Ship interval safety event trigger control method and device

Abstract

The invention provides a ship interval safety event trigger control method and device, and belongs to the field of ship motion control, and the method comprises the steps: carrying out the Taylor expansion analysis of a preset event trigger function, obtaining a first prediction trigger moment, carrying out the prediction of the event trigger function through a model-based prediction method, obtaining a second prediction trigger moment, and obtaining a second prediction trigger moment; determining a safety triggering interval according to the first predicted triggering moment, the second predicted triggering moment and a preset comparison criterion; and reconstructing a preset ship motion mathematical model according to the safe triggering interval to obtain a triggering interval reconstruction model, and performing signal transmission control on the to-be-controlled ship based on the triggering interval reconstruction model. According to the method, the safe triggering interval is established, the attack traffic is filtered in the interval, delayed but safe triggering transmission is ensured, active safe triggering transmission is achieved, the triggering data packet can be successfully sent under the covering of the safe triggering interval in the DoS attack period, and the stability of ship remote control is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of ship motion control, and in particular to a ship interval safety event triggering control method and device. Background Art

[0002] In autonomous navigation, autonomous vessels can be effectively controlled by shore-based control centers. Networks enable data transmission of navigation information and control signals between the autonomous vessel and the shore-based control center, forming a networked ship control system. However, network security is a crucial aspect of networked control systems. With the increasing openness and scale of networks, the likelihood of cyberattacks such as spoofing and DoS (Denial of Service) attacks increases. Therefore, it is crucial to consider the impact of cyberattacks on system performance in controller design.

[0003] Current detection-based SDN network security mechanisms can defend against network attacks by eliminating malicious traffic at the attack source, dynamically redirecting and diverting traffic, actively discarding attack packets based on intrusion prevention systems, discarding suspicious intrusion prevention flows at the attack destination, rescheduling traffic planning, managing network traffic, and filtering DoS attacks using hidden proxies or servers. However, existing security mechanisms are all passive defenses, making it difficult to transmit data packets during DoS attacks, and unable to ensure the stability of ship remote control, resulting in drawbacks.

[0004] Therefore, the existing technology has the technical problem that passive defense means are difficult to transmit data packets when attacked by DoS, and cannot ensure the stability of ship remote control. Summary of the Invention

[0005] In view of this, it is necessary to provide a ship interval security event triggering control method and device for establishing an active interval security event triggering mechanism, which can successfully send data packets under the cover of the security triggering interval when subjected to DoS attacks.

[0006] In a first aspect, the present invention provides a method for triggering and controlling a ship interval safety event, comprising: Performing Taylor expansion analysis on a preset event trigger function to obtain a first predicted trigger moment, performing a model-based prediction method on the event trigger function to predict a second predicted trigger moment, and determining a safe trigger interval based on the first predicted trigger moment, the second predicted trigger moment, and a preset comparison criterion; A preset ship motion mathematical model is reconstructed according to the safety trigger interval to obtain a trigger interval reconstruction model, and signal transmission control is performed on the controlled ship based on the trigger interval reconstruction model.

[0007] In one possible implementation, the event trigger function formula is expressed as:

[0008] in, Indicates the original triggering moment, Indicates the actual triggering moment, Indicates an event trigger function, represents the sampling time, Indicates the trigger threshold, Indicates that the trigger matrix will be designed to be positive, Indicates proximity trigger data, represents future sampling data, represents the infimum.

[0009] In one possible implementation, performing Taylor expansion analysis on a preset event trigger function to obtain a first predicted trigger moment includes: Performing Taylor expansion on the preset event trigger function to obtain a Taylor expansion trigger function; Determine a Taylor polynomial according to a Taylor expansion trigger function, and generate a predicted trigger interval according to the Taylor polynomial; The first predicted triggering time is obtained by adding the predicted triggering interval and the actual triggering time.

