Marine target situation data consistency maintenance method and device and electronic equipment

Abstract

The invention belongs to the technical field of seaborne formation situation awareness, and particularly discloses a seaborne target situation data consistency maintenance method and device and electronic equipment. The method comprises the following steps: selecting a first platform node from platform nodes of an offshore formation as an alternate platform node in a current updating period according to a preset alternate rule; the round-of-valuation platform node packages and sends locally generated first situation update data to other non-round-of-valuation platform nodes of the marine formation; each non-round-of-round platform node checks and votes the received first situation update data, and feeds back a voting result to the round-of-round platform node; and under the condition of determining that the voting result meets the updating threshold condition, the round-valued platform node and each non-round-valued platform node perform synchronous updating based on the first situation updating data. According to the invention, the consistency of situation data between platform nodes in the formation can be effectively maintained, and the situation cognition efficiency of the whole formation system is improved.

Description

Technical Field

[0001] The present application belongs to the technical field of maritime formation situation awareness, and more specifically, relates to a method, device and electronic equipment for maintaining consistency of maritime target situation data. Background Art

[0002] Formation situation awareness and generation refers to the process of forming a formation with multiple platforms at sea, jointly conducting detection of multiple targets at sea, and generating target position and motion situation maps based on comprehensive processing of situation information data detected by multi-platform multi-source sensors. It represents the cutting-edge direction of high-end equipment and its applications in the field of marine monitoring.

[0003] However, at present, under the distributed cross-domain conditions of maritime formations, due to the scattered, real-time and fast-changing, multi-source heterogeneity of the maritime environment and situation information sources, and the independent information fusion processing of each platform, the situation data between the platforms in the formation are prone to errors, making it difficult to form and maintain complete and consistent situation data, thereby reducing the situation awareness efficiency of the entire formation system.

[0004] Therefore, how to effectively achieve consistent maintenance of maritime target situation data and improve the situation awareness efficiency of the entire formation system has become a technical problem that needs to be urgently solved in the industry. Summary of the invention

[0005] In view of the defects of the existing technology, the purpose of this application is to effectively achieve the consistency maintenance of maritime target situation data and improve the situation awareness efficiency of the entire formation system.

[0006] To achieve the above objectives, in a first aspect, the present application provides a method for maintaining consistency of maritime target situation data, comprising:

[0007] Step S101, according to a preset rotation rule, select a first platform node from each platform node of the maritime formation as a rotating platform node in the current update cycle; wherein each of the platform nodes is linked to each other to form a blockchain network;

[0008] Step S102, the rotating platform node packages and sends the first situation update data generated locally to other non-rotating platform nodes of the maritime formation;

[0009] Step S103, each of the non-rotating platform nodes respectively checks and votes on the received first situation update data, and feeds back the voting results to the rotating platform node;

[0010] Step S104: When it is determined that the voting result satisfies the update threshold condition, the rotating platform node and each non-rotating platform node participating in the voting are synchronously updated based on the first situation update data.

[0011] Optionally, the step S104 includes:

[0012] The rotating platform node updates the first situation update data and the corresponding voting result as target situation data into the local situation record, and updates the target situation data into the formation situation database;

[0013] Each of the non-rotating platform nodes participating in the voting compares the time information of the locally stored situation data with the target situation data, and based on the comparison result, downloads the update data required by each from the formation situation database for synchronous update and recording.

[0014] Optionally, before step S104, the method further includes:

[0015] Determine a first number of second platform nodes participating in the voting among each of the non-rotating platform nodes;

[0016] In the case where it is determined that the first number is not less than the first number threshold, determining a second number of platform nodes that feedback a voting result of an affirmative vote in each of the second platform nodes;

[0017] In a case where it is determined that the second number is not less than a second number threshold, it is determined that the voting result satisfies an update threshold condition.

[0018] Optionally, the step S103 includes:

[0019] Each of the non-rotating platform nodes compares the second situation update data generated locally with the first situation update data for data consistency;

[0020] For any non-rotating platform node among the non-rotating platform nodes, if the data consistency comparison result is consistent, the any non-rotating platform node generates a first voting result representing an affirmative vote; otherwise, the any non-rotating platform node generates a second voting result representing an anti-vote;

[0021] Any non-rotating platform node feeds back the first voting result or the second voting result to the rotating platform node.

[0022] Optionally, after step S103, the method further includes:

[0023] When it is determined that the voting result does not meet the update threshold condition, according to the preset rotation rule, the platform nodes that rotate after the first platform node are traversed in sequence, and the platform nodes traversed each time are used as the rotating platform nodes in the current update cycle;

[0024] Steps S102 to S103 are repeatedly executed until it is determined that the voting result meets the update threshold condition, and then the rotating platform node and each of the non-rotating platform nodes participating in the voting are synchronously updated based on the first situation update data.

[0025] Optionally, for any platform node among the platform nodes, the specific steps of any platform node generating local situation update data include:

[0026] Acquire the multi-source situation awareness data of the current update cycle by using the multi-source perception sensor arranged in any one of the platform nodes;

[0027] Performing data cleaning and standardization processing on the multi-source situation awareness data to obtain standardized multi-source situation awareness data;

[0028] The standardized multi-source situation awareness data is subjected to data fusion processing to generate local situation update data of any platform node.

