CN113851019A - Ship collision early warning method and device based on Beidou positioning - Google Patents
Ship collision early warning method and device based on Beidou positioning Download PDFInfo
- Publication number
- CN113851019A CN113851019A CN202111152861.8A CN202111152861A CN113851019A CN 113851019 A CN113851019 A CN 113851019A CN 202111152861 A CN202111152861 A CN 202111152861A CN 113851019 A CN113851019 A CN 113851019A
- Authority
- CN
- China
- Prior art keywords
- ship
- information
- ships
- meeting
- data
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Images
Classifications
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G3/00—Traffic control systems for marine craft
- G08G3/02—Anti-collision 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
- G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/13—Receivers
Landscapes
- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Computer Networks & Wireless Communication (AREA)
- Ocean & Marine Engineering (AREA)
- Traffic Control Systems (AREA)
Abstract
The invention discloses a ship collision early warning method and device based on Beidou positioning, wherein ship information is acquired according to a Beidou positioning system; acquiring system ship information according to an automatic ship identification system; comparing the system ship data with the ship data to obtain ship information of other ships within a set range around the ship; determining the nearest meeting distance and the nearest meeting time between the ships according to the ship information and the ship information of other ships; and carrying out collision early warning according to the nearest meeting distance and the nearest meeting time. According to the embodiment of the invention, the collision model is established by adopting the data positioning information of the Beidou satellite, combining the information of the ship course, the speed, the direction, the basic data and the like, analyzing the track characteristics of the commercial ship and the fishing ship through historical data and combining historical collision events. The problem of open sea positioning data is solved by using Beidou satellite positioning data, and the accuracy and effectiveness of analysis are enhanced.
Description
Technical Field
The invention relates to the technical field of ship monitoring, in particular to a ship collision early warning method and device based on Beidou positioning.
Background
With the vigorous development of waterway transportation in China, a large number of ships sail in ports and inland waters, so that the single-ship sailing area is sharply reduced, the navigation environment is deteriorated, severe water traffic accidents, particularly ship collision accidents, are remarkably increased, and the healthy development of waterway transportation is severely restricted. The research on a ship collision early warning system capable of finding collision danger in time and giving an alarm is an effective means for reducing the occurrence of collision accidents.
At present, a lot of anti-collision early warnings are put into use mainly by means of Automatic Identification System (AIS) hardware devices of offshore ships carried by ships and AIS positioning of offshore ships to acquire data for collision analysis. Most fishing boat anti-collision models used by supervisory systems are based on the boat position distance, speed and direction.
In the prior art, due to the fact that the interval of time for positioning and returning the ship motion irregularity and the far-sea point position is large, the accuracy of early warning cannot be well guaranteed, more invalid early warnings can be triggered, and the collision risk which may occur cannot be accurately and effectively analyzed. Meanwhile, the AIS base station has a relatively close coverage range, and can not effectively acquire positioning data of open sea, so that the application range of anti-collision early warning is reduced.
Disclosure of Invention
The invention provides a ship collision early warning method and device based on Beidou positioning, which can more accurately and quickly identify the single-support operation behavior of a fishing ship and solve the problems of illegal fishing of the fishing ship and illegal use of netting gear operation.
According to one aspect of the invention, a ship collision early warning method based on Beidou positioning is provided, and the method comprises the following steps:
acquiring ship information according to a Beidou positioning system; the ship information includes: the ship position longitude and latitude, the navigation speed, the heading direction and the positioning time;
acquiring system ship information according to an automatic ship identification system;
comparing the system ship data with the ship data to obtain ship information of other ships within a set range around the ship;
determining the nearest meeting distance and the nearest meeting time between the ships according to the ship information and the ship information of other ships;
and carrying out collision early warning according to the nearest meeting distance and the nearest meeting time.
Obtain boats and ships information according to big dipper positioning system, include:
the ship periodically acquires own Beidou positioning information according to the Beidou positioning system;
and acquiring related ship information according to the Beidou positioning information and historical information of the Beidou positioning information.
The acquiring system ship information according to the automatic ship identification system comprises:
acquiring system ship information provided by a system according to an offshore base station of an automatic ship identification system; or system ship information provided by other ships in the automatic ship identification system; the system ship information includes: ship information of all ships within the range is set in the system.
The comparing the system ship data with ship data comprises:
comparing the acquired system ship data with the ship data of the ship, and confirming the accuracy of the ship data; and when the ship data are inaccurate, the ship data of the system are acquired again.
