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CN-121581346-B - Ship route determining method, device and readable storage medium

CN121581346BCN 121581346 BCN121581346 BCN 121581346BCN-121581346-B

Abstract

The application provides a method and a device for determining a ship route and a readable storage medium, wherein the method for determining the ship route comprises the steps of obtaining an identification mapping library of a target ship; the method comprises the steps of obtaining a first track data set according to an identification mapping library, carrying out discretization processing on navigation parameters in the first track data set to obtain a second track data set with discretization state labels, wherein the navigation parameters at least comprise heading, speed and draft, obtaining range data of a target port, obtaining grid data covering the target port according to the range data, obtaining grid heading data and steering area marks in each grid unit in the grid data according to the second track data set and the grid data, and obtaining a target route according to the grid heading data, the steering area marks and the second track data set. And synthesizing a dynamic route which accords with the historical optimal practice and adapts to the specific ship state through a clustering and path searching algorithm.

Inventors

  • SHENG ZUNKUO

Assignees

  • 亿海蓝（北京）数据技术股份公司

Dates

Publication Date
20260508
Application Date
20251110

Claims (9)

  1. 1. A method of determining a ship route, comprising: Acquiring an identification mapping library of a target ship; Acquiring a first track data set according to the identification mapping library; Discretizing navigation parameters in the first track data set to obtain a second track data set with a discretized state label, wherein the navigation parameters at least comprise heading, navigational speed and draft; acquiring range data of a target port; According to the range data, grid data covering the target port is obtained; according to the second track data set and the grid data, grid course data and a steering area mark in each grid unit in the grid data are obtained; Acquiring a target route according to the grid course data, the steering area mark and the second track data set; The obtaining a target course according to the grid course data, the steering area mark and the second track data set comprises the following steps: Dividing the second track data set into a plurality of navigation working condition subsets according to the discretization state label, wherein each subset corresponds to a combination of heading, speed and draft; Identifying, for each of the subsets, a cluster center of the vessel location points of the target vessel using a spatial clustering algorithm; determining a plurality of target waypoints according to the clustering center; and searching a target route from the starting point to the end point through a path searching algorithm according to the target route point.
  2. 2. The method for determining a ship route according to claim 1, wherein the obtaining the identification map library of the target ship comprises: and matching the marine organization number of the target ship with the identification code of the water mobile communication service according to the ship archive database, and obtaining the identification mapping library of the target ship.
  3. 3. The method for determining a ship route according to claim 1, wherein said obtaining a first trajectory data set from said identification map library comprises: Acquiring historical sailing data of the target ship, and acquiring a plurality of sailing track data in a target time interval in a target harbor area according to the historical sailing data and the identification mapping library; and acquiring a first track data set according to the plurality of navigation track data.
  4. 4. The method of determining a ship route according to claim 1, wherein said discretizing the navigation parameters in the first trajectory data set includes: dividing a range of heading from 0 ° to 360 ° into a plurality of sectors, wherein each of the sectors has a heading tag opposite to the sector; Grading the range of the navigational speed at fixed intervals to determine a plurality of speed grade labels; the range of draft is layered at fixed intervals to determine a plurality of draft level labels.
  5. 5. The method of determining a ship route according to claim 4, wherein said obtaining grid heading data in each grid cell in said grid data from said second trajectory data set and said grid data comprises: Counting heading label distribution of historical heading data points falling into each grid unit aiming at each grid unit in the grid data; determining the top K heading labels with the largest quantity in the historical navigation data points from the heading label distribution as main heading of the grid unit; Wherein K is a preset positive integer.
  6. 6. The method of determining a ship route according to claim 5, further comprising: And marking grid cells with two main stream heading directions with the difference value of the two directions being larger than a preset threshold value as a steering area.
  7. 7. A ship route determining apparatus, comprising: The first acquisition module is used for acquiring an identification mapping library of the target ship; the second acquisition module is used for acquiring a first track data set according to the identification mapping library; the third acquisition module is used for carrying out discretization processing on navigation parameters in the first track data set to acquire a second track data set with a discretization state label, wherein the navigation parameters at least comprise heading, navigational speed and draft; A fourth acquisition module, configured to acquire range data of the target port; A fifth obtaining module, configured to obtain grid data covering the target port according to the range data; A sixth acquisition module, configured to acquire grid heading data and a steering area flag in each grid cell in the grid data according to the second track data set and the grid data; A seventh obtaining module, configured to obtain a target route according to the grid heading data, the steering area flag, and the second track data set; The obtaining a target course according to the grid course data, the steering area mark and the second track data set comprises the following steps: Dividing the second track data set into a plurality of navigation working condition subsets according to the discretization state label, wherein each subset corresponds to a combination of heading, speed and draft; Identifying, for each of the subsets, a cluster center of the vessel location points of the target vessel using a spatial clustering algorithm; determining a plurality of target waypoints according to the clustering center; and searching a target route from the starting point to the end point through a path searching algorithm according to the target route point.
  8. 8. A ship route determining apparatus, comprising: A processor; A memory having stored therein a program or instructions which when executed by the processor implement the steps of the method of determining a ship route as claimed in any one of claims 1 to 6.
  9. 9. A readable storage medium, characterized in that the readable storage medium has stored thereon a program or instructions which, when executed by a processor, implement the steps of the method of determining a ship route as claimed in any one of claims 1 to 6.

