A fleet satellite communication network system with a single ship as the main node

Abstract

The present invention relates to the technical field of satellite communication networks, and discloses a fleet satellite communication network system with a single ship as the main node, including: a data acquisition and preprocessing module, which is used to collect ship characteristic data at each ship end in the fleet, and perform preprocessing and feature extraction to obtain first feature data; a centralized management and relay module, which is used to select a ship from the fleet as the main node according to the first feature data; a dynamic resource allocation module, which is used to calculate the priority score of the ship through a priority scoring formula according to the first feature data, and then dynamically allocate the total bandwidth of the fleet; a fault recovery and network reconstruction module, which is used to trigger a main node switching mechanism and reconstruct the network when the main node fails. The present invention realizes centralized communication management by selecting a single ship as the main node, optimizes the selection of the main node based on the main node score, and adopts a priority scoring and dynamic bandwidth allocation strategy to improve communication stability, bandwidth utilization rate and system reliability.

Description

Technical Field

[0001] The present invention belongs to the technical field of satellite communication networks, and particularly relates to a fleet satellite communication network system with a single ship as the main node. Background Art

[0002] With the rapid development of global ocean transportation, fishery operations, and oceanic scientific research, efficient communication between ships has become an important technical support for ensuring safe navigation and improving operation efficiency. Traditional fleet communication methods usually adopt a decentralized satellite communication architecture, that is, each ship is independently equipped with a satellite terminal and directly communicates with the satellite. However, this architecture has the following problems in practical applications: 1. Resource waste: Each ship needs to be independently configured with a satellite terminal, resulting in high equipment costs and a large amount of redundant investment. Especially in a large-scale fleet, it increases the operation burden; 2. Low communication efficiency: In the decentralized communication mode, multiple ships access the satellite communication network simultaneously, leading to increased competition for channel resources and vulnerable data transmission to interference. Especially in high-concurrency or dense sea area environments, the delay increases and the bandwidth utilization rate is low; 3. Coverage blind spots: Due to the limited antenna power of small ships, the signal attenuation is serious in bad weather or oceanic environments, which may cause communication interruption and affect remote monitoring and dispatching commands. Summary of the Invention

[0003] The present invention provides a fleet satellite communication network system with a single ship as the main node, which solves the technical problems of resource waste, low communication efficiency, and coverage blind spots in related technologies.

[0004] The present invention provides a fleet satellite communication network system with a single ship as the main node, including:

[0005] A data acquisition and preprocessing module, configured to collect ship feature data at each ship end in the fleet, and perform preprocessing and feature extraction to obtain first feature data;

[0006] The ship feature data includes: ship longitude and latitude, heading, speed, signal strength, error rate, data volume to be transmitted, and task type;

[0007] A centralized management and relay module, configured to select a ship from the fleet as the main node according to the first feature data. The main node is configured with a high-performance satellite communication terminal and is responsible for centralized aggregation and relay transmission of data in the fleet;

[0008] A dynamic resource allocation module, configured to calculate the priority score of the ship according to the first feature data through a priority scoring formula, and then dynamically allocate the total bandwidth of the fleet;

[0009] A fault recovery and network reconstruction module, configured to trigger a main node switching mechanism and reconstruct the network when the main node fails.

[0010] Furthermore, the ship's latitude and longitude are represented by two-dimensional coordinate coding. The task types include: ordinary data transmission, navigation instruction transmission, real-time monitoring data transmission, and emergency event notification. The task urgency level is set according to the task type, and both the task type and the task urgency level are represented by real number coding.

[0011] Furthermore, the specific steps of the preprocessing include:

[0012] S201: Use the rule verification method to identify the outliers in each data field of the ship feature data, and use the mean value of the data except the outliers for replacement processing;

[0013] S202: Use the first-order exponential smoothing filter to process the signal strength;

[0014] S203: Convert each data field of the ship feature data into a unified digital format and add a timestamp.