[0029] In a second aspect, the present application provides a device for maintaining consistency of maritime target situation data, comprising:

[0030] A rotation selection module, used to select a first platform node from each platform node of the maritime formation as a rotating platform node in the current update cycle according to a preset rotation rule; wherein each of the platform nodes is linked to each other to form a blockchain network;

[0031] A first control module is used to control the rotating platform node to package and send the first situation update data generated locally to other non-rotating platform nodes of the maritime formation;

[0032] A second control module is used to control each of the non-rotating platform nodes to respectively check and vote on the received first situation update data, and feed back the voting results to the rotating platform node;

[0033] The synchronous update module is used to control the rotating platform node and each non-rotating platform node participating in the voting to perform synchronous update based on the first situation update data when it is determined that the voting result meets the update threshold condition.

[0034] In a third aspect, the present application provides an / image signal generator / network device / transmitter / terminal / base station / industrial computer, comprising: at least one memory for storing programs; at least one processor for executing programs stored in the memory, when the program stored in the memory is executed, the processor is used to execute the method described in the first aspect or any possible implementation of the first aspect.

[0035] In a fourth aspect, the present application provides a computer-readable storage medium, which stores a computer program. When the computer program runs on a processor, the processor executes the method described in the first aspect or any possible implementation of the first aspect.

[0036] In a fifth aspect, the present application provides a computer program product. When the computer program product runs on a processor, the processor executes the method described in the first aspect or any possible implementation of the first aspect.

[0037] In general, the above technical solutions conceived by this application have the following beneficial effects compared with the prior art:

[0038] The present application provides a method, device and electronic device for maintaining consistency of maritime target situation data. By utilizing a distributed blockchain data ledger mechanism, all platform nodes of a maritime formation are constructed into a distributed blockchain network, and a rotation mode of each platform node is adopted to submit situation update data to the formation system. The data can be used as formal situation update data recognized by the formation only after the validity is voted on by other non-rotating platform nodes in the formation under the condition of meeting the update threshold, and then synchronously updated to all platform nodes in the formation, forming a collaborative sharing mode of situation data between platforms in the formation, which can effectively maintain the consistency of situation data between platform nodes in the formation and improve the situation awareness efficiency of the entire formation system. BRIEF DESCRIPTION OF THE DRAWINGS

[0039] Figure 1 This is one of the flow charts of the method for maintaining consistency of maritime target situation data provided by the embodiment of the present application;

[0040] Figure 2 This is the second flow chart of the method for maintaining consistency of maritime target situation data provided by the embodiment of the present application;

[0041] Figure 3 It is a structural schematic diagram of a device for maintaining consistency of maritime target situation data provided by an embodiment of the present application;

[0042] Figure 4 It is a schematic diagram of the structure of an electronic device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0043] In order to make the purpose, technical solution and advantages of the present application more clearly understood, the present application is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0044] The terms "first" and "second" in the specification and claims herein are used to distinguish different objects, rather than to describe the specific order of objects. For example, the first platform node and the second platform node are used to distinguish platform nodes with different functions, rather than to describe the specific order of platform nodes; the first situation update data and the second situation update data are used to distinguish situation update data from different sources, rather than to describe the specific order of situation update data;.

[0045] In the embodiments of the present application, words such as "exemplary" or "for example" are used to indicate examples, illustrations or descriptions. Any embodiment or design described as "exemplary" or "for example" in the embodiments of the present application should not be interpreted as being more preferred or more advantageous than other embodiments or designs. Specifically, the use of words such as "exemplary" or "for example" is intended to present related concepts in a specific way.

[0046] First, the technical terms involved in the embodiments of the present application are introduced.

[0047] (1) Maritime target situation data

[0048] Maritime target situation data refers to the situation data obtained by monitoring targets such as ships and aircraft at sea through maritime situation awareness platforms, including ships, unmanned surface vessels (USVs), unmanned underwater vehicles (UUVs) and other maritime mobile information platforms, as well as floating platforms, buoys, and submerged buoys, using radar detection, optoelectronic detection, AIS recognition, ADS-B recognition and other means, as well as data such as the ocean hydrological and meteorological environment, electromagnetic environment, and noise environment related to the target situation, which are used to achieve real-time and dynamic observation of the regional ocean.

[0049] (2) Maritime formation

[0050] A maritime formation refers to a formation system composed of various maritime situation awareness platforms deployed within the observation sea area.

[0051] The embodiments of the present application are described below in conjunction with the drawings in the embodiments of the present application.

[0052] Figure 1 This is one of the flow charts of the method for maintaining consistency of maritime target situation data provided by the embodiment of the present application, such as Figure 1 As shown, the method includes:

[0053] Step S101, according to a preset rotation rule, select a first platform node from each platform node of the maritime formation as a rotating platform node in the current update cycle; wherein each platform node is linked to each other to form a blockchain network;

[0054] Step S102, the rotating platform node packages and sends the first situation update data generated locally to other non-rotating platform nodes of the maritime formation;

[0055] Step S103, each non-rotating platform node respectively checks and votes on the received first situation update data, and feeds back the voting result to the rotating platform node;

[0056] Step S104: When it is determined that the voting result meets the update threshold condition, the rotating platform node and each non-rotating platform node participating in the voting are synchronously updated based on the first situation update data.

