CN119942286B - Non-cooperative ship trajectory dynamic completion and monitoring system integrating remote sensing images and AIS data - Google Patents
Non-cooperative ship trajectory dynamic completion and monitoring system integrating remote sensing images and AIS dataInfo
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Abstract
The application discloses a non-cooperative ship track dynamic completion and monitoring system integrating remote sensing images and AIS data, which relates to the field of marine monitoring and ship management, wherein a space-time range determining module of the system determines two retrieval ranges based on AIS data sequences of non-cooperative ships; the target identification module is used for obtaining the label frame information corresponding to the remote sensing images of each ship at each moment in the two search ranges; the system comprises a space-time position calculation and space-time matching module, an image matching module, a track complement module and a dynamic monitoring and alarming module, wherein the space-time position calculation and space-time matching module is used for determining the geographic coordinates of each ship at each moment according to the information of a marking frame, and performing space matching to obtain a non-cooperative ship remote sensing image, the image matching module is used for performing image matching on the ship remote sensing image to be matched by taking the non-cooperative ship remote sensing image as a reference, and the track complement module is used for complementing an AIS data sequence and monitoring the non-cooperative ship.
Description
Technical Field
The application relates to the field of marine monitoring and ship management, in particular to a non-cooperative ship track dynamic complement and monitoring system integrating remote sensing images and AIS data.
Background
The automatic ship identification system (AutomaticIdentificationSystem, AIS) is a main positioning and identity identification means in the current ship management system. The existing ship monitoring system mainly depends on an AIS, and the AIS can provide information such as identity, position, heading, speed and the like of a ship, so that the ship can be automatically identified and tracked.
For some vessels closing the AIS for technical reasons or for human factors is known as "non-cooperative" vessels, for which traditional AIS based monitoring methods may be affected, resulting in a system lacking efficient monitoring of these "non-cooperative" vessels. For vessels lacking AIS, radar technology is often used as an aid to detect vessel position. However, there are certain limitations to the application of radar technology. The detection range of the radar is relatively limited and is limited by the observation angle and the image resolution, which makes the detection of the ship by the radar relatively efficient in the offshore area. In contrast, for a ship performing ocean going, the detection capability of the radar is significantly limited, and it is difficult to achieve effective monitoring over a long distance. This situation presents significant challenges for maritime security, supervision, and security protection. Therefore, a system for dynamically complementing and monitoring the track of a non-cooperative ship is needed at present, and the difficult problem of data loss caused by closing of an AIS can be solved, so that the accuracy and the instantaneity of monitoring are improved.
Disclosure of Invention
The application aims to provide a non-cooperative ship track dynamic completion and monitoring system for fusing remote sensing images and AIS data, which can realize dynamic completion and monitoring of the non-cooperative ship track and can solve the problem of data loss caused by AIS closing.
In order to achieve the above object, the present application provides the following solutions:
In a first aspect, the present application provides a non-cooperative ship track dynamic completion and monitoring system for fusing remote sensing images and AIS data, comprising:
The system comprises a space-time range determining module, a non-cooperative ship AIS data sequence determining module and a non-cooperative ship AIS data sequence determining module, wherein the space-time range determining module is used for determining a first searching range and a second searching range based on the non-cooperative ship AIS data sequence, the first searching range is a time range and a space range in which AIS data is not missing, and the second searching range is a time range and a space range in which AIS data is missing;
the target identification module is used for processing the remote sensing images of each ship at each moment in the first search range and the second search range by adopting a target detection algorithm to obtain the marking frame information of the remote sensing images of each ship at each moment in the first search range and the second search range, wherein the marking frame information comprises coordinates, width, height, rotation angle, confidence and category of a central point;
The space-time position calculation and space-time matching module is used for determining geographic coordinates of each ship at each moment in the first search range and the second search range according to the marking frame information of the remote sensing images of each ship at each moment in the first search range and the second search range, and performing space-time matching on the geographic coordinates of each ship at each moment in the first search range and the AIS data sequence of the non-cooperative ship to obtain non-cooperative ship remote sensing images corresponding to each moment in the first search range;
The image matching module is used for respectively taking non-cooperative ship remote sensing images corresponding to all moments in a first search range as a reference and carrying out image matching on all remote sensing images in a ship remote sensing image set to be matched;
The track completion module is used for completing the geographical coordinates and time corresponding to the remote sensing images successfully matched in the remote sensing image set of the ship to be matched into the AIS data sequence of the non-cooperative ship;
And the dynamic monitoring and alarming module is used for acquiring AIS data of the non-cooperative ship in real time, and alarming after acquiring the AIS data of the non-cooperative ship.