The determining the nearest meeting distance and the nearest meeting time among the ships comprises the following steps:
determining the nearest meeting distance and the nearest meeting time between the ships according to the relative positions, the course and the navigational speed of the ships and other ships; and acquiring the relative position, the course and the navigational speed of the ship and other ships according to the ship information of the ship and other ships.
The nearest meeting distance and the nearest meeting time are obtained according to the following modes:
o is the ship of the ship, T is other ships, and P is the origin of coordinates; the nearest meeting distance is a vertical distance OP from O to the relative movement line TP, and the nearest meeting time is a time taken for the relative target to move to the point P at the relative speed Vr.
The collision early warning according to the nearest meeting distance and the nearest meeting time comprises the following steps:
setting a meeting alarm threshold according to the nearest meeting distance and the nearest meeting time; the encounter alarm threshold includes: meeting alarm distance, meeting alarm time, regional alarm distance, regional alarm time, ship anchoring speed and approaching alarm range.
And the meeting alarm threshold value is set according to collision early warning data in a ship historical collision database.
According to another aspect of the invention, a ship collision early warning device based on Beidou positioning is provided, and the device comprises:
the Beidou positioning unit is used for acquiring ship information according to a Beidou positioning system; the ship information includes: the ship position longitude and latitude, the navigation speed, the heading direction and the positioning time;
the AIS unit is used for acquiring system ship information according to the automatic ship identification system;
the comparing unit is used for comparing the system ship data with the ship data to obtain the ship information of other ships within the set range around the ship;
the meeting information calculation unit is used for determining the nearest meeting distance and the nearest meeting time among the ships according to the ship information and the ship information of other ships;
and the collision early warning unit is used for carrying out collision early warning according to the nearest meeting distance and the nearest meeting time.
The device further comprises:
the Beidou positioning unit periodically acquires self Beidou positioning information according to the Beidou positioning system; acquiring related ship information according to the Beidou positioning information and historical information of the Beidou positioning information;
the AIS unit acquires system ship information provided by the system according to an offshore base station of the automatic ship identification system; or system ship information provided by other ships in the automatic ship identification system; the system ship information includes: ship information of all ships within a set range in the system;
the comparing unit compares the acquired system ship data with the ship data of the comparing unit, and confirms the accuracy of the ship data; when the ship data are inaccurate, the ship data of the system are obtained again;
the meeting information calculation unit determines the nearest meeting distance and the nearest meeting time between the ships according to the relative positions, the courses and the speeds of the ships and other ships; acquiring the relative position, course and speed of the ship and other ships according to the ship information of the ship and other ships;
the collision early warning unit sets a meeting alarm threshold according to the nearest meeting distance and the nearest meeting time; the encounter alarm threshold includes: meeting alarm distance, meeting alarm time, regional alarm distance, regional alarm time, ship anchoring speed and approaching alarm range.
By adopting the technical scheme, the invention provides a ship collision early warning scheme based on Beidou positioning, and ship information is acquired according to a Beidou positioning system; acquiring system ship information according to an automatic ship identification system; comparing the system ship data with the ship data to obtain ship information of other ships within a set range around the ship; determining the nearest meeting distance and the nearest meeting time between the ships according to the ship information and the ship information of other ships; and carrying out collision early warning according to the nearest meeting distance and the nearest meeting time.
According to the embodiment of the invention, the collision model is established by adopting the data positioning information of the Beidou satellite, combining the information of the ship course, the speed, the direction, the basic data and the like, analyzing the track characteristics of the commercial ship and the fishing ship through historical data and combining historical collision events. The problem of open sea positioning data is solved to use big dipper satellite positioning data, in addition, combines the fine fishing boat position of having screened off that the orbit characteristic is irregular, has strengthened the accuracy and the validity of analysis.
The scheme of the invention accurately achieves the collision early warning effect between the commercial boat and the fishing boat, and when the commercial boat exceeding the early warning threshold value approaches the operating fishing boat, the invention can provide an early warning prompt for the operating fishing boat, thereby being convenient for avoiding risks in time. Different from the traditional collision early warning system, the anti-collision system of the commercial and fishing vessel analyzes the track characteristics of different types of vessels, a trigger early warning area is set besides a reliable early warning threshold value, a large amount of invalid early warnings are screened out, and the efficiency and the reliability of the system are improved.
