技术领域technical field
本发明涉及导航技术领域，特别涉及一种航海用导航方法与系统。The invention relates to the technical field of navigation, in particular to a navigation method and system for navigation.
背景技术Background technique
导航设备，是指利用定位系统为车辆、船舶、航空器等移动物体提供路线指导的设备。现有的导航设备，主要利用定位系统为用户提供导航服务。具体地，导航设备为用户提供导航地图，导航地图中显示导航路径，以及从当前位置到目的地的预计耗费时长。Navigation equipment refers to equipment that uses positioning systems to provide route guidance for moving objects such as vehicles, ships, and aircraft. Existing navigation equipment mainly utilizes a positioning system to provide navigation services for users. Specifically, the navigation device provides the user with a navigation map, in which a navigation path and an estimated time-consuming time from the current location to the destination are displayed.
船舶用导航雷达，也称航海雷达，转载于船舶上，是测定本船位置和预防冲撞所不可缺少的装置。船舶用导航雷达通过准确捕获其他船只、陆地、航线标志等物标的位置信息，并将其显示在显示屏的方式实现航行避让、船舶定位和引航的作用。Ship navigation radar, also known as marine radar, is reproduced on ships and is an indispensable device for determining the position of the ship and preventing collisions. Ship navigation radar realizes the functions of navigation avoidance, ship positioning and piloting by accurately capturing the position information of other ships, land, route marks and other objects, and displaying it on the display screen.
但是，目前船舶导航装置的功能较为单一，不能满足综合导航功能要求，并且显示屏也一般为专用设备，不能针对各种不同类型的航海雷达信号进行统一处理和显示 。However, the function of the current ship navigation device is relatively single, which cannot meet the requirements of comprehensive navigation functions, and the display screen is generally a special device, which cannot be uniformly processed and displayed for various types of navigation radar signals.
发明内容Contents of the invention
有鉴于此，本发明提出一种航海用导航方法与系统。In view of this, the present invention proposes a navigation method and system for navigation.
一种航海用导航方法，其包括如下步骤：A navigation method for navigation, comprising the steps of:
S1、接收输入的航海目的地，根据当前船舶所在的位置以及航海目的地生成初步导航路径；S1. Receive the input sailing destination, and generate a preliminary navigation route according to the current position of the ship and the sailing destination;
S2、实时获取船舶的位置信息，将船舶的位置信息通过卫星通信网络发送到云平台服务器，判断云平台服务器中是否有优选匹配航段，在存在优选匹配航段时，获取优选匹配航段，并将当前优选匹配航段加入到初步导航路径中；在不存在优选匹配航段时，云平台服务实时生成导航航段，将当前导航航段加入到初步导航路径中并通过卫星通信网络发送到船舶；S2. Obtain the position information of the ship in real time, send the position information of the ship to the cloud platform server through the satellite communication network, judge whether there is a preferred matching route segment in the cloud platform server, and obtain the preferred matching route segment when there is a preferred matching route segment, And add the current preferred matching flight segment to the preliminary navigation path; when there is no preferred matching flight segment, the cloud platform service will generate the navigation flight segment in real time, add the current navigation flight segment to the preliminary navigation route and send it to ship;
S3、根据船舶自动识别系统以及电子海图显示与信息系统生成以船舶为中心，以预设距离为半径区域内的全景航海图。S3. Generate a panoramic nautical chart with the ship as the center and a preset distance as the radius area according to the ship automatic identification system and the electronic chart display and information system.
