阅读说明：本技术 一种基于历史数据的控制河段船舶上下水判定方法 (Historical data-based judgment method for controlling river reach ship to enter or exit water ) 是由 梁山 李则辰 蔡章利 吴非 王德军 万腾 于 2021-08-24 设计创作，主要内容包括：本发明公开了一种基于历史数据的控制河段船舶上下水判定方法,属于智能航运与船舶导航应用领域。所述方法包括：以控制河段内船舶AIS历史数据为基础,读取其中的坐标数据和航向数据,以长江电子航道图的航道里程线为分界对航向数据进行统计分析,生成航道里程判定航向。通过该方法,只需将解析过后的船舶位置数据和对地航向数据输入,便可快速判定该船舶的航向为上水或下水,有效简化了船舶航向上下水判定过程,为船舶通行指挥提供主要判据,提高指挥系统的工作效率和准确率,为船舶安全航行提供保障。(The invention discloses a method for judging whether a ship in a river reach gets on or off the water based on historical data, and belongs to the field of application of intelligent shipping and ship navigation. The method comprises the following steps: and reading coordinate data and course data in the ship AIS historical data in the controlled river reach on the basis of the AIS historical data of the ship in the controlled river reach, and carrying out statistical analysis on the course data by taking a channel mileage line of the Yangtze river electronic channel map as a boundary to generate channel mileage judging course. By the method, the course of the ship can be quickly judged to be water-supply or water-discharge only by inputting the analyzed ship position data and the analyzed ship course data, so that the ship course water-supply and water-discharge judging process is effectively simplified, main criteria are provided for ship traffic command, the working efficiency and the accuracy of a command system are improved, and the safe navigation of the ship is guaranteed.)

1. A method for judging whether a ship at a controlled river reach gets on or off water based on historical data is characterized by comprising the following steps:

step 1, reading AIS decoded historical data in a database. The data comprises ship position data, ground course data and water supply and drainage data;

step 2, clustering the data according to the central point of the channel mileage line;

step 3, counting the occurrence times of the reference course of each type of ship respectively, and finding out the reference course with the most occurrence times as the judgment course of the mileage line of the channel;

and 4, judging whether water flows into the ship or not according to the judgment course of the mileage position of the corresponding channel obtained in the step 3 and the AIS data of the ship.

2. The method for determining whether or not to launch or launch a ship at a controlled river reach according to claim 1, wherein the method comprises: in step 2, the implementation manner of clustering according to the central point of the route mileage line is as follows:

step 2.1, acquiring a central point corresponding to a channel mileage line according to a channel topographic map;

and 2.2, solving the distance between the position data in the AIS information and the position of the center point of the channel mileage line in the control river reach, finding the channel mileage line closest to the current AIS position data, and classifying the channel mileage line in the channel mileage line class. Let AIS position coordinate be (X)₁,Y₁) The coordinate of the central point of the mileage line of the navigation channel is (X)₂,Y₂) The calculation formula of the distance D is as follows:

wherein X₁Indicating the longitude, Y, of the vessel in the AIS historical data₁Indicating the latitude, X, of the vessel in the AIS historical data₂Longitude, Y, representing the midpoint of the corresponding course mile line₂And D represents the distance between the historical data and the midpoint of the current calculated channel mileage line.

3. The method for determining whether or not to launch or launch a ship at a controlled river reach according to claim 1, wherein the method comprises: in step 3, the times of the reference course of each type of ship are respectively counted, and the reference course with the most times of appearance is found out to be used as the judgment course of the course mileage line, and the implementation mode is as follows:

step 3.1, reading AIS data in each type, including course data of the ground and water supply and drainage data;

step 3.2, if the water supply and drainage data are water drainage data, the corresponding local course is a reference course, and the frequency of the reference course is increased by 1; if the water supply and drainage data are water supply data, the opposite course corresponding to the ground course is a reference course, the frequency of the reference course is added with 1, and the calculation mode is as follows:

water feeding data: reference heading is to ground heading

Launching data: if (over-the-ground heading) 180. the reference heading of the-180

if (course to ground < 180) the reference course to ground +180

And 3.3, finding out the reference course with the most occurrence times corresponding to the mileage line central point of each channel in the controlled river reach as the judgment course.

4. The method for determining whether or not to launch or launch a ship at a controlled river reach according to claim 1, wherein the method comprises: and (4) according to the judgment course of the mileage position of the corresponding channel obtained in the step (4), combining the AIS data of the ship, and performing water supply and water discharge judgment in the following way:

step 4.1, decoding AIS data needing to judge whether water flows up and down in a control river reach to obtain position data and opposite-to-ground course data of the AIS data;

step 4.2, finding the central point of the route mileage line closest to the position data;

and 4.3, making a difference between the ground course data of the ship and the judged course of the corresponding channel mileage, wherein the judging method comprises the following steps:

if (i is to the ground heading-judging heading | > -90 & | is to the ground heading-judging heading | < | > -180) the upper and lower water of the then (water supply)

else, water supply and drainage.

