A real-time evaluation method for cross-regional information interaction capability of a navigation body

Abstract

The present invention discloses a real-time evaluation method for the cross-regional information interaction capability of navigation bodies, which aggregates and integrates the trajectory information of each navigation body in real time, maps the implicit real-time information collaboration process evolution of the navigation body into explicit actual flight dynamic execution, and evaluates the cross-regional information interaction capability of the navigation body according to its execution status. This method realizes the real-time evaluation of the authenticity and effectiveness of the cross-regional real-time information collaboration of multiple navigation bodies.

Description

Technical Field

[0001] The present invention relates to the technical field of cross-region information collaborative test and evaluation, and in particular to a real-time evaluation method for the cross-region information interaction capability of a navigation body. Background Art

[0002] In recent years, with the development of emerging science and technologies such as mobile Internet, big data, Internet of Things, and cloud computing, various land, air, surface, and underwater vehicles such as UGV, UAV, USV, and UUV have greatly improved their multi-domain interconnection capabilities, making cross-regional interactive collaboration possible.

[0003] Information interaction is characterized by multi-source, diverse, random, high-dimensional, clustered, and weakly observable characteristics, making it challenging to assess. Current assessments of information interaction capabilities rely primarily on post-comparison internal test data from various navigational stages. This requires a high level of expertise and comprehensiveness from the analysis and assessment technicians. Furthermore, due to the post-test internal test data self-verification approach and the lack of third-party testing and assessment methods, the assessments are time-sensitive and difficult to determine their effectiveness. Summary of the Invention

[0004] In response to the above problems, the inventors provide a real-time explicit evaluation method for cross-regional information interaction capabilities to solve the problems of difficulty in evaluating cross-regional information interaction capabilities, poor timeliness, and lack of third-party evaluation methods.

[0005] According to a first aspect, the present invention provides a method for real-time evaluation of a vehicle's cross-regional information interaction capability, the method comprising:

[0006] Data acquisition equipment is installed on the test vehicles in each area. The test vehicles are on standby in their respective areas. The test system in each area collects the trajectory information of the vehicles in its own area in real time and uploads the trajectory information to the upper system. The upper system integrates and displays the navigation trajectories of each test vehicle.

[0007] The state information interaction capability is evaluated using a point-to-point method based on point-finding tasks:

[0008] Multiple mission points are set in each area. The upper system selects any participating navigation body in the area and issues an instruction to find one of the mission points as the first mission point. After the selected participating navigation body arrives at the first mission point, it sends a message to other participating navigation bodies in a point-to-point manner to find the mission point. Other participating navigation bodies then carry out the point-finding mission based on the received mission point information.

[0009] The normal state information exchange capability requires the following conditions to be met:

[0010] The selected test vehicle finds its point correctly, and within the set time, the test vehicles in other mission areas also find their points correctly.

[0011] According to a second aspect, the present invention further provides a method for real-time evaluation of a vehicle's cross-regional information interaction capability, the method comprising:

[0012] Data acquisition equipment is installed on the test vehicles in each area. The test vehicles are on standby in their respective areas. The test system in each area collects the trajectory information of the vehicles in its own area in real time and uploads the trajectory information to the upper system. The upper system integrates and displays the navigation trajectories of each test vehicle.

[0013] Use the networking situation based on graphic drawing to evaluate information interaction capabilities:

[0014] The upper system selects any participating navigation body and issues a situation construction instruction. The selected participating navigation body performs path planning and broadcasts its own position information to other participating navigation bodies in real time. Other participating navigation bodies analyze the situation and construct the situation based on the received real-time position information.

[0015] The normal interaction of network situation information requires the following conditions to be met:

[0016] After the selected test vehicle starts to move, and within the set reaction time, the other test vehicles and the selected test vehicle coordinate their actions at the key points;

[0017] The situation style constructed by each navigation body is the same.

[0018] Furthermore, the key points include:

[0019] A starting point, a turning point, and an ending point.

[0020] According to a third aspect, the present invention further provides a method for real-time evaluation of a vehicle's cross-regional information interaction capability, the method comprising:

[0021] Data acquisition equipment is installed on the test vehicles in each area. The test vehicles are on standby in their respective areas. The test system in each area collects the trajectory information of the vehicles in its own area in real time and uploads the trajectory information to the upper system. The upper system integrates and displays the navigation trajectories of each test vehicle.