[0015] Furthermore, the specific steps of the feature extraction include:

[0016] S301: Extract the communication quality feature according to the ship feature data. Among them, the first intermediate feature is obtained by dividing the difference between the signal strength of the ship and the lowest signal strength in the fleet by the difference between the highest and lowest signal strengths in the fleet. The second intermediate feature is obtained by taking the logarithmic ratio of the error rate of the ship and the highest error rate in the fleet. The third intermediate feature is obtained by taking the absolute value of the difference between the ship's heading and the average heading of the fleet. Combine the first intermediate feature, the second intermediate feature, and the third intermediate feature to obtain the communication quality feature;

[0017] S302: Extract the position stability feature according to the ship feature data. Among them, the fourth intermediate feature is obtained by taking the ratio of the difference between the ship's speed and the average speed of the fleet and the difference between the maximum speed and the minimum speed in the fleet. Combine the Euclidean distance between the ship and the center point of the fleet, the fourth intermediate feature, and the third intermediate feature to obtain the position stability feature;

[0018] S303: Extract the motion stability feature according to the ship feature data. Among them, the fifth intermediate feature is obtained by taking the difference between the ship's current heading and the previous heading. The sixth intermediate feature is obtained by taking the ratio of the absolute value of the difference between the ship's current speed and the previous speed and the difference between the maximum speed and the minimum speed in the fleet. The seventh intermediate feature is obtained by taking the ratio of the absolute value of the ship's acceleration and the maximum acceleration of the ship. Combine the fifth intermediate feature, the sixth intermediate feature, and the seventh intermediate feature to obtain the motion stability feature;

[0019] S304: Normalize the communication quality feature, the position stability feature, and the motion stability feature using the z-score normalization method.

[0020] Furthermore, the communication quality feature, position stability feature, and motion stability feature extracted from the ship characteristic data are used to obtain the ship master node score through the first ship score formula. The ship with the highest master node score is selected as the master node, and the ship with the second highest master node score is selected as the standby master node. Among them, the ship master node score is obtained by performing power operations on the communication quality feature, position stability feature, and motion stability feature respectively and then performing a product operation.

[0021] Furthermore, calculate the variances of the communication quality feature, position stability feature, and motion stability feature respectively, and calculate the weight coefficients of each feature according to the ratio of the variance of each feature to the sum of the variances of all features. The weight coefficients of each feature include: communication quality weight coefficient, position stability weight coefficient, and motion stability weight coefficient.

[0022] Furthermore, calculate the priority score of the ship according to the first feature data through the priority scoring formula, and then allocate the total bandwidth of the fleet. Among them, the priority score is obtained by combining the ratio of the data volume to be transmitted of the ship to the maximum data volume to be transmitted in the fleet, the signal strength of the ship to the highest signal strength in the fleet, the logarithm of the ship bit error rate, and the urgency of the ship's task;

[0023] Allocate the total bandwidth of the fleet according to the priority score. The calculation formula for the allocable bandwidth of the ship is: , where represents the allocable bandwidth of ship i, represents the total bandwidth of the fleet, represents the priority score of ship i, n represents the number of ships in the fleet, and j represents the ship index.

[0024] Furthermore, when the master node meets one of the following conditions, it is determined that the master node fails:

[0025] The signal strength of the master node is lower than the first preset threshold and the duration exceeds the first preset time interval;

[0026] The bit error rate of the master node is higher than the second preset threshold and the duration exceeds the second preset time interval;

[0027] The course deviation of the master node exceeds the third threshold and the duration exceeds the third preset time interval;

[0028] After determining that the master node fails, execute the master node switching mechanism. The switching mechanism includes:

[0029] First priority switching: Enable the standby master node to replace the current master node;

[0030] Second - priority switching: When the standby master node fails, recalculate the master - node score based on the current fleet status, and select the ship with the highest master - node score as the new master node.

[0031] The beneficial effects of the present invention are as follows: By selecting a single ship as the master node, the present invention reduces the need for each ship to be independently equipped with a satellite communication terminal, thereby reducing equipment procurement and maintenance costs and avoiding redundant investment in the traditional decentralized communication architecture.

[0032] Based on three core features, namely communication quality, position stability, and motion stability, the present invention selects the optimal ship as the master node through a master - node scoring algorithm and pre - selects the sub - optimal node as the standby master node. This mechanism ensures that the master node has good signal quality, a reasonable fleet position, and stable motion state, avoiding the problem of frequent master - node switching and improving the reliability and stability of the fleet communication network.