[0057] Specifically, the preset rotation rule described in the embodiment of the present application refers to a pre-set management method of setting the target platform node to lead the synchronization of maritime target situation data in turn according to certain rules and order. Among them, each platform node of the formation can generate a rotation order of the platform node based on strategies such as competition or random numbers.

[0058] In the embodiment of the present application, firstly, the distributed blockchain network technology is used to link each platform node to form a blockchain network. It can be understood that each platform node of the formation is actually a blockchain node server.

[0059] It should be noted that blockchain technology is a decentralized and trustworthy digital public ledger. It uses block chain data structure to verify and store data, uses distributed node consensus algorithm to generate and update data, and uses cryptography to ensure the security of data transmission and access. It uses distributed technology and multi-party consensus algorithm maintained by all participants. It has anonymity, equality, immutability and traceability, and can ensure complete consistency of data between nodes in the system.

[0060] The rotating platform node described in the embodiment of the present application refers to a target platform node specified from various platform nodes according to preset rotation rules. It is mainly responsible for sending its local situation update data to other platform nodes for inspection and voting, and evaluating the feedback voting results so that other platform nodes can update their data according to the situation update data.

[0061] It can be understood that the non-rotating platform nodes refer to the platform nodes in the formation, except for the designated rotating platform nodes.

[0062] The first platform node described in the embodiment of the present application refers to the rotating platform node initially selected from the various platform nodes of the maritime formation.

[0063] The first situation update data described in the embodiment of the present application refers to the update data generated by the rotating platform node during the current update cycle by performing maritime target situation awareness and data fusion based on the local maritime situation awareness platform.

[0064] Among them, in the embodiments of the present application, the update period of the situation data can be customized according to the actual design requirements. For example, a periodic period with hours as the minimum unit can be adopted, such as updating once every two hours; a periodic period with days as the minimum unit can also be adopted, such as updating once a day.

[0065] The update threshold condition described in the embodiment of the present application is used by the rotating platform node to determine the consistency of the locally generated situation update data with the situation update data generated by other non-rotating platform nodes, which can be specifically determined based on the number of non-rotating platform nodes participating in the online voting and the passing status of each voting result.

[0066] In an embodiment of the present application, in step S101, according to preset rotation rules, such as multi-platform competition or random number strategies, a platform node, namely the first platform node, is selected from each platform node of the maritime formation and used as the rotating platform node in the current update cycle.

[0067] In an embodiment of the present application, in step S102, after the first platform node is designated as the rotating platform node, at this time, as the rotating platform node, the locally generated first situation update data is packaged into a data packet and sent to other non-rotating platform nodes of the maritime formation, and votes are collected.

[0068] In an embodiment of the present application, in step S103, after receiving the first situation update data sent by the rotating platform node, each non-rotating platform node will perform data comparison and verification on the first situation update data to determine the consistency between the first situation update data and the situation update data generated locally, and vote according to the results of the data verification, and then feed back their respective voting results to the rotating platform node.

[0069] It should be noted that due to the complex offshore environment that affects the communication of each platform node link, in actual application, it is inevitable that one or more platform nodes will be offline. For this reason, by adopting a voting feedback mechanism, the situation data update status of the platform nodes participating in the voting feedback can be determined, and then corresponding data synchronization solutions can be taken in a targeted manner.

[0070] Further, in an embodiment of the present application, in step S104, the rotating platform node can receive the voting results fed back by the non-rotating platform nodes within the specified counting cycle, count the received voting results, and determine the number of non-rotating platform nodes participating in the online voting, that is, the number of non-rotating platform nodes with normal link communication, and the passing status of each voting result. When it is determined that the voting result meets the update threshold condition, it means that the situation update data generated locally by the rotating platform node and the situation update data generated by the non-rotating platform nodes participating in the voting meet the consistency condition, and then the rotating platform node will inform the non-rotating platform nodes participating in the voting of the judgment result, and synchronize the data with these non-rotating platform nodes using the first situation update data.

[0071] It can be understood that with the advancement of each situation data update cycle, according to the above-mentioned situation data consistency synchronization method, each platform node in the formation can be gradually covered to perform consistency synchronization of situation data, thereby forming a collaborative sharing mode of situation data between platforms within the formation.

[0072] The method for maintaining consistency of maritime target situation data in the embodiment of the present application constructs all platform nodes of the maritime formation into a distributed blockchain network by utilizing the distributed blockchain data ledger mechanism, and adopts a rotation mode for each platform node to submit situation update data to the formation system. The data can be used as formal situation update data recognized by the formation only after the validity is voted on by other non-rotating platform nodes in the formation under the condition of meeting the update threshold, and then synchronously updated to all platform nodes in the formation, forming a collaborative sharing mode of situation data between platforms in the formation, which can effectively maintain the consistency of situation data between platform nodes in the formation and improve the situation awareness efficiency of the entire formation system.