[0022] Use random accusations based on characteristic actions to evaluate information responsiveness:

[0023] Each participating navigation body cruises along the set path in its own mission area. During the cruise, the upper system selects any participating navigation body and sends a random feature action instruction. After the selected participating navigation body starts the action, it sends the random feature action information to any participating navigation body in other mission areas. This step is followed to traverse all participating navigation bodies.

[0024] The ability to respond to random accusation information normally requires the following conditions to be met:

[0025] After the participating navigation body that receives the characteristic action information starts to perform the characteristic action, within the set time, the next participating navigation body performs the same characteristic action as the participating navigation body.

[0026] Furthermore, the area includes at least two of: a water surface area, an underwater area, an air area, and a land area.

[0027] Compared with the prior art, the present invention has the following beneficial effects:

[0028] (1) The method provided by the present invention maps the implicit information interaction process of "state, situation, and command" of the vehicle into explicit dynamic execution of actual flight through dynamic task setting, thereby realizing real-time self-verification and third-party testing and evaluation of the authenticity and effectiveness of the real-time information interaction and coordination of multiple vehicles across regions.

[0029] (2) It can verify and evaluate the full-domain two-way real-time information coordination capability of "land-air-surface-underwater", and improve the authenticity, real-time and effectiveness of the multi-domain real-time information connectivity verification and evaluation.

[0030] (3) The evaluation objects include multiple cross-regional navigation objects, which are of unlimited number, various types, and can be freely combined. The object platform collaborative capability verification and evaluation of any two, three, or four domains can be carried out as needed, with good flexibility and universality. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] Figure 1 This is a schematic diagram of the cross-regional multi-source information aggregation process in Example 1;

[0032] Figure 2 Schematic diagram of point-to-point status information interaction capability evaluation based on point-finding tasks in Example 2.

[0033] Figure 3 This is a diagram of the networking situation information interaction capability evaluation based on graphics in Example 2.

[0034] Figure 4 Schematic diagram of random accusation information response capability evaluation based on characteristic actions in Example 2. DETAILED DESCRIPTION

[0035] The present invention will be further described in detail below through specific embodiments with reference to the accompanying drawings.

[0036] Example 1

[0037] Assume that the number of test navigation bodies is z, and the test domain and respective mission areas are determined according to the test navigation bodies. The set of underwater, surface, air and land test navigation bodies is {z1, z m}, respectively install data acquisition equipment and stand by in their respective mission areas, underwater, surface, air, and land test systems collect vehicle trajectory information in real time, and transmit the trajectory information to the multi-source information fusion system through cross-region relay, wireless and wired links. This process is as follows Figure 1 In the following tests, the reaction time t is set (t is the information interaction time of each vehicle).

[0038] Evaluation of point-to-point status information interaction capabilities based on point-finding tasks:

[0039] n task points are set in each domain test task area respectively. The task points in each domain are randomly arranged and numbered. The underwater task point set is {x 下1 , x 下n}, the surface mission point set is {x 面1 , x 面n}, the aerial mission point set is {x 空1 , x 空n}, the land mission point set is {x 陆1 , x 陆n}; The shore-based command station sends a signal to any participating navigation object z j (j∈[1,m]) sends the task search point x i (i∈[1,n]) command; navigation body z j Sail to x i Then, search for the task point x i (i∈[1,n]) information is sent to other vehicles in a point-to-point manner, and each vehicle navigates to the corresponding mission point; according to this step, the vehicle set {z1, z m}.

[0040] The multi-source information fusion system fuses and displays the navigation trajectories of each participating navigation body. If the point-finding task is to find the task point x i , judge the following conditions:

[0041] ①z j (Assuming it is a surface vehicle) for x 面i Find the correct point;

[0042] ② Then within t seconds z j+1 (Assuming it is an underwater vehicle) starts to move and 下 Find the correct point;

[0043] If ① and ② are both satisfied, then z j With z j+1 The "surface→underwater status information interaction capability" is normal.

[0044] Evaluation of networking situation information interaction capability based on graphic drawing:

[0045] The shore-based command and control station sends a signal to any participating navigation object z j (j∈[1,m]) sends a situation (including arbitrary graphics, numbers, letters, etc.) to build instructions; the navigation body z j Perform path planning and broadcast its own position information to other participating navigation bodies in real time. Each participating navigation body analyzes the situation based on the received real-time position information and simultaneously draws graphics / numbers / letters. Follow this step to traverse the navigation body set {z1, z m}.