The technical solution of the present invention is further described in detail by the accompanying drawings and embodiments.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the principles of the invention and not to limit the invention. In the drawings:
FIG. 1 is a flow chart of a ship collision early warning principle based on Beidou positioning in the embodiment of the invention;
FIG. 2 is a schematic diagram of the collision principle in the embodiment of the present invention;
FIG. 3 is a diagram illustrating the impact recognition effect according to an embodiment of the present invention;
FIG. 4 is a general block diagram of a ship collision early warning scheme based on Beidou positioning in the embodiment of the invention;
FIG. 5 is a diagram illustrating an early warning process and early warning settings according to an embodiment of the present invention;
fig. 6 is a schematic structural diagram of a ship collision early warning device based on Beidou positioning in the embodiment of the invention.
Detailed Description
The preferred embodiments of the present invention will be described in conjunction with the accompanying drawings, and it will be understood that they are described herein for the purpose of illustration and explanation and not limitation.
According to the embodiment of the invention, the collision model is established by adopting the data positioning information of the Beidou satellite, combining the information of the ship course, the speed, the direction, the basic data and the like, analyzing the track characteristics of the commercial ship and the fishing ship through historical data and combining historical collision events. The problem of open sea positioning data is solved to use big dipper satellite positioning data, in addition, combines the fine fishing boat position of having screened off that the orbit characteristic is irregular, has strengthened the accuracy and the validity of analysis.
Fig. 1 is a ship collision early warning flow chart based on Beidou positioning in the embodiment of the invention. As shown in fig. 1, the Beidou positioning-based ship collision early warning process comprises the following steps:
In the embodiment of the invention, the ship information comprises ship position longitude and latitude, navigation speed, initial direction, positioning time and the like. The point location data of Beidou satellite positioning can be acquired every five minutes, and the point location data comprises the longitude and latitude, the speed, the heading direction, the positioning time and the like of the fishing boat.
In the embodiment of the invention, the ship periodically acquires the Beidou positioning information of the ship according to the Beidou positioning system; and acquiring related ship information according to the Beidou positioning information and historical information of the Beidou positioning information.
And 102, acquiring system ship information according to the automatic ship identification system.
In the embodiment of the invention, the automatic identification system AIS system of the ship is a ship navigation device, can enhance the measures of avoiding collision among ships by using the AIS, can strengthen the functions of radar, a ship traffic management system and ship reports, can display visual course, name and other information of all ships on an electronic chart, achieves the function of improving maritime communication, provides a method for voice and text communication of the ship, and enhances the global consciousness of the ship.
The AIS adopts a global unique code system of the ship, namely MMSI code, as an identification means. Each vessel is disassembled from initial construction to vessel use, giving a globally unique MMSI code. Divided into 2250 time periods per minute. Each time period can issue a piece of information not longer than 256 bits, and the information longer than 256 bits requires an increased time period. Each ship issues its own ship information by asking for a time slot selected to not conflict with other ships and the corresponding time slot.
In the embodiment of the invention, system ship information provided by the system is acquired according to the offshore base station of the automatic ship identification system; or system ship information provided by other ships in the automatic ship identification system; the system ship information includes: ship information of all ships within the range is set in the system.
And 103, comparing the system ship data with the ship data to obtain the ship information of other ships within the set range around the ship.
In the embodiment of the invention, the acquired system ship data is compared with the ship data of the system ship data, and the accuracy of the ship data is confirmed; and when the ship data are inaccurate, the ship data of the system are acquired again.
And step 104, determining the nearest meeting distance and the nearest meeting time between the ships according to the ship information and the ship information of other ships.
In the embodiment of the invention, the nearest meeting distance and the nearest meeting time between the ships are determined according to the relative positions, the headings and the navigational speeds of the ships and other ships; and acquiring the relative position, the course and the navigational speed of the ship and other ships according to the ship information of the ship and other ships.
The nearest meeting distance and the nearest meeting time are obtained according to the following modes:
referring to fig. 2, which is a schematic diagram of a collision calculation principle, O is a ship of the ship, T is other ships, and P is an origin of coordinates; the nearest meeting distance is a vertical distance OP from O to the relative movement line TP, and the nearest meeting time is a time taken for the relative target to move to the point P at the relative speed Vr.
And 105, performing collision early warning according to the nearest meeting distance and the nearest meeting time.
