Distributed data synchronization method for unmanned ship cluster

Abstract

The invention provides a distributed data synchronization method oriented to an unmanned ship cluster. The method comprises the following steps: an unmanned ship cluster data distributed optimization transmission strategy based on message real-time constraint or message priority; an unmanned ship data synchronization mechanism based on communication quality perception; and an unmanned ship data classification synchronization mechanism. According to the invention, the task cooperation capability of the cluster is enhanced through an unmanned ship cluster data distributed optimization transmission strategy based on message real-time constraint or (and) message priority, the overall working efficiency is improved, and the efficiency and stability of data transmission are improved through a data synchronization mechanism based on communication quality perception; through a data classification synchronization mechanism, different types of data can adopt different synchronization modes according to actual requirements, so that the data synchronization is more flexible and efficient, and the timeliness and reliability requirements of different data can be met.

Description

Technical Field

[0001] The present invention belongs to the technical field of distributed data communication, and in particular relates to a distributed data synchronization method for unmanned boat clusters. Background Art

[0002] An unmanned boat swarm is widely used in the fields of ocean survey, resource exploration, environmental monitoring, etc. Through the collaborative work of multiple unmanned boats, the efficiency of task execution can be improved, the task coverage can be expanded, and a certain fault tolerance can be achieved. In an unmanned boat swarm, data synchronization is a key link in achieving collaborative tasks. In an unmanned boat swarm, multiple unmanned boats need to exchange and synchronize data to achieve collaborative execution of tasks. However, data synchronization within the swarm has problems such as timeliness requirements and communication resource limitations, which require an efficient data synchronization method to solve. Summary of the invention

[0003] In order to optimize the data transmission strategy, improve the data synchronization efficiency, and meet the task coordination time limit requirements, this application proposes a distributed data synchronization method for unmanned boat clusters, including:

[0004] Distributed optimization transmission strategy of unmanned boat swarm data based on message real-time constraints or (and) message priorities;

[0005] Unmanned boat data synchronization mechanism based on communication quality perception;

[0006] Unmanned boat data classification and synchronization mechanism.

[0007] Furthermore, the unmanned boat cluster data distributed optimization transmission strategy includes:

[0008] Data priority determination: The priority of the transmitted data is determined according to the task coordination time limit requirements; high-priority data will be transmitted first to ensure the timely execution of key tasks; at the same time, according to the importance and timeliness of different tasks, the priority order of different data is determined and the transmission queue is arranged;

[0009] Preemptive message transmission mechanism: During the transmission process, if there is data of a high-priority task that needs to be transmitted, even if the data of a low-priority task is currently being transmitted, the transmission of the low-priority task will be temporarily interrupted, and the data of the high-priority task will be transmitted first.

[0010] Furthermore, the transmitted data includes control instructions and working data.

[0011] Furthermore, the unmanned boat data synchronization mechanism includes:

[0012] Data communication quality monitoring: each unmanned boat in the cluster regularly monitors the recent data communication quality;

[0013] Dynamically adjust the data transmission volume based on the monitoring results of data communication quality. When the communication quality is good, increase the data transmission volume; when the communication quality is poor, reduce the data transmission volume.

[0014] Furthermore, data communication quality includes communication delay, packet loss rate, and bandwidth.

[0015] Furthermore, the unmanned boat data classification synchronization mechanism includes:

[0016] Real-time mission command and control data synchronization, through high-speed, low-latency communication links to ensure that real-time mission command and control data can be transmitted to all relevant unmanned boats in the shortest time and executed in a timely manner;

[0017] Situational awareness data synchronization: set a suitable synchronization period and regularly transmit situational awareness data to each unmanned boat in the cluster;

[0018] Task execution data synchronization, periodically transmitting task execution data;

[0019] The unmanned boat's working data is synchronized. After completing the mission, the unmanned boat will transfer the working data in batches to the shore server for subsequent data processing and storage.

[0020] Furthermore, situational awareness data is used to obtain information about the surrounding environment.

[0021] Furthermore, the mission execution data is the data generated by the unmanned boat during the mission execution process, including sensor data and image data.

[0022] Furthermore, the working data includes the status information and operation log of the unmanned boat itself.