[0046] The multi-source information fusion system integrates and displays the navigation trajectories of each participating navigation body and makes judgments on the following conditions:

[0047] ①z j Start the action after receiving the instruction;

[0048] ②z j-1 (Assuming it is a land-based vehicle), z j+2 (Assuming it is a surface vehicle), z j+3 (assuming it is an airborne vehicle) and z j (Assuming it is a surface vehicle) coordinates actions at the key points of "start, turn, and end", and the reaction time is within t seconds;

[0049] ③ The graphic style of each navigation body (considering the different speeds of each navigation body, the size is not limited) and z j same;

[0050] If ①~③ are all satisfied, then z j 、z j-1 、z j+2 、z j+3 The "network situation information interaction capability" is normal.

[0051] Evaluation of the ability to respond to random accusation information based on characteristic actions:

[0052] Underwater, surface, air and land test navigation bodies {z1, z m} respectively cruise along the set paths in their respective mission areas; during this process, the shore-based command and control station sends a signal to any participating navigation object z j(j∈[1,m]) sends random feature action (including arbitrary graphic hovering, circling, returning, etc.) instructions; the participating navigation body that receives the random accusation information immediately executes the feature action; according to this step, traverse the navigation body set {z1, z m}.

[0053] The multi-source information fusion system integrates and displays the navigation trajectories of each participating navigation body and makes judgments on the following conditions:

[0054] ①{z1,z m} Each of them cruises normally along the set path in their respective mission areas;

[0055] ②z j+1 (Assuming it is an underwater vehicle) starts to perform characteristic actions after receiving the command;

[0056] ③z j+1 Within t seconds after the action, z j (Assuming it is a surface vehicle) make a j+1 Same characteristic action;

[0057] ④z j Within t seconds after the action, z j+3 (Assuming it is an airborne vehicle) j Same characteristic action;

[0058] ⑤z j+3 Within t seconds after the action, z j-1 (Assuming it is a land vehicle) j+3 Same characteristic action;

[0059] If ① and ② are both satisfied, then z j+1 The "underwater random command information response capability" is normal; if ①~③, it is considered that z j+1 、z j The "underwater and surface random command information response capability" is normal; if ①~④ are all satisfied, then z j+1 、z j 、z j+3 The "underwater, surface, and air random command information response capability" is normal; if ①~⑤ are all satisfied, then z j+1 、z j 、z j+3 、z j-1 The "underwater, surface, air and land random command and control information response capability" is normal.

[0060] Example 2

[0061] Test preparation:

[0062] Check the output information and signal characteristics of the external interfaces of each participating vehicle, as well as the remote measurement and control, operation interface, and stability. Ensure that the data connection interface between each vehicle and the control center is correct and the time and space alignment is correct; ensure that the network communication of each domain vehicle in the air, on the surface, and underwater is normal; ensure that the communication relay data connection interface is correct and the time and space alignment is correct when the vehicle communicates in a single domain and across regions.

[0063] In this embodiment, the number of test vehicles z is 3, one underwater, one surface, and one airborne, namely {z1, z2, z3}. In the following test tasks, the reaction time t is set to 10 seconds.

[0064] 1. Cross-regional point-to-point status information interaction capability assessment:

[0065] like Figure 2 As shown, mission areas of a certain range are set in the air, on the surface, and underwater, and 9 mission points are randomly set in each mission area, and each mission point is numbered.

[0066] (1) Evaluation of “shore-based → air-based → surface-based → underwater status information exchange capability”

[0067] The shore-based command station sends a command to the air vehicle z3 to search for mission point 1; the vehicle z3 navigates to x 空1 Then, the information of searching mission point 1 is sent to the surface vehicle z2 via wireless link; the vehicle z2 sails to x 面1 Then, the information of searching mission point 1 is sent to underwater vehicle z1 through cross-region relay; vehicle z1 sails to x 下1 .

