CN-121982937-A - Marine towering object protection distance prediction analysis method based on radar technology

CN121982937ACN 121982937 ACN121982937 ACN 121982937ACN-121982937-A

Abstract

The invention belongs to the technical field of maritime safety and intelligent navigation, in particular to a prediction analysis method for the protective distance of a marine towering object based on radar technology, which comprises the steps of establishing a space grid by acquiring a detection efficiency attenuation field around the marine towering object, extracting radar signal attenuation values, space change gradients and distance-height ratios of grid units, determining radar interference risks according to the extremely poor of three conversion results after normalization and nonlinear conversion, and determining navigation conflict risks by calculating real-time ship density and ship meeting threat values of the grid units based on AIS data of real-time ships; and monitoring the ship entering the area, and generating and sending a navigation instruction according to the position risk level of the ship. The invention effectively aims at complex radar interference and navigation conflict mixed risks caused by high-rise objects through gridding analysis, multi-feature fusion and dynamic decision mechanisms.

Inventors

LIU YINZHU
WANG YANPING
LIU TAO

Assignees

砺剑(青岛)装备技术有限公司

Dates

Publication Date: 20260505
Application Date: 20260129

Claims (10)

1. The marine towering object protection distance prediction analysis method based on the radar technology is characterized by comprising the following steps of: acquiring a detection efficiency attenuation field around the marine towering object and real-time ship AIS data; Establishing space coordinate grids based on the detection efficiency attenuation field, taking each grid as a space unit, extracting radar signal attenuation values, signal attenuation space change gradients and distance-height ratios with towering objects, and determining the range between three conversion results as radar interference risks through normalization processing and nonlinear conversion; Calculating real-time ship density of each space unit based on real-time ship AIS data, and aiming at meeting threat values of all ships for the aggregation of the latest meeting time and the distance, so as to determine navigation conflict risks; the radar interference risk and the navigation collision risk of the same space unit are weighted and fused to generate a comprehensive risk, and a hierarchical protection area boundary is dynamically defined according to a hierarchical contour line of the comprehensive risk value; And monitoring the ship entering the protection area, generating a navigation instruction according to the position risk level, executing an emergency avoidance instruction if the instant collision risk exists, and otherwise, executing the route optimization control.
2. The method for predicting and analyzing the protective distance of the marine towering object based on the radar technology of claim 1, wherein the specific process of acquiring the detection efficiency attenuation field around the marine towering object and the real-time ship AIS data is as follows: acquiring deployment parameters of a radar and a high-precision three-dimensional model of a marine towering object, wherein the deployment parameters comprise geographic coordinates, antenna heights, working frequencies and beam widths; Simulating a ray path set which takes a radar as a center and intersects with the surface of the towering object based on the high-precision three-dimensional model and the radar beam width; for each ray path, calculating path propagation length difference by combining the shielding effect of the high-rise object geometric structure on radar signals, and determining the radar signal comprehensive attenuation factor of a space point at the end point of the ray path according to the radar working frequency and the reflection characteristic of the high-rise object surface material; In the effective detection distance of the radar, performing spatial interpolation on all spatial points and corresponding comprehensive attenuation factors thereof to generate a continuous three-dimensional detection efficiency attenuation field; An annular AIS data acquisition area is defined by taking an offshore towering object as a center, an AIS base station network and a satellite AIS data source of the area are accessed, and AIS messages broadcasted by ships in the area are received and analyzed in real time; Decoding and checking the AIS message, extracting dynamic information at least comprising a unique identification of the ship MMSI, a real-time position coordinate, a ground speed, a ground course and a message time stamp, and performing structural storage to form a real-time ship AIS data stream.
3. The method for predicting and analyzing the protective distance of the marine towering object based on the radar technology as set forth in claim 2, wherein the specific process of establishing the space coordinate grid is as follows: determining the horizontal coverage range of the space coordinate grid by taking the geographic coordinates of the radar as a reference and combining the space boundary of the detection efficiency attenuation field; setting the horizontal resolution and the number of vertical layering of the grid, and constructing a two-dimensional plane grid consisting of a plurality of equidistant horizontal grid points in the horizontal coverage area; layering and expanding the two-dimensional plane grid along the vertical direction to form a plurality of layers of three-dimensional space units, wherein each space unit is uniquely identified by a horizontal position index and a vertical layer index of the space unit; Mapping the three-dimensional detection efficiency attenuation field to the three-dimensional space coordinate grid, and endowing each space unit with a corresponding radar signal comprehensive attenuation factor to generate the space coordinate grid.
