1. install ffmpeg or avconv (debian alternative)

2. put all *.ts* files in one folder (they should have the same encoding, resolution etc. etc.)

3. and while you are in this directory fire this line:

ffmpeg -i "concat:$(ls -1 *.ts* | perl -0pe 's/\n/|/g;s/\|$//g')" -c copy -bsf:a aac_adtstoasc outputfile.mp4

you could also save it into a script, if you might need it later: /scripts/join_videos.sh