[0068] The multi-source information fusion system will fuse and display the navigation trajectory of each participating navigation body. If z3 takes action and can correctly navigate to x within 10 seconds after the shore-based command and control station sends the information of task point 1, 空1 , then the "shore-to-air status information interaction capability" between the shore base and z3 is normal; if z3 sails to x 空1 Within the next 10 seconds, z2 moves and can navigate correctly to x 面1 , then the "shore-based→air→surface status information interaction capability" between the shore-based and z3 and z2 is normal; if z2 sails to x 面1 Within the next 10 seconds, z1 moves and can navigate correctly to x 下1 , then the "shore base → air → surface → underwater status information interaction capability" between the shore base and z3, z2, and z1 is normal.

[0069] (2) Evaluation of “shore-based → underwater → surface → air-based status information exchange capability”

[0070] The shore-based command station sends an instruction to the underwater vehicle z1 to search for mission point 5; the underwater vehicle z1 sails to x 下5Then, the information of searching for mission point 5 is sent to the surface vehicle z2 through cross-region relay; the vehicle z2 sails to x 面5 Then, the information of searching point 5 is sent to the aerial vehicle z3 via wireless link; the aerial vehicle z3 navigates to x 空5 .

[0071] The multi-source information fusion system will fuse and display the navigation trajectory of each participating navigation body. If z1 takes action and can correctly navigate to x within 10 seconds after the shore-based command station sends the information at task point 5, 下5 , then the “shore-to-underwater state information interaction capability” between the shore-based and z1 is normal; if z1 sails to x 下5 Within the next 10 seconds, z2 moves and can navigate correctly to x 面5 , then the "shore-based → underwater → surface state information interaction capability" between the shore-based and z1 and z2 is normal; if z2 sails to x 面5 Within the next 10 seconds, z3 moves and can navigate correctly to x 空5 , then the "shore-based → underwater → surface → air status information interaction capability" between the shore-based and z1, z2, z3 is normal.

[0072] (3) Evaluation of “shore-based → surface → airborne status information exchange capability” and “shore-based → surface → underwater status information exchange capability”

[0073] The shore-based command station sends a search mission point 9 command to the surface vehicle z2; the vehicle z2 sails to x 面9 Then, the information of the search point 9 is sent to the underwater vehicle z1 through the cross-region relay and to the aerial vehicle z3 through the wireless link; the vehicle z1 navigates to x 下9 , vehicle z3 navigates to x 空9 .

[0074] The multi-source information fusion system will fuse and display the navigation trajectory of each participating navigation body. If z2 takes action and can correctly navigate to x within 10 seconds after the shore-based command station sends the information at task point 9, 面9 , then the “shore-to-surface state information interaction capability” between the shore base and z2 is normal; if z2 sails to x 面9 Within the next 10 seconds, both z1 and z3 are in action and can navigate to x correctly. 下9 、x 空9 , then the "shore base → water surface → underwater status information interaction capability" between the shore base and z2, z1 is normal, and the "shore base → water surface → air status information interaction capability" between the shore base and z2, z3 is normal.

[0075] If all capabilities (1) to (3) are normal, it proves that the cross-region status information exchange capability of {z1, z2, z3} is normal.

[0076] 2. Multi-domain networking situation information interaction capability assessment:

[0077] (1) Evaluation of “Surface-triggered Situational Information Interaction Capability”

[0078] like Figure 3 As shown, the shore-based command and control station sends a digital 1 graphic construction instruction to the surface vehicle z2. Z2 performs path planning and broadcasts its own position information in real time. The underwater vehicle z1 and the air vehicle z3 analyze the real-time situation constructed by z2 based on the received real-time position information of z2 and carry out graphic construction synchronously.

[0079] The multi-source information fusion system fuses and displays the navigation trajectories of each participating vehicle. If within 10 seconds after the surface vehicle z2 starts moving, the underwater vehicle z1 and the air vehicle z3 both start moving; within 10 seconds after the surface vehicle z2 ends moving, the underwater vehicle z1 and the air vehicle z3 both stop moving; and the graphic style of the number 1 drawn according to the fusion trajectory display of z2, z1, and z3 is the same, then the "surface-triggered situational information interaction capability" of z1, z2, and z3 is normal.

[0080] (2) Evaluation of “Air-triggered Situational Information Interaction Capabilities”

[0081] The shore-based command and control station sends a digital 5 graphics construction instruction to the air vehicle z3. z3 performs path planning and broadcasts its own position information in real time. The underwater vehicle z1 and the surface vehicle z2 analyze the real-time situation constructed by z3 based on the real-time position information received from z2, and carry out graphics construction simultaneously.