[0073] Based on the content of the above embodiment, as an optional embodiment, step S104 includes:

[0074] The rotating platform node updates the first situation update data and the corresponding voting result as the target situation data into the local situation record, and updates the target situation data into the formation situation database;

[0075] Each non-rotating platform node participating in the voting will compare the time information of the locally stored situation data with the target situation data, and based on the comparison results, download the required update data from the formation situation database for synchronous update and recording.

[0076] Specifically, the formation situation database described in the embodiment of the present application refers to a database used to store situation update data and voting results within each update cycle, and the data stored therein covers the global situation data at sea.

[0077] In the embodiment of the present application, in the specific implementation of the synchronous update of the situation data described in step S104, after determining that the voting result meets the update threshold condition, the rotating platform node can first use its local first situation update data and its corresponding voting result as the target situation data S j Update to the local situation record, and set the target situation data S j As the official situation data, the distributed accounting is carried out. At the same time, the target situation data S j The updates are stored in the pre-set formation situation database for data query and download by other platform nodes.

[0078] It should be noted that in each situation data update cycle, among the non-rotating platform nodes that can participate in voting online, there will be platform nodes that have not synchronized situation data in the previous update cycle due to the inability to communicate data due to network offline. Therefore, in order to ensure the complete consistency of situation data between platforms within the formation, each time the situation data is synchronized, it is also necessary to determine the time information of the situation data stored by each platform node to complete the situation data that was not synchronized during the offline time.

[0079] Afterwards, in the embodiment of the present application, for any platform node m among the non-rotating platform nodes participating in the voting, the locally stored situation data S mp With the target situation data S j Compare the time information and determine the time difference t=T between the two based on the comparison result. Sj -T Smp , determine the situation data that needs to be updated, that is, all the official situation data within the time difference t.

[0080] Furthermore, each non-rotating platform node participating in the voting will download the official situation data required within its own time difference range from the formation situation database according to the time difference range calculated above, perform synchronous updates, and store them in the local situation record. Then, the coordinated situation synchronization of all platforms in the formation can be completed through data synchronization in each update cycle.

[0081] The method of the embodiment of the present application introduces a formation situation database to store the situation update data confirmed in each situation data update cycle, so that platform nodes in different update states can uniformly synchronize the global situation data, thereby improving the integrity of the collaborative situation data synchronization between platforms in the formation. At the same time, the distributed accounting mechanism of the blockchain can also ensure the non-tamperability of the situation data stored by each platform node, thereby improving the storage security of the maritime target situation data.

[0082] Based on the content of the above embodiment, as an optional embodiment, before step S104, the method further includes:

[0083] Determine a first number of second platform nodes participating in the voting among each non-rotating platform node;

[0084] In the case where it is determined that the first number is not less than the first number threshold, determining a second number of platform nodes that feedback a voting result of an affirmative vote in each second platform node;

[0085] When it is determined that the second number is not less than the second number threshold, it is determined that the voting result satisfies the update threshold condition.

[0086] Specifically, the second platform node described in the embodiment of the present application refers to a platform node that participates in voting among non-rotating platform nodes, that is, a non-rotating platform node that participates in voting.

[0087] The first number described in the embodiment of the present application refers to the number of second platform nodes among all non-rotating platform nodes.

[0088] The second number described in the embodiment of the present application refers to the number of platform nodes that cast affirmative votes among all non-rotating platform nodes participating in the voting.

[0089] The first quantity threshold described in the embodiment of the present application refers to the quantity indicator required for non-rotating platform nodes participating in the voting, which can be specifically determined based on the entire link network communication environment and the number of each non-rotating platform node.

[0090] For example, when the link network communication environment is poor, the first quantity threshold can be set to 30% to 40% of the number of all non-rotating platform nodes; when the link network communication environment is good, the first quantity threshold can be set to 60% to 80% of the number of all non-rotating platform nodes.

[0091] The second quantity threshold described in the embodiment of the present application refers to the quantity index required for the platform nodes whose feedback voting results are affirmative votes, which is specifically determined according to the first quantity and can be taken as 60% to 80% of the first quantity. For example, if the first number of non-rotating platform nodes participating in the vote is 10, the second quantity threshold can be taken as 6 to 8, that is, a voting result of 6 to 8 affirmative votes is required.

[0092] In an embodiment of the present application, after the voting results are fed back to the rotating platform node, before step S104, the rotating platform node needs to count the received voting results. First, it is necessary to determine the first number of platform nodes participating in the voting in each non-rotating platform node, that is, to count the number of voting results received. For example, the number of all non-rotating platform nodes is 15, and there are 10 non-rotating platform nodes participating in the voting.

[0093] Next, when it is determined that the first number is not less than the first number threshold, such as the first number threshold is 60%, and there are 10 non-rotating platform nodes participating in the voting, which accounts for 67% of all non-rotating platform nodes, it means that the number of non-rotating platform nodes participating in the voting meets the threshold condition. Therefore, the second number of platform nodes that feedback the voting results as affirmative votes among each non-rotating platform node participating in the voting can be further determined, that is, the number of affirmative votes in all voting results is counted, for example, the second number is 7.

