor, wherein the steps of any one of the above-mentioned offshore road network construction methods are realized when the processor executes the computer program.
The invention also provides a non-transitory computer readable storage medium having stored thereon a computer program which, when executed by a processor, implements the steps of the offshore road network construction method as described in any of the above.
According to the method and the system for constructing the offshore road network, the reference ship track crossing the land is repaired and compensated based on the offshore key point grid by utilizing the iterative A-based algorithm, so that a smooth target ship route can be formed, an accurate offshore road network is generated, navigation path planning can be provided for a ship, the area covered by the path is improved, and the arrival time of the ship is estimated.
Drawings
In order to more clearly illustrate the invention or the technical solutions of the prior art, the following description will briefly explain the drawings used in the embodiments or the description of the prior art, and it is obvious that the drawings in the following description are some embodiments of the invention, and other drawings can be obtained according to the drawings without inventive effort for a person skilled in the art.
FIG. 1 is a schematic flow chart of the method for constructing an offshore road network provided by the invention;
FIG. 2 is a schematic diagram of the construction system of the offshore road network provided by the invention;
fig. 3 is a schematic structural diagram of an electronic device provided by the present invention.
Detailed Description
For the purpose of making the objects, technical solutions and advantages of the present invention more apparent, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings, and it is apparent that the described embodiments are some embodiments of the present invention, not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
The method and system for constructing an offshore network according to the present invention will be described with reference to fig. 1 to 3.
As shown in fig. 1, the present invention provides a method for constructing an offshore road network, which includes: steps 110 to 150 are as follows.
Step 110, determining a reference ship track between two ports based on the ship track data and the port hitching data.
It can be understood that the reference ship track is a real ship track of a certain ship passing between two ports, that is, a historical track of the ship, the ship track data can include a historical track record of running of the certain ship, and the reference ship track of the ship passing between the two ports can be obtained by combining with the port leaning data.
It should be noted that, one voyage of the ship is composed of the information of the wall-up of two consecutive ports, the first port is the originating port and the second port is the destination port, and the voyage includes the time of leaving the originating port and the time of arriving at the destination port. The voyage can be generated based on port leaning data, namely, the leaning data of a single ship are arranged according to the ascending order of arrival time, a traversal algorithm is applied to extract continuous leaning data, then the originating port and the destination port are determined, and the departure time of the originating port and the arrival time of the destination port are stored to be used as the start and stop time of the voyage.
The ship set can be determined according to the ship type, the ship set is traversed, port berthing data of the ship are obtained from the database according to the ship identification, sequencing is carried out according to the berthing arrival time, and unreliated or abnormal berthing data are removed. Then, the originating port and the destination port are determined according to the adjacent ports, and further, the time of leaving the originating port and the arrival time of the destination port are determined, and the two times respectively form the start time and the end time of a voyage. And finally, acquiring a ship track from the ship track data by using the ship mark, intercepting the reference ship track by using the start-stop time, constructing the reference ship track and storing the reference ship track into a database.
Step 120, determining a distance parameter between every two adjacent reference track points in the reference ship track, and obtaining two target track points with the distance parameter larger than a target distance threshold.
It can be understood that the reference track points on the reference ship track are traversed point by point, the distance from the current reference track point to the next reference track point is calculated in each traversal except for the last reference track point, when the distance exceeds the target distance threshold, the two adjacent reference track points are used as two target track points, when the distance exceeds the target distance threshold, the two adjacent reference track points are considered to be most likely to pass through the land area, and then the route track guiding the traveling is lacked between the two target track points, so that the repair compensation is needed for the route.
Step 130, confirming that a connecting line between two target track points passes through a land area, and inserting an offshore key point between the two target track points based on an A-algorithm and an offshore key point grid to construct a target track; the offshore key point grid is constructed based on satellite track data and channel canal key point data.
It can be understood that the connection line between the two target track points can be judged according to a preset judging rule, whether the land area is traversed or not is judged, the judging result can be obtained by comparing the longitude and latitude information with the pre-stored map information, and whether the connection line between the target track points traverses the land area or not can be determined by the global elevation data, which is not limited herein.
If it is determined that the connection line between the two target track points passes through the land area, the offshore key point can be inserted between the two target track points by using an a-algorithm based on the offshore key point grid.