Optionally, the non-cooperative ship track dynamic completion and monitoring system integrating the remote sensing image and the AIS data further comprises a data acquisition module, a remote sensing image acquisition module and a remote sensing image acquisition module, wherein the data acquisition module is used for acquiring an AIS data sequence of the non-cooperative ship, the remote sensing image of each ship at each moment in a first search range and the remote sensing image of each ship at each moment in a second search range.
Optionally, the space-time position calculating and space-time matching module includes:
The first time slot position calculation unit is used for determining the geographic coordinates of each ship at each moment in the first search range according to the marking frame information corresponding to the remote sensing images of each ship at each moment in the first search range and the position coordinates corresponding to the remote sensing images of each ship at each moment in the first search range by adopting a geographic coordinate conversion algorithm;
And the second space-time position calculation unit is used for determining the geographic coordinates of each ship at each moment in the second search range by adopting a geographic coordinate conversion algorithm according to the marking frame information corresponding to the remote sensing images of each ship at each moment in the second search range and the position coordinates corresponding to the remote sensing images of each ship at each moment in the second search range.
Optionally, the space-time position calculating and space-time matching module includes:
The space-time matching unit is used for respectively carrying out space-time matching on the space-time data of each ship and the AIS data sequence of the non-cooperative ship in the first search range to obtain a ship with successful space-time matching, wherein the space-time data of the ship in the first search range is the geographic coordinates of the ship in the first search range and the moment;
And the non-cooperative ship image determining unit is used for determining the remote sensing image of the time of the ship successfully matched in time and space in the first search range as a non-cooperative ship remote sensing image corresponding to the time in the first search range.
Optionally, the object detection algorithm rotates the object detection framework for mmrotate.
Optionally, the image matching module includes:
the image matching unit is used for respectively carrying out image matching on each remote sensing image in the ship remote sensing image set to be matched by taking the non-cooperative ship remote sensing image corresponding to any moment in the first search range as a reference.
Optionally, the image matching unit includes:
and the image matching subunit is used for respectively carrying out image matching on each remote sensing image in the remote sensing image set of the ship to be matched by adopting an image matching algorithm with the non-cooperative ship remote sensing image corresponding to any moment in the first search range as a reference.
Optionally, the non-cooperative ship track dynamic completion and monitoring system for fusing the remote sensing image and the AIS data further comprises:
The data storage and preprocessing module is used for storing AIS data of the non-cooperative ship in time sequence to obtain an AIS data sequence of the non-cooperative ship, and is also used for preprocessing remote sensing images of each ship at each moment in a first search range and remote sensing images of each ship at each moment in a second search range.
Optionally, the non-cooperative ship track dynamic completion and monitoring system for fusing the remote sensing image and the AIS data further comprises:
and the track visualization module is used for carrying out visual display on the AIS data sequence of the completed non-cooperative ship obtained by the track completion module.
According to the specific embodiment provided by the application, the application has the following technical effects:
the application provides a non-cooperative ship track dynamic completion and monitoring system which fuses remote sensing images and AIS data, wherein the remote sensing image data can cover a large-range sea area, can realize all-weather monitoring on the ocean all day, is not limited by weather and time, and can actively monitor a ship without AIS signals.