[0033] The present invention adopts a priority - scoring formula to calculate the priority based on the data - transmission requirements, link quality, and task urgency of the ship, and ensures that high - priority tasks obtain bandwidth first through a dynamic bandwidth - allocation strategy. Compared with the traditional fixed - bandwidth allocation method, this method can adjust resource allocation according to the real - time needs of the ship, improving bandwidth utilization, reducing channel competition, and enhancing the stability and response speed of data transmission. Description of the Drawings

[0034] Figure 1 is a schematic module diagram of a fleet satellite communication network system with a single ship as the master node according to the present invention. Detailed Embodiments

[0035] Now, the subject matter described herein will be discussed with reference to example embodiments. It should be understood that discussing these embodiments is only to enable those skilled in the art to better understand and thus implement the subject matter described herein. Without departing from the scope of protection of the content of this specification, changes can be made to the functions and arrangements of the elements discussed. Each example can omit, substitute, or add various processes or components as needed. Additionally, the features described relative to some examples can also be combined in other examples.

[0036] As Figure 1 shown, a fleet satellite communication network system with a single ship as the master node includes:

[0037] A data acquisition and pre - processing module 101, configured to collect ship - feature data at each ship end within the fleet, perform pre - processing and feature extraction to obtain first - feature data.

[0038] The ship - feature data includes: ship longitude and latitude, heading, speed, signal strength, bit - error rate, data volume to be transmitted, and task type.

[0039] The centralized management and relay module 102 is used to select a ship from the fleet as the master node according to the first feature data. The master node is configured with a high-performance satellite communication terminal, which is responsible for centrally aggregating and relaying the data within the fleet.

[0040] The dynamic resource allocation module 103 is used to calculate the priority score of the ship according to the first feature data through the priority scoring formula, and then dynamically allocate the total bandwidth of the fleet.

[0041] The fault recovery and network reconstruction module 104 is used to trigger the master node switching mechanism and reconstruct the network when the master node fails.

[0042] In an embodiment of the present invention, the data acquisition and preprocessing module deploys sensors, communication devices and data processing units at each ship end for data acquisition and preprocessing. Among them, the Beidou satellite navigation system is used to obtain the ship's longitude and latitude, the inertial navigation system is used to obtain the current heading of the ship, the ship speed is obtained through the speed measurement function of the global navigation satellite system, the radio receiving module is used to obtain the ship signal strength, the bit error rate is calculated by transmitting test data between the ship and the master node, the on-board computer monitors the data buffer to obtain the amount of data to be transmitted, and the on-board task management system is used to obtain the task type.

[0043] In an embodiment of the present invention, the ship's longitude and latitude are represented by two-dimensional coordinate coding. The task types include: ordinary data transmission, navigation instruction transmission, real-time monitoring data transmission, and emergency event notification. The task urgency is set according to the task type. Both the task type and the task urgency are represented by real number coding. For example, the task type and the task urgency are represented by 1 to 4. When the task type is navigation instruction transmission, the task urgency is 2.

[0044] In an embodiment of the present invention, the specific steps of the preprocessing include:

[0045] S201, using the rule verification method, identify the outliers in each data field of the ship feature data, and use the mean value of the data except the outliers for replacement processing. For example, perform legal verification on the ship's longitude and latitude data, and set the range of latitude as: , the range of longitude is: , if the longitude and latitude data of a certain ship exceeds the range, it is regarded as an outlier and replaced with the mean value of the longitude and latitude of other ships in the fleet; perform physical constraint judgment on the heading and ship speed data, and set the value range of the heading as: , if the heading exceeds the value range, it is regarded as an outlier and replaced with the mean value of the headings of other ships in the fleet; set the value range of the ship speed as: , if the ship speed exceeds the value range, the average speed of other ships in the fleet is taken for replacement processing;

[0046] S202, Process the signal strength using first-order exponential smoothing filtering. Specifically, the calculation formula for first-order exponential smoothing filtering is: , where represents the processed signal strength at the current t-th moment, represents the signal strength at the current t-th moment, represents the smoothing coefficient, represents the processed signal strength at the (t - 1)-th moment, and t represents the index of the moment;

[0047] S203, Convert each data field of the ship feature data into a unified digital format and add a timestamp. Specifically, the unit of the unified ship longitude and latitude is degree, the unit of the unified ship speed is knot, the unit of the unified course is degree, and the range is , the unit of the unified signal strength is dBm, and the range of the unified bit error rate is , and the unit of the unified data volume to be transmitted is byte.