The offshore keypoint grid may be constructed based on satellite trajectory data and channel canal keypoint data.
If a point crossing the land appears on a connecting line between two target track points, the satellite track data and the marine key point formed by the channel canal key point data are inserted into the two target track points. Firstly, the altitude parameter is used for screening satellite track data in recent years, noise track points on land are removed, and then the channel key points and the canal key points are combined. Then, a grid is constructed using the track points, and when a plurality of track points appear in the grid, a track point closest to the center point of the grid is selected to represent an offshore key point in the grid area.
If the grids are regarded as nodes, whether the two grids are communicated or not is judged according to whether the ship track from the satellite track data is continuous or not and whether the channel canal key point data is continuous or not. The movement cost of two connected nodes is defined as the distance between the key points representing the grid position. Based on the key points of the offshore road network, the minimum cost path between the two points can be obtained by using an A-type algorithm, and the path consists of a series of key points.
The a algorithm is a very common path finding and graph traversal algorithm. The a-algorithm generally has better performance than Dijkstra's algorithm, guided by heuristic functions. The algorithm calculates the priority of each node by the function f (i) =g (i) +h (i), i > 0, i e N. Where f (i) is the composite priority of node i. When the next node to be traversed is selected, the node with the highest comprehensive priority is always selected. g (i) is the cost of node i from the start point. h (i) is the expected cost of node i from the endpoint, which is the heuristic function of the a-algorithm. And in the operation process of the algorithm A, selecting the node with the smallest f (i) value from the priority queue each time as the next node to be traversed. In addition, the a algorithm uses two sets to represent nodes to be traversed, and nodes that have been traversed, referred to as open_set and close_set, respectively.
That is, the two target track points and the offshore key track point together form the target track.
And 140, extracting an intermediate track point of the target track, and extracting a plurality of intermediate track points by using an A-algorithm between the intermediate track point and the target track point in an iterative manner until connecting lines between the plurality of intermediate track points and adjacent track points in the target track point do not pass through the land area.
It will be appreciated that because satellite trajectories and strait canals of an unknown number of vessels are used as offshore keypoints, computation on grids constructed from these keypoints is risky. This risk may be manifested by the shortest path found by the a-algorithm being non-smooth, some non-smooth curves appearing. To address this problem, the present embodiment uses a divide-and-conquer strategy to improve the smoothness between the new insertion point and the original start-stop point.
The idea of the divide-and-conquer strategy is to decompose the original problem into several sub-problems of smaller scale but similar to the original problem, solve the sub-problems recursively, and then merge the solutions of the sub-problems to build a solution of the original problem.
The method for decomposing the original problem in the embodiment is that when a connecting line between two target track points passes through a land area, a key point on the shortest path between the two points is obtained by using an A-type algorithm, an intermediate point is selected on the key points through some rules, and a starting point and a stopping point determined by a current point and a next point in the original problem are decomposed into two starting points from the current point to the intermediate point and from the intermediate point to the next point. Iterative execution of the a-algorithm and the intermediate point selection algorithm enables the insertion of smooth points between trajectory points that span large distances. The end condition of the iteration step is that the points on land are not contained after the points are complemented by the great circle route algorithm between any starting points. This allows the inserted offshore keypoints to form smoother trajectories.
It can be understood that the rule of selecting the intermediate track point may be preset, the track point located at the central position in the target track of the item may be used as the intermediate track point, or two target track points may be connected, then the distance values on the connecting lines of the plurality of track points on the target track and the two target track points may be obtained, and the track point with the largest distance value may be used as the intermediate track point.
And 150, obtaining a target ship route based on the reference ship track and the plurality of intermediate track points, and generating a marine road network based on the target ship route.
It can be understood that a plurality of intermediate track points can be inserted between two target track points, that is, repairing and compensating the empty track between the two target track points, and merging the plurality of intermediate track points and the reference ship track to obtain a target ship route, wherein the target ship route does not pass through the land area, and the ship can navigate according to the target ship route.
When looking at a plurality of historical sailing vessels, according to the method from step 110 to step 140, a plurality of target vessel routes corresponding to a plurality of ports can be obtained, and a plurality of target vessel routes can be combined to generate the offshore road network.
