【摘要】 面向自主船舶自主识别航行场景的实际需求，提出一种基于电子海图的港口水域航行场景自适应识别方法。首先，通过系统分析港口水域的航行特征，将船舶航行过程划分为进港、出港、航道航行、进出锚地、锚泊、靠泊、离泊、在港系泊八种场景。其次，根据物标特征和相对位置关系建立了一种场景判定规则，并构建了融合几何关系与动态参数的自适应识别模型。最后，基于进出烟台港水域船舶的AIS历史轨迹数据，对所提方法进行了验证。结果表明，该方法对港口航行场景的精确率达到了95.6%,场景判断的延迟缩小到了12 ms。可为港区航行船舶的自主航行系统实时提供必要的航行场景信息和高精度的航行环境感知支持。更多还原

【Abstract】 To meet the practical demands of autonomous ships for self-identifying navigation scenarios at sea, an adaptive recognition method for navigation scenarios in port waters based on electronic nautical charts is proposed. Firstly, by systematically analyzing the navigation characteristics of port waters, the ship navigation process is divided into eight scenarios: entering the port, leaving the port, navigating in the channel, entering and leaving the anchorage, anchoring, berthing, unberthing and mooring in the port. Secondly, a scene determination rule is established based on the characteristics of objects and their relative positions, and an adaptive recognition model integrating geometric relationships and dynamic parameters is constructed. Finally, the proposed method is verified based on the AIS historical trajectory data of 100 ships entering and leaving the waters of Yantai Port. The results show that the precision rate of this method for port navigation scenarios reaches 95.6%, and the delay is reduced to 12 ms. It can provide real-time necessary navigation scenario information and high-precision navigation environment perception support for the autonomous navigation system of ships sailing in the port area.更多还原