A method, device and electronic equipment for maintaining consistency of maritime target situation data

Abstract

The present application belongs to the field of maritime formation situation awareness technology, and specifically discloses a method, device and electronic device for maintaining consistency of maritime target situation data. The method includes: according to a preset rotation rule, selecting a first platform node from each platform node of the maritime formation as the rotating platform node in the current update cycle; the rotating platform node packages the first situation update data generated locally and sends it to other non-rotating platform nodes of the maritime formation; each non-rotating platform node respectively verifies and votes on the received first situation update data, and feeds back the voting results to the rotating platform node; when it is determined that the voting results meet the update threshold conditions, the rotating platform node and each non-rotating platform node are synchronously updated based on the first situation update data. Through this application, the consistency of situation data between platform nodes in the formation can be effectively maintained, and the situation awareness efficiency of the entire formation system can be 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 situational 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 ocean monitoring.

[0003] However, at present, under the distributed cross-domain conditions of maritime formations, due to the scattered, real-time and rapid changes, 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 various 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 maintain the consistency of maritime target situation data and improve the situational 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 response to the shortcomings of the existing technology, the purpose of this application is to effectively achieve consistent maintenance of maritime target situation data and improve the situational 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: selecting 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 interconnected to form a blockchain network;

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

[0009] Step S103: Each of the non-rotating platform nodes verifies 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 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.

[0011] Optionally, 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 results, 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] Determining a first number of second platform nodes participating in voting among each of the non-rotating platform nodes;

[0016] If it is determined that the first number is not less than a first number threshold, determining a second number of platform nodes that feedback a voting result of yes 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 meets an update threshold condition.

[0018] Optionally, step S103 includes:

[0019] Each of the non-rotating platform nodes performs a data consistency comparison between the second situation update data generated locally and the first situation update data;

[0020] For any non-rotating platform node among the non-rotating platform nodes, if the data consistency comparison result is consistent, the non-rotating platform node generates a first voting result representing an affirmative vote; otherwise, the non-rotating platform node generates a second voting result representing a negative 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] If 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] Repeat steps S102 to S103 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 generating local situation update data by the platform node include:

[0026] Acquire multi-source situational awareness data of the current update period using a multi-source perception sensor disposed in any of the platform nodes;

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

[0028] The standardized multi-source situational 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, configured to select a first platform node from each platform node of the maritime formation as a rotating platform node in a current update cycle according to a preset rotation rule; wherein each of the platform nodes is interconnected to form a blockchain network;

[0031] A first control module is configured to control the rotating platform node to package and send locally generated first situation update data 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 verify 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, a network device, a transmitter, a terminal, a base station, and an industrial computer, comprising: at least one memory for storing programs; and at least one processor for executing the programs stored in the memory. When the programs stored in the memory are 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, which, when executed on a processor, enables the processor to execute 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 existing technologies:

[0038] The present application provides a method, device and electronic equipment 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 is adopted for each platform node to submit situation update data to the formation system. This data can only be used as formal situation update data recognized by the formation after the validity is voted on by other non-rotating platform nodes in the formation under the conditions of meeting the update threshold. It is then synchronously updated to all platform nodes in the formation, forming a collaborative sharing mode of situation data among platforms within the formation, which can effectively maintain the consistency of situation data among platform nodes within 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 an 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 an embodiment of the present application;

[0041] Figure 3 Schematic diagram of the structure of the device for maintaining consistency of maritime target situation data provided by an embodiment of the present application;

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

[0043] In order to make the purpose, technical solutions and advantages of this application more clear, the following further describes this application in detail with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain this application and are not intended to limit this application.

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

[0045] In the embodiments of this 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 this application should not be interpreted as being preferred or advantageous over other embodiments or designs. Rather, the use of words such as "exemplary" or "for example" is intended to present the relevant concepts in a concrete manner.

[0046] First, the technical terms involved in the embodiments of this 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 mobile maritime information platforms such as ships, unmanned surface vessels (USVs), and unmanned underwater vehicles (UUVs), as well as fixed maritime information platforms such as floating platforms, buoys, and submerged buoys, using radar detection, optoelectronic detection, AIS identification, ADS-B identification, and other means, as well as data on the ocean hydrological and meteorological environment, electromagnetic environment, noise environment, and other data related to the target situation, to achieve real-time and dynamic observation of the regional ocean.

[0049] (2) Maritime formations

[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: Selecting 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 interconnected to form a blockchain network;

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

[0055] Step S103: Each non-rotating platform node verifies and votes on the received first situation update data, and feeds back the voting results 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 perform synchronous updates based on the first situation update data.