在本发明所述的航海用导航方法中，In the navigation method for navigation according to the present invention,
所述步骤S3包括：Described step S3 comprises:
从船舶自动识别系统中读取AIS电文信息，从雷达系统中读取雷达电文信息，并对AIS电文信息以及雷达电文信息进行解码得到解码后的AIS动态信息以及解码后雷达动态信息；将雷达动态信息存入以水上移动通信业务标识码为主字段的雷达链表，将AIS动态信息存入AIS动态信息链表；并在电子海图显示与信息系统显示AIS目标以及雷达目标；Read the AIS message information from the ship automatic identification system, read the radar message information from the radar system, and decode the AIS message information and the radar message information to obtain the decoded AIS dynamic information and the decoded radar dynamic information; the radar dynamic information The information is stored in the radar linked list with the maritime mobile communication service identification code as the main field, and the AIS dynamic information is stored in the AIS dynamic information linked list; and the AIS target and the radar target are displayed in the electronic chart display and information system;
遍历雷达链表和AIS动态链表，对比雷达链表和AIS动态链表中雷达动态信息与AIS动态信息的时间和距离；并从中搜索出满足时间-空间粗关联条件的雷达目标与AIS目标，将满足时间-空间粗关联条件的雷达编号、AIS的水上移动通信业务标识码好、粗关联的次数存入粗关联数据表；Traverse the radar linked list and the AIS dynamic linked list, compare the time and distance between the radar dynamic information and the AIS dynamic information in the radar linked list and the AIS dynamic linked list; and search for the radar target and the AIS target that satisfy the time-space coarse association condition, which will satisfy the time-space The radar number of the spatial rough correlation condition, the water mobile communication service identification code of the AIS, and the number of rough correlations are stored in the rough correlation data table;
根据粗关联链表获得雷达目标当前的动态信息，并将雷达目标当前的动态信息外推至系统时刻，并存入细关联链表；根据粗关联链表，搜索与雷达对应满足粗关联条件的一个或多个AIS目标当前的动态信息，并将当前的动态信息外推至系统时刻并存入细关联链表；Obtain the current dynamic information of the radar target according to the coarse association list, and extrapolate the current dynamic information of the radar target to the system time, and store it in the fine association list; according to the coarse association list, search for one or more objects corresponding to the radar that meet the coarse association conditions The current dynamic information of an AIS target, and extrapolate the current dynamic information to the system time and store it in the fine association list;
根据细关联链表计算雷达与AIS目标的距离间因素、方位间因素、航速间因素、航向间因素、单因素集关联隶属度和不相关联隶属度、综合因素的关联隶属度和不关联隶属度，并将计算结果存入细关联链表；According to the detailed association list, calculate the factors between the distance between the radar and the AIS target, the factors between the bearings, the factors between the speed, the factors between the headings, the associated membership degree and the non-associated membership degree of the single factor set, the associated membership degree and the non-associated membership degree of the comprehensive factor , and store the calculation result in the fine association list;
获取各系统时刻最大综合因素的关联隶属度，当最大的关联隶属度大于细关联第一预设门限值，关联质量因子累加；当关联质量因子大于细关联第二预设门限值时，判断为固定关联并记录固定关联时一一对应的雷达编号以及AIS的水上移动通信业务标识码；Obtain the association membership degree of the largest comprehensive factor at each system time. When the maximum association membership degree is greater than the first preset threshold value of fine association, the association quality factor is accumulated; when the association quality factor is greater than the second preset threshold value of fine association, Determine the fixed association and record the one-to-one corresponding radar number and AIS maritime mobile communication service identification code when the fixed association is established;
将满足固定关联的雷达目标与AIS目标的实时信息外推至雷达时刻，并将其与雷达信息进行合并；Extrapolate the real-time information of radar targets and AIS targets satisfying the fixed correlation to the radar time, and merge it with the radar information;
在电子海图显示与信息系统中显示合并后的AIS目标与雷达目标。Display of combined AIS and radar targets in ECDIS.
在本发明所述的航海用导航方法中，In the navigation method for navigation according to the present invention,
所述将满足固定关联的雷达目标与AIS目标的实时信息外推至雷达时刻，并将其与雷达信息进行合并包括：将满足固定关联的雷达目标与AIS目标的实时信息外推至雷达时刻，并根据加权算法将其与雷达信息进行合并。Said extrapolating the real-time information of the radar target and the AIS target satisfying the fixed association to the radar time, and merging it with the radar information includes: extrapolating the real-time information of the radar target and the AIS target satisfying the fixed association to the radar time, And combine it with the radar information according to the weighting algorithm.
在本发明所述的航海用导航方法中，In the navigation method for navigation according to the present invention,
所述步骤S3还包括通过声纳系统对本船舶周围的海底状况进行探测，并将探测的结果显示到全景航海图上。The step S3 also includes detecting the seabed conditions around the own ship through the sonar system, and displaying the detection results on the panoramic navigation chart.