According to the method for constructing the offshore road network, disclosed by the invention, the reference ship track crossing the land is repaired and compensated based on the offshore key point grid by utilizing the iterative A-algorithm, so that a smooth target ship route can be formed, an accurate offshore road network is further generated, a navigation path planning can be provided for a ship, the area covered by the path is improved, and the arrival time of the ship is estimated.
In some embodiments, the step 130 of confirming that the link between the two target track points passes through the land area includes: based on a great circle route algorithm, a plurality of equidistant virtual track points are inserted between two target track points; and confirming that the altitude parameter of part of the track points in the plurality of virtual track points is larger than the target altitude threshold value, and enabling the connecting line between the two target track points to pass through the land area.
It can be understood that the key points on the reference track route can be traversed point by point, the distance from the current point to the next point is calculated in each traversal except the last point, when the distance exceeds the distance threshold value, the equidistant point-filling operation is performed on the starting point and the ending point, namely the virtual track point, and the point-filling process uses the great circle route algorithm. And acquiring the elevation parameters of the newly added virtual track points one by one, and marking the current point to the next point to pass through the land when the elevation parameters are larger than the target elevation threshold value.
In some embodiments, the determining that the altitude parameter of the portion of the plurality of virtual trajectory points is greater than the target altitude threshold further comprises: acquiring a global elevation dictionary table, wherein the global elevation dictionary table has the corresponding relation between elevation parameters of track points and longitude and latitude information; based on the global elevation dictionary table and longitude and latitude information of the plurality of virtual track points, elevation parameters of the plurality of virtual track points are determined.
It will be appreciated that the altitude data may establish a global altitude dictionary map_alttude between north and south high latitudes, based on longitude lon i And latitude lat i Key value keys can be generated i I > 0, i ε N. Using keys i Longitude and latitude information (lon) of the virtual track point can be obtained in map_adaptation i ,lat i ) Altitude parameter altitude i The latitude and longitude information of the plurality of virtual track points can be utilized to retrieve the altitude parameter corresponding to the virtual track point from the global altitude dictionary table.
According to altitude parameter altitude i Can judge longitude and latitude information (lon) of the virtual track point i ,lat i ) Whether located in a land area. The specific process is as follows: firstly, altitude data are read, the altitude data are sequentially recorded from a southbound 80-degree western longitude 180 DEG to a northbound 80-degree east longitude 180 DEG in a line-first mode, left and right adjacent data are separated by 120 times of longitudes, upper and lower adjacent data are separated by 120 times of latitudes, the data are loaded into a two-dimensional array of a memory, the first dimension represents line numbers, the line numbers are 19200, the second dimension is column numbers, and the total number of the lines is 43200. And sequentially traversing reference track points of the reference ship track, when the distance between two adjacent reference track points is greater than a target distance threshold value distance_threshold, performing point filling operation based on a great circle course algorithm between the two points, inserting virtual track points at fixed intervals, and traversing the virtual track points, wherein the longitude and latitude value of the virtual track points is an integer with the accuracy of 0.000001 degrees like the original track, and the longitude of 120500000 represents 120.5 degrees of east longitude. Assume that the longitude coordinate of a certain virtual track point is lon j Latitude coordinate is lat j J > 0, j ε N, then this position is indexed in the row of the elevation dictionary table
Column index
After the indexes of the rows and the columns are determined, the elevation parameter of the position can be determined, when the elevation parameter is larger than the target elevation threshold value altitude threshold, the connection line between the two virtual track points is determined to pass through the land area, the index of the first virtual track point is recorded, and the index is stored in the database.
In some embodiments, the offshore keypoint grid is: removing noise track points on land based on altitude parameters corresponding to the satellite track data to obtain denoising satellite track point data; constructing a plurality of identical track point grids based on the denoising satellite track point data and the channel canal key point data; and reserving a track point close to the center point of the grid in each track point grid as a grid key point, and constructing based on a plurality of grid key points.