[0057] Specifically, the preset rotation rule described in the embodiments of this application refers to a pre-set management method for rotating target platform nodes to lead the synchronization of maritime target situation data according to a certain rule and order. The rotation order of each platform node in the formation can be generated based on strategies such as competition or random numbers.

[0058] In the embodiment of the present application, first, the distributed blockchain network technology is used to link the various platform nodes to form a blockchain network. It can be understood that the various platform nodes in the formation are actually blockchain node servers.

[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, distributed node consensus algorithm to generate and update data, and 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 the target platform node specified from each platform node according to the 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 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. It 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 is used as the rotating platform node in the current update cycle.

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

[0068] In an embodiment of the present application, in step S103, after each non-rotating platform node receives 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 based on 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 since the complex offshore environment will affect 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] Furthermore, 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 period, 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, the situation data consistency synchronization can be gradually covered to each platform node in the formation, 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 an embodiment of the present application constructs all platform nodes of a maritime formation into a distributed blockchain network by utilizing a distributed blockchain data ledger mechanism, and adopts a rotation mode for each platform node to submit situation update data to the formation system. This data can only be used as formal situation update data recognized by the formation after being voted on for validity by other non-rotating platform nodes in the formation under the condition of meeting the update threshold, and then is 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 its corresponding voting result as 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 compares the time information of the locally stored situation data with the target situation data, and based on the comparison results, downloads 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 in each update cycle, and the stored data covers the global situation data at sea.

[0077] In the embodiment of the present application, in the specific implementation of the situation data synchronization update 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 situation data synchronization is performed, 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 moment.

[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 target situation data S j Compare the time information and determine the time difference t=T between the two based on the comparison results. 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 it 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 global situation data, thereby improving the integrity of 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 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] Determining a first number of second platform nodes participating in the voting among each non-rotating platform node;

[0084] When 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 yes 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 meets the update threshold condition.

[0086] Specifically, the second platform node described in the embodiment of the present application refers to the platform node that participates in voting among the non-rotating platform nodes, that is, the 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 the 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 embodiments of this application refers to the number of platform nodes required to provide a positive vote. This threshold is determined based on the first quantity and can be set to 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 set to 6 to 8, meaning that 6 to 8 positive votes are 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 vote among each non-rotating platform node, that is, to count the number of received voting results. For example, the number of all non-rotating platform nodes is 15, and there are 10 non-rotating platform nodes participating in the vote.

[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] Furthermore, 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 vote and the statistics of the votes in favor. This can ensure the effectiveness of the number of situations used for synchronous updates 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 performs a data consistency comparison between the second situation update data generated locally and the first situation update data;

[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 vote in favor; otherwise, any non-rotating platform node generates a second voting result representing a vote in disfavor;

[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 represent the affirmative vote.

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

[0103] In an embodiment of the present application, all situational coordination platforms within the formation independently perform situational awareness and situational fusion generation within the current update cycle. That is, within the current update cycle, each non-rotating platform node will also synchronously utilize its own local maritime situational awareness platform to perform maritime target situational awareness and data fusion, generating its own local second situational update data. Furthermore, each non-rotating platform node will perform a data consistency comparison between its own locally generated second situational update data and the first situational update data generated by the rotating platform.

[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 package is published to other non-rotating platform nodes in the formation and votes are collected. Non-rotating platform node k in the formation receives the situation update data packet S for voting collected by 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 votes are consistent, the non-rotating platform node k generates a first voting result representing the affirmative votes; otherwise, if the votes 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 disapproval vote T is 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 platform nodes of the same formation, 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 maritime formation situation data.

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

[0109] If it is determined that the voting result does not meet the update threshold condition, the platform nodes that rotate after the first platform node are 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;

[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 an embodiment of the present application, after step S103, if it is determined that the voting results fed back by each non-rotating platform node do not meet the update threshold condition, it indicates that the situation update data locally generated by the rotating platform node is defective and unsuitable for data synchronization between platforms within the current update cycle. In this case, the rotating platform nodes 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 within the current update cycle.

[0112] Furthermore, 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 used 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, that is, the second platform node that rotates after the first platform node is used 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 vote 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 adopts a rotation training and collective voting mode to selectively select 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 this application, by utilizing a pre-deployed maritime situational awareness platform with platform nodes, the system monitors targets such as ships, aircraft, and submarines in the ocean, and acquires multi-source situational awareness data about the observed targets in the current update cycle from various perception sensors, devices, and networks. For example, this perception data may include satellite imagery, radar data, drone aerial photography, buoy monitoring data, thermal imaging pan-tilt imagery, and underwater sensing equipment data. This data comes 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. This 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 the 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 an embodiment of the present application, after the method execution begins, the platform nodes of each distributed blockchain network generate their own local situation update data for the current update cycle. Furthermore, a rotating platform node is determined by pre-set rotation rules. The rotating platform node publishes the local situation update data for the current update cycle and invites voting. Each non-rotating platform node then verifies and votes on the received situation update data based on the locally generated situation update data, and then feeds 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, the aforementioned situation update data release and voting process is 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 will continue according to 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 originally independently carried out by all platforms in the formation into a collaborative generation process, thereby reducing the amount of data comprehensive processing and calculation for the entire system. At the same time, it ensures the complete consistency of situation data between platforms in the formation. At the same time, the method is clear and intuitive and can be applied to the formation situation collaborative maintenance process.