Drawings
In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings that are needed in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a block diagram of a non-collaborative ship track dynamic completion and monitoring system fusing remote sensing images and AIS data according to an embodiment of the present application;
fig. 2 is a flowchart of a non-cooperative ship track dynamic completion and monitoring system for fusing remote sensing images and AIS data according to an embodiment of the present application.
Detailed Description
The following description of the embodiments of the present application will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present application, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the application without making any inventive effort, are intended to be within the scope of the application.
The foregoing objects, features, and advantages of the application will be more readily apparent from the following detailed description of the application when taken in conjunction with the accompanying drawings and detailed description.
In an exemplary embodiment, as shown in fig. 1, there is provided a non-cooperative ship track dynamic completion and monitoring system fusing remote sensing images and AIS data, comprising:
The space-time range determining module is used for determining a first search range and a second search range based on the AIS data sequence of the non-cooperative ship, wherein the first search range is a time range and a space range in which AIS data are not missing, the second search range is a time range and a space range in which AIS data are missing, and at least one moment of AIS data is missing in the AIS data sequence of the non-cooperative ship.
The target identification module is used for processing the remote sensing images of the ships at all times in the first search range and the second search range by adopting a target detection algorithm to obtain the marking frame information of the remote sensing images of the ships at all times in the first search range and the second search range, wherein the marking frame information comprises coordinates, width, height, rotation angle, confidence and category of a central point. The label frame information of the remote sensing image is obtained through the target detection algorithm, and more accurate and efficient input data is provided for the subsequent image matching process.
And the space-time position calculation and space-time matching module is used for determining the geographic coordinates of each ship at each moment in the first search range and the second search range according to the labeling frame information of the remote sensing images of each ship at each moment in the first search range and the second search range, and performing space-time matching on the geographic coordinates of each ship at each moment in the first search range and the AIS data sequence of the non-cooperative ship to obtain the non-cooperative ship remote sensing images corresponding to each moment in the first search range.
The image matching module is used for respectively carrying out image matching on each remote sensing image in a ship remote sensing image set to be matched by taking non-cooperative ship remote sensing images corresponding to each moment in a first search range as a reference, wherein the ship remote sensing image set to be matched comprises remote sensing images of each ship at each moment in a second search range.
The track completion module is used for completing the geographical coordinates and time corresponding to the remote sensing images successfully matched in the remote sensing image set of the ship to be matched into the AIS data sequence of the non-cooperative ship, and determining the geographical coordinates corresponding to the remote sensing images successfully matched in the remote sensing image set of the ship to be matched according to the label frame information of the remote sensing images successfully matched in the remote sensing image set of the ship to be matched.
And the dynamic monitoring and alarming module is used for acquiring AIS data of the non-cooperative ship in real time, and alarming after acquiring the AIS data of the non-cooperative ship. The system provides a dynamic monitoring function on the basis of data completion, and if a non-cooperative ship is detected, an alarm is immediately triggered.
In another exemplary embodiment of the application, the non-cooperative ship track dynamic completion and monitoring system for fusing remote sensing images and AIS data further comprises a data acquisition module for acquiring an AIS data sequence of the non-cooperative ship, remote sensing images of each ship at each moment in a first search range and remote sensing images of each ship at each moment in a second search range.
In another exemplary embodiment of the present application, the spatio-temporal position calculation and spatio-temporal matching module includes:
The first time-space position calculating unit is used for determining the geographic coordinates of each ship at each moment in the first search range according to the marking frame information corresponding to the remote sensing image of each ship at each moment in the first search range and the position coordinates (the position coordinates of the remote sensing image) corresponding to the remote sensing image of each ship at each moment in the first search range by adopting a geographic coordinate conversion algorithm. The process is a well-known process and mainly comprises the steps of firstly obtaining pixel coordinates of each ship in a remote sensing image through marking frame information, then processing GDAL a geospatial data processing base and the remote sensing image by using a geographic coordinate conversion algorithm, and converting the pixel coordinates into WGS84 geographic coordinates.