[0023] Compared with the prior art, the distributed data synchronization method for unmanned boat swarms proposed in the present invention has the following beneficial effects:

[0024] The present invention adopts a distributed optimization transmission strategy for unmanned boat cluster data based on message real-time constraints or (and) message priorities. The transmission order of data within the unmanned boat cluster is optimized, and high-priority task data is transmitted first, thereby ensuring that important tasks can be executed in a timely manner, enhancing the task coordination capability of the cluster, and improving overall work efficiency; through a data synchronization mechanism based on communication quality perception, the unmanned boat cluster can dynamically adjust the data synchronization amount according to the real-time communication quality status, avoiding resource waste and transmission errors caused by transmitting a large amount of data when the communication quality is poor, thereby improving the efficiency and stability of data transmission; through a data classification synchronization mechanism, different types of data can adopt different synchronization methods according to actual needs, making data synchronization more flexible and efficient, and meeting the timeliness and reliability requirements of different data. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] Figure 1 This is a schematic diagram of data synchronization of the unmanned boat cluster of the present invention. DETAILED DESCRIPTION

[0026] In order to enable those skilled in the art to better understand the technical solution of the present invention, the present invention is further described below in conjunction with the accompanying drawings and specific implementation methods.

[0027] Combination Figure 1 The present invention provides a distributed data synchronization method for unmanned boat clusters, which specifically includes:

[0028] Distributed optimization transmission strategy of unmanned boat swarm data based on message real-time constraint or (and) message priority

[0029] 1. Data Prioritization

[0030] In the unmanned boat cluster, there are multiple data that need to be transmitted, including control instructions, work data, etc. According to the task coordination time limit requirements, the priority of these data is determined. High-priority data will be transmitted first to ensure the timely execution of key tasks. At the same time, according to the importance and timeliness of different tasks, the priority order of different data is determined and the transmission queue is arranged.

[0031] 2. Preemptive message transmission mechanism

[0032] In order to further improve the collaborative ability of the cluster, this patent introduces a preemptive message transmission mechanism. During the transmission process, if the data of a high-priority task needs to be transmitted, even if the data transmission of a low-priority task is currently in progress, the transmission of the low-priority task will be temporarily interrupted, and the data of the high-priority task will be transmitted first. In this way, the timely transmission of high-priority tasks can be guaranteed, and the collaborative nature of the cluster can be enhanced.

[0033] Data synchronization mechanism of unmanned boat based on communication quality perception

[0034] With the continuous development of unmanned boat technology, unmanned boats have been widely used in the fields of ocean exploration, resource investigation, rescue, etc. In an unmanned boat cluster, multiple unmanned boats need to exchange and synchronize data to achieve collaborative execution of tasks. However, the complexity of the marine environment and the instability of wireless communications often lead to a decrease in communication quality during data transmission, affecting the collaborative efficiency of the cluster. Therefore, this patent proposes an unmanned boat data synchronization mechanism based on communication quality perception to optimize the data transmission strategy and improve data transmission efficiency and stability.

[0035] 1. Data communication quality monitoring

[0036] In the unmanned boat cluster, each unmanned boat exchanges and synchronizes data through wireless communication. In order to perceive the communication quality, each unmanned boat regularly monitors the recent data communication quality, including communication delay, packet loss rate, bandwidth and other indicators. By collecting this data, the communication status can be understood in real time, and accurate decisions can be made for subsequent data transmission.

[0037] 2. Dynamically adjust data transmission volume

[0038] Based on the monitoring results of data communication quality, this patent adopts a strategy of dynamically adjusting the data transmission volume. When the communication quality is good, the data transmission volume can be appropriately increased to maximize the use of communication resources and improve data transmission efficiency. When the communication quality is poor, in order to avoid communication errors and resource waste caused by excessive data transmission, it is necessary to appropriately reduce the data transmission volume to ensure the stability of data transmission.

[0039] Unmanned boat data classification and synchronization mechanism

[0040] 1. Real-time mission command and control data synchronization

[0041] Real-time mission command and control data is crucial for the coordinated execution of unmanned boat clusters. In order to ensure the accurate execution of real-time tasks, such data needs to have high real-time performance. Therefore, this patent adopts a real-time synchronization method to ensure that the real-time mission command and control data can be transmitted to all relevant unmanned boats in the shortest time and executed in a timely manner. The real-time synchronization method can be achieved through a high-speed, low-latency communication link.