Description

Ship route determining method, device and readable storage medium Technical Field The application relates to the technical field of ship route planning, in particular to a method and a device for determining a ship route and a readable storage medium. Background In the related art, the sailing stage of the ship from the anchor ground of the port to the berth is one of the links of the ship with the most complex environment, the greatest traffic density, the highest operation difficulty and the greatest safety risk in the whole sailing course. Route planning is therefore critical for safety. In practice, when acquiring the running route of a ship, the navigation system mainly depends on personal experiences which are difficult to quantify by pilot personnel, and tools such as ECDIS (electronic chart System) and the like can only provide a fixed planned route and cannot be integrated into the dynamic state parameters of the ship, so that the precision of the route is low and the actual dynamic navigation condition cannot be met. Disclosure of Invention The application aims to solve the technical problems that the prior art or the related art depends on the personal experience that pilot is difficult to quantify, and ECDIS and other tools can only provide fixed planned routes and cannot be integrated with the dynamic state parameters of ships, so that the precision of the routes is low and the actual dynamic sailing condition cannot be met. To this end, a first aspect of the application proposes a method of determining a ship route. A second aspect of the application proposes a device for determining a ship route. A third aspect of the application proposes a device for determining a ship route. A fourth aspect of the application proposes a readable storage medium. In view of the above, according to a first aspect of the present application, there is provided a method for determining a ship route, comprising obtaining an identification mapping library of a target ship, obtaining a first track data set according to the identification mapping library, discretizing a navigation parameter in the first track data set, obtaining a second track data set having a discretized state tag, wherein the navigation parameter at least includes a heading, a speed and a draft, obtaining range data of the target port, obtaining grid data covering the target port according to the range data, obtaining grid heading data and a steering area tag in each grid cell in the grid data according to the second track data set and the grid data, and obtaining the target route according to the grid heading data, the steering area tag and the second track data set. The application provides a method for determining a ship route, which comprises the steps of obtaining an identification mapping library of a target ship, obtaining a first track data set according to the identification mapping library, carrying out discretization processing on navigation parameters in the first track data set, obtaining a second track data set with discretization state labels, wherein the navigation parameters at least comprise a course, a speed and a draft, obtaining range data of a target port, obtaining grid data covering the target port according to the range data, obtaining grid course data and a steering area mark in each grid unit in the grid data according to the second track data set and the grid data, and obtaining the target route according to the grid course data, the steering area mark and the second track data set. The identification mapping library refers to a database for performing association matching on a permanent identity (marine organization number, IMO) of a ship and a dynamic communication identification (an on-water mobile communication service identification code, MMSI). For example, a vessel with IMO of "1234567" is bound to MMSI "123456789" used. The first track data set refers to an original ship navigation track data set which is extracted from a historical AIS (historical navigation data) database and is not subjected to deep processing. For example, a raw data table containing fields for time stamp, latitude and longitude, heading to earth, speed to earth, draft, etc. The second track data set refers to a new data set with discrete state labels (heading label, speed grade label and draft grade label) attached to each data point after the first track data set is discretized. For example, one raw data point is marked as heading label: direction 3, speed label: speed gear 5, draft label: draft layer 4. Grid data refers to a space structure formed by dividing a target port (such as a water area from anchor to berth in a XX port) into regular cells (such as 0.01 degree. Times.0.01 degree square). The grid heading data refers to the main stream heading direction obtained by statistical calculation in each grid unit. For example, if it is found that 80% of the data point heading labels in a certain grid belong to the "direction 2" and the "d