[0094] Further, in an embodiment of the present application, when it is determined that the second number is not less than the second number threshold, such as the second number threshold is 6, and the second number is 7, it means that the proportion of affirmative votes in all voting results meets the threshold condition, thereby determining that the entire voting result meets the update threshold condition, and the situation update data generated by the rotating platform node can be used for the synchronous update of the situation data between the platform nodes in the formation.

[0095] The method of the embodiment of the present application designs the control logic for the voting results to meet the update threshold conditions by considering the actual maritime blockchain network environment, combining the number of platform nodes participating in the voting and the statistics of the votes in favor, so as to ensure the effectiveness of the number of situations for synchronous updating between each platform node, thereby improving the reliability of maintaining the consistency of situation data between platform nodes in the formation.

[0096] Based on the content of the above embodiment, as an optional embodiment, step S103 includes:

[0097] Each non-rotating platform node compares the second situation update data generated locally with the first situation update data for data consistency;

[0098] For any non-rotating platform node among the non-rotating platform nodes, if the data consistency comparison result is consistent, any non-rotating platform node generates a first voting result representing a yes vote, otherwise, any non-rotating platform node generates a second voting result representing a no vote;

[0099] Any non-rotating platform node feeds back the first voting result or the second voting result to the rotating platform node.

[0100] Specifically, the second situation update data described in the embodiment of the present application refers to the update data generated by each non-rotating platform node during the current update cycle by performing maritime target situation awareness and data fusion based on its local maritime situation awareness platform.

[0101] The first voting result described in the embodiment of the present application refers to the voting result used to characterize the affirmative vote.

[0102] The second voting result described in the embodiment of the present application refers to the voting result used to characterize the negative vote.

[0103] In an embodiment of the present application, all situation coordination platforms in the formation independently carry out the perception and situation fusion generation of the situation in the current update cycle. That is to say, in the current update cycle, each non-rotating platform node will also synchronously use its own local maritime situation awareness platform to perform maritime target situation perception and data fusion to generate its own local second situation update data. Furthermore, each non-rotating platform node will compare the second situation update data generated locally with the first situation update data generated by the rotating platform for data consistency.

[0104] Assume that in the current update cycle P, the rotating platform node j updates the situation data S generated in the local cache jp The non-rotating platform node k in the formation receives the situation update data packet S for soliciting votes issued by the rotating platform node j. jp , and compare the situation data packet with the locally cached situation update data S kp Compare the data one by one to check the consistency of the data.

[0105] Furthermore, for any non-rotating platform node, such as non-rotating platform node k, the situation data in the data packet is voted according to the comparison result. If the data consistency comparison result is consistent, that is, S jp With S kp If the two voting results are consistent, the non-rotating platform node k generates a first voting result representing the affirmative votes; otherwise, if the two voting results are inconsistent, the non-rotating platform node k generates a second voting result representing the negative votes.

[0106] Furthermore, when the data consistency comparison result is consistent, the non-rotating platform node k sends a data approval vote T to the rotating platform node j. t If they are inconsistent, a negative vote T of data disapproval will be sent to the rotating platform node j. f .

[0107] The method of the embodiment of the present application considers the uniformity of the situation data observed by the same formation platform nodes, utilizes the situation update data locally generated by each non-rotating platform node to verify and vote on the situation update data generated by the rotating platform node, thereby decomposing the processing load of the situation fusion of each platform node in the formation. At the same time, it can effectively ensure the accuracy and consistency of the situation update data shared by the rotating platform nodes, which is conducive to improving the reliability of maintaining the consistency of the situation data of the maritime formation.

[0108] Based on the content of the above embodiment, as an optional embodiment, after step S103, the method further includes:

[0109] When it is determined that the voting result does not meet the update threshold condition, according to the preset rotation rule, the platform nodes that rotate after the first platform node are traversed in sequence, and the platform nodes traversed each time are used as the rotating platform nodes in the current update cycle;

[0110] Steps S102 to S103 are repeatedly executed until it is determined that the voting result meets the update threshold condition, and then the rotating platform node and each non-rotating platform node participating in the voting are synchronously updated based on the first situation update data.

[0111] Specifically, in the embodiment of the present application, after step S103, when it is determined that the voting results fed back by each non-rotating platform node do not meet the update threshold condition, it means that the situation update data generated locally by the rotating platform node is defective and is not suitable for data synchronization between platforms in the current update cycle. At this time, the platform nodes that rotate after the first platform node can be traversed in sequence according to the preset rotation rules, and the platform nodes traversed each time are used as the rotating platform nodes in the current update cycle.

[0112] Further, in an embodiment of the present application, steps S102 to S103 are repeatedly executed, that is, the process in which the rotating platform node packages the locally generated situation update data and sends it to other non-rotating platform nodes for verification and voting by each non-rotating platform node is repeatedly executed, until it is determined that the voting result meets the update threshold condition, and the rotating platform node and each non-rotating platform node participating in the voting are synchronously updated based on the first situation update data.