[0048] In an embodiment of the present invention, the specific steps of feature extraction include:

[0049] S301, Extract the communication quality feature according to the ship feature data. The calculation formula for the communication quality feature is:

[0050] , where represents the communication quality feature, which is used to evaluate the communication link quality of the ship, , and respectively represent the first weight coefficient, the second weight coefficient, and the third weight coefficient, and , and sum to 1. The first weight coefficient is used to measure the influence of the ship's signal strength on the communication quality feature, the second weight coefficient is used to adjust the contribution of the bit error rate to the communication quality feature, and the third weight coefficient is used to evaluate the influence of the ship's course consistency on the communication quality, represents the signal strength of ship i, and respectively represent the lowest signal strength and the highest signal strength in the fleet, represents the bit error rate of ship i, represents the highest bit error rate in the fleet, represents a minimum value between 0 and 1. Preferably, is set to , represents the course of ship i, Indicates the average course of the fleet, Indicates the absolute value of the difference between the course of ship i and the average course of the fleet;

[0051] S302. Extract the position stability feature according to the ship feature data. The calculation formula of the position stability feature is: , where Indicates the position stability feature, which is used to evaluate the relative position of the ship in the fleet, ensure that the main node is in the central area of the fleet, reduce the overall communication overhead, and improve the link stability. and respectively represent the longitude and latitude of ship i, and respectively represent the longitude and latitude of the center point of the fleet. The center point of the fleet is obtained by taking the average value of the longitude and latitude of all ships in the entire fleet. and respectively represent the fourth weight coefficient and the fifth weight coefficient, and and The sum is 1. The fourth weight coefficient is used to measure the importance of the ship's relative position to the fleet center, and the fifth weight coefficient is used to adjust the influence weight of the course in the position stability feature. Represents the speed of ship i, Represents the average speed of the fleet, Represents the maximum speed of ship i, Represents the minimum speed of ship i;

[0052] S303. Extract the motion stability feature according to the ship feature data. The calculation formula of the motion stability feature is:

[0053] , where Indicates the motion stability feature, which is used to quantify the smoothness of the ship's navigation, ensure the stable motion state of the main node, and avoid excessive course deviation affecting communication. , and respectively represent the sixth weight coefficient, the seventh weight coefficient and the eighth weight coefficient, and , and The sum is 1. The sixth weight coefficient is used to measure the importance of the ship's course stability, the seventh weight coefficient is used to evaluate the role of the ship's speed stability in the motion stability feature, and the eighth weight coefficient is used to adjust the weight of the ship's acceleration in the motion stability feature. Represents the course of ship i at the previous moment, Represents the speed of ship i at the previous moment, Denote the acceleration of ship \(i\), which is calculated by dividing the absolute value of the difference between the speed of ship \(i\) at the current moment and the speed at the previous moment by the time interval between the current moment and the previous moment. Denote the maximum acceleration of ship \(i\);

[0054] S304, perform normalization processing on the communication quality feature, position stability feature, and motion stability feature using the z - score normalization method.

[0055] In an embodiment of the present invention, the communication quality feature, position stability feature, and motion stability feature extracted from the ship feature data are used to obtain the ship master node score through the first ship score formula, and the ship with the highest master node score is selected as the master node, and the ship with the second - highest master node score is selected as the standby master node. Among them, the first ship score formula is: , Denote the master node score of ship \(i\), , and respectively denote the communication quality weight coefficient, position stability weight coefficient, and motion stability weight coefficient, and , and The sum is 1. The communication quality weight coefficient is used to reflect the influence degree of the communication quality feature on the selection of the master node, the position stability weight coefficient is used to reflect the importance of the ship in the formation center, and the motion stability weight coefficient is used to reflect the influence of the ship's navigation stability on the selection of the master node.

[0056] In an embodiment of the present invention, calculate the variances of the communication quality feature, position stability feature, and motion stability feature respectively, and calculate the weight coefficients of each feature according to the ratio of the variance of each feature to the sum of the variances of all features. The weight coefficients of each feature include: the communication quality weight coefficient, the position stability weight coefficient, and the motion stability weight coefficient; specifically, the calculation formula for the communication quality weight coefficient is: , the calculation formula for the position stability weight coefficient is: , the calculation formula for the motion stability weight coefficient is: , where Denote the variance of the communication quality feature, Denote the variance of the position stability, Denote the variance of the motion stability.

