Offshore general navigation monitoring method based on mobile and beidou short message hybrid communication

Abstract

The present application relates to the technical field of maritime traffic service, in particular to a kind of offshore general navigation monitoring method based on mobile and beidou short message hybrid communication, comprising the following steps: S1, communication model is built, including infrastructure and communication mode;Infrastructure is based on client / server mode;Communication mode includes mobile communication, beidou short message and hybrid communication;S2, client and server are based on strategy mode, according to communication demand and communication condition, dynamically adjust communication mode;The communication strategy includes mobile communication priority strategy, transmission strategy based on statistics and transmission strategy based on machine learning;S3, build communication process, including the division of communication stage, the setting and conversion of communication state, and the relationship between communication process.The present application supports the real-time switching of communication strategy, has the sending, receiving and management capability of monitoring data in the complex situation such as frequent disconnection, long-time network reconnection.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of maritime traffic service, in particular to a near-sea general navigation monitoring method based on mobile and Beidou short message hybrid communication. BACKGROUND

[0002] The Global Maritime Distress and Safety System (GMDSS) is a maritime distress and safety radio system established by the International Maritime Organization in 1988. It is based on shore-based, mainly used for and broadcast maritime safety information, to assist and coordinate search and rescue tasks to provide emergency and safety communication. Because the GMDSS system is indispensable in the fields of rescue and search, emergency communication, etc., it extends the communication range from the ground network to remote areas that cannot be covered by the ground system, so it is widely used in China.

[0003] In recent years, China has achieved extensive mobile signal coverage in Hainan, Guangdong, Shanghai and other waterways, and satellite navigation services and maritime mobile communication services have developed rapidly. With the improvement of mobile coverage rate in China's near-sea waters and waterways and the improvement of Beidou navigation system service level, the realization of many intelligent application scenarios has a solid foundation. However, GMDSS is mainly used for distress and safety communication systems, and when a marine vehicle accesses, a ship station needs to be established, and communication with the shore station relies on multiple professional equipment, which is not convenient to deploy, not suitable for portable access to small and medium-sized vehicles, and not convenient for personalized customization and service expansion.

[0004] To solve this problem, the prior art with patent number 202211370145.1 proposes a near-sea general navigation real-time monitoring and control system supporting portable access of small and medium-sized vehicles to solve the problems of poor personalization customization capability of existing systems and poor collaborative control capability on multiple monitoring sources. The patent integrates a mobile communication module and a Beidou module, and the availability of the navigation system is high and the expandability is strong.

[0005] Compared with mature global satellite navigation systems such as GPS and GLONASS, the short message function is a unique function of the Beidou satellite system independently developed by China. The above patent is based on Beidou short message communication, which expands the coverage of mobile communication and improves the emergency communication capability of the system. However, it does not propose a specific communication mechanism for monitoring data transmission, reception and management under complex conditions such as frequent disconnection and long network disconnection and reconnection. SUMMARY

[0006] The purpose of the present application is to provide a near-sea general navigation monitoring method based on mobile and Beidou short message hybrid communication, which is used for monitoring data transmission, reception and management under complex conditions such as frequent disconnection and long network disconnection and reconnection.

[0007] In order to achieve the above object, a kind of offshore general navigation monitoring method based on mobile and beidou short message hybrid communication is provided, comprising the following steps:

[0008] S1, communication model is constructed, including infrastructure and communication mode;

[0009] The infrastructure is based on client-server mode, composed of client and server;

[0010] The client (i.e. aircraft end) is used to communicate with ground equipment, including monitoring data transmission, reception, execution control instruction;The ground equipment includes beidou command machine, server (ground server) and network communication equipment;

[0011] The server (i.e. server end) is used to generate control instruction and send control instruction to client;Also used to receive monitoring data sent by client;Also used to configure client with zero contact;Also used to provide access service of user interface;Also used to control beidou command machine;

[0012] The communication mode between the client and the server includes mobile communication, beidou short message communication and the hybrid communication of the two;

[0013] S2, client and server are based on strategy mode, dynamically adjust communication mode according to communication demand and communication condition:

[0014] The strategy mode provides three basic strategies: mobile communication priority strategy, statistical transmission strategy and machine learning based transmission strategy;

[0015] The mobile communication priority strategy is: preferentially use mobile communication mode to transmit data, in the case of mobile communication interruption or timeout, use short message communication;And in the process of applying short message communication, try to restore mobile communication connection;

[0016] The statistical transmission strategy is: statistics in a period of time, including flow, cost, mobile communication interruption probability and short message success rate, according to the target of communication task, use heuristic method to determine and switch communication mode;

[0017] The machine learning based transmission strategy is: to reduce timeout waiting time, improve communication efficiency as target, build machine learning model about aircraft navigation state, navigation environment and communication condition, predict communication condition in aircraft navigation process, and use prediction result to select and switch to optimal communication mode;

[0018] S3, build communication process, including communication stage division, communication state setting and conversion, and the relationship between communication process.