In the embodiment of the invention, the meeting alarm threshold is set according to the nearest meeting distance and the nearest meeting time; the encounter alarm threshold includes: meeting alarm distance, meeting alarm time, regional alarm distance, regional alarm time, ship anchoring speed and approaching alarm range.
In the embodiment of the invention, the meeting alarm threshold is set according to the collision early warning data in the ship historical collision database.
FIG. 2 shows a schematic collision principle in an embodiment of the present invention, where O is the ship of the ship, T is the other ships, and P is the origin of coordinates; the nearest meeting distance is a vertical distance OP from O to the relative movement line TP, and the nearest meeting time is a time taken for the relative target to move to the point P at the relative speed Vr.
The closest distance of closure point of approaching DCPA is the vertical distance from the center of the circle to the relative line of motion of the other vessel. Reflecting the distance between two ships at the most dangerous moment, and considering that the DCPA is less than 2 seas, the ships have collision danger when the visibility is poor.
The latest meeting time TCPA (time to close point of meeting) is the time when two ships meet to reach the latest meeting point. The urgency degree of the ship meeting is measured, and under the same DCPA, the size of the DCPA determines the speed of the ship meeting at the latest moment.
Referring to FIG. 2, O is the own ship, T is the target ship, the two ships run with different heading and navigational speed, Vo is the speed of the own ship, Vt is the speed of the target ship, and Vr is the relative movement speed. DCPA calculates the vertical distance OP from O to the line of relative motion TP, TCPA is the time it takes for the relative target to move at Vr to point P.
According to the cosine theorem, a calculation formula of the relative speed is obtained:
wherein, thetaTThe angle between the connecting line from the target ship to the origin and the x axis is shown; thetaOThe angle between the line from the ship to the origin and the x axis.
Let the coordinates of point T be (Xt, Yt) and the coordinates of point O be (0,0), the included angle between the straight line TP and the x-axis can be obtained according to the above formula, and the straight line equation of the straight line TP can be obtained because the straight line TP passes through the point T.
According to the formula of the distance from point to straight line
Calculate to get the pointA distance OP of O from the straight line TP of
DCPA (d) is obtainedCPA) After a value of (d), TCPA (t)CPA) The values of (A) can be easily found:
the recognition effect of the ship collision is shown in fig. 3.
As shown in fig. 4, a general block diagram of a ship collision warning scheme based on Beidou positioning provided by the embodiment of the invention includes a front-end display, data storage and warning processing part.
The front-end display is mainly used for obtaining the information of the early-warning ship to display the early-warning information and displaying the early-warning result, and is a main mode of interaction between a user and a system.
The data storage is various types of databases, and may include various types of data storage structures such as Reddis, Mysql, kafka, and the like, as desired.
The early warning processing process mainly comprises the following steps:
and acquiring a task area from the database, and performing external expansion on the task area to form a buffer area.
And acquiring real-time data of the ship from the database, and acquiring ship data outside the white list by combining the ship operation white list acquired from the database.
And acquiring ship information which is in the buffer area and not in the white list according to the ship data outside the white list, and taking the ship information as a key monitoring early warning ship.
And calculating the track vector according to the running direction, the average speed and the like of the ship, and judging the intersection of the track vector and the task area.
And if the intersection exists, judging whether the risk of intruding into the task area exists, sending the result to a front end for displaying, and displaying corresponding early warning information.
The system can acquire point location data of Beidou satellite positioning once every five minutes, wherein the point location data comprises the longitude and latitude, the speed, the heading direction, the positioning time and the like of the fishing boat. First, fishing boat data acquired from an offshore vessel Automatic Identification System (AIS) base station is compared with Beidou terminal data, the accuracy of the data is judged, and the positions of a commercial boat and a fishing boat are analyzed and judged. And then, when the high-speed commercial boat is planned to drive to the fishing boat from the outer ring, an early warning analysis process is triggered, and partial invalid early warnings are screened out, such as marshalling operation, unloading of the commercial fishing boat and the like of the fishing boat. And finally, setting a threshold value of an early warning algorithm by setting meeting time, meeting distance and meeting speed, carrying out data analysis in real time, and triggering early warning under the condition of meeting the threshold value. As shown in fig. 5, the specific pre-warning includes the encounter warning distance, the encounter warning time, the area warning distance, the area warning time, the ship anchoring speed and the approach warning range. Different thresholds are set for different pre-alarms respectively. As shown in fig. 5, the encounter time may be set to 10-30 minutes and the system may default to 20 minutes. And when the navigational speed is more than 1.5, alarming can be carried out, and when the navigational speed is less than 1.5, alarming can be carried out in an area. Usually, the meeting alarm distance is set to 0.2 nautical miles; the meeting alarm time is set to be 20 minutes; the regional alarm distance is set to be 0.2 nautical miles; the area alarm event is set to 20 minutes; the anchoring speed of the ship is set to be 1.5 knots; the approach alarm range is 6 nautical miles.