[0128] The following describes 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 schematic diagram of the structure of the device for maintaining consistency of maritime target situation data provided by an embodiment of the present application, such as Figure 3 Shown, including:

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

[0131] The first control module 320 is used to control the rotating platform node to package the locally generated first situation update data and send it to other non-rotating platform nodes in 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 results 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 is understandable that the detailed functional implementation of each of the above 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 and 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. This data can only be used as the formal situation update data recognized by the formation after the validity is voted on by other non-rotating platform nodes in the formation under the update threshold conditions, 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.

[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 via 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 a software functional unit 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 enabling a computer device (which can be a personal computer, server, or network device, etc.) to execute 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 understood that the processor in the embodiments of the present application may be a central processing unit (CPU), or may be 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 well known in the art. An exemplary storage medium is coupled to the 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 can be a general-purpose computer, a special-purpose computer, a computer network, or other programmable device. The computer instructions can be stored in a computer-readable storage medium or transmitted via the computer-readable storage medium. The computer instructions can be transmitted from one website, computer, server or data center to another website, computer, server or data center via a wired (e.g., coaxial cable, optical fiber, digital subscriber line (DSL)) or wireless (e.g., infrared, wireless, microwave, etc.) method. The computer-readable storage medium can be any available medium that a computer can access or a data storage device such as a server or data center that includes one or more available media integrations. The available medium can 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)).

[0144] It will be understood that the various numerical numbers involved in the embodiments of the present application are merely distinctions for the convenience of description and are not intended to limit the scope of the embodiments of the present application.

[0145] It is easy for those skilled in the art to understand that the above 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 should 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: selecting 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 interconnected to form a blockchain network; Step S102: the rotating platform node packages and sends the locally generated first situation update data to other non-rotating platform nodes of the maritime formation; Step S103: Each of the non-rotating platform nodes verifies and votes on the received first situation update data, and feeds back the voting results to the rotating platform node; After step S103, the method further includes: If 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; Repeating steps S102 to S103 until 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; 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; the update threshold condition is determined according to the number of non-rotating platform nodes participating in the online voting and the passing status of each voting result.

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 results, 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: Determining a first number of second platform nodes participating in voting among each of the non-rotating platform nodes; If it is determined that the first number is not less than a first number threshold, determining a second number of platform nodes that feedback a voting result of yes 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 meets 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 performs a data consistency comparison between the second situation update data generated locally and the first situation update data; For any non-rotating platform node among the non-rotating platform nodes, if the data consistency comparison result is consistent, the non-rotating platform node generates a first voting result representing an affirmative vote; otherwise, the non-rotating platform node generates a second voting result representing a negative 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: For any platform node among the platform nodes, the specific steps of generating local situation update data by the platform node include: Acquire multi-source situational awareness data of the current update period using a multi-source perception sensor disposed in any of the platform nodes; Performing data cleaning and standardization processing on the multi-source situational awareness data to obtain standardized multi-source situational awareness data; The standardized multi-source situational awareness data is subjected to data fusion processing to generate local situation update data of any platform node.

6. A device for maintaining consistency of maritime target situation data, characterized in that: include: A rotation selection module, configured to select a first platform node from each platform node of the maritime formation as a rotating platform node in a current update cycle according to a preset rotation rule; wherein each of the platform nodes is interconnected to form a blockchain network; A first control module is configured to control the rotating platform node to package and send locally generated first situation update data 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 verify and vote on the received first situation update data, and feed back the voting results to the rotating platform node; a synchronous update module, configured to control the rotating platform node and each non-rotating platform node participating in the vote to synchronously update based on the first situation update data when it is determined that the voting result satisfies an update threshold condition; the update threshold condition is determined based on the number of non-rotating platform nodes participating in the online vote and the passing status of each voting result; The device is also used for: If 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; Repeat steps S102 to S103 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.

7. 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 5.

8. A computer-readable storage medium storing a computer program, characterized in that: When the computer program is executed on a processor, the processor is caused to execute the method according to any one of claims 1 to 5.

9. A computer program product, characterized in that When the computer program product is run on a processor, the processor is caused to execute the method according to any one of claims 1 to 5.

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