4. The method for predicting and analyzing the guard distance of the marine towering object based on the radar technology as set forth in claim 3, wherein the specific step of determining the risk of radar interference is: Extracting a radar signal comprehensive attenuation factor corresponding to each space unit in the space coordinate grid, and calculating a signal attenuation space variation gradient of the space unit in a three-dimensional space by combining the radar signal comprehensive attenuation factors of adjacent space units; Taking the coordinates of the base point of the marine towering object as an origin, and calculating the horizontal projection distance between the three-dimensional coordinates of the central point of the space unit and the origin; calculating a relative height difference between the altitude of the spatial unit center point and the altitude of the radar antenna; dividing the horizontal projection distance by the relative height difference to obtain a distance-height ratio of the space unit; Respectively carrying out normalization processing on three characteristics of the radar signal comprehensive attenuation factor, the signal attenuation space change gradient and the distance-height ratio by adopting an extremum normalization method, so that the numerical values of all the characteristics are mapped to a unified numerical value interval; and respectively inputting the normalized characteristic values into a preset nonlinear transformation function, calculating the range of the three nonlinear transformation results, and determining the range as radar interference risk.
5. The method for predicting and analyzing the protective distance of the marine towering object based on the radar technology as set forth in claim 1, wherein the calculation process of the real-time ship density is as follows: traversing the real-time ship AIS data stream in a preset time window to acquire real-time longitude and latitude coordinates and ground heading information of each ship; Converting real-time longitude and latitude coordinates of each ship into horizontal projection coordinates consistent with the space coordinate grid according to a geographic coordinate system where the marine towering object is located, and mapping the horizontal projection coordinates to corresponding horizontal space units in the space coordinate grid; And calculating the ratio of the total number of the ships counted in the preset time window to the horizontal area of the horizontal space unit to obtain the real-time ship density of the horizontal space unit.
6. The method for predicting and analyzing the protective distance of the marine towering object based on the radar technology as set forth in claim 2, wherein the calculation process of the meeting threat value is as follows: Traversing all ships in a real-time ship AIS data acquisition area, determining the nearest meeting distance and nearest meeting time of a ship pair formed by any two ships in preset time based on real-time position coordinates, ground speed and ground heading, and calculating potential collision threat values of each ship pair; correcting the potential collision threat values by taking predicted meeting points of each pair of ships as centers according to a distance attenuation rule and distributing the potential collision threat values to corresponding horizontal space units; and accumulating all threat values of all ship pairs distributed to the same horizontal space unit to obtain the comprehensive meeting threat value of the horizontal space unit.
7. The method for predicting and analyzing the guard distance of the marine towering object based on the radar technology as set forth in claim 1, wherein the specific step of determining the risk of the marine collision is: receiving the real-time ship density and the comprehensive meeting threat value of each space unit, and respectively carrying out extremum normalization processing to obtain a density factor and a threat factor which are corresponding to the standardized; taking the density factors and threat factors of the same space unit as two-dimensional coordinate points, and selecting a theoretical lowest risk point as a reference point; Calculating Euclidean distance between the two-dimensional coordinate point and the theoretical lowest risk point, and taking the Euclidean distance as a comprehensive distance index for representing the synergistic effect of the two factors; And linearly scaling the comprehensive distance index to a risk value range which is continuously distributed from a theoretical minimum value to a theoretical maximum value, and taking the risk value range as the comprehensive navigation collision risk of the space unit.
8. The method for predicting and analyzing the protective distance of the marine towering object based on the radar technology as set forth in claim 1, wherein the specific process of generating the comprehensive risk is as follows: aiming at each space unit, acquiring the corresponding radar interference risk and navigation conflict risk; Respectively configuring fusion weight coefficients for the radar interference risk value and the navigation conflict risk; and carrying out weighted fusion calculation on two standardized risk values corresponding to the same space unit according to the fusion weight coefficient to obtain a comprehensive risk value representing the overall risk degree of the space unit.
9. The method for predicting and analyzing the protective distance of the marine towering object based on the radar technology according to claim 1, wherein the specific steps of dynamically defining the boundary of the grading protective area are as follows: Extracting the comprehensive risk value of each space unit, and calculating the statistical distribution of the comprehensive risk values of all the space units; Dividing the comprehensive risk value range into a plurality of risk value intervals corresponding to the number of preset protection levels based on the quantiles of the statistical distribution; Traversing all the space units, comparing the comprehensive risk value with the risk value interval, and distributing a specific risk level for each space unit; Adjacent space units with the same risk level are aggregated to respectively form independent areas of each risk level; And extracting the external outline of each independent area, and generating the boundary of the grading protection area corresponding to each risk level.
10. The method for predicting and analyzing the protective distance of the marine towering object based on the radar technology of claim 9, wherein the route optimization control is specifically: acquiring real-time position, course and speed information of a ship entering the grading protection area, and determining a risk level corresponding to the position of the ship; According to the preset destination and navigation rules of the ship, combining the spatial distribution of the boundaries of the grading protection areas, taking the grading protection areas which avoid the areas with higher risk grades and preferentially select the areas with lower risk grades as optimization targets, and generating a plurality of feasible future routes; Evaluating the total course and steering complexity of each feasible course, and selecting one with the optimal comprehensive evaluation as a recommended course; And calculating a course adjustment instruction and a course suggestion for guiding the ship to gradually leave the high risk area based on the recommended course, and sending the course adjustment instruction and the course suggestion to the ship.