In order to realize the above process, the technical solution of the present invention further provides a Beidou positioning-based ship collision early warning device, as shown in fig. 6, the Beidou positioning-based ship collision early warning device includes:
the Beidou positioning unit 21 is used for acquiring ship information according to a Beidou positioning system; the ship information includes: the ship position longitude and latitude, the navigation speed, the heading direction and the positioning time;
the AIS unit 22 is used for acquiring system ship information according to the automatic ship identification system;
a comparison unit 23, configured to compare the system ship data with the ship data, and obtain ship information of other ships within a preset range around the ship;
the meeting information calculating unit 24 is used for determining the nearest meeting distance and the nearest meeting time among the ships according to the ship information and the ship information of other ships;
and the collision early warning unit 25 is used for carrying out collision early warning according to the nearest meeting distance and the nearest meeting time.
The device further comprises:
the Beidou positioning unit 21 periodically acquires own Beidou positioning information according to a Beidou positioning system; acquiring related ship information according to the Beidou positioning information and historical information of the Beidou positioning information;
the AIS unit 22 acquires system ship information provided by the system according to an offshore base station of the ship automatic identification system; or system ship information provided by other ships in the automatic ship identification system; the system ship information includes: ship information of all ships within a set range in the system;
the comparing unit 23 compares the acquired system ship data with the ship data of the comparing unit, and confirms the accuracy of the ship data; when the ship data are inaccurate, the ship data of the system are obtained again;
the meeting information calculation unit 24 determines the nearest meeting distance and the nearest meeting time between the ships according to the relative positions, the course and the navigational speed of the ships and other ships; acquiring the relative position, course and speed of the ship and other ships according to the ship information of the ship and other ships;
the collision early warning unit 25 sets a meeting alarm threshold according to the nearest meeting distance and the nearest meeting time; the encounter alarm threshold includes: meeting alarm distance, meeting alarm time, regional alarm distance, regional alarm time, ship anchoring speed and approaching alarm range.
In summary, the technical scheme of the invention provides a ship collision early warning scheme based on Beidou positioning, and ship information is acquired according to a Beidou positioning system; acquiring system ship information according to an automatic ship identification system; comparing the system ship data with the ship data to obtain ship information of other ships within a set range around the ship; determining the nearest meeting distance and the nearest meeting time between the ships according to the ship information and the ship information of other ships; and carrying out collision early warning according to the nearest meeting distance and the nearest meeting time.
According to the embodiment of the invention, the collision model is established by adopting the data positioning information of the Beidou satellite, combining the information of the ship course, the speed, the direction, the basic data and the like, analyzing the track characteristics of the commercial ship and the fishing ship through historical data and combining historical collision events. The problem of open sea positioning data is solved to use big dipper satellite positioning data, in addition, combines the fine fishing boat position of having screened off that the orbit characteristic is irregular, has strengthened the accuracy and the validity of analysis.
The scheme of the invention accurately achieves the collision early warning effect between the commercial boat and the fishing boat, and when the commercial boat exceeding the early warning threshold value approaches the operating fishing boat, the invention can provide an early warning prompt for the operating fishing boat, thereby being convenient for avoiding risks in time. Different from the traditional collision early warning system, the anti-collision system of the commercial and fishing vessel analyzes the track characteristics of different types of vessels, a trigger early warning area is set besides a reliable early warning threshold value, a large amount of invalid early warnings are screened out, and the efficiency and the reliability of the system are improved.
As will be appreciated by one skilled in the art, embodiments of the present invention may be provided as a method, system, or computer program product. Accordingly, the present invention may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present invention may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, optical storage, and the like) having computer-usable program code embodied therein.
The present invention is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the invention. It will be understood that each flow and/or block of the flow diagrams and/or block diagrams, and combinations of flows and/or blocks in the flow diagrams and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
It will be apparent to those skilled in the art that various changes and modifications may be made in the present invention without departing from the spirit and scope of the invention. Thus, if such modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalents, the present invention is also intended to include such modifications and variations.