[0057] In an embodiment of the present invention, by calculating the variances of the communication quality feature, position stability feature, and motion stability feature, adjust the influence on the selection of the master node according to the dispersion degree of the features in the fleet, so that the system can adapt to different marine environments and fleet distribution situations.

[0058] In one embodiment of the present invention, the priority score of a ship is calculated according to the first feature data through a priority scoring formula, and then the total bandwidth of the fleet is allocated. The priority scoring formula is as follows:

[0059] , represents the priority score of ship i, 、 and respectively represent the data transmission weight coefficient, the link quality weight coefficient, and the task urgency weight coefficient, and 、 and The sum of them is 1, represents the amount of data to be transmitted by ship i, represents the largest amount of data to be transmitted in the fleet, represents the task urgency of ship i;

[0060] The total bandwidth of the fleet is allocated according to the priority score. The calculation formula for the allocable bandwidth of the ship is: , where, represents the allocable bandwidth of ship i, represents the total bandwidth of the fleet, represents the priority score of ship i, n represents the number of ships in the fleet, and j represents the ship index.

[0061] In one embodiment of the present invention, the bandwidth is dynamically adjusted according to the current amount of data to be transmitted, the link quality, and the task urgency of the ship, ensuring that high-priority tasks obtain bandwidth first and improving communication efficiency; the main node score is not affected by short-term task requirements, ensuring long-term network stability, and the priority score mainly focuses on the immediate bandwidth demand, enabling the system to maintain stability while quickly adjusting the resource allocation strategy under instantaneous high load conditions and improving the network state performance.

[0062] In one embodiment of the present invention, when the main node meets one of the following conditions, it is determined that the main node fails:

[0063] 1. The signal strength of the main node is lower than the first preset threshold and lasts for more than the first preset time interval;

[0064] 2. The bit error rate of the main node is higher than the second preset threshold and lasts for more than the second preset time interval;

[0065] 3. The course deviation of the main node exceeds the third threshold and lasts for more than the third preset time interval;

[0066] After determining that the main node fails, a main node switching mechanism is executed. The switching mechanism includes:

[0067] First priority switching: Enable the standby master node to replace the current master node;

[0068] Second priority switching: When the standby master node fails, recalculate the master node score based on the current fleet status, and select the ship with the highest master node score as the new master node.

[0069] In an embodiment of the present invention, by determining the status of the master node from three angles of signal strength, bit error rate, and course deviation, the possibility of misjudgment or missed judgment is reduced. A two-layer strategy of first priority standby master node switching and second priority dynamic re-selection of the master node is adopted to ensure that the network can be quickly restored under any circumstances.

[0070] The embodiments of the present invention have been described above, but the present invention is not limited to the above specific embodiments. The above specific embodiments are merely illustrative and not restrictive. Under the inspiration of this embodiment, those of ordinary skill in the art can also make many forms, all of which fall within the protection scope of this embodiment.

Claims

1. A fleet satellite communication network system with a single ship as the main node, characterized in that: include: The data collection and preprocessing module is used to collect ship characteristic data from each ship in the fleet, and perform preprocessing and feature extraction to obtain first characteristic data; Ship characteristic data include: ship latitude and longitude, heading, speed, signal strength, bit error rate, amount of data to be transmitted and mission type; The specific steps of feature extraction include: S301, extracting communication quality features according to the ship feature data, the calculation formula of the communication quality features is: ,in, Indicates the communication quality characteristics, , and denote the first weight coefficient, the second weight coefficient and the third weight coefficient respectively, and , and The sum is 1, represents the signal strength of ship i, and Respectively represent the lowest signal strength and the highest signal strength in the fleet, represents the bit error rate of ship i, represents the highest bit error rate in the fleet, Represents the minimum value between 0 and 1. represents the heading of ship i, represents the average heading of the fleet, It represents the absolute value of the difference between the heading of ship i and the average heading of the fleet; S302, extracting position stability features according to the ship characteristic data, the calculation formula of the position stability features is: ,in, represents the position stability characteristic, and denote the longitude and latitude of ship i, respectively. and They represent the longitude and latitude of the center point of the fleet respectively. The center point of the fleet is obtained by taking the average longitude and latitude of all ships in the fleet. and denote the fourth weight coefficient and the fifth weight coefficient respectively, and and The sum is 1, represents the speed of ship i, represents the average speed of the fleet, represents the maximum speed of ship i, represents the minimum speed of ship i; S303, extracting motion stability features according to the ship characteristic data, the motion stability features are calculated as follows: ,in, Represents the motion stability characteristics, , and denote the sixth weight coefficient, the seventh weight coefficient and the eighth weight coefficient respectively, and , and The sum is 1, represents the heading of ship i at the previous moment, represents the speed of ship i at the previous moment, It represents the acceleration of ship i, which is calculated by dividing the absolute value of the difference between the current speed of ship i and the previous speed by the time interval between the current time and the previous time. represents the maximum acceleration of ship i; S304, normalizing the communication quality feature, the position stability feature, and the motion stability feature using a z-score normalization method; The centralized management and relay module is used to select a ship from the fleet as a master node according to the first characteristic data. The master node is equipped with a satellite communication terminal and is responsible for centralized aggregation and relay transmission of data within the fleet. A dynamic resource allocation module, used to calculate the priority score of the ship through a priority scoring formula according to the first characteristic data, and then dynamically allocate the total bandwidth of the fleet; The fault recovery and network reconstruction module is used to trigger the master node switching mechanism and rebuild the network when the master node fails.