[0019] Further, the mobile communication is that the server sends control instructions and configuration data to the client through a mobile communication mode; the client receives the control instructions and configuration data, and feeds back instruction execution results and transmits monitoring data to the server;

[0020] The Beidou short message communication is that the server sends control instructions to the client through a Beidou short message; when the client feeds back instruction execution results and transmits monitoring data, the Beidou command machine forwards the received short message to the server for analysis;

[0021] The mixed communication is that the mobile communication and the Beidou short message communication are interactively verified and fused.

[0022] Further, the S3 specifically includes the following steps:

[0023] S301, based on a master-slave mode, communication stages between the client and the server are divided, and a three-stage interactive protocol is established;

[0024] S302, based on a state machine mode, a communication state is set, a business function is decomposed into states and state transitions, a state machine is formed, and a change of the business is decomposed into addition and deletion of states and transformation of state transitions;

[0025] S303, according to the division of the communication stages and the communication state transition process, each process above the server and the client is created, each process is given a clear responsibility, and the relationship between the processes of the server, the processes of the client and the processes between the two ends is established.

[0026] Further, the division of the communication stages specifically includes the following steps:

[0027] S3011, between the client and the server, a three-stage protocol of query-response-response is used to complete one communication; the master-slave mode is that the server is a master end, the client is a slave end, the client initiates a query to the server each time, and responds according to the response of the server.

[0028] Further, the communication steps of the three-stage protocol are:

[0029] S3011-1, the client queries the next instruction to the server, which corresponds to a query query state;

[0030] S3011-2, the server responds to the query and returns an instruction, which corresponds to a data transmission data state or a configuration effective config ready state;

[0031] S3011-3, the client returns data or instruction execution results to the server as a response after executing the instruction.

[0032] Further, the states include: initialization init, connecting connecting, connected connected, flag id, query query, configuration config, configuration taking effect config ready, data transmission data, and termination terminated.

[0033] The initial state is initialization init, and the final state is termination terminated.

[0034] Further, the transition of different states in the step S302 includes the following sub-steps:

[0035] S3021, the next state of the initialization init state is set to connecting connecting;

[0036] S3022, the next state of the connecting connecting state is set to connected connected;

[0037] S3023, the next state of the connected connected state is set to flag id;

[0038] S3024, the next state of the flag id state is set to query query;

[0039] S3025, the next state of the query query is set to configuration config, data transmission data, or termination terminated;

[0040] S3026, the next state of the configuration config state is set to configuration taking effect config ready;

[0041] S3027, the next state of the configuration taking effect config ready state is set to query query;

[0042] S3028, the next state of the data transmission data state is set to query query.

[0043] Further, the processes on the client include a main process, a communication process, and a data collection process, and the relationship therebetween is that the data collection process and the communication process are child processes of the main process, the data collection process is a producer of data, and the main process and the communication process are consumers of data; the data collection process shares data with the main process and the communication process through shared memory or a database; before the main process terminates, a termination message is sent to the communication process and the data collection process;

[0044] The relationship between the client process and the server communication process is that the server communication process listens to the connection request of the client communication process and establishes a connection; the communication processes at the client and the server communicate based on a query-response-response three-segment protocol, and the communication state is converted according to the conversion steps of the different states.

[0045] Principles and advantages:

[0046] 1. The communication mechanism is based on a state machine mode, and the communication between the client on the aircraft and the server uses different states to divide the communication stage, and the state and the flow between the states constitute a state machine. The business function is decomposed into states and the flow between the states, and at the same time, the change of the business is decomposed into the addition and deletion of the state and the transformation of the flow between the states, thereby supporting the real-time switching of the communication strategy and having strong scalability.