Technical Field

The invention belongs to the field of application of intelligent shipping and ship navigation, and particularly relates to a method for judging whether ships in a river reach get on or off the water based on historical data.

Background

The Yangtze river is the first big river in China and is called a 'golden waterway'. The overall structure of the whole river basin is formed by radiating the whole river basin on the basis of the main national port as the backbone and the important regional port as the basis, and the well-prepared river and sea transportation systems such as containers, iron ores, coal and the like and the specialized transportation systems such as automobile rolling and liquefied products are formed, so that the water-way transportation channel is the only water-way transportation channel running through the east, middle and west regions in China, and is also the core of the Yangtze river transportation channel of the national comprehensive transportation system, and the important support for the construction of the Yangtze economic zone is formed.

As the Yangtze river has a narrow river reach with a large beach and a large water-jet, the part of the river reach only allows ships to pass in one direction, and therefore, the ships need to participate in command manually. The current command mode is based on a mode of assisting a signaler for controlling an intelligent traffic command system of a signal station at a river reach, so that intelligent command is carried out on passing ships. The intelligent auxiliary command mode can actively master the passing ship dynamics and automatically generate the passing command record.

In intelligent command, the judgment of water supply and sewerage of a ship is very important, the whole command is disordered due to the wrong judgment of water supply and sewerage, and the judgment of the existing intelligent command system is judged based on a channel center as a navigation track line. The basic idea of the judging method is that continuous dotting is carried out in a navigable area of the Yangtze river electronic channel chart, a channel central line is formed by the continuous dots, after a ship enters the range, two dots closest to the current ship are searched, and judgment is carried out by calculating the included angle between the direction of the ship and the ground course of the ship. At present, the method for manually drawing the center line of the channel does not consider the actual navigation condition of the ship according to the direction of the river channel, and the manually drawn direction has certain errors, the water flow direction in the channel is complex, and the actual navigation direction of the ship can be influenced, so the accuracy of the judgment mode of taking the tangential direction of the channel line as the navigation judgment direction is not high.

The invention aims to provide a method for judging whether a ship at a controlled river reach gets on or off the water based on historical data, which is based on AIS historical data of the ship in the controlled river reach, counts the frequency of reference course appearance near each channel mileage line by clustering the ship data by using the center point of the channel mileage line, finally determines the judged course near the channel mileage line, judges whether the ship gets on or off the water by judging the included angle between the course and the ship to-the-earth course, provides a powerful basis for commanding the ship in the channel, improves the working efficiency and the accuracy of the command system, and provides guarantee for safe navigation of the ship.

Disclosure of Invention

In order to solve the problems in the prior art and achieve the purpose, the invention provides a method for judging whether a ship at a river reach gets on or off the water based on historical data. The technical scheme is as follows:

step 1, reading AIS decoded historical data in a database. The data comprises ship position data, ground course data and water supply and drainage data;

step 2, clustering the data according to the central point of the channel mileage line;

step 3, counting the occurrence times of the reference course of each type of ship respectively, and finding out the reference course with the most occurrence times as the judgment course of the mileage line of the channel;

and 4, judging whether water flows into the ship or not according to the judgment course of the mileage position of the corresponding channel obtained in the step 3 and the real-time AIS data of the ship.

In step 2, the way of clustering according to the central point of the route mileage line is as follows:

step 2.1, acquiring a central point corresponding to a channel mileage line according to a channel topographic map;

and 2.2, solving the distance between the position data in the AIS information and the position of the center point of the channel mileage line in the control river reach, finding the channel mileage line closest to the current AIS position data, and classifying the channel mileage line in the channel mileage line class. Let AIS position coordinate be (X)₁,Y₁) The coordinate of the central point of the mileage line of the navigation channel is (X)₂,Y₂) The calculation formula of the distance D is as follows:

wherein X₁Indicating the longitude, Y, of the vessel in the AIS historical data₁Indicating the latitude, X, of the vessel in the AIS historical data₂Longitude, Y, representing the midpoint of the corresponding course mile line₂And D represents the distance between the historical data and the midpoint of the current calculated channel mileage line.

And in step 3, respectively counting the occurrence times of the reference course of each type of ship, and finding out the reference course with the most occurrence times as the judgment course of the course mileage line, wherein the implementation mode comprises the following steps:

step 3.1, reading AIS historical data in each type, wherein the AIS historical data comprises course data of the ground and water supply and drainage data;

step 3.2, if the water supply and drainage data are water drainage data, the corresponding local course is a reference course, and the frequency of the reference course is increased by 1; if the water supply and drainage data are water supply data, the opposite course corresponding to the ground course is a reference course, the frequency of the reference course is added with 1, and the calculation mode is as follows:

water feeding data: reference heading is to ground heading

Launching data: if (over-the-ground heading) 180. the reference heading of the-180

if (course to ground < 180) the reference course to ground +180

Step 3.3, finding out the reference course with the most occurrence times corresponding to the mileage line center point of each channel in the controlled river reach as a judgment course;

and the judgment course of the mileage position corresponding to the channel is obtained in the step 4, and the water supply and drainage judgment is carried out by combining the AIS data of the ship in the following way:

step 4.1, decoding AIS data needing to judge whether water flows up and down in a control river reach to obtain position data and opposite-to-ground course data of the AIS data;

step 4.2, finding the central point of the route mileage line closest to the position data;

and 4.3, making a difference between the ground course data of the ship and the judged course of the corresponding channel mileage, wherein the judging method comprises the following steps:

if (i is to the ground heading-judging heading | > -90 & | is to the ground heading-judging heading | < | > -180) the upper and lower water of the (upper and lower water of else)