It will be appreciated that in reading the satellite trajectories of recent years, map_interaction is used to remove the trajectory points with altitude parameters greater than-10 meters, i.e. the trajectory points with altitude parameters greater than-10 meters are defined as noise trajectory points, and the de-noised satellite trajectory point data is put into the set track_satellite. And then loading channel canal key point data, recording the channel canal key point data as a set track_manual, setting an offshore key point set as track_key, and enabling the track_key=track_satellite # -track_manual. Creating a track point grid with a certain side length based on track_key, and selecting a track point closest to the center point of the grid when a plurality of track points exist in one track point grid, and marking as g i Representing the location of the grid.
The connectivity of the grid is defined by the continuity of the single vessel trajectory and the continuity of the channel canal keypoint data. For two connected grids, they are respectively named grid i And grid(s) j I, j e N. Their center points are respectively set as c i And c j Then grid i And grid(s) j Cost of movement between k Can be defined as point c i And point c j Spherical distance between the two.
Thus, an offshore key point grid map_pos is constructed using track_key.
In some embodiments, extracting an intermediate track point of the target track includes: and acquiring distance values of the connecting lines of a plurality of track points on the target track and two target track points, and taking the track point with the largest distance value as an intermediate track point of the target track.
It can be understood that there are a plurality of inserted offshore key points on the target track, where a perpendicular line can be drawn from a plurality of track points on the target track to a connection line between two target track points, where the length of the perpendicular line is a distance value between a plurality of track points on the target track and a connection line between two target track points, and where a track point with the largest distance value is taken as an intermediate track point of the target track.
It should be noted that, after determining the starting point, the algorithm a is run on the map_pos, so as to obtain the minimum moving cost path between the two points. The path may have an uneven curve, in order to smooth the new insertion point, a divide-and-conquer algorithm is iteratively performed between the start and stop points using a divide-and-conquer strategy, and then an intermediate point is selected from the shortest path to be inserted between the start point and the stop point until the connection between the start point and the stop point is no longer penetrated the land.
The method for selecting the middle track point comprises the following steps: recording a certain track point of the target track as pk i Starting point is p begin The end point is p end Calculating pk by taking a straight line connecting the start point and the end point as l i Projection point pro on l i . Setting N shortest path key points obtained by using an A-based algorithm between certain starting points and stopping points, wherein i, N epsilon N,0 < i < N, calculating distance values from each track point to l to obtain a distance value set PRO, and recording PRO= { PRO 1 ,pro 2 ,…,pro i ,…,pro n Selecting the largest distance value PRO from PRO max Intermediate locus point p mid Is pro max Corresponding locus point pk k ，k∈N,0＜k≤n。
One entry thus processed marks a ship route k K is E N, k is more than 0, and the marine network MAP_ROUTE is put into MAP_ROUTE=ROUTE 1 ∪route 2 ∪…∪route k ∪…∪route m Where m is the total number of target vessel routes.
And finally storing the MAP_ROUTE of the offshore road network constructed by the divide and conquer strategy into a database.
In some embodiments, determining a reference ship track between two ports based on ship track data and port trim data comprises: acquiring ship track data and port leaning data; determining a historical ship track between two ports based on the ship track data and the port hanging data; and deleting the abnormal track points in the plurality of historical track points based on the attribute parameters of the plurality of historical track points of the historical ship track to obtain the reference ship track.
In some embodiments, deleting an abnormal track point in the plurality of historical track points based on attribute parameters of the plurality of historical track points of the historical ship track to obtain the reference ship track comprises:
based on the speed parameters of the plurality of historical track points, deleting flying points in the plurality of historical track points, and performing sparse operation based on a Target Laplace-Prak algorithm to obtain a reference ship track.
And/or deleting the turning points in the plurality of historical track points based on the angle parameters of the plurality of historical track points, and performing sparse operation based on the Fabry-Perot algorithm to obtain the reference ship track.
It is worth mentioning that the abnormal trajectory points may include flying points, wandering points, and turning points.
For a section of navigation path, firstly removing the path points with the speed parameter smaller than the speed threshold value speed_threshold1, then arranging the path points in ascending order, traversing the ordered path, calculating the distance between adjacent points point by point, and recording as
D＝{d 1 ,d 2 ,…,d i ,…,d n-1 },
Wherein N is the number of track points, i, N epsilon N,0 < i < N. Distance d is set i The time difference between them is t j J is less than N, and calculating speed parameter
If v i Above the speed threshold speed_threshold2, the second point is considered to be a flying spot, which is deleted.