And the second space-time position calculation unit is used for determining the geographic coordinates of each ship at each moment in the second search range by adopting a geographic coordinate conversion algorithm according to the marking frame information corresponding to the remote sensing images of each ship at each moment in the second search range and the position coordinates corresponding to the remote sensing images of each ship at each moment in the second search range.
In another exemplary embodiment of the present application, the spatio-temporal position calculation and spatio-temporal matching module includes:
And the space-time matching unit is used for respectively performing space-time matching on the space-time data of each ship and the AIS data sequence of the non-cooperative ship in the first search range to obtain a ship with successful space-time matching, wherein the space-time data of the ship in the first search range is the geographic coordinates of the ship in the first search range at the moment and the moment. Specifically, space-time matching is performed on the space-time data of each ship in the first search range and the AIS data sequence of the non-cooperative ship respectively, so as to judge whether each ship in the first search range accords with the track characteristics of the non-cooperative target, if the space-time matching result corresponding to a certain ship is within a certain threshold (the longitude matching range is set to be 0.01, the latitude matching range is set to be 0.01, and the moment matching range is set to be 60 seconds), the ship is determined to be a space-time matching successful ship, otherwise, the ship is abandoned. One time corresponds to one time-space matching successful ship.
And the non-cooperative ship image determining unit is used for determining the remote sensing image of the time of the ship successfully matched in time and space in the first search range as a non-cooperative ship remote sensing image corresponding to the time in the first search range.
In another exemplary embodiment of the present application, the object detection algorithm rotates the object detection framework for mmrotate.
In another exemplary embodiment of the present application, the image matching module includes:
The image matching unit is used for respectively carrying out image matching on each remote sensing image in the ship remote sensing image set to be matched by taking the non-cooperative ship remote sensing image corresponding to any moment in the first search range as a reference. And determining the image matching degree between the two images according to the matching degree evaluation standard.
In another exemplary embodiment of the present application, the image matching unit includes:
and the image matching subunit is used for respectively carrying out image matching on each remote sensing image in the remote sensing image set of the ship to be matched by adopting an image matching algorithm with the non-cooperative ship remote sensing image corresponding to any moment in the first search range as a reference.
In another exemplary embodiment of the present application, the non-cooperative ship track dynamic complement and monitoring system for fusing remote sensing images and AIS data further includes:
The data storage and preprocessing module is used for storing AIS data of the non-cooperative ship in time sequence to obtain an AIS data sequence of the non-cooperative ship, establishing a time and space range index, and preprocessing remote sensing images of each ship at each moment in a first search range and remote sensing images of each ship at each moment in a second search range (image denoising, enhancement and ship target detection, so that accuracy of target identification is ensured).
In another exemplary embodiment of the present application, the non-cooperative ship track dynamic complement and monitoring system for fusing remote sensing images and AIS data further includes:
and the track visualization module is used for carrying out visual display on the AIS data sequence of the completed non-cooperative ship obtained by the track completion module.
The application can realize dynamic completion of the non-cooperative ship track through remote sensing image identification and positioning under the condition of AIS data loss.
According to the application, accurate dynamic monitoring of multi-source data is realized through space-time matching and data fusion technology.
The application supports real-time data updating, alarm pushing and track visualization, and is convenient for management personnel to control the ship movement in real time.
According to the application, under the condition of AIS data loss, the remote sensing image is utilized for complement, so that the tracking capability and response speed of the ship monitoring system to the uncooperative ship are effectively improved. The real-time alarm function of the system provides powerful support for maritime supervision.