本发明还提供一种航海用导航系统，其包括依次连接的路径生成单元、航段确定单元、航海图生成单元：The present invention also provides a navigation system for navigation, which includes a path generation unit, a flight section determination unit, and a nautical chart generation unit connected in sequence:
路径生成单元，用于接收输入的航海目的地，根据当前船舶所在的位置以及航海目的地生成初步导航路径；A route generating unit, configured to receive an input navigation destination, and generate a preliminary navigation route according to the current ship's location and the navigation destination;
航段确定单元，用于实时获取船舶的位置信息，将船舶的位置信息通过卫星通信网络发送到云平台服务器，判断云平台服务器中是否有优选匹配航段，在存在优选匹配航段时，获取优选匹配航段，并将当前优选匹配航段加入到初步导航路径中；在不存在优选匹配航段时，云平台服务实时生成导航航段，将当前导航航段加入到初步导航路径中并通过卫星通信网络发送到船舶；The flight section determination unit is used to obtain the position information of the ship in real time, and sends the position information of the ship to the cloud platform server through the satellite communication network to judge whether there is a preferred matching flight section in the cloud platform server. When there is a preferred matching flight section, obtain Optimize the matching flight segment, and add the current preferred matching flight segment to the preliminary navigation path; when there is no preferred matching flight segment, the cloud platform service will generate the navigation segment in real time, add the current navigation segment to the preliminary navigation path and pass SATCOM network transmission to ships;
航海图生成单元，用于根据船舶自动识别系统以及电子海图显示与信息系统生成以船舶为中心，以预设距离为半径区域内的全景航海图。The nautical chart generation unit is used to generate a panoramic nautical chart with the ship as the center and the preset distance as the radius area according to the ship automatic identification system and the electronic chart display and information system.
在本发明所述的航海用导航系统中，In the navigation system for navigation according to the present invention,
所述航海图生成单元包括依次连接的信息读取子单元、粗关联子单元、细关联子单元、计算子单元、固定关联子单元、合并子单元、显示子单元：Said nautical chart generating unit includes successively connected information reading subunits, coarse correlation subunits, fine correlation subunits, calculation subunits, fixed correlation subunits, merging subunits, and display subunits:
信息读取子单元，用于从船舶自动识别系统中读取AIS电文信息，从雷达系统中读取雷达电文信息，并对AIS电文信息以及雷达电文信息进行解码得到解码后的AIS动态信息以及解码后雷达动态信息；将雷达动态信息存入以水上移动通信业务标识码为主字段的雷达链表，将AIS动态信息存入AIS动态信息链表；并在电子海图显示与信息系统显示AIS目标以及雷达目标；The information reading sub-unit is used to read the AIS message information from the ship automatic identification system, read the radar message information from the radar system, and decode the AIS message information and the radar message information to obtain the decoded AIS dynamic information and decoding Post radar dynamic information; store the radar dynamic information in the radar linked list with the maritime mobile communication service identification code as the main field, and store the AIS dynamic information in the AIS dynamic information linked list; and display the AIS target and radar in the electronic chart display and information system Target;
粗关联子单元，用于遍历雷达链表和AIS动态链表，对比雷达链表和AIS动态链表中雷达动态信息与AIS动态信息的时间和距离；并从中搜索出满足时间-空间粗关联条件的雷达目标与AIS目标，将满足时间-空间粗关联条件的雷达编号、AIS的水上移动通信业务标识码好、粗关联的次数存入粗关联数据表；The coarse association subunit is used to traverse the radar linked list and the AIS dynamic linked list, compare the time and distance between the radar dynamic information and the AIS dynamic information in the radar linked list and the AIS dynamic linked list; For AIS target, the radar number meeting the time-space rough association condition, the water mobile communication service identification code of AIS, and the number of times of rough association are stored in the rough association data table;
细关联子单元，用于根据粗关联链表获得雷达目标当前的动态信息，并将雷达目标当前的动态信息外推至系统时刻，并存入细关联链表；根据粗关联链表，搜索与雷达对应满足粗关联条件的一个或多个AIS目标当前的动态信息，并将当前的动态信息外推至系统时刻并存入细关联链表；The fine association sub-unit is used to obtain the current dynamic information of the radar target according to the coarse association list, extrapolate the current dynamic information of the radar target to the system time, and store it in the fine association list; according to the coarse association list, the search and radar correspondence satisfy The current dynamic information of one or more AIS targets with coarse association conditions, extrapolating the current dynamic information to the system time and storing it in the fine association linked list;