[0082] The multi-source information fusion system fuses the navigation trajectories of each participating vehicle and displays them. If within 10 seconds after the aerial vehicle z3 starts moving, the surface vehicle z2 and the underwater vehicle z1 both start moving; within 10 seconds after the aerial vehicle z3 ends moving, the surface vehicle z2 and the underwater vehicle z1 both stop moving; at the four turning points involved in the process from start to stop, the surface vehicle z2 and the underwater vehicle z1 both make correct turning actions within 10 seconds after the aerial vehicle z3 ends moving; finally, the number 5 drawn based on the fusion trajectory display of z2, z1, and z3 has the same graphic style, then the "air-triggered situational information interaction capability" of z1, z2, and z3 is normal.

[0083] (3) Evaluation of “Underwater-triggered Situational Information Interaction Capability”

[0084] The shore-based command and control station sends a digital 5 graphics construction instruction to the underwater vehicle z1. Z1 plans the path and broadcasts its own position information in real time. The surface vehicle z2 and the air vehicle z3 analyze the real-time situation constructed by z1 based on the real-time position information received from z1 and carry out graphics construction simultaneously.

[0085] The multi-source information fusion system fuses and displays the navigation trajectories of each participating vehicle. If within 10 seconds after the underwater vehicle z1 starts moving, the surface vehicle z2 and the air vehicle z3 both start moving; within 10 seconds after the air vehicle z3 ends moving, the surface vehicle z2 and the air vehicle z3 both stop moving; at the four turning points involved in the process from start to stop, the surface vehicle z2 and the air vehicle z3 both make correct turning actions within 10 seconds after the underwater vehicle z1 ends moving; finally, the number 5 drawn based on the fusion trajectory display of z2, z1, and z3 has the same graphic style, then the "underwater triggered situational information interaction capability" of z1, z2, and z3 is normal.

[0086] If all capabilities (1) to (3) are normal, it proves that the multi-domain networking situation information exchange capability of {z1, z2, z3} is normal.

[0087] 3. Evaluation of the ability to respond to random accusation information based on characteristic actions

[0088] like Figure 4 As shown, after the test starts, the aerial vehicle z3 cruises along the set "comb-shaped" path in the aerial mission area, the surface vehicle z2 cruises along the set "rectangular" path in the surface mission area, and the underwater vehicle z1 cruises along the set "triangle" path in the underwater mission area.

[0089] (1) Evaluation of “Air-triggered Random Command Information Response Capability”

[0090] The shore-based command and control station sends a characteristic action 1 instruction to the airborne vehicle z3; the vehicle z3 hovers in the air and sends the characteristic action 1 instruction to the surface vehicle z2 via a wireless link; after the vehicle z2 hovers on the water surface, the characteristic action 1 information is sent to the underwater vehicle z1 via a cross-region relay; the vehicle z1 hovers underwater.

[0091] The multi-source information fusion system will fuse and display the navigation trajectories of all participating navigation bodies. If z3 hovers within 10 seconds after the characteristic action 1 command is issued by the shore-based command and control station; z2 hovers within 10 seconds after z3 hovers; and z1 hovers within 10 seconds after z2 hovers, then the "random command and control information response capability triggered in the air" of z1, z2, and z3 is normal.

[0092] (2) Evaluation of “Surface-triggered Random Command and Control Information Response Capability”

[0093] The shore-based command and control station sends characteristic action 5 instruction to the surface vehicle z2, and z2 circles on the water surface. It also sends characteristic action 1 instruction to the underwater vehicle z1 through cross-region relay and to the air vehicle z3 through a wireless link. The underwater vehicle z1 and the air vehicle z3 circle underwater and in the air respectively according to the received z2 instruction.

[0094] The multi-source information fusion system integrates and displays the navigation trajectories of each participating navigation body. z1, z2, and z3 cruise normally according to the set path; within 10 seconds after the shore-based command and control station issues the characteristic action 5 instruction, the surface navigation body z2 circles on the water surface; within 10 seconds after z2 hovers, the underwater navigation body z1 and the aerial navigation body z3 circle underwater and in the air respectively; then the "surface-triggered random command and control information response capability" of z1, z2, and z3 is normal.