[0010] In one possible implementation, the Taylor expansion trigger function formula is expressed as:

[0011]

[0012]

[0013]

[0014]

[0015]

[0016]

[0017]

[0018] in, Indicates the actual triggering moment, Indicates an event trigger function, represents the sampling time, Indicates the trigger threshold, Indicates that the trigger matrix will be designed to be positive, Indicates proximity trigger data, represents future sampling data, Indicates the predicted trigger interval, Indicates the first prediction triggering moment, represents the infimum.

[0019] In one possible implementation, performing a model-based prediction method on the event trigger function to predict the second predicted triggering moment includes: Build model-based trigger functions and prediction models based on event trigger functions; A second predicted triggering moment is determined according to the model-based triggering function and the prediction model.

[0020] In one possible implementation, the trigger function formula based on the model is expressed as:

[0021] The prediction model formula is expressed as:

[0022] in, Indicates the second prediction triggering moment, represents the model-based prediction trigger function, Indicates the actual triggering moment, represents the sampling time, Indicates the trigger threshold, Indicates that the trigger matrix will be designed to be positive, Indicates proximity trigger data, represents the future sampling data under the prediction trigger function based on the model, represents the state predictor variable, represents the measured output predictor variable, represents the state prediction error, represents the infimum.

[0023] In one possible implementation, determining the safe triggering interval according to the first predicted triggering time, the second predicted triggering time, and a preset comparison criterion includes: Constructing an original trigger interval according to the first predicted trigger time and the second predicted trigger time; Determining a final triggering moment based on a preset comparison criterion and the original triggering interval; The safe triggering interval is determined based on the original triggering interval and the final triggering moment.

[0024] In a possible implementation, the original safety trigger interval is expressed as:

[0025] in, express The left border of express The right boundary of Indicates the first prediction triggering moment, Indicates the second prediction triggering moment; The comparison criterion formula is expressed as:

[0026] in, Indicates the final triggering moment, Indicates the original triggering moment, Indicates the left boundary of the original trigger interval, Indicates the right boundary of the original trigger interval, Indicates the original trigger interval; The safety trigger interval is expressed as:

[0027] in, Indicates the left boundary of the original trigger interval, Indicates the final triggering moment, Indicates delay, Indicates the safety trigger range.

[0028] In one possible implementation, reconstructing a preset ship motion mathematical model according to the safety trigger interval to obtain a trigger interval reconstruction model includes: Determine the trigger prediction delay model according to the safe trigger interval; The Taylor expansion analysis of the state trigger error of the trigger prediction delay model is performed to obtain the equivalent expression of the state trigger error. The preset ship motion mathematical model is reconstructed according to the state trigger error equivalent expression to obtain the trigger interval reconstruction model.

[0029] In a second aspect, the present invention provides a ship interval safety event trigger control device, comprising: a safety trigger interval construction unit, configured to perform a Taylor expansion analysis on a preset event trigger function to obtain a first predicted trigger moment, perform a model-based prediction method on the event trigger function to obtain a second predicted trigger moment, and determine a safety trigger interval based on the first predicted trigger moment, the second predicted trigger moment, and a preset comparison criterion; The reconstruction control unit is used to reconstruct a preset ship motion mathematical model according to the safety trigger interval to obtain a trigger interval reconstruction model, and perform signal transmission control on the ship to be controlled based on the trigger interval reconstruction model.

[0030] The beneficial effect of adopting the above-mentioned embodiment is as follows: in the ship interval security event trigger control method provided by the present invention, the trigger time is predicted respectively by Taylor expansion analysis and model-based prediction method, and a safe trigger interval is established according to the two different predicted trigger times. The attack traffic is filtered within this interval to ensure delayed but safe trigger transmission, thereby realizing active safe trigger transmission. The present invention can successfully send trigger data packets under the cover of the safe trigger interval even during a DoS attack, thereby improving the stability of ship remote control. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative work.