计算子单元，用于根据细关联链表计算雷达与AIS目标的距离间因素、方位间因素、航速间因素、航向间因素、单因素集关联隶属度和不相关联隶属度、综合因素的关联隶属度和不关联隶属度，并将计算结果存入细关联链表；The calculation sub-unit is used to calculate the factors between the distance between the radar and the AIS target, the factor between the azimuth, the factor between the speed, the factor between the course, the single-factor set associated membership degree and non-associated membership degree, and the associated membership of the comprehensive factor according to the fine association list degree and non-associated membership, and store the calculation results in the fine association linked list;
固定关联子单元，用于获取各系统时刻最大综合因素的关联隶属度，当最大的关联隶属度大于细关联第一预设门限值，关联质量因子累加；当关联质量因子大于细关联第二预设门限值时，判断为固定关联并记录固定关联时一一对应的雷达编号以及AIS的水上移动通信业务标识码；The fixed association subunit is used to obtain the association membership degree of the largest comprehensive factor at each system time. When the maximum association membership degree is greater than the first preset threshold value of the fine association, the association quality factor is accumulated; when the association quality factor is greater than the second fine association When the threshold value is preset, it is judged as a fixed association and records the one-to-one corresponding radar number and AIS maritime mobile communication service identification code when the fixed association is established;
合并子单元，用于将满足固定关联的雷达目标与AIS目标的实时信息外推至雷达时刻，并将其与雷达信息进行合并；The merging subunit is used to extrapolate the real-time information of the radar target and the AIS target satisfying the fixed association to the radar time, and merge it with the radar information;
显示子单元，用于在电子海图显示与信息系统中显示合并后的AIS目标与雷达目标。The display subunit is used for displaying the combined AIS target and radar target in the electronic chart display and information system.
在本发明所述的航海用导航系统中，In the navigation system for navigation according to the present invention,
所述将满足固定关联的雷达目标与AIS目标的实时信息外推至雷达时刻，并将其与雷达信息进行合并包括：将满足固定关联的雷达目标与AIS目标的实时信息外推至雷达时刻，并根据加权算法将其与雷达信息进行合并。Said extrapolating the real-time information of the radar target and the AIS target satisfying the fixed association to the radar time, and merging it with the radar information includes: extrapolating the real-time information of the radar target and the AIS target satisfying the fixed association to the radar time, And combine it with the radar information according to the weighting algorithm.
在本发明所述的航海用导航系统中，In the navigation system for navigation according to the present invention,
所述航海图生成单元还包括通过声纳系统对本船舶周围的海底状况进行探测，并将探测的结果显示到全景航海图上。The nautical chart generating unit also includes detecting the seabed conditions around the own ship through the sonar system, and displaying the detection results on the panoramic nautical chart.
实施本发明提供的一种航海用导航方法与系统具有以下有益效果：可以通过将船舶的位置信息通过卫星通信网络发送到云平台服务器，判断云平台服务器中是否有优选匹配航段，能够在初步导航路径上的各个航段获得最优的优选匹配航段，能够在整个航行过程中的最优的导航路径，并且通过船舶自动识别系统以及电子海图显示与信息系统生成以船舶为中心，以预设距离为半径区域内的全景航海图，能够结合船舶自动识别系统以及电子海图显示与信息系统，实现了AIS目标信息与雷达目标信息的融合，在船舶航行的各个时刻，能够通过全景航海图获得船舶航行周边情况的实时信息，能够避免发生碰撞或搁浅事件的发生。Implementing a kind of navigation method and system for navigation provided by the present invention has the following beneficial effects: by sending the position information of the ship to the cloud platform server through the satellite communication network, it can be judged whether there is a preferred matching voyage section in the cloud platform server. Each voyage segment on the navigation path obtains the optimal optimal matching voyage segment, and can obtain the optimal navigation path during the entire voyage, and generate a ship-centered and The panoramic navigation chart within the radius area with a preset distance can combine the automatic ship identification system and the electronic chart display and information system to realize the fusion of AIS target information and radar target information. The map obtains real-time information on the surrounding conditions of the ship's navigation, which can avoid collisions or grounding events.
附图说明Description of drawings
图1是本发明实施例的航海用导航系统结构框图。Fig. 1 is a structural block diagram of a navigation system for navigation according to an embodiment of the present invention.
具体实施方式Detailed ways
本发明实施例提供一种航海用导航方法，其包括如下步骤：An embodiment of the present invention provides a navigation method for navigation, which includes the following steps:
S1、接收输入的航海目的地，根据当前船舶所在的位置以及航海目的地生成初步导航路径。S1. Receive an input sailing destination, and generate a preliminary navigation route according to the current position of the ship and the sailing destination.