[0095] (3) Evaluation of “Underwater-triggered Random Command Information Response Capability”

[0096] The shore-based command and control station sends characteristic action 9 instructions to the underwater vehicle z1; the vehicle z3 returns and sends the characteristic action 9 instructions to the surface vehicle z2 via a wireless link; the vehicle z2 returns and sends the characteristic action 9 information to the air vehicle z3 via cross-region relay; the vehicle z1 returns.

[0097] The multi-source information fusion system integrates and displays the navigation trajectories of all participating navigation bodies. If z3 returns within 10 seconds after the shore-based command and control station issues the characteristic action 9 command; z2 returns within 10 seconds after z3 returns; and z1 returns within 10 seconds after z2 returns, then the "underwater triggered random command and control information response capability" of z1, z2, and z3 is normal.

[0098] If all the capabilities (1) to (3) are normal, it proves that {z1, z2, z3} has normal capabilities in responding to random accusation information.

[0099] The above examples are used to illustrate the present invention, which are only used to help understand the present invention and are not intended to limit the present invention. Those skilled in the art can make several simple deductions, modifications or substitutions based on the concept of the present invention.

Claims

1. A real-time evaluation method for the cross-regional information interaction capability of a vehicle, characterized by: The method comprises: Data acquisition equipment is installed on the test vehicles in each area. The test vehicles are on standby in their respective areas. The test system in each area collects the trajectory information of the vehicles in its own area in real time and uploads the trajectory information to the upper system. The upper system integrates and displays the navigation trajectories of each test vehicle. The state information interaction capability is evaluated using a point-to-point method based on point-finding tasks: Multiple mission points are set in each area. The upper system selects any participating navigation body in the area and issues an instruction to find one of the mission points as the first mission point. After the selected participating navigation body arrives at the first mission point, it sends a message to other participating navigation bodies in a point-to-point manner to find the mission point. Other participating navigation bodies then carry out the point-finding mission based on the received mission point information. The normal state information exchange capability requires the following conditions to be met: The selected test vehicle finds its point correctly, and within the set time, the other test vehicles in the mission area also find their points correctly; The areas include at least two of: a water surface area, an underwater area, an air area, and a land area.

2. A real-time evaluation method for the cross-regional information interaction capability of a vehicle, characterized by: The method comprises: Data acquisition equipment is installed on the test vehicles in each area. The test vehicles are on standby in their respective areas. The test system in each area collects the trajectory information of the vehicles in its own area in real time and uploads the trajectory information to the upper system. The upper system integrates and displays the navigation trajectories of each test vehicle. Use the networking situation based on graphic drawing to evaluate information interaction capabilities: The upper system selects any participating navigation body and issues a situation construction instruction. The selected participating navigation body performs path planning and broadcasts its own position information to other participating navigation bodies in real time. Other participating navigation bodies analyze the situation and construct the situation based on the received real-time position information. The normal interaction of network situation information requires the following conditions to be met: After the selected test vehicle starts to move, and within the set reaction time, the other test vehicles and the selected test vehicle coordinate their actions at the key points; The situation style constructed by each navigation body is the same; The areas include at least two of: a water surface area, an underwater area, an air area, and a land area.

3. The method according to claim 2, wherein The key points include: A starting point, a turning point, and an ending point.

4. A real-time evaluation method for the cross-regional information interaction capability of a vehicle, characterized in that: The method comprises: Data acquisition equipment is installed on the test vehicles in each area. The test vehicles are on standby in their respective areas. The test system in each area collects the trajectory information of the vehicles in its own area in real time and uploads the trajectory information to the upper system. The upper system integrates and displays the navigation trajectories of each test vehicle. Use random accusations based on characteristic actions to evaluate information responsiveness: Each participating navigation body cruises along the set path in its own mission area. During the cruise, the upper system selects any participating navigation body and sends a random feature action instruction. After the selected participating navigation body starts the action, it sends the random feature action information to any participating navigation body in other mission areas. This step is followed to traverse all participating navigation bodies. The ability to respond to random accusation information normally requires the following conditions to be met: After the test vehicle that receives the characteristic action information starts to perform the characteristic action, the next test vehicle performs the same characteristic action as the test vehicle within the set time; The areas include at least two of: a water surface area, an underwater area, an air area, and a land area.

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