[0047] 2. The communication process is based on a "master-slave" mode, and an interactive protocol is constructed, which divides each interaction into three stages of query, response and response. The "query-response-response" mode is used at both ends to complete an interaction, and the flow between the states at both ends corresponds to each interaction, on the basis of which various functions such as monitoring, control, zero-touch configuration and bidirectional data transmission of the aircraft can be realized, and bidirectional interaction capability is provided.

[0048] 3. The client and the server are based on a strategy mode, which provides a flexible interface for dynamic adjustment of the communication strategy, supports the three communication strategies and other new custom strategies. When the communication processes at both ends flow between different states, they can timely perceive weak signals, frequent disconnections and other communication conditions, dynamically adjust the communication mode according to the communication demand, and comprehensively utilize mobile communication and short message communication mode to complete data transmission. The data transceiver process provides a read-write cache mechanism, supports reconnection for long-time network disconnection, realizes concurrent processing and breakpoint resume of the aircraft data transceiver, and guarantees the integrity of the data. BRIEF DESCRIPTION OF DRAWINGS

[0049] Figure 1 The system principle diagram of the communication model in the offshore general navigation monitoring method based on mobile and Beidou short message hybrid communication in the embodiment of the application;

[0050] Figure 2 The communication model schematic diagram of the client on the aircraft and the ground server in the embodiment of the application;

[0051] Figure 3 The interactive protocol schematic diagram of the client on the aircraft and the ground server in the embodiment of the application;

[0052] Figure 4 The state machine schematic diagram of the communication between the client on the aircraft and the ground server in the embodiment of the application;

[0053] Figure 5 Fig. 1 is a schematic diagram of the relationship between the client on the vehicle and the communication process of the ground server in the embodiment of the present application;

[0054] Figure 6 Fig. 2 is a schematic diagram of the relationship between the client processes in the embodiment of the present application;

[0055] Figure 7 Fig. 3 is a schematic diagram of the data read-write relationship between the client processes in the embodiment of the present application;

[0056] Figure 8 Fig. 4 is a schematic diagram of the server system in the embodiment of the present application;

[0057] Figure 9 Fig. 5 is a schematic diagram of the communication process and the user operation queue in the embodiment of the present application. DETAILED DESCRIPTION

[0058] The embodiment is further described in detail below.

[0059] Embodiment 1

[0060] A near-shore general navigation monitoring method based on mobile and Beidou short message hybrid communication, as shown in Fig. 1, specifically includes the following steps: Figures 1-9

[0061] S1, a communication model is constructed, including a basic framework and a communication mode;

[0062] The basic framework is based on a client-server mode and is composed of a client and a server. It mainly involves Beidou satellites, vehicles, ground base stations, ground servers, Beidou command machines and other related components. Among them, the Beidou satellites and the ground base stations exist outside the system boundary. The hardware facilities within the system boundary are divided into vehicle end devices (clients) and ground devices (server ends). The vehicle end devices mainly refer to devices for communicating with the ground devices; the ground devices mainly include Beidou command machines, ground servers, network communication devices and the like.

[0063] The client (vehicle end) is used to obtain navigation / positioning / time service information from the Beidou satellite, send monitoring data to the server, and receive configuration data and control instructions from the server. The monitoring data includes navigation information and state parameters of the vehicle, such as vehicle coordinates, speed, heading, course angle, and navigation environment (weather, air pressure, air flow, etc.). The client is realized as an encapsulated independent device and is powered by a battery. The client device integrates the Beidou module, the mobile communication module and the like based on an ARM 7 platform.

[0064] ​A plurality of clients send monitoring data to the server during the voyage. Each client device has a unique ID and is bound to a vehicle, each vehicle is distinguished from other vehicles by ID. The ID will be used for the ground server to manage multiple clients and implement functions such as breakpoint continuation.

[0065] The Beidou command machine is used to receive Beidou navigation / positioning / time service information and transmit short message messages.

[0066] The server is used to receive monitoring data from the client, and send control instructions and configuration data to the client through mobile communication or Beidou command machine. When sending through the Beidou command machine, a short message message is used.

[0067] The configuration data indicates the fields that the monitoring data should contain, and also includes the running parameters of the client program. Through the configuration data, the server can customize the content of the monitoring data and set the communication strategy of one or more vehicles. The server uploads the configuration to the vehicle, and the vehicle updates the local configuration using the configuration data and makes it effective.

[0068] The server deploys a service program for the user interface to provide access services for the user interface. Users access the web interface through a browser and use client management, monitoring data management, custom configuration, command machine management, and instruction transmission functions.