在本步骤中，初步导航路径是一个大致的航行路线图，导航路径是由多个航段构成的。In this step, the preliminary navigation route is a rough navigation route map, and the navigation route is composed of multiple flight segments.
S2、实时获取船舶的位置信息，将船舶的位置信息通过卫星通信网络发送到云平台服务器，判断云平台服务器中是否有优选匹配航段，在存在优选匹配航段时，获取优选匹配航段，并将当前优选匹配航段加入到初步导航路径中。在不存在优选匹配航段时，云平台服务实时生成导航航段，将当前导航航段加入到初步导航路径中并通过卫星通信网络发送到船舶。S2. Obtain the position information of the ship in real time, send the position information of the ship to the cloud platform server through the satellite communication network, judge whether there is a preferred matching route segment in the cloud platform server, and obtain the preferred matching route segment when there is a preferred matching route segment, And add the current preferred matching flight segment to the preliminary navigation route. When there is no preferred matching segment, the cloud platform service generates a navigation segment in real time, adds the current navigation segment to the preliminary navigation route and sends it to the ship through the satellite communication network.
优选匹配航段可以从云平台服务器中位于相同地点、相同航线的航段中进行筛选获得，这些优选匹配航段都是经过验证过的，因此安全性、可靠性高。The preferred matching flight segments can be obtained by filtering from the flight segments located in the same location and on the same route in the cloud platform server. These preferred matching flight segments have been verified, so they are highly safe and reliable.
优选地，在没有卫星通信网络时，通过北斗导航系统发送到云平台服务器Preferably, when there is no satellite communication network, it is sent to the cloud platform server through the Beidou navigation system
S3、根据船舶自动识别系统以及电子海图显示与信息系统生成以船舶为中心，以预设距离为半径区域内的全景航海图。全景航海图，能够结合船舶自动识别系统以及电子海图显示与信息系统，实现了AIS目标信息与雷达目标信息的融合，在船舶航行的各个时刻，能够通过全景航海图获得船舶航行周边情况的实时信息，能够避免发生碰撞或搁浅事件的发生。S3. Generate a panoramic nautical chart with the ship as the center and a preset distance as the radius area according to the ship automatic identification system and the electronic chart display and information system. The panoramic nautical chart can combine the ship automatic identification system and the electronic chart display and information system to realize the fusion of AIS target information and radar target information. At each moment of the ship's navigation, the real-time information of the surrounding conditions of the ship's navigation can be obtained through the panoramic nautical chart. information to avoid a collision or grounding event.
在本发明所述的航海用导航方法中，In the navigation method for navigation according to the present invention,
所述步骤S3包括：Described step S3 comprises:
从船舶自动识别系统中读取AIS电文信息，从雷达系统中读取雷达电文信息，并对AIS电文信息以及雷达电文信息进行解码得到解码后的AIS动态信息以及解码后雷达动态信息；将雷达动态信息存入以水上移动通信业务标识码为主字段的雷达链表，将AIS动态信息存入AIS动态信息链表；并在电子海图显示与信息系统显示AIS目标以及雷达目标；Read the AIS message information from the ship automatic identification system, read the radar message information from the radar system, and decode the AIS message information and the radar message information to obtain the decoded AIS dynamic information and the decoded radar dynamic information; the radar dynamic information The information is stored in the radar linked list with the maritime mobile communication service identification code as the main field, and the AIS dynamic information is stored in the AIS dynamic information linked list; and the AIS target and the radar target are displayed in the electronic chart display and information system;
遍历雷达链表和AIS动态链表，对比雷达链表和AIS动态链表中雷达动态信息与AIS动态信息的时间和距离；并从中搜索出满足时间-空间粗关联条件的雷达目标与AIS目标，将满足时间-空间粗关联条件的雷达编号、AIS的水上移动通信业务标识码好、粗关联的次数存入粗关联数据表；Traverse the radar linked list and the AIS dynamic linked list, compare the time and distance between the radar dynamic information and the AIS dynamic information in the radar linked list and the AIS dynamic linked list; and search for the radar target and the AIS target that satisfy the time-space coarse association condition, which will satisfy the time-space The radar number of the spatial rough correlation condition, the water mobile communication service identification code of the AIS, and the number of rough correlations are stored in the rough correlation data table;
根据粗关联链表获得雷达目标当前的动态信息，并将雷达目标当前的动态信息外推至系统时刻，并存入细关联链表；根据粗关联链表，搜索与雷达对应满足粗关联条件的一个或多个AIS目标当前的动态信息，并将当前的动态信息外推至系统时刻并存入细关联链表；Obtain the current dynamic information of the radar target according to the coarse association list, and extrapolate the current dynamic information of the radar target to the system time, and store it in the fine association list; according to the coarse association list, search for one or more objects corresponding to the radar that meet the coarse association conditions The current dynamic information of an AIS target, and extrapolate the current dynamic information to the system time and store it in the fine association list;