As shown in FIG. 2, the workflow of the system is to acquire original AIS data, namely the AIS data sequence, perform data conversion (store according to days), determine a space-time range of a known track, determine a first search range according to the space-time range of the known track, search remote sensing images in the first search range, perform ship target detection on the ship in the first search range based on the remote sensing images in the first search range, perform space-time position calculation of ship targets in the first search range based on ship target detection results in the first search range, and perform space-time matching according to calculation results to obtain target ship images (namely the non-cooperative ship remote sensing images).
The method comprises the steps of determining a space-time range of an unknown track, determining a second retrieval range according to the space-time range of the unknown track, retrieving remote sensing images in the second retrieval range, detecting ship targets of ships in the second retrieval range based on the remote sensing images in the second retrieval range, calculating space-time positions of the ship targets of the ships in the second retrieval range based on ship target detection results in the second retrieval range, and determining the remote sensing images in the second retrieval range as ship images to be matched.
And respectively carrying out image matching on the target ship image at any moment and the ship image to be matched, judging whether the matching is successful, if so, complementing the space-time position corresponding to the ship image to be matched which is successful in image matching into the original AIS data, then judging whether the target ship image at each moment is matched, and if not, selecting one of the target ship images which are not matched and carrying out image matching on the target ship image to be matched respectively until the target ship image at each moment is matched. If the matching is unsuccessful, judging whether the target ship images at all times are matched, and if the target ship images which are not matched exist, selecting one of the target ship images which are not matched to be matched with the ship image to be matched, and performing image matching respectively until the target ship images at all times are matched.
It should be noted that, the user information (including but not limited to user equipment information, user personal information, etc.) and the data (including but not limited to data for analysis, stored data, presented data, etc.) related to the present application are both information and data authorized by the user or sufficiently authorized by each party, and the collection, use and processing of the related data are required to meet the related regulations.
In the present application, all the actions of obtaining signals, information or data are performed under the premise of conforming to the corresponding data protection regulation policy of the country of the location and obtaining the authorization given by the owner of the corresponding device.
The technical features of the above embodiments may be arbitrarily combined, and all possible combinations of the technical features in the above embodiments are not described for brevity of description, however, as long as there is no contradiction between the combinations of the technical features, they should be considered as the scope of the description.
The principles and embodiments of the present application have been described herein with reference to specific examples, which are intended to facilitate an understanding of the principles and concepts of the application and are to be varied in scope and detail by persons of ordinary skill in the art based on the teachings herein. In view of the foregoing, this description should not be construed as limiting the application.
Claims (9)
1. The non-cooperative ship track dynamic completion and monitoring system integrating the remote sensing image and the AIS data is characterized by comprising the following components:
The system comprises a space-time range determining module, a non-cooperative ship AIS data sequence determining module and a non-cooperative ship AIS data sequence determining module, wherein the space-time range determining module is used for determining a first searching range and a second searching range based on the non-cooperative ship AIS data sequence, the first searching range is a time range and a space range in which AIS data is not missing, and the second searching range is a time range and a space range in which AIS data is missing;
the target identification module is used for processing the remote sensing images of each ship at each moment in the first search range and the second search range by adopting a target detection algorithm to obtain the marking frame information of the remote sensing images of each ship at each moment in the first search range and the second search range, wherein the marking frame information comprises coordinates, width, height, rotation angle, confidence and category of a central point;
The space-time position calculation and space-time matching module is used for determining geographic coordinates of each ship at each moment in the first search range and the second search range according to the marking frame information of the remote sensing images of each ship at each moment in the first search range and the second search range, and performing space-time matching on the geographic coordinates of each ship at each moment in the first search range and the AIS data sequence of the non-cooperative ship to obtain non-cooperative ship remote sensing images corresponding to each moment in the first search range;
The image matching module is used for respectively taking non-cooperative ship remote sensing images corresponding to all moments in a first search range as a reference and carrying out image matching on all remote sensing images in a ship remote sensing image set to be matched;
The track completion module is used for completing the geographical coordinates and time corresponding to the remote sensing images successfully matched in the remote sensing image set of the ship to be matched into the AIS data sequence of the non-cooperative ship;
And the dynamic monitoring and alarming module is used for acquiring AIS data of the non-cooperative ship in real time, and alarming after acquiring the AIS data of the non-cooperative ship.