[0069] The communication mode between the client and the server includes mobile communication, Beidou short message, and mixed communication of the two;

[0070] The mobile communication is that the server sends control instructions and configuration data to the client through mobile communication; the client receives the control instructions and configuration data, and feeds back the instruction execution result and transmits monitoring data to the server;

[0071] The Beidou short message communication is that the server sends control instructions to the client through Beidou short message; when the client feeds back the instruction execution result and transmits monitoring data, the Beidou command machine forwards the received short message message to the server for analysis;

[0072] The mixed communication is the interaction verification and fusion of mobile communication and Beidou short message communication.

[0073] S2, the client and the server dynamically adjust the communication mode based on the strategy mode according to the communication demand and the communication condition;

[0074] The strategy mode provides three basic strategies: mobile communication priority strategy, statistical transmission strategy, and machine learning-based transmission strategy.

[0075] The mobile communication priority strategy is: preferentially using mobile communication mode to transmit data, using short message communication in the case of mobile communication connection interruption or timeout; and in the process of applying for short message communication, attempting to restore the mobile communication connection.

[0076] The statistical transmission strategy is: statistics of the communication condition of the vehicle and the ground transmission data in a period of time, including traffic, cost, mobile communication interruption probability, short message success rate, etc., according to the target of the communication task, using heuristic method to determine and switch the communication mode.

[0077] The machine learning-based transmission strategy is: constructing a learning model about the navigation state (coordinates, speed, heading, etc.), navigation environment (weather, air pressure, air flow, etc.) and communication condition of the vehicle, and predicting the communication condition during the navigation of the vehicle, so as to select the appropriate communication mode, thereby reducing the timeout waiting time and improving the communication efficiency. In this embodiment, the machine learning model is based on existing deep learning technology, and the embodiment only uses it, without improvement, so it will not be described again.

[0078] S3, constructing a communication process, including division of communication stages, setting and conversion of communication states, and relationship between communication processes;

[0079] The S3 specifically includes the following steps:

[0080] S301, dividing the communication stage between the client and the server based on the "master-slave" mode, and establishing a "three-stage" interactive protocol; the division of the communication stage specifically includes the following steps:

[0081] S3011, using a three-stage query-response-response protocol between the client and the server to complete a communication; the master-slave mode is that the server is the master and the client is the slave, and in each communication, the client initiates a query to the server, and responds according to the response of the server. The communication steps of the three-stage protocol are:

[0082] S3011-1, the client queries the next instruction to the server, corresponding to the query query state;

[0083] S3011-2, the server responds to the query and returns an instruction, corresponding to the data transmission data state or the configuration effective config ready state;

[0084] S3011-3, the client returns data or instruction execution result to the server as a response after executing the instruction.

[0085] S302, based on the "state machine" mode, set the communication state, decompose the business function into states and the flow between states, form a state machine; at the same time, decompose the change of the business into the addition and deletion of states and the transformation of the flow between states;

[0086] S303, according to the division of the communication order and the communication state transition process, create each process on the server and the client, give each process a clear responsibility, and establish the relationship between the server processes, the client processes and the processes between the two ends.

[0087] The states include: initialization init, connecting, connected, id, query, configuration config, configuration ready config, data transmission data and termination terminated. The interpretation of the main states is shown in Table 1:

[0088] Table 1 Interpretation of Communication State

[0089]

[0090]

[0091] Among them, the initial state is initialization init, and the final state is termination terminated.

[0092] Figure 3 An embodiment of the client and server establishing a connection, updating a configuration and transmitting monitoring data is shown. In Figure 3 , the communication starts from the initialization init state. In the initialization init state, the client on the aircraft is ready to connect the server, and the ground server is listening for the connection of the client on the aircraft. After the connection is established (connected), the client on the aircraft sends its ID to the server.

[0093] Figure 3The illustrated communication process follows the master-slave mode and three-stage interaction protocol described in step S301, i.e. each communication consists of a set of adjacent "solid arrow-dashed arrow-solid arrow". For example, for the zero-touch configuration function, the client requests the server for instructions, the server returns the configuration instructions and uploads the configuration data to the client of the aircraft, and the client of the aircraft sends an acknowledgement to the server after updating the configuration. First, the client queries the communication state to the server ([querystate]), and the server responds with [config: config data], indicating that the communication state is "config" (the specific configuration data is after the colon). After receiving the response, the client of the aircraft enters the configuration config state. After the client of the aircraft updates the configuration, it sends a response to the server [config ready]. After receiving the response, the server continues to wait for the next query.