The technical scheme of the invention has the following beneficial effects:

the invention provides a method for judging whether a ship in a controlled river reach gets on or off the water based on historical data, which is characterized in that based on AIS historical data of the ship in the controlled river reach, coordinate data and course data in the AIS historical data are read, course data are counted by taking a channel mileage line of an electronic channel map of Yangtze river as a boundary, a channel mileage judging course is generated, scientific basis is provided for judging whether the ship gets on or off the water, main criteria are provided for ship commanding, the process of judging whether the ship gets on or off the water can be effectively simplified, and the ship commanding efficiency is improved.

Drawings

FIG. 1 is a flow chart of a method for generating a course judgment in a controlled river reach channel based on historical data

FIG. 2 is a flow chart of a method for determining whether to launch or launch a ship in a controlled river reach based on historical data

Detailed Description

The following detailed description of preferred embodiments of the invention refers to the accompanying drawings in which:

in the embodiment, the implementation method is explained by taking a bridge riding control river reach in a Chongqing navigation section of Yangtze river as an example, AIS historical data of ships in the control river reach are read, the data are clustered according to the center point of a navigation channel mileage line on an electronic navigation channel map, the times of reference courses in categories are respectively counted, and the reference course with the largest occurrence times is set as a judgment course corresponding to the navigation channel mileage line. The system can quickly judge the course of the ship to be water-supply or water-discharge only by inputting the analyzed ship position data and the analyzed ship course data to the ground, thereby providing help for ship commanding. As shown in fig. 1, the specific implementation includes the following steps:

step 1: reading the AIS decoded historical data in the database. The data comprises ship position data, opposite-ground course data and water-supply and water-discharge data, wherein the ship position data is used for calculating the position of the opposite-ground course near which channel mileage line, and the water-supply and water-discharge data is used for solving the reference course of the point;

step 2: clustering the data according to the central point of the channel mileage line;

step 2.1: acquiring a central point corresponding to a channel mileage line according to a channel topographic map;

step 2.2: and (4) solving the distance between the position data in the AIS historical data and the position of the center point of the channel mileage line in the control river reach, finding the channel mileage line closest to the current AIS position data, and classifying the channel mileage line in the channel mileage line class. Let AIS position coordinate be (X)₁,Y₁) The coordinate of the central point of the mileage line of the navigation channel is (X)₂,Y₂) The calculation formula of the distance D is as follows:

wherein X₁Indicating the longitude, Y, of the vessel in the AIS historical data₁Indicating the latitude, X, of the vessel in the AIS historical data₂Longitude, Y, representing the midpoint of the corresponding course mile line₂And D represents the distance between the historical data and the midpoint of the current calculated channel mileage line.

And step 3: respectively counting the occurrence times of the reference course of each type of ship, and finding out the reference course with the most occurrence times as the judgment course of the channel mileage line;

step 3.1: reading AIS data in each class, including course data of the ground and water supply and drainage data;

step 3.2: if the water supply and drainage data are water drainage data, the corresponding local course is a reference course, and the frequency of the reference course is added with 1; if the water supply and drainage data are water supply data, the opposite course corresponding to the ground course is a reference course, the frequency of the reference course is added with 1, and the calculation mode is as follows:

water feeding data: reference heading is to ground heading

Launching data: if (over-the-ground heading) 180. the reference heading of the-180

if (course to ground < 180) the reference course to ground +180

Step 3.3: finding out the reference course with the most occurrence times corresponding to the mileage line central point of each channel in the control river reach as a judgment course;

and 4, step 4: and (4) judging whether water flows up or down according to the judgment course of the mileage position of the corresponding channel obtained in the step (3) and by combining AIS data of the ship.

Step 4.1: decoding AIS data needing to judge whether water flows up and down in a control river reach to obtain position data and opposite-to-ground course data of the AIS data;

step 4.2: finding the central point of the route mileage line closest to the position data of the navigation route;

step 4.3: the difference is made between the ground course data of the ship and the judged course of the corresponding channel mileage, and the judging method is as follows:

if (i is to the ground heading-judging heading | > -90 & | is to the ground heading-judging heading | < | > -180) the upper and lower water of the (upper and lower water of else)

The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents, improvements and the like that fall within the spirit and principle of the present invention are intended to be included therein.