[0113] That is to say, during the first traversal, the first platform node that rotates after the first platform node is taken as the rotating platform node in the current update cycle, and its locally generated situation update data is packaged and sent to other non-rotating platform nodes for verification and voting. If it is determined that the voting result still does not meet the update threshold condition, the next traversal will be iterated, and the second platform node that rotates after the first platform node will be taken as the rotating platform node in the current update cycle, and the above-mentioned situation update data packaging, sending and verification voting process will be continued, and so on, until the platform node whose voting result meets the update threshold condition is traversed and used as the rotating platform node.

[0114] At this time, after determining that the voting result meets the update threshold condition, the current rotating platform node and each non-rotating platform node participating in the voting can be controlled to synchronously update using the situation update data shared by the rotating platform nodes.

[0115] The method of the embodiment of the present application, by adopting a rotation training traversal and collective voting mode, selectively selects reliable rotating platform nodes to lead the coordinated update of situation data between formation system platforms, which can further improve the reliability and accuracy of the situation update data shared by the rotating platform nodes, thereby improving the reliability and efficiency of the consistency maintenance of the maritime formation situation data.

[0116] Based on the content of the above embodiment, as an optional embodiment, for any platform node among the platform nodes, the specific steps of any platform node generating local situation update data include:

[0117] Utilize the multi-source perception sensors deployed in any platform node to obtain multi-source situational awareness data of the current update cycle;

[0118] Perform data cleaning and standardization on multi-source situational awareness data to obtain standardized multi-source situational awareness data;

[0119] Perform data fusion processing on standardized multi-source situational awareness data to generate local situation update data for any platform node.

[0120] Specifically, in the embodiments of the present application, by using the maritime situation awareness platform pre-arranged by the platform nodes, focusing on targets such as ships, aircraft, submarines, etc. in the ocean, the multi-source situation awareness data about the observed targets in the current update cycle are obtained from various perception sensors, devices and networks. For example, these perception data may include satellite images, radar data, drone aerial photography, buoy monitoring data, thermal imaging pan-tilt images, underwater sensor equipment data, etc. These data come from a wide range of sources, covering multiple platforms such as space-based, air-based, shore-based, sea-based and underwater.

[0121] Next, the acquired multi-source situational awareness data is cleaned to remove noise, outliers and redundant information to improve data quality; at the same time, standardization processing is performed to convert various types of data from different sources into a unified format and standard, thereby obtaining standardized multi-source situational awareness data.

[0122] Furthermore, in an embodiment of the present application, data fusion processing is performed on standardized multi-source situational awareness data, and standardized multi-source situational awareness data from different sources are integrated and correlated to obtain more comprehensive and accurate situation information, which includes fusing multiple data sources such as satellite images, radar data, and drone aerial photography, and using existing advanced fusion algorithms to effectively fuse multi-source data, which includes spatiotemporal alignment of data, application of information fusion algorithms, etc., to ultimately generate situation update data local to the platform node.

[0123] The method of the embodiment of the present application generates local situation update data of the platform node by utilizing the situation awareness platform of each platform node to perform multiple links such as data acquisition, preprocessing, situation awareness, data fusion, data storage and management, thereby ensuring the accuracy and reliability of the situation generation data and providing reliable data guarantee for the subsequent consistency maintenance of situation data between platform nodes in the formation.

[0124] Figure 2 This is a second flow chart of the method for maintaining consistency of maritime target situation data provided by the embodiment of the present application, such as Figure 2 As shown, in the embodiment of the present application, after the method execution starts, the platform nodes of each distributed blockchain network respectively generate their own local situation update data in the current update cycle. Then, by presetting the rotation rules, the rotating platform node is determined, and the rotating platform node publishes the local situation update data of the current update cycle, and invites voting, so that other non-rotating platform nodes can respectively check and vote on the received situation update data based on the locally generated situation update data, and feed back the voting results to the rotating platform node.

[0125] Furthermore, in an embodiment of the present application, the rotating platform node performs statistical analysis on the feedback voting results. When it is determined that the voting results do not meet the update threshold conditions, the next rotating platform node after the current rotating platform node is traversed in order as the rotating platform node in the current update cycle, and the aforementioned situation update data release and voting processes are repeated until it is determined that the voting results meet the update threshold conditions. The rotating platform node and each non-rotating platform node participating in the voting are controlled to use the situation update data of the rotating platform at this time to form formal formation situation update data, so that each platform node can synchronize the formation situation update data respectively.

[0126] Furthermore, after entering the next update cycle, the update operation of the formation situation data continues in accordance with the aforementioned process of collaborative update of situation data between platforms until all situation data update cycles are traversed, thereby completing the collaborative situation synchronization of all platforms in the formation.

[0127] The above-mentioned formation situation collaborative maintenance method of the embodiment of the present application transforms the situation perception and generation process independently carried out by all platforms in the original formation into a collaborative generation process, thereby reducing the amount of data comprehensive processing and calculation of the entire system, while ensuring the complete consistency of situation data between platforms in the formation. The method is clear and intuitive and can be applied to the formation situation collaborative maintenance process.