2. A fleet satellite communication network system with a single ship as the main node according to claim 1, characterized in that: The latitude and longitude of the ship are represented by two-dimensional coordinate codes. The task types include: ordinary data transmission, navigation command transmission, real-time monitoring data transmission, emergency event notification, and the task urgency is set according to the task type. The task type and task urgency are both represented by real number codes.

3. A fleet satellite communication network system with a single ship as the main node according to claim 1, characterized in that: The specific steps of the pretreatment include: S201, using a rule verification method to identify abnormal values ​​in each data field of the ship characteristic data, and using the mean of the data other than the abnormal values ​​for replacement processing; S202, using a first-order exponential smoothing filter to process the signal strength; S203, converting each data field of the ship characteristic data into a unified digital format and adding a timestamp.

4. A fleet satellite communication network system with a single ship as the main node according to claim 1, characterized in that: The communication quality characteristics, position stability characteristics, and motion stability characteristics extracted from the ship feature data are used to obtain the ship master node score through the first ship scoring formula, and the ship with the highest master node score is selected as the master node, and the ship with the second highest master node score is selected as the backup master node. The ship master node score is obtained by performing power operations on the communication quality characteristics, position stability characteristics, and motion stability characteristics, and performing product operations.

5. A fleet satellite communication network system with a single ship as the main node according to claim 4, characterized in that: The variances of the communication quality feature, position stability feature, and motion stability feature are calculated respectively, and the weight coefficient of each feature is calculated according to the ratio of the variance of each feature to the sum of the variances of all features. The weight coefficients of each feature include: communication quality weight coefficient, position stability weight coefficient, and motion stability weight coefficient.

6. A fleet satellite communication network system with a single ship as the main node according to claim 1, characterized in that: Calculate the priority score of the ship through the priority scoring formula according to the first characteristic data, and then allocate the total bandwidth of the fleet, wherein the priority score is obtained by combining the ratio of the amount of data to be transmitted of the ship to the maximum amount of data to be transmitted in the fleet, the signal strength of the ship to the highest signal strength in the fleet, the logarithm of the bit error rate of the ship, and the urgency of the mission of the ship; The total bandwidth of the fleet is allocated according to the priority score, and the calculation formula for the allocatable bandwidth of the ship is: ,in, represents the allocatable bandwidth of ship i, represents the total bandwidth of the fleet, represents the priority score of ship i, n represents the number of ships in the fleet, and j represents the ship index.

7. A fleet satellite communication network system with a single ship as the main node according to claim 4, characterized in that: When the master node meets one of the following conditions, the master node is considered invalid: The signal strength of the master node is lower than a first preset threshold and lasts longer than a first preset time interval; The bit error rate of the master node is higher than a second preset threshold and lasts longer than a second preset time interval; The heading deviation of the master node exceeds a third threshold value and lasts for a period of time exceeding a third preset time interval; After determining that the master node fails, the master node switching mechanism is executed, and the switching mechanism includes: First priority switch: enable the backup master node to replace the current master node; Second priority switching: When the backup master node fails, the master node score is recalculated based on the current fleet status, and the ship with the highest master node score is selected as the new master node.

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