Claims (10)
1. The ship collision early warning method based on Beidou positioning is characterized by comprising the following steps of:
acquiring ship information according to a Beidou positioning system; the ship information includes: the ship position longitude and latitude, the navigation speed, the heading direction and the positioning time;
acquiring system ship information according to an automatic ship identification system;
comparing the system ship data with the ship data to obtain ship information of other ships within a set range around the ship;
determining the nearest meeting distance and the nearest meeting time between the ships according to the ship information and the ship information of other ships;
and carrying out collision early warning according to the nearest meeting distance and the nearest meeting time.
2. The Beidou positioning based ship collision early warning method according to claim 1, wherein the obtaining of ship information according to the Beidou positioning system comprises:
the ship periodically acquires own Beidou positioning information according to the Beidou positioning system;
and acquiring related ship information according to the Beidou positioning information and historical information of the Beidou positioning information.
3. The Beidou positioning-based ship collision early warning method according to claim 1, wherein the obtaining of system ship information according to an automatic ship identification system comprises:
acquiring system ship information provided by a system according to an offshore base station of an automatic ship identification system; or system ship information provided by other ships in the automatic ship identification system; the system ship information includes: ship information of all ships within the range is set in the system.
4. The Beidou positioning based ship collision early warning method according to claim 1, wherein the comparing the system ship data with the ship data comprises:
comparing the acquired system ship data with the ship data of the ship, and confirming the accuracy of the ship data; and when the ship data are inaccurate, the ship data of the system are acquired again.
5. The Beidou positioning-based ship collision early warning method according to claim 1, wherein the determining of the nearest meeting distance and the nearest meeting time between ships comprises:
determining the nearest meeting distance and the nearest meeting time between the ships according to the relative positions, the course and the navigational speed of the ships and other ships; and acquiring the relative position, the course and the navigational speed of the ship and other ships according to the ship information of the ship and other ships.
6. The Beidou positioning-based ship collision early warning method according to claim 5, wherein the latest meeting distance and the latest meeting time are obtained according to the following modes:
o is the ship of the ship, T is other ships, and P is the origin of coordinates; the nearest meeting distance is a vertical distance OP from O to the relative movement line TP, and the nearest meeting time is a time taken for the relative target to move to the point P at the relative speed Vr.
7. The Beidou positioning-based ship collision early warning method according to claim 1, wherein the collision early warning according to the latest meeting distance and the latest meeting time comprises:
setting a meeting alarm threshold according to the nearest meeting distance and the nearest meeting time; the encounter alarm threshold includes: meeting alarm distance, meeting alarm time, regional alarm distance, regional alarm time, ship anchoring speed and approaching alarm range.
8. The Beidou positioning-based ship collision early warning method according to claim 7, wherein the meeting warning threshold is set according to collision early warning data in a ship historical collision database.
9. The utility model provides a boats and ships collision early warning device based on big dipper location which characterized in that, the device includes:
the Beidou positioning unit is used for acquiring ship information according to a Beidou positioning system; the ship information includes: the ship position longitude and latitude, the navigation speed, the heading direction and the positioning time;
the AIS unit is used for acquiring system ship information according to the automatic ship identification system;
the comparing unit is used for comparing the system ship data with the ship data to obtain the ship information of other ships within the set range around the ship;
the meeting information calculation unit is used for determining the nearest meeting distance and the nearest meeting time among the ships according to the ship information and the ship information of other ships;
and the collision early warning unit is used for carrying out collision early warning according to the nearest meeting distance and the nearest meeting time.