[0094] As shown in Figure 4 In the step S302, the state machine in the transition between different states includes the following sub-steps:

[0095] S3021, the successor state of the initialization init state is set to connecting;

[0096] S3022, the successor state of the connecting connecting state is set to connected;

[0097] S3023, the successor state of the connected connected state is set to id;

[0098] S3024, the successor state of the id state is set to query;

[0099] S3025, the successor state of the query query is set to config, data transmission data or termination terminated;

[0100] S3026, the successor state of the configuration config state is set to configuration ready config ready;

[0101] S3027, the successor state of the configuration ready config ready state is set to query query;

[0102] S3028, the successor state of the data transmission data state is set to query query, and finally to termination terminated.

[0103] Based on the division of the communication stage and the transition of the communication state, the zero-touch configuration, data transmission, remote monitoring, remote control and other functions can be realized in the following way:

[0104] (1) The zero-contact configuration and remote control function is realized by configuring the config state, specifically, the config data can be customized to encapsulate configuration data and control instructions;

[0105] (2) The data transmission, remote monitoring and other functions are realized by the data transmission data state, specifically, the specific meaning of the data can be customized by the data;

[0106] (3) When new functions are added, the state transition process can be extended, that is, the flow of the state is added, deleted or changed as needed. Figure 4

[0107] Under complex communication conditions, the communication abnormality is abnormal exit of any of the above states, and cannot flow to the next state. When the abnormal exit occurs, the transmission strategy is used for processing.

[0108] As shown in Figure 5 To realize data transmission, the relationship between the client process and the server process is:

[0109] The processes above the client include the main process, the communication process and the data collection process, and the relationship among them is that the data collection process and the communication process are the sub-processes of the main process, the data collection process is the producer of the data, and the main process and the communication process are the consumers of the data; the data collection process shares data with the main process and the communication process through shared memory or database; before the main process terminates, a termination message is sent to the communication process and the data collection process;

[0110] The communication between the ground server and the client is completed by the cooperation of the processes at both ends, and the relationship between the client process and the server communication process is that the server communication process listens to the connection request of the client communication process and establishes a connection; the communication processes at both ends of the client and the server communicate based on a three-segment query-answer-response protocol, and the communication state is converted according to the conversion steps of the state machine in different states.

[0111] Embodiment Two

[0112] The difference between embodiment two and embodiment one is that embodiment two is a further elaboration of the client based on embodiment one.

[0113] On the one hand, various types of data generated by the client need to be transmitted to the server; on the other hand, the client should be able to receive control instructions from the server. Figure 6 ​An embodiment of the client is shown. In this embodiment, the client realizes the functions of the client through four processes, i.e. a main process, a GNSS (Global Navigation Satellite System) process, a (mobile) communication process, a Beidou process, and the synchronization among them. Among them, the Beidou process and the mobile communication process are collectively referred to as the communication process; the GNSS process is a data collection process.

[0114] After the client is started, the main process creates the GNSS process, the communication process, and the Beidou process, which realize the functions of the navigation module, the mobile communication module, and the Beidou module respectively. The data reading and writing relationship among the GNSS process, the communication process, and the Beidou process is shown as a plurality of "producer-consumer" relationships, as shown in Figure 7

[0115] (1) The GNSS process collects the GNSS messages generated by the navigation module, stores them in the cache queue, and waits for the mobile communication module and the Beidou module to send out the messages in the cache queue.

[0116] (2) The communication process sends the messages in the cache queue to the server subsystem through the TCP / IP protocol on one hand; on the other hand, it receives the messages sent by the server, parses the control instructions, and writes them into the instruction queue, waiting for the Beidou module to execute them.

[0117] (3) The Beidou process monitors the instruction queue, executes the instructions in the queue one by one, and stores the results in the cache queue. Among them, the "instruction results" include not only the results generated by the execution of the instruction queue, but also the results generated by the DWA positioning of the Beidou process itself. The command machine with the monitoring function can receive the positioning results of the subordinate equipment. On the other hand, it uses the DWA instruction (a kind of RDSS instruction) to apply for its own positioning at a fixed time interval (the shortest service frequency of the civilian Beidou card is 30 seconds), and stores the positioning results in the cache queue.