根据细关联链表计算雷达与AIS目标的距离间因素、方位间因素、航速间因素、航向间因素、单因素集关联隶属度和不相关联隶属度、综合因素的关联隶属度和不关联隶属度，并将计算结果存入细关联链表；According to the detailed association list, calculate the factors between the distance between the radar and the AIS target, the factors between the bearings, the factors between the speed, the factors between the headings, the associated membership degree and the non-associated membership degree of the single factor set, the associated membership degree and the non-associated membership degree of the comprehensive factor , and store the calculation result in the fine association list;
获取各系统时刻最大综合因素的关联隶属度，当最大的关联隶属度大于细关联第一预设门限值，关联质量因子累加；当关联质量因子大于细关联第二预设门限值时，判断为固定关联并记录固定关联时一一对应的雷达编号以及AIS的水上移动通信业务标识码；Obtain the association membership degree of the largest comprehensive factor at each system time. When the maximum association membership degree is greater than the first preset threshold value of fine association, the association quality factor is accumulated; when the association quality factor is greater than the second preset threshold value of fine association, Determine the fixed association and record the one-to-one corresponding radar number and AIS maritime mobile communication service identification code when the fixed association is established;
将满足固定关联的雷达目标与AIS目标的实时信息外推至雷达时刻，并将其与雷达信息进行合并；Extrapolate the real-time information of radar targets and AIS targets satisfying the fixed correlation to the radar time, and merge it with the radar information;
在电子海图显示与信息系统中显示合并后的AIS目标与雷达目标。Display of combined AIS and radar targets in ECDIS.
在本发明所述的航海用导航方法中，In the navigation method for navigation according to the present invention,
所述将满足固定关联的雷达目标与AIS目标的实时信息外推至雷达时刻，并将其与雷达信息进行合并包括：将满足固定关联的雷达目标与AIS目标的实时信息外推至雷达时刻，并根据加权算法将其与雷达信息进行合并。Said extrapolating the real-time information of the radar target and the AIS target satisfying the fixed association to the radar time, and merging it with the radar information includes: extrapolating the real-time information of the radar target and the AIS target satisfying the fixed association to the radar time, And combine it with the radar information according to the weighting algorithm.
在本发明所述的航海用导航方法中，In the navigation method for navigation according to the present invention,
所述步骤S3还包括通过声纳系统对本船舶周围的海底状况进行探测，并将探测的结果显示到全景航海图上。The step S3 also includes detecting the seabed conditions around the own ship through the sonar system, and displaying the detection results on the panoramic navigation chart.
在本实施例，全景海图上会显示导航的路径、周围的船舶或其他固定、移动目标以及海底状况。In this embodiment, the navigation route, surrounding ships or other fixed and moving targets, and seabed conditions will be displayed on the panoramic sea chart.
本发明还提供一种航海用导航系统，其包括依次连接的路径生成单元、航段确定单元、航海图生成单元：The present invention also provides a navigation system for navigation, which includes a path generation unit, a flight section determination unit, and a nautical chart generation unit connected in sequence:
路径生成单元，用于接收输入的航海目的地，根据当前船舶所在的位置以及航海目的地生成初步导航路径；A route generating unit, configured to receive an input navigation destination, and generate a preliminary navigation route according to the current ship's location and the navigation destination;
航段确定单元，用于实时获取船舶的位置信息，将船舶的位置信息通过卫星通信网络发送到云平台服务器，判断云平台服务器中是否有优选匹配航段，在存在优选匹配航段时，获取优选匹配航段，并将当前优选匹配航段加入到初步导航路径中；在不存在优选匹配航段时，云平台服务实时生成导航航段，将当前导航航段加入到初步导航路径中并通过卫星通信网络发送到船舶；The flight section determination unit is used to obtain the position information of the ship in real time, and sends the position information of the ship to the cloud platform server through the satellite communication network to judge whether there is a preferred matching flight section in the cloud platform server. When there is a preferred matching flight section, obtain Optimize the matching flight segment, and add the current preferred matching flight segment to the preliminary navigation path; when there is no preferred matching flight segment, the cloud platform service will generate the navigation segment in real time, add the current navigation segment to the preliminary navigation path and pass SATCOM network transmission to ships;
航海图生成单元，用于根据船舶自动识别系统以及电子海图显示与信息系统生成以船舶为中心，以预设距离为半径区域内的全景航海图。The nautical chart generation unit is used to generate a panoramic nautical chart with the ship as the center and the preset distance as the radius area according to the ship automatic identification system and the electronic chart display and information system.