[0042] 2. Situational Awareness Data Synchronization

[0043] Situational awareness data is used to obtain information about the surrounding environment and provide data support for the decision-making and planning of unmanned boats. Although situational awareness data has high real-time requirements, it has a greater tolerance for delays than real-time mission command and control data. Therefore, this patent adopts a timed synchronization method, sets a suitable synchronization cycle, and regularly transmits situational awareness data to each unmanned boat in the cluster to ensure the timeliness and accuracy of the data.

[0044] 3. Task execution data synchronization

[0045] Mission execution data is data generated by the unmanned boat during the mission, such as sensor data, image data, etc. This type of data has low real-time requirements, but has high requirements for data reliability. In order to ensure the success of mission execution, this patent adopts a timed synchronization method to periodically transmit mission execution data to ensure the integrity and reliability of the data.

[0046] 4. Synchronization of unmanned boat working data

[0047] The working data of the unmanned boat includes the status information and operation log of the unmanned boat itself. The real-time and reliability requirements of this type of data are relatively low, so the shore batch synchronization method can be adopted. After completing the mission, the unmanned boat will transfer the working data in batches to the shore server for subsequent data processing and storage.

[0048] In summary, the above are only preferred embodiments of the present invention, and the protection scope of the present invention is not limited thereto. All equivalent changes and modifications made according to the patent scope of the present invention and the contents of the specification are within the scope covered by the patent of the present invention.

Claims

1. A distributed data synchronization method for unmanned boat swarms, characterized in that: include: Distributed optimization transmission strategy of unmanned boat swarm data based on message real-time constraints or message priorities; Unmanned boat data synchronization mechanism based on communication quality perception; Unmanned boat data classification and synchronization mechanism.

2. A distributed data synchronization method for unmanned boat clusters, characterized in that: include: Distributed optimization transmission strategy of unmanned boat swarm data based on message real-time constraints and message priorities; Unmanned boat data synchronization mechanism based on communication quality perception; Unmanned boat data classification and synchronization mechanism.

3. The method according to claim 1 or 2, characterized in that: The unmanned boat swarm data distributed optimization transmission strategy includes: Data priority determination: The priority of the transmitted data is determined according to the task coordination time limit requirements; high-priority data will be transmitted first to ensure the timely execution of key tasks; at the same time, according to the importance and timeliness of different tasks, the priority order of different data is determined and the transmission queue is arranged; Preemptive message transmission mechanism: During the transmission process, if there is data of a high-priority task that needs to be transmitted, even if the data of a low-priority task is currently being transmitted, the transmission of the low-priority task will be temporarily interrupted, and the data of the high-priority task will be transmitted first.

4. The method according to claim 3, characterized in that: The transmitted data includes control instructions and working data.

5. The method according to claim 1 or 2, characterized in that: The unmanned boat data synchronization mechanism includes: Data communication quality monitoring: each unmanned boat in the cluster regularly monitors the recent data communication quality; Dynamically adjust the data transmission volume based on the monitoring results of data communication quality. When the communication quality is good, increase the data transmission volume; when the communication quality is poor, reduce the data transmission volume.

6. The method according to claim 5, characterized in that: Data communication quality includes communication delay, packet loss rate, and bandwidth.

7. The method according to claim 1 or 2, characterized in that: The unmanned boat data classification synchronization mechanism includes: Real-time mission command and control data synchronization, through high-speed, low-latency communication links to ensure that real-time mission command and control data can be transmitted to all relevant unmanned boats in the shortest time and executed in a timely manner; Situational awareness data synchronization: set a suitable synchronization period and regularly transmit situational awareness data to each unmanned boat in the cluster; Task execution data synchronization, periodically transmitting task execution data; The unmanned boat's working data is synchronized. After completing the mission, the unmanned boat will transfer the working data in batches to the shore server for subsequent data processing and storage.

8. The method according to claim 7, characterized in that: Situational awareness data is used to obtain information about the surrounding environment.

9. The method according to claim 7, characterized in that: Mission execution data refers to the data generated by the unmanned boat during the mission execution process, including sensor data and image data.

10. The method according to claim 7, characterized in that: Working data includes the status information and operation log of the unmanned boat itself.

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