[0118] Embodiment Three

[0119] The difference between Embodiment Three and Embodiments One and Two is that Embodiment Three is a further elaboration of the server end based on Embodiments One and Two.

[0120] Figure 8 An embodiment of the server is shown. In this embodiment, the server is composed of a user front-end subsystem, a data management subsystem, and a communication service subsystem. Among them, the data management subsystem mainly provides access services for non-real-time data, such as support for historical data, navigation data, navigation plan, etc.

[0121] The user front-end subsystem mainly provides the following functions:

[0122] ​(1) Provide the user with an operation interface in the form of a webpage, so that the user can easily use the various functions provided by the system;

[0123] (2) Provide access services for the webpage, quickly respond when the user submits an access request through the browser, and simultaneously obtain the data required by the user from the relevant subsystem as an agent.

[0124] The communication service subsystem mainly completes the following relatively independent and interrelated tasks:

[0125] (1) Control the director;

[0126] (2) Upload and issue commands to the client;

[0127] (3) Manage the connection of multiple clients;

[0128] (4) Complete the user's operation and push real-time monitoring data to the user.

[0129] As shown in Figure 8 , the communication service subsystem is further divided into a WebSocket service module, a director management module, and a communication service module. When executing control instructions, the user operates through the front-end subsystem, the WebSocket service module converts the user operation into control instructions and forwards them to the corresponding module for processing. In addition to general data access, the objects of the user operation mainly include the director and the aircraft. The communication service module maintains a process pool (or thread pool) to manage multiple clients (aircraft). As shown in Figure 9 , the processes in the process pool establish a one-to-one connection with the client processes. Each communication process in the process pool maintains an operation queue. The processing steps when the user operates are as follows:

[0130] (1) The user specifies one or more aircraft (distinguished by ID);

[0131] (2) The WebSocket service module converts the user operation into control instructions and stores them in the operation queue of the corresponding communication process according to the aircraft ID;

[0132] (3) The communication processes on the server continuously take operations from the operation queue and send them to the client for execution;

[0133] (4) If the operation queue is empty, the operation queue returns an empty operation and sends it to the client for execution.

[0134] As can be seen from the foregoing, the communication between the server and the client is based on the state machine pattern Figure 3 . Different user operation types correspond to communication states. For example:

[0135] (1) The config read and set operations correspond to the config state;

[0136] (2) The no-op operation corresponds to the data state;

[0137] (3) To control the execution of instructions (e.g., sending a short message) by the vehicle, a state (which can be named exec) can be inserted in the state machine ( Figure 4 ) to achieve this.

[0138] The execution of the control instruction is asynchronous. The server returns immediately after sending the control instruction to the client. The server executes the callback function after collecting the instruction result, and asynchronously pushes the instruction result to the user.

[0139] The above is only an embodiment of the present application, and the common knowledge of the specific structure and characteristics in the scheme is not described too much. The person skilled in the art knows all the ordinary technical knowledge in the field of the application before the application date or the priority date, can know all the prior art in the field, and has the ability to apply conventional experimental means before that date. The person skilled in the art can improve and implement the present scheme based on his own ability under the guidance of the present application. Some typical known structures or known methods should not be an obstacle for the person skilled in the art to implement the present application. It should be noted that for those skilled in the art, without departing from the structure of the present application, a number of modifications and improvements can be made, which should also be considered as the protection scope of the present application. These will not affect the effect and practicality of the present application. The protection scope of the present application should be subject to the content of its claims, and the specific implementation mode in the specification can be used to explain the content of the claims.

Claims

1. Offshore general navigation monitoring method based on mobile and Beidou short message hybrid communication, characterized in that, The method comprises the following steps: S1, constructing a communication model, including infrastructure and communication mode: The infrastructure is based on a client-server mode, composed of a client and a server; The client is used for communication with ground equipment, including sending, receiving and executing control instructions of monitoring data; the ground equipment includes a Beidou command machine, a ground server and network communication equipment; The server is used for generating and sending control instructions to the client; also used for receiving monitoring data sent by the client; also used for zero-contact configuration of the client; also used for providing access services of a user interface; also used for controlling the Beidou command machine; The communication mode between the client and the server includes mobile communication, Beidou short message communication and mixed communication of the two; S2, the client and the server dynamically adjust the communication mode based on the strategy mode according to the communication demand and the communication condition: The strategy mode provides three basic strategies: mobile communication priority strategy, statistical transmission strategy and machine learning-based transmission strategy; The mobile communication priority strategy is to preferentially use mobile communication mode to transmit data, and use short message communication in the case of mobile communication disconnection or timeout; and try to restore the mobile communication connection in the process of applying short message communication; The statistical transmission strategy is to statistically transmit data between the vehicle and the ground within a period of time, including traffic, cost, mobile communication interruption probability and short message success rate, and to determine and switch the communication mode according to the target of the communication task by using heuristic method; The machine learning-based transmission strategy is to construct a machine learning model about the vehicle's sailing state, sailing environment and communication condition, to predict the communication condition in the vehicle's sailing process, and to select and switch to the optimal communication mode by using the prediction result; S3, constructing a communication process, including division of communication stage, setting and conversion of communication state, and relationship between communication processes.