A smoothing algorithm smooth_algorithm is constructed to delete wandering points and reentry points. The basic process of the smoothing algorithm smooth_algorithm is to examine the angles of three continuous points, mark the turning back phenomenon to start when the abrupt change of the angles occurs in a small range, then examine the angles of subsequent points until the angles are larger than a threshold value angle_threshold, the point in the period is a wandering point, if the continuous small angle phenomenon does not occur, the point is the turning back point, and the abnormal point marked is deleted when the algorithm is ended. The smoothjalgorism algorithm is executed in a loop until no outliers are detected. During the circulation period, after each execution of the smooth_algorithm, a Douglas-Peucker algorithm is called to carry out sparsification operation on the track points, and the algorithm reduces the track points while keeping the key inflection points of the paths. And finally, storing the reference ship track obtained after the processing into a database.
The following describes the system for constructing an offshore road network provided by the present invention, and the system for constructing an offshore road network described below and the method for constructing an offshore road network described above can be referred to correspondingly.
As shown in fig. 2, the present invention also provides an offshore road network construction system, which includes: a determination module 210, an acquisition module 220, a construction module 230, an extraction module 240, and a generation module 250.
A determining module 210 for determining a reference ship track between two ports based on the ship track data and the port trim data.
The obtaining module 220 is configured to determine a distance parameter between every two adjacent reference track points in the reference ship track, and obtain two target track points with the distance parameter greater than a target distance threshold.
The construction module 230 is configured to confirm that a connection line between two target track points passes through a land area, and insert an offshore key point between the two target track points based on an a-x algorithm and an offshore key point grid, so as to construct a target track; the offshore key point grid is constructed based on satellite track data and channel canal key point data.
The extracting module 240 is configured to extract a center track point of the target track, and extract a plurality of center track points by using an a-algorithm between the center track point and the target track point, until a line between the plurality of center track points and adjacent track points in the target track point does not pass through the land area.
The generating module 250 is configured to obtain a target ship route based on the reference ship track and the plurality of center track points, and generate a marine road network based on the target ship route.
Fig. 3 illustrates a physical schematic diagram of an electronic device, as shown in fig. 3, where the electronic device may include: processor 310, communication interface (Communications Interface) 320, memory 330 and communication bus 340, wherein processor 310, communication interface 320, memory 330 accomplish communication with each other through communication bus 340. Processor 310 may invoke logic instructions in memory 330 to perform an offshore road network construction method comprising: determining a reference ship track between two ports based on ship track data and port leaning data; determining a distance parameter between every two adjacent reference track points in the reference ship track, and acquiring two target track points with the distance parameter larger than a target distance threshold; confirming that a connecting line between two target track points passes through a land area, and inserting an offshore key point between the two target track points based on an A-based algorithm and an offshore key point grid to construct a target track; the offshore key point grid is constructed based on satellite track data and channel canal key point data; extracting an intermediate track point of the target track, and iteratively extracting a plurality of intermediate track points by using an A-algorithm between the intermediate track point and the target track point until connecting lines between the plurality of intermediate track points and adjacent track points in the target track point do not pass through a land area; and obtaining a target ship route based on the reference ship track and the plurality of intermediate track points, and generating an offshore road network based on the target ship route.
Further, the logic instructions in the memory 330 described above may be implemented in the form of software functional units and may be stored in a computer-readable storage medium when sold or used as a stand-alone product. Based on this understanding, the technical solution of the present invention may be embodied essentially or in a part contributing to the prior art or in a part of the technical solution, in the form of a software product stored in a storage medium, comprising several instructions for causing a computer device (which may be a personal computer, a server, a network device, etc.) to perform all or part of the steps of the method according to the embodiments of the present invention. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a random access Memory (RAM, random Access Memory), a magnetic disk, or an optical disk, or other various media capable of storing program codes.