[0032] Figure 1 A flow chart of an embodiment of a method for triggering and controlling ship interval safety events provided by the present invention; Figure 2 The first predicted triggering moment is obtained by Taylor expansion analysis in an embodiment of the present invention; Figure 3 Schematic diagram of a flow chart of predicting a second prediction triggering moment using a model-based prediction method according to an embodiment of the present invention; Figure 4 Schematic diagram of the process of the defect safety triggering interval according to an embodiment of the present invention; Figure 5 A schematic diagram of a process for reconstructing a preset ship motion mathematical model according to an embodiment of the present invention; Figure 6 This is a structural schematic diagram of an embodiment of the ship interval safety event triggering control device provided by the present invention. DETAILED DESCRIPTION

[0033] The following will provide a clear and complete description of the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of them. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative work are within the scope of protection of the present invention.

[0034] It should be understood that the schematic drawings are not drawn to scale. The flowcharts used in the present invention illustrate operations implemented according to some embodiments of the present invention. It should be understood that the operations of the flowcharts can be implemented out of sequence, and steps that have no logical contextual relationship can be reversed in order or implemented simultaneously. In addition, those skilled in the art, guided by the content of the present invention, can add one or more other operations to the flowcharts or remove one or more operations from the flowcharts. Some of the block diagrams shown in the accompanying drawings are functional entities and do not necessarily correspond to physically or logically independent entities. These functional entities can be implemented in the form of software, or in one or more hardware modules or integrated circuits, or in different networks and / or processor systems and / or microcontroller systems.

[0035] The terms "first" and "second" in the embodiments of the present invention are for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Therefore, a technical feature designated as "first" or "second" may explicitly or implicitly include at least one such feature.

[0036] References herein to "embodiments" mean that a particular feature, structure, or characteristic described in connection with the embodiments may be included in at least one embodiment of the present invention. The appearance of this phrase in various places in the specification does not necessarily refer to the same embodiment, nor does it constitute a separate or alternative embodiment that is mutually exclusive of other embodiments. It is understood, both explicitly and implicitly, by those skilled in the art that the embodiments described herein may be combined with other embodiments.

[0037] The present invention provides a method and device for triggering and controlling a ship interval safety event, which are described below.

[0038] Figure 1 This is a flow chart of an embodiment of the ship interval safety event triggering control method provided by the present invention, as shown in FIG. Figure 1 As shown, the ship interval safety event triggering control method includes: S101. Performing a Taylor expansion analysis on a preset event trigger function to obtain a first predicted trigger time, performing a model-based prediction method on the event trigger function to obtain a second predicted trigger time, and determining a safe trigger interval based on the first predicted trigger time, the second predicted trigger time, and a preset comparison criterion; The secure trigger interval in this embodiment of the present invention utilizes a sampling-based event trigger mechanism as the primary trigger judgment condition, constructing an event trigger function to determine the primary trigger moment in the feedback control system. The trigger function is then reconstructed based on adjacent trigger data and a Taylor expansion to predict a first predicted trigger moment. The second predicted trigger moment, obtained by the model-based prediction method, is determined using the current trigger data and the model-based prediction method. Based on the predicted trigger moment, the primary trigger interval is then constructed, and finally, a comparison criterion is established to determine the final trigger moment and the secure trigger interval. Within this interval, the software-defined networking control plane programs the OpenFlow switch to filter attack traffic, ensuring delayed but secure trigger transmission.

[0039] S102 , reconstructing a preset ship motion mathematical model according to the safety trigger interval to obtain a trigger interval reconstruction model, and performing signal transmission control on the ship to be controlled based on the trigger interval reconstruction model.

[0040] In this embodiment, the vessel's motion mathematical model is reconstructed based on a designed interval safety event triggering mechanism, and the reconstructed trigger interval reconstruction model is used to control the vessel's signal transmission. By masking the safety trigger interval, the reconstructed trigger interval reconstruction model can maintain the generation of trigger packets during a DoS attack, effectively improving the stability of remote control of vessels, especially under-actuated autonomous vessels.