在本发明所述的航海用导航系统中，In the navigation system for navigation according to the present invention,
所述航海图生成单元包括依次连接的信息读取子单元、粗关联子单元、细关联子单元、计算子单元、固定关联子单元、合并子单元、显示子单元：Said nautical chart generating unit includes successively connected information reading subunits, coarse correlation subunits, fine correlation subunits, calculation subunits, fixed correlation subunits, merging subunits, and display subunits:
信息读取子单元，用于从船舶自动识别系统中读取AIS电文信息，从雷达系统中读取雷达电文信息，并对AIS电文信息以及雷达电文信息进行解码得到解码后的AIS动态信息以及解码后雷达动态信息；将雷达动态信息存入以水上移动通信业务标识码为主字段的雷达链表，将AIS动态信息存入AIS动态信息链表；并在电子海图显示与信息系统显示AIS目标以及雷达目标；The information reading sub-unit is used to read the AIS message information from the ship automatic identification system, read the radar message information from the radar system, and decode the AIS message information and the radar message information to obtain the decoded AIS dynamic information and decoding Post radar dynamic information; store the radar dynamic information in the radar linked list with the maritime mobile communication service identification code as the main field, and store the AIS dynamic information in the AIS dynamic information linked list; and display the AIS target and radar in the electronic chart display and information system Target;
粗关联子单元，用于遍历雷达链表和AIS动态链表，对比雷达链表和AIS动态链表中雷达动态信息与AIS动态信息的时间和距离；并从中搜索出满足时间-空间粗关联条件的雷达目标与AIS目标，将满足时间-空间粗关联条件的雷达编号、AIS的水上移动通信业务标识码好、粗关联的次数存入粗关联数据表；The coarse association subunit is used to traverse the radar linked list and the AIS dynamic linked list, compare the time and distance between the radar dynamic information and the AIS dynamic information in the radar linked list and the AIS dynamic linked list; For AIS target, the radar number meeting the time-space rough association condition, the water mobile communication service identification code of AIS, and the number of times of rough association are stored in the rough association data table;
细关联子单元，用于根据粗关联链表获得雷达目标当前的动态信息，并将雷达目标当前的动态信息外推至系统时刻，并存入细关联链表；根据粗关联链表，搜索与雷达对应满足粗关联条件的一个或多个AIS目标当前的动态信息，并将当前的动态信息外推至系统时刻并存入细关联链表；The fine association sub-unit is used to obtain the current dynamic information of the radar target according to the coarse association list, extrapolate the current dynamic information of the radar target to the system time, and store it in the fine association list; according to the coarse association list, the search and radar correspondence satisfy The current dynamic information of one or more AIS targets with coarse association conditions, extrapolating the current dynamic information to the system time and storing it in the fine association linked list;
计算子单元，用于根据细关联链表计算雷达与AIS目标的距离间因素、方位间因素、航速间因素、航向间因素、单因素集关联隶属度和不相关联隶属度、综合因素的关联隶属度和不关联隶属度，并将计算结果存入细关联链表；The calculation sub-unit is used to calculate the factors between the distance between the radar and the AIS target, the factor between the azimuth, the factor between the speed, the factor between the course, the single-factor set associated membership degree and non-associated membership degree, and the associated membership of the comprehensive factor according to the fine association list degree and non-associated membership, and store the calculation results in the fine association linked list;
固定关联子单元，用于获取各系统时刻最大综合因素的关联隶属度，当最大的关联隶属度大于细关联第一预设门限值，关联质量因子累加；当关联质量因子大于细关联第二预设门限值时，判断为固定关联并记录固定关联时一一对应的雷达编号以及AIS的水上移动通信业务标识码；The fixed association subunit is used to obtain the association membership degree of the largest comprehensive factor at each system time. When the maximum association membership degree is greater than the first preset threshold value of the fine association, the association quality factor is accumulated; when the association quality factor is greater than the second fine association When the threshold value is preset, it is judged as a fixed association and records the one-to-one corresponding radar number and AIS maritime mobile communication service identification code when the fixed association is established;
合并子单元，用于将满足固定关联的雷达目标与AIS目标的实时信息外推至雷达时刻，并将其与雷达信息进行合并；The merging subunit is used to extrapolate the real-time information of the radar target and the AIS target satisfying the fixed association to the radar time, and merge it with the radar information;
显示子单元，用于在电子海图显示与信息系统中显示合并后的AIS目标与雷达目标。The display subunit is used for displaying the combined AIS target and radar target in the electronic chart display and information system.