In another aspect, the present invention also provides a computer program product comprising a computer program stored on a non-transitory computer readable storage medium, the computer program comprising program instructions which, when executed by a computer, enable the computer to perform the method of offshore road network construction provided by the methods described above, the method comprising: determining a reference ship track between two ports based on ship track data and port leaning data; determining a distance parameter between every two adjacent reference track points in the reference ship track, and acquiring two target track points with the distance parameter larger than a target distance threshold; confirming that a connecting line between two target track points passes through a land area, and inserting an offshore key point between the two target track points based on an A-based algorithm and an offshore key point grid to construct a target track; the offshore key point grid is constructed based on satellite track data and channel canal key point data; extracting an intermediate track point of the target track, and iteratively extracting a plurality of intermediate track points by using an A-algorithm between the intermediate track point and the target track point until connecting lines between the plurality of intermediate track points and adjacent track points in the target track point do not pass through a land area; and obtaining a target ship route based on the reference ship track and the plurality of intermediate track points, and generating an offshore road network based on the target ship route.
In yet another aspect, the present invention also provides a non-transitory computer readable storage medium having stored thereon a computer program which, when executed by a processor, is implemented to perform the above-provided offshore road network construction methods, the method comprising: determining a reference ship track between two ports based on ship track data and port leaning data; determining a distance parameter between every two adjacent reference track points in the reference ship track, and acquiring two target track points with the distance parameter larger than a target distance threshold; confirming that a connecting line between two target track points passes through a land area, and inserting an offshore key point between the two target track points based on an A-based algorithm and an offshore key point grid to construct a target track; the offshore key point grid is constructed based on satellite track data and channel canal key point data; extracting an intermediate track point of the target track, and iteratively extracting a plurality of intermediate track points by using an A-algorithm between the intermediate track point and the target track point until connecting lines between the plurality of intermediate track points and adjacent track points in the target track point do not pass through a land area; and obtaining a target ship route based on the reference ship track and the plurality of intermediate track points, and generating an offshore road network based on the target ship route.
The apparatus embodiments described above are merely illustrative, wherein the elements illustrated as separate elements may or may not be physically separate, and the elements shown as elements may or may not be physical elements, may be located in one place, or may be distributed over a plurality of network elements. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of this embodiment. Those of ordinary skill in the art will understand and implement the present invention without undue burden.
From the above description of the embodiments, it will be apparent to those skilled in the art that the embodiments may be implemented by means of software plus necessary general hardware platforms, or of course may be implemented by means of hardware. Based on this understanding, the foregoing technical solution may be embodied essentially or in a part contributing to the prior art in the form of a software product, which may be stored in a computer readable storage medium, such as ROM/RAM, a magnetic disk, an optical disk, etc., including several instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to execute the method described in the respective embodiments or some parts of the embodiments.
Finally, it should be noted that: the above embodiments are only for illustrating the technical solution of the present invention, and are not limiting; although the invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit and scope of the technical solutions of the embodiments of the present invention.
Claims (8)
1. The method for constructing the offshore road network is characterized by comprising the following steps of:
determining a reference ship track between two ports based on ship track data and port leaning data;
determining a distance parameter between every two adjacent reference track points in the reference ship track, and acquiring two target track points of which the distance parameter is greater than a target distance threshold;
confirming that a connecting line between the two target track points passes through a land area, and inserting an offshore key point between the two target track points based on an A-algorithm and an offshore key point grid so as to construct a target track; the offshore key point grid is constructed based on satellite track data and channel canal key point data;
extracting an intermediate track point of the target track, and iteratively extracting a plurality of intermediate track points by using an A-type algorithm between the intermediate track point and the target track point until connecting lines between the intermediate track points and adjacent track points in the target track point do not pass through a land area;
obtaining a target ship route based on the reference ship track and the plurality of intermediate track points, and generating a sea road network based on the target ship route;
wherein the confirming that the connection line between the two target track points passes through the land area comprises:
inserting a plurality of equidistant virtual track points between the two target track points based on a great circle route algorithm;
confirming that altitude parameters of partial track points in the plurality of virtual track points are larger than a target altitude threshold value, and enabling a connecting line between the two target track points to pass through a land area;
the offshore keypoint grid is determined based on the steps of:
removing noise track points on land based on altitude parameters corresponding to the satellite track data to obtain denoising satellite track point data;
constructing a plurality of identical track point grids based on the denoising satellite track point data and the channel canal key point data;
and reserving a track point close to a grid center point in each track point grid as a grid key point, and constructing the offshore key point grid based on a plurality of grid key points.