[0041] Compared with the existing technology, the ship interval security event trigger control method provided by the present invention predicts the trigger time respectively by Taylor expansion analysis and model-based prediction method, and establishes a safe trigger interval according to the two different predicted trigger times. The attack traffic is filtered within this interval to ensure delayed but safe trigger transmission, thereby realizing active safe trigger transmission. The present invention can successfully send trigger data packets under the cover of the safe trigger interval even during a DoS attack, thereby improving the stability of ship remote control.

[0042] In some embodiments of the present invention, a sampling-based event trigger mechanism is used as the original trigger moment judgment condition, an event trigger function is established, and the original trigger moment in the feedback control system is determined.

[0043] The event trigger function formula is expressed as:

[0044] in, Indicates the original triggering moment, Indicates the actual triggering moment, Indicates an event trigger function, represents the sampling time, Indicates the trigger threshold, Indicates that the trigger matrix will be designed to be positive, Indicates proximity trigger data, represents future sampling data, represents the infimum.

[0045] In some embodiments of the present invention, Figure 2 The first predicted triggering moment is obtained by Taylor expansion analysis of the embodiment of the present invention, such as Figure 2 As shown, Taylor expansion analysis is performed on the preset event trigger function to obtain the first predicted trigger moment, including: S201, performing Taylor expansion on a preset event trigger function to obtain a Taylor expansion trigger function; S202, determining a Taylor polynomial according to a Taylor expansion trigger function, and generating a predicted trigger interval according to the Taylor polynomial; S203: Obtain a first predicted triggering time by adding the predicted triggering interval and the actual triggering time.

[0046] Specifically, in the Taylor expansion analysis, the embodiment constructs a trigger function based on adjacent trigger data in combination with the Taylor expansion, obtains a predicted trigger interval, and determines a predicted trigger moment according to the predicted trigger interval as the first predicted trigger moment.

[0047] In this process, the adjacent trigger data Based on the future sampling data It can be expressed as Taylor expansion:

[0048]

[0049] in, , Indicates the derivatives, represents a higher-order infinitesimal term.

[0050] Using Taylor expansion, the trigger function is expressed as:

[0051]

[0052] in, , the correlation coefficient is defined as:

[0053]

[0054]

[0055] Discard the remainder of the Taylor expansion and express the main part of the trigger function as a Taylor polynomial , then the predicted trigger interval is generated as:

[0056] in, Indicates the predicted trigger interval.

[0057] According to the predicted trigger interval, the first predicted trigger moment obtained by Taylor expansion analysis is .

[0058] In some embodiments of the present invention, Figure 3 FIG. 1 is a flow chart of a method for predicting a second prediction triggering moment based on a model according to an embodiment of the present invention, as shown in FIG. Figure 3 As shown, the event trigger function is predicted using a model-based prediction method to obtain a second predicted triggering moment, including: S301, constructing a model-based trigger function and a prediction model according to the event trigger function; S302: Determine a second predicted triggering moment according to the model-based triggering function and the prediction model.

[0059] Specifically, in the model-based prediction method, the embodiment uses the current trigger data and the model-based prediction method to determine the model-based prediction trigger moment as the second prediction trigger moment.

[0060] In this process, the trigger function formula based on the model is expressed as:

[0061] The prediction model formula is expressed as:

[0062] in, Indicates the second prediction triggering moment, represents the model-based prediction trigger function, represents the state predictor variable, represents the measured output predictor variable, represents the state prediction error, represents the infimum.

[0063] The embodiment can perform a model-based triggering moment prediction based on the model-based triggering function in combination with a set prediction model to obtain a second predicted triggering moment.

[0064] It should be noted that the above prediction model is only a prediction model for realizing model-based triggering moment prediction. In some other embodiments, other forms of prediction models can also be modeled in combination with actual conditions.

[0065] In some embodiments of the present invention, Figure 4 FIG. 1 is a flow chart of a defect safety triggering interval according to an embodiment of the present invention. Figure 4 As shown, determining the safe triggering interval according to the first predicted triggering moment, the second predicted triggering moment and a preset comparison criterion includes: S401: Construct an original trigger interval according to the first predicted trigger time and the second predicted trigger time; S402, determining a final triggering moment based on a preset comparison criterion and an original triggering interval; S403: Determine a safe triggering interval according to the original triggering interval and the final triggering moment.