2. The system for dynamically complementing and monitoring the track of a non-cooperative ship with fused remote sensing images and AIS data as in claim 1, wherein the system for dynamically complementing and monitoring the track of the non-cooperative ship with fused remote sensing images and AIS data further comprises a data acquisition module for acquiring an AIS data sequence of the non-cooperative ship, remote sensing images of each ship at each moment in a first search range, and remote sensing images of each ship at each moment in a second search range.
3. The non-cooperative marine track dynamic completion and monitoring system fusing remote sensing images and AIS data of claim 1, wherein the spatio-temporal position calculation and spatio-temporal matching module comprises:
The first time slot position calculation unit is used for determining the geographic coordinates of each ship at each moment in the first search range according to the marking frame information corresponding to the remote sensing images of each ship at each moment in the first search range and the position coordinates corresponding to the remote sensing images of each ship at each moment in the first search range by adopting a geographic coordinate conversion algorithm;
And the second space-time position calculation unit is used for determining the geographic coordinates of each ship at each moment in the second search range by adopting a geographic coordinate conversion algorithm according to the marking frame information corresponding to the remote sensing images of each ship at each moment in the second search range and the position coordinates corresponding to the remote sensing images of each ship at each moment in the second search range.
4. The non-cooperative marine track dynamic completion and monitoring system fusing remote sensing images and AIS data of claim 1, wherein the spatio-temporal position calculation and spatio-temporal matching module comprises:
The space-time matching unit is used for respectively carrying out space-time matching on the space-time data of each ship and the AIS data sequence of the non-cooperative ship in the first search range to obtain a ship with successful space-time matching, wherein the space-time data of the ship in the first search range is the geographic coordinates of the ship in the first search range and the moment;
And the non-cooperative ship image determining unit is used for determining the remote sensing image of the time of the ship successfully matched in time and space in the first search range as a non-cooperative ship remote sensing image corresponding to the time in the first search range.
5. The non-cooperative marine track dynamic completion and monitoring system fusing remote sensing images and AIS data of claim 1, wherein the target detection algorithm rotates the target detection framework for mmrotate.
6. The non-cooperative ship track dynamic completion and monitoring system fusing remote sensing images and AIS data of claim 1, wherein the image matching module comprises:
the image matching unit is used for respectively carrying out image matching on each remote sensing image in the ship remote sensing image set to be matched by taking the non-cooperative ship remote sensing image corresponding to any moment in the first search range as a reference.
7. The non-cooperative ship track dynamic completion and monitoring system fusing remote sensing images and AIS data of claim 6, wherein said image matching unit comprises:
and the image matching subunit is used for respectively carrying out image matching on each remote sensing image in the remote sensing image set of the ship to be matched by adopting an image matching algorithm with the non-cooperative ship remote sensing image corresponding to any moment in the first search range as a reference.
8. The non-cooperative ship track dynamic completion and monitoring system fusing remote sensing images and AIS data according to claim 1, wherein the non-cooperative ship track dynamic completion and monitoring system fusing remote sensing images and AIS data further comprises:
The data storage and preprocessing module is used for storing AIS data of the non-cooperative ship in time sequence to obtain an AIS data sequence of the non-cooperative ship, and is also used for preprocessing remote sensing images of each ship at each moment in a first search range and remote sensing images of each ship at each moment in a second search range.
9. The non-cooperative ship track dynamic completion and monitoring system fusing remote sensing images and AIS data according to claim 1, wherein the non-cooperative ship track dynamic completion and monitoring system fusing remote sensing images and AIS data further comprises:
and the track visualization module is used for carrying out visual display on the AIS data sequence of the completed non-cooperative ship obtained by the track completion module.
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