2. The method for constructing an offshore road network according to claim 1, wherein said determining that the altitude parameter of the partial track points among the plurality of virtual track points is greater than the target altitude threshold value further comprises:
acquiring a global elevation dictionary table, wherein the global elevation dictionary table has the corresponding relation between elevation parameters of track points and longitude and latitude information;
the altitude parameter of the plurality of virtual track points is determined based on the global altitude dictionary table and longitude and latitude information of the plurality of virtual track points.
3. The offshore road network construction method according to claim 1 or 2, wherein the extracting an intermediate track point of the target track comprises:
and acquiring distance values on connecting lines of a plurality of track points on the target track and two target track points, and taking the track point with the largest distance value as an intermediate track point of the target track.
4. The offshore road network construction method according to claim 1 or 2, wherein the determining a reference ship track between two ports based on ship track data and port hitching data comprises:
acquiring ship track data and port leaning data;
determining a historical ship track between two ports based on the ship track data and the port hitching data;
and deleting the abnormal track points in the plurality of historical track points based on the attribute parameters of the plurality of historical track points of the historical ship track to obtain a reference ship track.
5. The method for constructing an offshore road network according to claim 4, wherein deleting the abnormal track points from the plurality of historical track points based on the attribute parameters of the plurality of historical track points of the historical ship track to obtain the reference ship track comprises:
deleting flying points in the plurality of historical track points based on the speed parameters of the plurality of historical track points, and performing sparse operation based on a Fabry-Perot algorithm to obtain the reference ship track;
and/or deleting the turning points in the plurality of historical track points based on the angle parameters of the plurality of historical track points, and performing sparse operation based on the Douglas-Prak algorithm to obtain the reference ship track.
6. An offshore road network construction system, comprising:
the determining module is used for determining a reference ship track between two ports based on ship track data and port leaning data;
the acquisition module is used for determining a distance parameter between every two adjacent reference track points in the reference ship track and acquiring two target track points of which the distance parameter is larger than a target distance threshold value;
the construction module is used for confirming that a connecting line between the two target track points passes through a land area, and inserting an offshore key point between the two target track points based on an A-based algorithm and an offshore key point grid so as to construct a target track; the offshore key point grid is constructed based on satellite track data and channel canal key point data;
the extraction module is used for extracting a center track point of the target track, and extracting a plurality of center track points by using an A-algorithm between the center track point and the target track point until connecting lines between the plurality of center track points and adjacent track points in the target track point do not pass through a land area;
the generation module is used for obtaining a target ship route based on the reference ship track and the plurality of center track points and generating an offshore road network based on the target ship route;
the construction module is specifically configured to:
inserting a plurality of equidistant virtual track points between the two target track points based on a great circle route algorithm;
confirming that the altitude parameter of partial track points in the plurality of virtual track points is larger than the target altitude threshold value, and confirming that the connecting line between the two target track points passes through the land area;
the construction module is further configured to determine the offshore keypoint grid based on:
removing noise track points on land based on altitude parameters corresponding to the satellite track data to obtain denoising satellite track point data;
constructing a plurality of identical track point grids based on the denoising satellite track point data and the channel canal key point data;
and reserving a track point close to a grid center point in each track point grid as a grid key point, and constructing the offshore key point grid based on a plurality of grid key points.
7. An electronic device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, characterized in that the processor implements the steps of the offshore road network construction method according to any of claims 1-5 when the program is executed.
8. A non-transitory computer readable storage medium, on which a computer program is stored, characterized in that the computer program, when executed by a processor, implements the steps of the offshore road network construction method according to any one of claims 1 to 5.
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| CN113868362B (en) * | 2021-11-30 | 2022-02-25 | 亿海蓝（北京）数据技术股份公司 | Airway track construction method and system, ship and ship management system |
| CN115905343B (en) * | 2022-08-01 | 2023-10-03 | 中华人民共和国广东海事局 | Water shipping data processing method, apparatus, device, medium and program product |
| CN115719550B (en) * | 2023-01-09 | 2023-03-31 | 亿海蓝（北京）数据技术股份公司 | Method and device for constructing ship backbone navigation network and readable storage medium |
| CN115790609B (en) * | 2023-01-18 | 2023-04-18 | 亿海蓝（北京）数据技术股份公司 | Method and device for determining key points of marine route of container ship |
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