[0066] Specifically, the embodiment first constructs an original safe trigger interval based on the obtained first predicted trigger moment and the second predicted trigger moment, covering the next trigger moment. The formula of the original trigger interval is expressed as:

[0067] in, Indicates the left boundary, Indicates the right border, interval is along the most recent trigger moment Generate. Trigger measurement output Transmitted through the SDN data plane, the original security trigger interval is sent to the SDN control plane as a network security activation instruction to diagnose and filter attack traffic.

[0068] To ensure the original trigger moment Falls into the original trigger range , the embodiment constructs the following comparison criteria to further determine the final triggering moment:

[0069] in, Indicates the final triggering moment, Indicates the original triggering moment, Indicates the left boundary of the original trigger interval, Indicates the right boundary of the original trigger interval, Indicates the original trigger interval.

[0070] Based on the triggering conditions in the above comparison criteria, the triggering conditions of the interval safety event triggering control strategy include ISETM-TC1 and ISETM-TC2.

[0071] when , ISETM-TC1 meets the following conditions:

[0072] when , ISETM-TC2 meets the following conditions:

[0073] Then, in order to minimize the time consumption and cost of the SDN network security mechanism, the security trigger interval is obtained by terminating the original security trigger interval at the end of the successful trigger transmission. The security trigger interval formula is expressed as:

[0074] in, Indicates the safety trigger range, Indicates the left boundary of the original trigger interval, Indicates the final triggering moment, Indicates delay.

[0075] In some embodiments of the present invention, Figure 5 FIG. 1 is a flow chart of reconstructing a preset ship motion mathematical model according to an embodiment of the present invention, as shown in FIG. Figure 5 As shown, the trigger interval reconstruction model is obtained by reconstructing the preset ship motion mathematical model according to the safety trigger interval, including: S501, determining a trigger prediction delay model according to a safe trigger interval; S502, performing Taylor expansion analysis on the state trigger error of the trigger prediction delay model to obtain an equivalent expression for the state trigger error; S503: reconstructing a preset ship motion mathematical model according to the state trigger error equivalent expression to obtain a trigger interval reconstruction model.

[0076] Specifically, for the ship to be controlled, in the process of pre-setting the mathematical model of the ship motion, the embodiment first considers the traditional fixed reference system and the earth-fixed reference system, takes the center position of the ship as the coordinate origin, and constructs the ship dynamics model through the kinematic equations and dynamic equations of the unmanned surface vehicle in the three degrees of freedom of roll, surge and pitch, and then obtains the improved mathematical model suitable for mean square stability analysis through coordinate transformation, and converts the improved mathematical model suitable for mean square stability analysis into a state equation to obtain the mathematical model of the ship's motion.

[0077] In this process, the improved mathematical model suitable for mean square stability analysis is:

[0078]

[0079] in, Represents the angular velocity vector of the ship in the hull fixed reference frame, which are the surge velocity, roll velocity and bow pitch velocity. It represents the forces and moments provided by the thrusters in the surge, roll and pitch directions. Indicates ocean disturbances such as wind and waves. represents the inertia matrix, represents the damping matrix, represents the mooring force matrix, Expressed as:

[0080] The state space equation model is:

[0081] in, , , , Assumptions Very small, yes , , , , .

[0082]

[0083] in, Indicates the system status, Indicates output measurement.

[0084] During the reconstruction process, the embodiment reconstructs the ship motion mathematical model according to the proposed ISETM interval safety event triggering control strategy.

[0085] In the embodiment, under the protection of the STI safety trigger interval, the trigger moment Protected against DoS attacks. , introduce the delay model to represent the received trigger measurement value :

[0086] in, Indicates the state trigger error, is the upper bound of the delay.

[0087] Then using Taylor expansion, The equivalent expression of is derived as follows:

[0088]

[0089]

[0090]

[0091] in, .