Description

Marine towering object protection distance prediction analysis method based on radar technology Technical Field The invention belongs to the technical field of maritime safety and intelligent navigation, and particularly relates to a prediction analysis method for the protection distance of a marine towering object based on a radar technology. Background With the continuous improvement of ocean resource development and offshore traffic density, offshore wind farms, drilling platforms, cross-sea bridge towers and other offshore towers are increased, and the navigation safety and radar monitoring efficiency of surrounding water areas face serious challenges, namely, on one hand, the towers form entity collision risks, on the other hand, complex metal structures of the towers can shield, reflect, scatter and other interference on shipborne and shore radar signals, so that radar detection performance is unevenly attenuated in surrounding space, radar dead zones or false targets are formed, and misjudgment and collision probability of ships are remarkably increased. The risk protection method mainly comprises the following two steps of firstly setting a warning area or a dead zone with a fixed distance around a towering object according to international maritime organization suggestions or historical experience, and secondly carrying out tracking and collision risk assessment on a ship by analyzing ship AIS data. However, the prior art has the following limitation that the existing protection method mainly adopts an isolated or simply overlapped risk assessment means, is usually only analyzed based on fixed rules or a single data source, cannot effectively integrate multidimensional information such as radar physical propagation characteristics, spatial attenuation gradients, ship dynamic meeting situations and the like, causes risk judgment to be based on one-sided, and lacks systematic fusion modeling and dynamic calibration mechanisms for complex risk scenes formed by interweaving high-rise structures and ship behaviors. Disclosure of Invention In order to overcome the defects in the background technology, the embodiment of the invention provides a prediction analysis method for the protective distance of a marine towering object based on the radar technology, which can effectively solve the problems related to the background technology. The method for predicting and analyzing the protective distance of the marine towering object based on the radar technology comprises the following steps of obtaining a detection efficiency attenuation field around the marine towering object and real-time ship AIS data. And (3) establishing a space coordinate grid based on the detection efficiency attenuation field, taking each grid as a space unit, extracting radar signal attenuation values, space variation gradients and distance-height ratios with towers, and determining the range between three transformation results as radar interference risks through normalization processing and nonlinear transformation. Based on the real-time ship AIS data, calculating the real-time ship density of each space unit, and aiming at the meeting threat values of all ships for the latest meeting time and the distance aggregation, thereby determining the navigation conflict risk. And carrying out weighted fusion on the radar interference risk and the navigation conflict risk of the same space unit, generating a comprehensive risk, and dynamically defining the boundary of the grading protection area according to the grade contour line of the comprehensive risk value. And monitoring the ship entering the protection area, generating a navigation instruction according to the position risk level, executing an emergency avoidance instruction if the instant collision risk exists, and otherwise, executing the route optimization control. Compared with the prior art, the embodiment of the invention has at least the following advantages or beneficial effects that (1) the radar detection characteristic and the traffic dynamics are integrated by establishing the unified space coordinate grid and synchronously quantifying the radar signal attenuation, the space gradient change, the ship density and the multi-source heterogeneous risk factors which are in danger, thereby overcoming the limitation of a single criterion and effectively improving the comprehensiveness of risk assessment. (2) According to the invention, the radar interference risk and the navigation collision risk are fused to generate the comprehensive risk value, and the classified protection boundary is dynamically defined by calculating the risk class contour line, so that the protection area can reflect the evolution of the radar detection blind area and the change of traffic flow risk aggregation in real time, the protection area can be dynamically adjusted according to the real-time risk, the traditional fixed warning area setting mode is replaced, and the utilization efficiency of navigat