[0128] The following is a description of the maritime target situation data consistency maintenance device provided by the present invention. The maritime target situation data consistency maintenance device described below and the maritime target situation data consistency maintenance method described above can correspond to each other.

[0129] Figure 3 is a structural diagram of a device for maintaining consistency of maritime target situation data provided by an embodiment of the present application, such as Figure 3 As shown, including:

[0130] A rotation selection module 310 is used to select a first platform node from each platform node of the maritime formation as a rotating platform node in the current update cycle according to a preset rotation rule; wherein each platform node is linked to each other to form a blockchain network;

[0131] The first control module 320 is used to control the rotating platform node to package the first situation update data generated locally and send it to other non-rotating platform nodes of the maritime formation;

[0132] The second control module 330 is used to control each non-rotating platform node to respectively check and vote on the received first situation update data, and feed back the voting result to the rotating platform node;

[0133] The synchronous update module 340 is used to control the rotating platform node and each non-rotating platform node participating in the voting to perform synchronous update based on the first situation update data when it is determined that the voting result meets the update threshold condition.

[0134] It can be understood that the detailed functional implementation of each of the above-mentioned units / modules can be found in the introduction of the aforementioned method embodiment, and will not be repeated here.

[0135] It should be understood that the above-mentioned device is used to execute the method in the above-mentioned embodiment. The implementation principle and technical effect of the corresponding program module in the device are similar to those described in the above-mentioned method. The working process of the device can refer to the corresponding process in the above-mentioned method, which will not be repeated here.

[0136] The maritime target situation data consistency maintenance device of the embodiment of the present application constructs all platform nodes of the maritime formation into a distributed blockchain network by utilizing the distributed blockchain data ledger mechanism, and adopts a rotation mode for each platform node to submit situation update data to the formation system. The data can be used as the formal situation update data recognized by the formation only after the validity is voted on by other non-rotating platform nodes in the formation under the condition of meeting the update threshold, and then synchronously updated to all platform nodes in the formation, forming a collaborative sharing mode of situation data between platforms in the formation, which can effectively maintain the consistency of situation data between platform nodes in the formation and improve the situation recognition efficiency of the entire formation system.

[0137] Based on the method in the above embodiment, the embodiment of the present application further provides an electronic device, such as Figure 4As shown, the electronic device may include: a processor (Processor) 410, a communication interface (CommunicationsInterface) 420, a memory (Memory) 830 and a communication bus 440, wherein the processor 410, the communication interface 420, and the memory 430 communicate with each other through the communication bus 440. The processor 410 may call the logic instructions in the memory 430 to execute the method in the above embodiment.

[0138] In addition, the logic instructions in the above-mentioned memory 430 can be implemented in the form of software functional units and can be stored in a computer-readable storage medium when sold or used as an independent product. Based on this understanding, the technical solution of the present application, or the part that contributes to the prior art, or the part of the technical solution, can be embodied in the form of a software product, which is stored in a storage medium and includes a number of instructions for a computer device (which can be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the method described in each embodiment of the present application.

[0139] Based on the method in the above embodiment, an embodiment of the present application provides a computer-readable storage medium, which stores a computer program. When the computer program runs on a processor, the processor executes the method in the above embodiment.

[0140] Based on the method in the above embodiment, an embodiment of the present application provides a computer program product. When the computer program product runs on a processor, the processor executes the method in the above embodiment.

[0141] It is understandable that the processor in the embodiment of the present application may be a central processing unit (CPU), or other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), field programmable gate arrays (FPGA) or other programmable logic devices, transistor logic devices, hardware components or any combination thereof. The general-purpose processor may be a microprocessor or any conventional processor.

[0142] The method steps in the embodiments of the present application can be implemented by hardware or by a processor executing software instructions. The software instructions can be composed of corresponding software modules, and the software modules can be stored in random access memory (RAM), flash memory, read-only memory (ROM), programmable read-only memory (PROM), erasable programmable read-only memory (EPROM), electrically erasable programmable read-only memory (EEPROM), registers, hard disks, mobile hard disks, CD-ROMs, or any other form of storage medium known in the art. An exemplary storage medium is coupled to a processor so that the processor can read information from the storage medium and write information to the storage medium. Of course, the storage medium can also be a component of the processor. The processor and the storage medium can be located in an ASIC.

[0143] In the above embodiments, it can be implemented in whole or in part by software, hardware, firmware or any combination thereof. When implemented using software, it can be implemented in whole or in part in the form of a computer program product. The computer program product includes one or more computer instructions. When the computer program instructions are loaded and executed on a computer, the process or function described in the embodiment of the present application is generated in whole or in part. The computer may be a general-purpose computer, a special-purpose computer, a computer network, or other programmable device. The computer instructions may be stored in a computer-readable storage medium or transmitted through the computer-readable storage medium. The computer instructions may be transmitted from a website site, a computer, a server or a data center to another website site, a computer, a server or a data center by wired (e.g., coaxial cable, optical fiber, digital subscriber line (DSL)) or wireless (e.g., infrared, wireless, microwave, etc.) means. The computer-readable storage medium may be any available medium that a computer can access or a data storage device such as a server or a data center that includes one or more available media integrated. The available medium may be a magnetic medium (e.g., a floppy disk, a hard disk, a tape), an optical medium (e.g., a DVD), or a semiconductor medium (e.g., a solid-state drive (SSD)), etc.