在本发明所述的航海用导航系统中，In the navigation system for navigation according to the present invention,
所述将满足固定关联的雷达目标与AIS目标的实时信息外推至雷达时刻，并将其与雷达信息进行合并包括：将满足固定关联的雷达目标与AIS目标的实时信息外推至雷达时刻，并根据加权算法将其与雷达信息进行合并。Said extrapolating the real-time information of the radar target and the AIS target satisfying the fixed association to the radar time, and merging it with the radar information includes: extrapolating the real-time information of the radar target and the AIS target satisfying the fixed association to the radar time, And combine it with the radar information according to the weighting algorithm.
在本发明所述的航海用导航系统中，In the navigation system for navigation according to the present invention,
所述航海图生成单元还包括通过声纳系统对本船舶周围的海底状况进行探测，并将探测的结果显示到全景航海图上。The nautical chart generating unit also includes detecting the seabed conditions around the own ship through the sonar system, and displaying the detection results on the panoramic nautical chart.
实施本发明提供的一种航海用导航方法与系统具有以下有益效果：可以通过将船舶的位置信息通过卫星通信网络发送到云平台服务器，判断云平台服务器中是否有优选匹配航段，能够在初步导航路径上的各个航段获得最优的优选匹配航段，能够在整个航行过程中的最优的导航路径，并且通过船舶自动识别系统以及电子海图显示与信息系统生成以船舶为中心，以预设距离为半径区域内的全景航海图，能够结合船舶自动识别系统以及电子海图显示与信息系统，实现了AIS目标信息与雷达目标信息的融合，在船舶航行的各个时刻，能够通过全景航海图获得船舶航行周边情况的实时信息，能够避免发生碰撞或搁浅事件的发生。Implementing a kind of navigation method and system for navigation provided by the present invention has the following beneficial effects: by sending the position information of the ship to the cloud platform server through the satellite communication network, it can be judged whether there is a preferred matching voyage section in the cloud platform server. Each voyage segment on the navigation path obtains the optimal optimal matching voyage segment, and can obtain the optimal navigation path during the entire voyage, and generate a ship-centered and The panoramic navigation chart within the radius area with a preset distance can combine the automatic ship identification system and the electronic chart display and information system to realize the fusion of AIS target information and radar target information. The map obtains real-time information on the surrounding conditions of the ship's navigation, which can avoid collisions or grounding events.
上述方法实施例与系统实施例是一一对应的，因此，方法实施例的扩展也可适用于上述系统实施例。The above method embodiments correspond to the system embodiments one by one, therefore, the extensions of the method embodiments are also applicable to the above system embodiments.
结合本文中所公开的实施例描述的方法或算法的步骤可以直接用硬件、处理器执行的软件模块，或者二者的结合来实施。软件模块可以置于随机储存器、内存、只读存储器、电可编程ROM、电可擦除可编程ROM、寄存器、硬盘、可移动磁盘、CD-ROM、或技术领域内所公知的任意其他形式的存储介质中。可以理解的是，对于本领域的普通技术人员来说，可以根据本发明的技术构思做出其它各种相应的改变与变形，而所有这些改变与变形都应属于本发明权利要求的保护范围。The steps of the methods or algorithms described in connection with the embodiments disclosed herein may be directly implemented by hardware, software modules executed by a processor, or a combination of both. Software modules can be placed in random access memory, internal memory, read-only memory, electrically programmable ROM, electrically erasable programmable ROM, registers, hard disk, removable disk, CD-ROM, or any other form known in the technical field in the storage medium. It can be understood that those skilled in the art can make various other corresponding changes and modifications according to the technical concept of the present invention, and all these changes and modifications should belong to the protection scope of the claims of the present invention.
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