[0092] based on The equivalent derivation formula of is used to re-establish the mathematical model of ship motion:

[0093] in, represents the state prediction error, Indicates external disturbances. The triggering conditions for the ISETM interval safety event triggering control strategy include:

[0094] as well as:

[0095] in, , represents the prediction error at the current sampling moment, Indicates the trigger threshold, represents the trigger function based on Taylor expansion, Represents a trigger function based on model prediction.

[0096] After a DoS attack, calculate the event trigger matrix and controller gain During the process, for a given non-periodic DoS attack parameter , , and , if there exists a positive definite symmetric matrix , , , , and the appropriate matrix , and ,satisfy:

[0097]

[0098]

[0099] in:

[0100]

[0101]

[0102]

[0103]

[0104]

[0105]

[0106]

[0107]

[0108]

[0109]

[0110]

[0111]

[0112]

[0113]

[0114] in, is the identity matrix of appropriate dimension, Represents the corresponding transposed term in the matrix.

[0115] Then the event triggers the matrix and the controller gain matrix It can be calculated using linear matrix inequalities.

[0116] In summary, in the ship interval security event trigger control method provided by the present invention, the trigger time is predicted respectively by Taylor expansion analysis and model-based prediction method, and a safe trigger interval is established according to the two different predicted trigger times. The attack traffic is filtered within this interval to ensure delayed but safe trigger transmission, thereby realizing active safe trigger transmission. The present invention can successfully send trigger data packets under the cover of the safe trigger interval even during a DoS attack, thereby improving the stability of ship remote control.

[0117] In order to better implement the ship interval security event triggering control method in the embodiment of the present invention, based on the ship interval security event triggering control method, correspondingly, Figure 6As shown, an embodiment of the present invention further provides a ship interval safety event triggering control device, and the ship interval safety event triggering control device 600 includes: A safety trigger interval construction unit 601 is configured to perform a Taylor expansion analysis on a preset event trigger function to obtain a first predicted trigger time, perform a model-based prediction method on the event trigger function to obtain a second predicted trigger time, and determine a safety trigger interval based on the first predicted trigger time, the second predicted trigger time, and a preset comparison criterion; The reconstruction control unit 602 is used to reconstruct the preset ship motion mathematical model according to the safety trigger interval to obtain a trigger interval reconstruction model, and perform signal transmission control on the ship to be controlled based on the trigger interval reconstruction model.

[0118] The ship interval safety event triggering control device 600 provided in the above embodiment can implement the technical solution described in the above embodiment of the ship interval safety event triggering control method. The specific implementation principles of the above modules or units can refer to the corresponding contents in the above embodiment of the ship interval safety event triggering control method, which will not be repeated here.

[0119] The above is a detailed introduction to the ship interval safety event triggering control method and device provided by the present invention. Specific examples are used in this article to illustrate the principles and implementation methods of the present invention. The description of the above embodiments is only used to help understand the method of the present invention and its core ideas. At the same time, for technical personnel in this field, based on the ideas of the present invention, there will be changes in the specific implementation methods and application scope. In summary, the content of this specification should not be understood as a limitation on the present invention.

Claims

1. A ship interval safety event triggering control method, characterized in that: include: Performing a Taylor expansion analysis on a preset event trigger function to obtain a first predicted trigger time, performing a model-based prediction method on the event trigger function to obtain a second predicted trigger time, and determining a safe trigger interval based on the first predicted trigger time, the second predicted trigger time, and a preset comparison criterion; A preset ship motion mathematical model is reconstructed according to the safety trigger interval to obtain a trigger interval reconstruction model, and signal transmission control is performed on the ship to be controlled based on the trigger interval reconstruction model.

2. The ship interval safety event trigger control method according to claim 1, characterized in that: The event trigger function formula is expressed as: in, Indicates the original triggering moment, Indicates the actual triggering moment, Indicates an event trigger function, represents the sampling time, , represents the trigger threshold, Indicates that the trigger matrix will be designed to be positive, Indicates proximity trigger data, represents future sampling data, represents the infimum.