[0144] It should be understood that the various numerical numbers involved in the embodiments of the present application are only used for the convenience of description and are not used to limit the scope of the embodiments of the present application.

[0145] It will be easily understood by those skilled in the art that the above description is only a preferred embodiment of the present application and is not intended to limit the present application. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present application shall be included in the scope of protection of the present application.

Claims

1. A method for maintaining consistency of maritime target situation data, characterized in that: include: Step S101, according to a preset rotation rule, select a first platform node from each platform node of the maritime formation as a rotating platform node in the current update cycle; wherein each of the platform nodes is linked to each other to form a blockchain network; Step S102, the rotating platform node packages and sends the first situation update data generated locally to other non-rotating platform nodes of the maritime formation; Step S103, each of the non-rotating platform nodes respectively checks and votes on the received first situation update data, and feeds back the voting results to the rotating platform node; Step S104: When it is determined that the voting result satisfies the update threshold condition, the rotating platform node and each non-rotating platform node participating in the voting are synchronously updated based on the first situation update data.

2. The method for maintaining consistency of maritime target situation data according to claim 1, characterized in that: The step S104 includes: The rotating platform node updates the first situation update data and the corresponding voting result as target situation data into the local situation record, and updates the target situation data into the formation situation database; Each of the non-rotating platform nodes participating in the voting compares the time information of the locally stored situation data with the target situation data, and based on the comparison result, downloads the update data required by each from the formation situation database for synchronous update and recording.

3. The method for maintaining consistency of maritime target situation data according to claim 1, characterized in that: Before step S104, the method further includes: Determine a first number of second platform nodes participating in the voting among each of the non-rotating platform nodes; In the case where it is determined that the first number is not less than the first number threshold, determining a second number of platform nodes that feedback a voting result of an affirmative vote in each of the second platform nodes; In a case where it is determined that the second number is not less than a second number threshold, it is determined that the voting result satisfies an update threshold condition.

4. The method for maintaining consistency of maritime target situation data according to claim 1, characterized in that: The step S103 includes: Each of the non-rotating platform nodes compares the second situation update data generated locally with the first situation update data for data consistency; For any non-rotating platform node among the non-rotating platform nodes, if the data consistency comparison result is consistent, the any non-rotating platform node generates a first voting result representing an affirmative vote; otherwise, the any non-rotating platform node generates a second voting result representing an anti-vote; Any non-rotating platform node feeds back the first voting result or the second voting result to the rotating platform node.

5. The method for maintaining consistency of maritime target situation data according to any one of claims 1 to 4, characterized in that: After step S103, the method further includes: When it is determined that the voting result does not meet the update threshold condition, according to the preset rotation rule, the platform nodes that rotate after the first platform node are traversed in sequence, and the platform nodes traversed each time are used as the rotating platform nodes in the current update cycle; Steps S102 to S103 are repeatedly executed until it is determined that the voting result meets the update threshold condition, and then the rotating platform node and each of the non-rotating platform nodes participating in the voting are synchronously updated based on the first situation update data.

6. The method for maintaining consistency of maritime target situation data according to any one of claims 1 to 4, characterized in that: For any platform node among the platform nodes, the specific steps of generating local situation update data by the platform node include: Acquire the multi-source situation awareness data of the current update cycle by using the multi-source perception sensor arranged in any one of the platform nodes; Performing data cleaning and standardization processing on the multi-source situation awareness data to obtain standardized multi-source situation awareness data; The standardized multi-source situation awareness data is subjected to data fusion processing to generate local situation update data of any platform node.

7. A device for maintaining consistency of maritime target situation data, characterized in that: include: A rotation selection module, used to select a first platform node from each platform node of the maritime formation as a rotating platform node in the current update cycle according to a preset rotation rule; wherein each of the platform nodes is linked to each other to form a blockchain network; A first control module is used to control the rotating platform node to package and send the first situation update data generated locally to other non-rotating platform nodes of the maritime formation; A second control module is used to control each of the non-rotating platform nodes to respectively check and vote on the received first situation update data, and feed back the voting results to the rotating platform node; The synchronous update module is used to control the rotating platform node and each non-rotating platform node participating in the voting to perform synchronous update based on the first situation update data when it is determined that the voting result meets the update threshold condition.

8. An electronic device, characterized in that: include: at least one memory for storing a computer program; At least one processor is used to execute the program stored in the memory. When the program stored in the memory is executed, the processor is used to execute the method according to any one of claims 1 to 6.

9. A computer-readable storage medium storing a computer program, characterized in that: When the computer program runs on a processor, the processor is caused to execute the method according to any one of claims 1 to 6.

10. A computer program product, characterized in that When the computer program product runs on a processor, the processor is caused to execute the method according to any one of claims 1 to 6.

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