10. The Beidou positioning-based ship collision early warning device according to claim 9, further comprising:
the Beidou positioning unit periodically acquires self Beidou positioning information according to the Beidou positioning system; acquiring related ship information according to the Beidou positioning information and historical information of the Beidou positioning information;
the AIS unit acquires system ship information provided by the system according to an offshore base station of the automatic ship identification system; or system ship information provided by other ships in the automatic ship identification system; the system ship information includes: ship information of all ships within a set range in the system;
the comparing unit compares the acquired system ship data with the ship data of the comparing unit, and confirms the accuracy of the ship data; when the ship data are inaccurate, the ship data of the system are obtained again;
the meeting information calculation unit determines the nearest meeting distance and the nearest meeting time between the ships according to the relative positions, the courses and the speeds of the ships and other ships; acquiring the relative position, course and speed of the ship and other ships according to the ship information of the ship and other ships;
the collision early warning unit sets a meeting alarm threshold according to the nearest meeting distance and the nearest meeting time; the encounter alarm threshold includes: meeting alarm distance, meeting alarm time, regional alarm distance, regional alarm time, ship anchoring speed and approaching alarm range.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111152861.8A CN113851019A (en) | 2021-09-29 | 2021-09-29 | Ship collision early warning method and device based on Beidou positioning |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111152861.8A CN113851019A (en) | 2021-09-29 | 2021-09-29 | Ship collision early warning method and device based on Beidou positioning |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN113851019A true CN113851019A (en) | 2021-12-28 |
Family
ID=78976941
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202111152861.8A Pending CN113851019A (en) | 2021-09-29 | 2021-09-29 | Ship collision early warning method and device based on Beidou positioning |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN113851019A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116543599A (en) * | 2023-04-27 | 2023-08-04 | 浙江易航海信息技术有限公司 | Collision prevention method for commercial fishing boat |
| CN117037549A (en) * | 2023-10-10 | 2023-11-10 | 青岛杰瑞自动化有限公司 | Ship collision early warning method and system based on Beidou positioning system and electronic equipment |
Citations (14)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2011027037A1 (en) * | 2009-09-04 | 2011-03-10 | Valtion Teknillinen Tutkimuskeskus | Intelligent waterway risk indication system and a related method |
| CN102736078A (en) * | 2012-07-06 | 2012-10-17 | 宁波成电泰克电子信息技术发展有限公司 | Method for processing information in ARPA (automatic radar plotting aid) in radar for digital ship |
| CN103730031A (en) * | 2014-01-14 | 2014-04-16 | 武汉理工大学 | System and method for inland river bridge zone shipborne sailing active collision prevention |
| CN105070101A (en) * | 2015-07-17 | 2015-11-18 | 武汉理工大学 | Cartridge type platform traction risk early warning and visualization system |
| CN105788370A (en) * | 2016-05-12 | 2016-07-20 | 福建北斗星河通信有限公司 | Internet AIS (automatic identification system)-base ship anti-collision method and system |
| CN206327535U (en) * | 2016-07-15 | 2017-07-14 | 黄丽娜 | A kind of positioning buoy |
| CN107264738A (en) * | 2017-08-18 | 2017-10-20 | 福建飞通通讯科技股份有限公司 | Ship intelligent alarm system and ship |
| CN207106817U (en) * | 2017-08-18 | 2018-03-16 | 福建飞通通讯科技股份有限公司 | Ship intelligent alarm system and ship |
| CN108910007A (en) * | 2018-06-28 | 2018-11-30 | 上海海事大学 | A kind of large ship automatic emergency steering control system and its method |
| CN110322731A (en) * | 2019-06-20 | 2019-10-11 | 武汉理工大学 | A kind of ship meeting navaid method for early warning |
| CN111524392A (en) * | 2020-04-22 | 2020-08-11 | 智慧航海（青岛）科技有限公司 | Comprehensive system for assisting intelligent ship remote driving |
| CN112016730A (en) * | 2019-05-31 | 2020-12-01 | 中电科海洋信息技术研究院有限公司 | Port berth loading and unloading efficiency excavating method, device, equipment and storage medium |
| CN112132385A (en) * | 2020-08-11 | 2020-12-25 | 长江三峡通航管理局 | Inland ship monitoring system and ship management information system |
| CN113012472A (en) * | 2021-03-17 | 2021-06-22 | 武汉理工大学 | Ship early warning method and equipment suitable for VTS system and storage medium |
-
2021
- 2021-09-29 CN CN202111152861.8A patent/CN113851019A/en active Pending
Patent Citations (14)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2011027037A1 (en) * | 2009-09-04 | 2011-03-10 | Valtion Teknillinen Tutkimuskeskus | Intelligent waterway risk indication system and a related method |