2. The offshore general navigation monitoring method based on mobile and Beidou short message hybrid communication according to claim 1, characterized in that, The mobile communication is that the server sends control instructions and configuration data to the client through mobile communication mode; the client receives the control instructions and configuration data, and feeds back instruction execution result and transmits monitoring data to the server; The Beidou short message communication is that the server sends control instructions to the client through Beidou short message; When the client feeds back instruction execution result and transmits monitoring data, the Beidou command machine forwards the received short message to the server for analysis; The mixed communication is the interaction verification and fusion of mobile communication and Beidou short message communication.

3. The offshore general navigation monitoring method based on mobile and Beidou short message hybrid communication according to claim 2, characterized in that, S3 specifically comprises the following steps: S301, dividing the communication stage between the client and the server based on the master-slave mode, and establishing a three-stage interactive protocol; S302, setting the communication state based on the state machine mode, decomposing the business function into states and state transitions, forming a state machine; at the same time, decomposing the change of business into the addition and deletion of states and the transformation of state transitions. S303, according to the communication stage division and the communication state transition flow, creating each process on the server and the client, giving each process a clear responsibility, establishing the relationship between the server processes, the client processes and the processes between the two ends.

4. The offshore general navigation monitoring method based on mobile and Beidou short message hybrid communication according to claim 3, characterized in that, The communication stage division specifically includes the following steps: S3011, using a three-stage query-response-response protocol between the client and the server to complete a communication; the master-slave mode is that the server is the master and the client is the slave, and each time the client initiates a query to the server, and responds according to the server's response.

5. The offshore general navigation monitoring method based on mobile and Beidou short message hybrid communication according to claim 4, characterized in that, The communication steps of the three-stage protocol are: S3011-1, the client queries the next instruction to the server, corresponding to the query state; S3011-2, the server responds to the query and returns an instruction, corresponding to the data transmission data state or the configuration effective config ready state; S3011-3, the client returns data or instruction execution results to the server as a response after executing the instruction.

6. The offshore general navigation monitoring method based on mobile and Beidou short message hybrid communication according to claim 5, characterized in that, The states include: initialization init, connecting, connected, id, query, configuration config, configuration effective config ready, data transmission data and termination terminated; Wherein, the initial state is initialization init, and the final state is termination terminated.

7. The offshore general navigation monitoring method based on mobile and Beidou short message hybrid communication according to claim 6, characterized in that, The transition of different states in step S302 includes the following sub-steps: S3021, the subsequent state of the initialization init state is set to connecting; S3022, the subsequent state of the connecting state is set to connected; S3023, the subsequent state of the connected state is set to id; S3024, the subsequent state of the id state is set to query; S3025, the subsequent state of the query is set to configuration config, data transmission data or termination terminated; S3026, the subsequent state of the configuration config state is set to configuration effective config ready; S3027, the subsequent state of the configuration effective config ready state is set to query; S3028, the subsequent state of the data transmission data state is set to query.

8. The offshore general navigation monitoring method based on mobile and Beidou short message hybrid communication according to claim 7, characterized in that, The processes on the client include a main process, a communication process and a data collection process, and the relationship among them is that the data collection process and the communication process are child processes of the main process, the data collection process is a data producer, and the main process and the communication process are data consumers; the data collection process shares data with the main process and the communication process through shared memory or a database; Before the main process terminates, a termination message is sent to the communication process and the data collection process; The relationship between the client process and the server communication process is that the server communication process listens to the connection request of the client communication process and establishes connection; the communication processes at the two ends of the client and the server communicate based on the query-answer-response three-segment protocol of claim 5, and the communication state is converted according to the steps of claim 7.

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