3. The ship interval safety event trigger control method according to claim 1, characterized in that: The Taylor expansion analysis of the preset event trigger function to obtain the first predicted trigger moment includes: Performing Taylor expansion on the preset event trigger function to obtain a Taylor expansion trigger function; Determine a Taylor polynomial according to the Taylor expansion trigger function, and generate a predicted trigger interval according to the Taylor polynomial; A first predicted triggering time is obtained by adding the predicted triggering interval and the actual triggering time.

4. The ship interval safety event triggering control method according to claim 3 is characterized in that: The Taylor expansion trigger function formula is expressed as: in, Indicates the actual triggering moment, Indicates an event trigger function, represents the sampling time, Indicates the trigger threshold, Indicates that the trigger matrix will be designed to be positive, Indicates proximity trigger data, represents future sampling data, Indicates the predicted trigger interval, Indicates the first prediction triggering moment, represents the infimum.

5. The ship interval safety event trigger control method according to claim 1, characterized in that: The performing a model-based prediction method on the event trigger function to predict a second predicted triggering moment includes: Constructing a model-based trigger function and a prediction model according to the event trigger function; A second predicted triggering moment is determined according to the model-based triggering function and the prediction model.

6. The ship interval safety event trigger control method according to claim 5, characterized in that: The trigger function formula based on the model is expressed as: The prediction model formula is expressed as: in, Indicates the second prediction triggering moment, represents the model-based prediction trigger function, Indicates the actual triggering moment, represents the sampling time, Indicates the trigger threshold, Indicates that the trigger matrix will be designed to be positive, Indicates proximity trigger data, represents the future sampling data under the prediction trigger function based on the model, represents the state predictor variable, represents the measured output predictor variable, represents the state prediction error, represents the infimum.

7. The ship interval safety event trigger control method according to claim 1, characterized in that: The determining of the safe triggering interval according to the first predicted triggering time, the second predicted triggering time, and a preset comparison criterion includes: constructing an original triggering interval according to the first predicted triggering time and the second predicted triggering time; Determining a final triggering moment based on a preset comparison criterion and the original triggering interval; A safe triggering interval is determined according to the original triggering interval and the final triggering moment.

8. The ship interval safety event triggering control method according to claim 7, characterized in that: The original safety trigger interval is expressed as: in, express The left border of express The right boundary of Indicates the first prediction triggering moment, Indicates the second prediction triggering moment; The comparison criterion formula is expressed as: in, Indicates the final triggering moment, Indicates the original triggering moment, Indicates the left boundary of the original trigger interval, Indicates the right boundary of the original trigger interval, Indicates the original trigger interval; The safety trigger interval is expressed as: in, Indicates the left boundary of the original trigger interval, Indicates the final triggering moment, Indicates delay, Indicates the safety trigger range.

9. The ship interval safety event triggering control method according to claim 1, characterized in that: The reconstructing a preset ship motion mathematical model according to the safety trigger interval to obtain a trigger interval reconstruction model includes: Determine a trigger prediction delay model according to the safety trigger interval; Performing Taylor expansion analysis on the state trigger error of the trigger prediction delay model to obtain an equivalent expression of the state trigger error; A preset ship motion mathematical model is reconstructed according to the state trigger error equivalent expression to obtain a trigger interval reconstruction model.

10. A ship interval safety event trigger control device, characterized in that: include: a safety trigger interval construction unit, configured to perform a Taylor expansion analysis on a preset event trigger function to obtain a first predicted trigger moment, perform a model-based prediction method on the event trigger function to obtain a second predicted trigger moment, and determine a safety trigger interval based on the first predicted trigger moment, the second predicted trigger moment, and a preset comparison criterion; A reconstruction control unit is used to reconstruct a preset ship motion mathematical model according to the safety trigger interval to obtain a trigger interval reconstruction model, and perform signal transmission control on the ship to be controlled based on the trigger interval reconstruction model.

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