| CN102736078A (en) * | 2012-07-06 | 2012-10-17 | 宁波成电泰克电子信息技术发展有限公司 | Method for processing information in ARPA (automatic radar plotting aid) in radar for digital ship |
| CN103730031A (en) * | 2014-01-14 | 2014-04-16 | 武汉理工大学 | System and method for inland river bridge zone shipborne sailing active collision prevention |
| CN105070101A (en) * | 2015-07-17 | 2015-11-18 | 武汉理工大学 | Cartridge type platform traction risk early warning and visualization system |
| CN105788370A (en) * | 2016-05-12 | 2016-07-20 | 福建北斗星河通信有限公司 | Internet AIS (automatic identification system)-base ship anti-collision method and system |
| CN206327535U (en) * | 2016-07-15 | 2017-07-14 | 黄丽娜 | A kind of positioning buoy |
| CN107264738A (en) * | 2017-08-18 | 2017-10-20 | 福建飞通通讯科技股份有限公司 | Ship intelligent alarm system and ship |
| CN207106817U (en) * | 2017-08-18 | 2018-03-16 | 福建飞通通讯科技股份有限公司 | Ship intelligent alarm system and ship |
| CN108910007A (en) * | 2018-06-28 | 2018-11-30 | 上海海事大学 | A kind of large ship automatic emergency steering control system and its method |
| CN112016730A (en) * | 2019-05-31 | 2020-12-01 | 中电科海洋信息技术研究院有限公司 | Port berth loading and unloading efficiency excavating method, device, equipment and storage medium |
| CN110322731A (en) * | 2019-06-20 | 2019-10-11 | 武汉理工大学 | A kind of ship meeting navaid method for early warning |
| CN111524392A (en) * | 2020-04-22 | 2020-08-11 | 智慧航海（青岛）科技有限公司 | Comprehensive system for assisting intelligent ship remote driving |
| CN112132385A (en) * | 2020-08-11 | 2020-12-25 | 长江三峡通航管理局 | Inland ship monitoring system and ship management information system |
| CN113012472A (en) * | 2021-03-17 | 2021-06-22 | 武汉理工大学 | Ship early warning method and equipment suitable for VTS system and storage medium |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116543599A (en) * | 2023-04-27 | 2023-08-04 | 浙江易航海信息技术有限公司 | Collision prevention method for commercial fishing boat |
| CN117037549A (en) * | 2023-10-10 | 2023-11-10 | 青岛杰瑞自动化有限公司 | Ship collision early warning method and system based on Beidou positioning system and electronic equipment |
| CN117037549B (en) * | 2023-10-10 | 2024-01-09 | 青岛杰瑞自动化有限公司 | Ship collision early warning method and system based on Beidou positioning system and electronic equipment |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN102147981B (en) | Method for warning of warning region of shipborne automatic identification system | |
| CN109817023B (en) | AIS (automatic identification system) target detection method for submarine cable water area | |
| CN108873799A (en) | Boat-carrying intelligent driving assists terminal | |
| CN113851019A (en) | Ship collision early warning method and device based on Beidou positioning | |
| KR101693981B1 (en) | Apparatus and method for vessel collision avoidance | |
| CN108922247A (en) | A kind of ship based on AIS-navigation mark Risk-Degree of Collision evaluation method | |
| US20030028294A1 (en) | Vehicle information display apparatus | |
| Sang et al. | CPA calculation method based on AIS position prediction | |
| CN104732806A (en) | Automatic ship-bridge collision risk recognizing and pre-warning system | |
| CN113012472B (en) | Ship early warning method and equipment suitable for VTS system and storage medium | |
| CN111536962B (en) | Route planning method and device for intelligent ship, storage medium and computer equipment | |
| EP3353764A1 (en) | Alarm device for ships | |
| CN113362654A (en) | Ship monitoring and early warning system for preventing anchor loss of submarine cable | |
| CN112561232A (en) | Method for measuring traffic conflict risk of ship in busy water area | |
| CN114492086B (en) | Intelligent detection method for single-mooring anchor position of ship | |
| CN112102361B (en) | Multi-ship operation collision detection method and device and computer equipment | |
| CN203094401U (en) | Shipborne automatic identification system (AIS) automatic intelligent collision prevention system adopting sonar detection | |
| CN115983627B (en) | Ship navigation environment risk prediction method, device, electronic equipment and medium | |
| CN112435449A (en) | Full-digital intelligent fishery illegal ship identification and troubleshooting system and method | |
| Jincan et al. | Based on ECDIS and AIS ship collision avoidance warning system research | |
| CN103942979A (en) | Early warning method and device of detection target | |
| CN110580826A (en) | Multi-mode electronic safety warning device and method for ship | |
| CN113277032B (en) | Ship grounding early warning method, device, system and medium based on ship settlement | |
| CN115273555A (en) | Ship collision avoidance decision method for channel intersection area | |
| CN108974275A (en) | A kind of marine ships anti-collision system |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination |