Data management system and data management method for low, small and slow target perception system

Abstract

The application provides a data management and control system and method for a low, small and slow target perception system. After the user of each subsystem registers and accesses, a secondary read-write queue is created, and a hash table is used to manage the mapping relationship between the user identifier and the secondary read-write queue. The memory address pointer of the published data is sent to the primary read-write queue by the secondary read-write queue of the publishing user, and the data read from the primary read-write queue is forwarded to the secondary read-write queue of the subscribing user according to the mapping relationship in the hash table by the intelligent distribution service module, so that the high-speed data forwarding is realized. Meanwhile, the monitoring pointer of the primary read-write queue is used to scan the data state of each subsystem in real time, and the control instruction is generated based on the monitoring result and is sent to the corresponding subsystem through the secondary read-write queue, so that the closed-loop control is realized. The application significantly improves the integration, real-time performance and autonomy level of the simulation deduction of the low, small and slow target perception system in the sea area.

Description

Technical Field

[0001] This invention relates to the fields of complex system simulation, intelligent communication and command and control technology, and more specifically, to a data management system and data management method for a perception system of low, small and slow targets. Background Technology

[0002] The defense system for "low, small, and slow targets in the sea area" needs to integrate multiple sensors and command and control systems such as radar, photoelectric, radio detection, and drones, and build a highly complex simulation and simulation platform.

[0003] Existing simulation and deduction platform technologies suffer from the following bottlenecks:

[0004] (1) The simulation and actual data are separated: the simulation model data and the actual access data use different communication protocols, making it difficult to manage them in a unified manner.

[0005] (2) Lack of unified monitoring means: It is impossible to perceive the data release status and operational health of each subsystem (simulation model, actual equipment) in real time.

[0006] (3) Separation of control command channels: different interfaces are used for simulation task control, model parameter adjustment and actual equipment command issuance, resulting in low system coupling.

[0007] (4) High communication latency: Traditional middleware latency is in the millisecond range, making it difficult to support high-frequency simulation.

[0008] (5) No closed-loop control capability: The message system only supports one-way data branching and cannot intervene in the system behavior based on the data status.

[0009] (6) Although existing message middleware supports real-time communication, it does not have unified monitoring, reverse control and simulation-implementation integration capabilities. Summary of the Invention

[0010] This invention aims to solve the problems of data fragmentation, inaccurate monitoring, decentralized control, high latency, and lack of closed-loop control capability in existing marine low-, small, and slow target perception simulation platforms. It proposes a data management and control system for low-, small, and slow target perception systems that integrates high-speed communication, unified monitoring, task control, command issuance, and data analysis, thereby realizing integrated access, visual monitoring, and closed-loop control of simulation models and actual equipment.

[0011] The present invention is implemented using the following technical solutions:

[0012] A data management and control system for perception systems of small, slow targets is proposed, including:

[0013] The memory pool is used to request memory from users when they access the platform and to store the published messages.

[0014] The first-level read / write queue is used to manage memory address pointers and is configured with a monitoring pointer for scanning the first-level read / write queue;

[0015] The user management interface module creates a data channel for users after they register and access the publishing / subscribing service. Publishing users send the memory address pointer of the memory pool to the intelligent distribution service module through the data channel. Subscribing users receive the memory address pointer forwarded by the intelligent distribution service module through the data channel and read the subscription message from the memory pool based on the memory address pointer.

[0016] The intelligent distribution service module is used to obtain the user identifier and data channel identifier of registered / subscribed users, establish a hash table mapping the relationship between users and data channels; insert the memory address pointer read from the data channel of the publishing user into the first-level read-write queue, and forward the memory address pointer of the subscription message read from the first-level read-write queue to the data channel of the subscribing user by querying the hash table; and generate control instructions based on the monitoring results of the monitoring pointer, and issue the control instructions through the data channel of the target user.

[0017] In some embodiments of the present invention, the intelligent distribution service module comprises a channel management unit, a data forwarding unit, a monitoring pointer management unit, and a control command issuing unit;

[0018] The channel management unit is used to monitor the user's management channel, obtain the user identifier and data channel identifier of the registered user, and establish a hash table to map the user to the data channel.

[0019] The data forwarding unit is used to insert the memory address pointer read from the data channel of the publishing user into the first-level read-write queue, and after reading the memory address pointer of the subscription message from the first-level read-write queue, query the hash table and forward it to the data channel of the target subscriber.

[0020] The monitoring pointer management unit is used to scan the primary read / write queue in real time based on the monitoring pointer, and to monitor the data publishing status and operational health of each subsystem.

[0021] The control command issuing unit is used to generate control commands based on monitoring results and issue the control commands to the target subsystem through the target user's data channel.

[0022] In some embodiments of the present invention, after a subscriber registers and accesses the target subsystem, its user management interface module determines whether there is already a prior subscriber who has subscribed to the same message. If so, no data channel is created for it. Instead, the data channel identifier of the prior subscriber is obtained by querying the hash table of the intelligent distribution service module, and the subscriber is notified to read the memory address pointer of the subscription message from the prior subscriber's data channel.

[0023] In some embodiments of the present invention, the user management interface module is further used to monitor the congestion of the data channel and send the monitoring data to the intelligent distribution service module; the intelligent distribution service module defines congestion control methods in a hash table, and after detecting congestion, queries the hash table to obtain the congestion control methods and executes them; the congestion control methods include canceling references and canceling references after storage.

[0024] In some embodiments of the present invention, during congestion control, when congestion occurs while a publishing user is writing data to the primary read / write queue through the data channel, the primary read / write queue is released; when congestion occurs while a subscribing user is obtaining subscription messages through the data channel, the data channel is released.

[0025] In some embodiments of the present invention, the data management system further includes a data storage module for storing data in the primary read / write queue or the user's data channel for replaying the process and performing post-event analysis.

[0026] In some embodiments of the present invention, the monitoring pointer is used to detect data stream interruption, frequency abnormality or format error in the subsystem, and to issue alarms or control commands.

[0027] In some embodiments of the present invention, the control commands include resetting the simulation model task, adjusting parameters, pausing or resuming, restarting the actual equipment or switching modes, pausing the simulation process, accelerating or freezing data.

[0028] A data management and control method for low-value, small-value, and slow-speed target perception systems is proposed, and applied to the data management and control system for low-value, small-value, and slow-speed target perception systems described above, including:

[0029] The publish / subscribe user registration access subsystem and the user management interface module create data channels for users; the intelligent distribution service module stores the mapping relationship between users and data channels in a hash table.

[0030] The publishing user requests a memory pool and stores the publishing message through the management channel interface module, and sends the memory address pointer to the intelligent distribution service module through the data channel;

[0031] The intelligent distribution service module inserts the memory address pointer of the publishing user into the first-level read-write queue; and reads the memory address pointer of the subscribed message from the first-level read-write queue, queries the hash table to obtain the data channel of the target subscribed user, and forwards the memory address pointer of the subscribed message to the target subscribed user through the data channel of the target subscribed user.

[0032] During the above steps, the monitoring pointer scans the message content of the primary read / write queue in real time; the intelligent distribution service module generates control commands based on the monitoring results and sends the control commands to the target subsystem through the target user's data channel.

[0033] In some embodiments of the present invention, after a user publishes a message, the user management interface module releases the data channel and sends a message to the intelligent distribution service module to destroy the data channel; the intelligent distribution service module deletes the mapping relationship between the publishing user and the data channel from the hash table;

[0034] After a subscriber subscribes to a message, the system checks if any other subscribers are reading data from the data channel. If no other subscribers are reading data from the data channel, the system releases the data channel and sends a message to the intelligent distribution service module to destroy the data channel. The intelligent distribution service module then removes the mapping between the subscriber and the data channel from the hash table. If other subscribers are reading the data channel, the system continues to release the data channel until all other subscribers have finished reading.

[0035] Compared with existing technologies, the advantages and positive effects of this invention are as follows: The data management system and its method for the low-speed, small-scale target perception system proposed in this invention address the problems of data fragmentation between simulation models and actual equipment, lack of monitoring, decentralized control, and high communication latency in existing simulation and simulation platforms. The overall system achieves zero-copy data forwarding based on the flow of memory address pointers. After registering and accessing, each subsystem's publisher / subscriber creates a user data channel and uses a hash table to manage the mapping relationship between publisher / subscriber identifiers and user data channels. Publishers, based on the forwarding of the intelligent distribution service module, send the memory address pointer of the published message to the primary read / write queue through their respective data channels. The intelligent distribution service module, according to the mapping relationship in the hash table, forwards the memory address pointer of the subscribed message read from the primary read / write queue to the subscribing user's data channel, achieving high-speed message forwarding. Simultaneously, a monitoring pointer is set for the primary read / write queue. Through real-time scanning of the monitoring pointer, the data status of each subsystem within the perception system is uniformly monitored, and control commands are generated based on the monitoring results and sent to the target subsystem via the data channel, realizing closed-loop control of data perception, status judgment, and command execution. This invention supports real-time data storage and analysis, and features ultra-low latency, high throughput, status visibility, and proactive governance capabilities. It solves the problems of difficult multi-source heterogeneous data fusion and uncontrollable operating status in complex simulation systems, and significantly improves the integration, real-time performance, and autonomy of the simulation and deduction of the marine low-, small, and slow target perception system.

[0036] Other features and advantages of the present invention will become clearer after reading the detailed description of the embodiments of the present invention in conjunction with the accompanying drawings. Attached Figure Description

[0037] The accompanying drawings, as part of this invention, are provided to further illustrate the invention. The illustrative embodiments and descriptions are used to explain the invention but do not constitute an undue limitation thereof. Clearly, the drawings described below are merely some embodiments; those skilled in the art can obtain other drawings based on these drawings without creative effort.

[0038] Figure 1 This invention presents the system architecture for a data management and control system for a perception system of small, slow targets.

[0039] Figure 2 This is one of the data sharing and distribution control processes in the data management system for a low-, small, and slow target perception system proposed in this invention;

[0040] Figure 3 This is the second part of the data sharing and distribution control process of the data management system for low-speed, small-target perception systems proposed in this invention (continued). Figure 2 );

[0041] Figure 4 This is the third part of the data sharing and distribution control process of the data management system for low-speed, small-target perception systems proposed in this invention (continued). Figure 3 );

[0042] Figure 5 This is a schematic diagram of the data management and control structure for a simulation and deduction platform for sensing small, slow targets in the sea area, as described in this embodiment of the invention.

[0043] Figure 6 This is a schematic diagram of the read / write structure of a first-level circular read / write lockless queue in an embodiment of the present invention. Detailed Implementation

[0044] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments will be clearly and completely described below with reference to the accompanying drawings. The following embodiments are used to illustrate the present invention, but are not intended to limit the scope of the present invention.

[0045] The data management and control system for low-speed, small-target perception systems proposed in this invention, such as... Figure 1 As shown, it consists of a memory pool, a primary read / write queue, an intelligent distribution service module, and a user management interface module. Specifically:

[0046] 1. The memory pool consists of multiple memory blocks of a set length. Subsystem users (simulation models, command and control systems, actual equipment, etc.) request memory from the memory pool and store the messages to be published in the memory blocks. When the length of the memory requested by a user exceeds the set length, memory blocks that are integer multiples of the set length are allocated to the user, and associations are established in these memory blocks.

[0047] In this data management system, all messages use a data structure with a uniformly set length, such as each memory block being 512 bytes long. The size and number of memory blocks can be configured during initialization according to requirements. Each memory block corresponds to a subsystem, such as radar simulation model #1, optoelectronic equipment #2, etc. For large messages, a fragmentation mechanism is adopted, with the memory pool designing the memory block structure for fragment management.

[0048] This invention avoids memory fragmentation by pre-allocating fixed-length memory blocks, which helps improve system stability.

[0049] 2. The primary read / write queue L1 (including the read queue and the write queue) manages the memory address pointers allocated by the memory pool. Global data reading and writing are centralized here, enabling the receiving and sending of published messages from all subsystem users, such as... Figure 6 As shown, this embodiment of the invention uses a ring-shaped lock-free read / write queue. This queue is equipped with a monitoring pointer, which scans the message content in the primary read / write queue in real time to monitor the data publishing status and operational health of each subsystem.

[0050] 3. The user management interface module allows subsystem users (publishers / subscribers) to register and access the system, and creates data channels (hereinafter referred to as the secondary read / write queue) for users. It connects to the management channel and sends data channel creation messages and user information to the intelligent distribution service module through the management channel, as well as data channel destruction messages to the intelligent distribution service module through the management channel. For publishing users, the user management interface requests memory blocks from the memory pool to store published messages and sends memory address pointers to the intelligent distribution service module through the secondary read / write queue. The intelligent distribution service module then inserts the memory address pointers into the primary read / write queue. For subscribing users, the user management interface receives the memory address pointers of the subscription messages obtained and forwarded by the intelligent distribution service module from the primary read / write queue through the secondary read / write queue, retrieves the subscription messages from the corresponding memory blocks based on the memory address pointers, and then releases the memory.

[0051] In this embodiment of the invention, user registration information is published, and user registration subscription information is subscribed. After a user registers and accesses the system, the secondary read / write queue L2 created for them can also be implemented using a ring-shaped read / write lockless queue.

[0052] This invention enables dynamic management of data channels, high-speed memory allocation, and high-speed data forwarding through the user management interface module.

[0053] 4. The intelligent distribution service module includes a channel management unit, a data forwarding unit, a monitoring pointer management unit, and a control command issuance unit.

[0054] The channel management unit monitors the management channel, retrieves the user identifier and secondary read / write queue identifier of registered users from the management channel, establishes a hash table, and stores the mapping relationship between user information and user secondary read / write queues in the hash table. The hash table also records user publish / subscribe registration information, subsystem type (simulation model, actual equipment, etc.), subscribed topics, etc., and can dynamically register or deregister.

[0055] The data forwarding unit is used to read data (memory address pointer of published message) from the secondary read-write queue and insert it into the primary read-write queue; and to read data (memory address pointer of subscribed message) from the primary read-write queue, query the hash table according to the target topic, and distribute the read data to the secondary read-write queue of the corresponding target user, thereby realizing the data publishing and subscription functions.

[0056] The monitoring pointer management unit performs real-time scanning of the primary read / write queue based on the monitoring pointer, monitoring the data publishing status and operational health of each subsystem.

[0057] The control command issuing unit actively generates control commands based on monitoring results and issues the control commands to the target subsystem through the target user's secondary read / write queue, thereby achieving closed-loop management and control.

[0058] The data management system for low-speed, small-target perception systems proposed in this invention creates a secondary read / write queue for each subsystem user after registration and access, and uses a hash table to manage the mapping relationship between user information and the secondary read / write queue. After registration and access, publishing users request memory from the memory pool and store their published messages in the requested memory blocks. They then send the memory address pointer to the intelligent distribution service module through the created secondary read / write queue, which writes the memory address pointer into the primary read / write queue. The intelligent distribution service module reads data from the primary read / write queue, queries the hash table to determine the secondary read / write queue of the subscribing user, and forwards the read data to the corresponding subscribing user through the secondary read / write queue, achieving high-speed data forwarding. This invention uses a fixed-length memory pool and a primary read / write queue as a global high-speed data cache, and a secondary read / write queue as a high-speed data distribution mechanism. The entire system achieves zero-copy data forwarding through memory address pointers.

[0059] In this embodiment of the invention, the monitoring pointer monitors the data of the primary read / write queue in real time, and uniformly monitors the data status of all subsystems within the sensing system, specifically including:

[0060] (1) Simulation model monitoring: detect whether the simulation model publishes status data on time and determine whether a freeze or anomaly has occurred.

[0061] (2) Monitoring of actual equipment: Detect whether the data stream of actual equipment is interrupted and determine whether the equipment is offline.

[0062] (3) Data quality analysis: Identify outliers, frequency mutations, format errors, etc.

[0063] (4) System status visualization: Generate heatmaps of connection status, data throughput, and latency of each subsystem.

[0064] Furthermore, based on monitoring, a closed-loop control system of "data perception - status judgment - command execution" is achieved through a control command issuance unit, specifically including:

[0065] (1) Based on the monitoring results, generate and issue control commands.

[0066] (2) Control commands are sent through the subsystem's secondary read / write queue to achieve reverse control, including:

[0067] Simulation model control: Issue commands such as "task reset", "parameter adjustment", and "model pause".

[0068] Equipment control: Issue commands such as "equipment restart", "mode switch", and "alarm confirmation".

[0069] System-level control: Issue commands such as "pause simulation", "accelerate time", and "freeze data".

[0070] In this embodiment of the invention, for multi-user subscriptions, when the first subscriber has created a secondary read / write queue to obtain subscription messages from the intelligent distribution service module, no data channels will be created for subsequent subscribers with the same data. Instead, the secondary read / write queue identifier of the first subscriber can be queried from the hash table through the management channel, and data can be read from the data channel of the first subscriber. This reduces the system resource overhead caused by queue creation and realizes one-to-many data distribution.

[0071] When multiple subscribers read data from the same data channel, this invention addresses congestion caused by inconsistent readings from different subscribers. It monitors data channel congestion through a user management interface and defines two congestion control methods in the hash table: one based on the number of congestion buffers and the other on timeout. Upon detecting congestion, it maintains high-speed queue operation by either dereferencing (releasing data) or storing and then dereferencing. Specifically, in congestion control, if congestion occurs while a publishing user is writing data to the primary read / write queue through the data channel, the primary read / write queue is released; similarly, if congestion occurs while a subscriber is retrieving subscription messages through the data channel, the data channel is released.

[0072] The following section provides a detailed explanation of the data management process of the data management system for the perception system of small, slow, and low-speed targets.

[0073] like Figures 2-4 As shown, taking user A registering to publish messages and user B and user C registering to subscribe to messages as an example, two subsystems are configured: a data monitoring service and a display control program service.

[0074] 1. The display and control program service establishes a management channel connection with the intelligent distribution service module through the user management interface, and creates a secondary read and write queue, namely data channel L2, which aims to read monitoring pointers and control commands through data channel L2; it sends display and control user information and data channel identifiers to the intelligent distribution service module, and the intelligent distribution service module stores the mapping relationship between display and control user information and their data channel identifiers in a hash table.

[0075] 2. Create a primary read / write queue L1 and establish a data read / write link with the intelligent distribution service module.

[0076] 3. When user A accesses the data monitoring service, its user management interface (1) requests memory from the memory pool and stores the published message in the requested memory block; (2) establishes a management channel connection with the intelligent distribution service module; (3) creates a data channel L2 for user A; (4) sends the user A identifier and data channel identifier to the intelligent distribution service module through the management channel. The intelligent distribution service module then stores the mapping relationship between the user A identifier and its data channel in a hash table.

[0077] 4. User A sends a memory address pointer to the intelligent distribution service module through its data channel. The intelligent distribution service module then inserts the pointer into the first read / write queue L1. During this process, the monitoring pointer checks the data in the first read / write queue L1 and sends the detected data to the display and control program through the data channel L2 of the display and control program service. The display and control program then displays the monitoring results.

[0078] 5. Subscriber B registers to subscribe to the published message of subscriber A. Its user management interface (1) establishes a management channel connection with the intelligent distribution service module; (2) creates a data channel L2 for subscriber B; (3) sends the user B identifier and data channel identifier to the intelligent distribution service module through the management channel. The intelligent distribution service module then stores the mapping relationship between the user B identifier and its data channel in a hash table.

[0079] 6. The intelligent distribution service module reads the subscribed message from the first-level read / write queue L1, determines the data channel of the subscribing user B by looking up the hash table through the subscribing subject, and forwards the read data to the subscribing user B through the data channel of the subscribing user B.

[0080] 7. Subscriber C registers to subscribe to the published message of user A through the data listening service. Its user management interface (1) establishes a management channel connection with the intelligent distribution service module; (2) determines that the published message of user A already exists in user B's data channel and obtains the data channel identifier of subscriber user B; (3) sends the identifier of user C and the data channel identifier of subscriber user B to the intelligent distribution service module through the management channel. The intelligent distribution service module then stores the mapping relationship between the identifier of user C and the data channel of user B in a hash table.

[0081] 8. The intelligent distribution service module reads the subscribed message from the first-level read / write queue L1, looks up the hash table through the subscriber subject, determines that subscriber C reads data from subscriber B's data channel, and then forwards the read data to subscriber B through subscriber B's data channel.

[0082] The data management system and its data management process proposed in this invention are described below with a specific embodiment.

[0083] like Figure 5 As shown, taking the simulation and deduction platform for sensing small and slow targets in the sea area as an example:

[0084] 1. System Access: The accessed subsystems include radar simulation model, optoelectronic equipment, command and control subsystem, 3D situational awareness subsystem, MBSE model and display and control subsystem, which are accessed through SDK registration.

[0085] 2. Data Release: The radar simulation model releases target points every 50ms, requests a memory pool to store the data, and writes the memory address pointer to the first-level read / write queue; similarly, the optoelectronic equipment uploads video metadata in real time.

[0086] 3. Message Distribution: The intelligent distribution service module distributes the memory address pointers of radar data to the command and control subsystem, the 3D situational awareness subsystem, and the secondary read / write queue L2 of the MBSE model. For example... Figure 5 As shown.

[0087] 4. Status monitoring: The monitoring pointer detects the primary read / write queue. If no data is found in the radar simulation model for 200ms, it is determined that the radar simulation model has malfunctioned.

[0088] 5. Reverse: The intelligent distribution service module generates a "restart simulation" command and sends it to the radar simulation model through the secondary read / write queue L2 of the radar simulation model.

[0089] 6. Data storage: All system messages are synchronized to the time series database for post-analysis analysis of target detection probability, system response time, etc.

[0090] 7. Display and Control: The intelligent distribution service module forwards the system's monitoring data and control commands to the display and control system through the secondary read / write queue L2, and then displays them through the display and control system.

[0091] Test results show that the system supports 100+ subsystems concurrently, with an average latency of less than 100 microseconds and a control command response time of less than 5 milliseconds.

[0092] It should be noted that the above description is not intended to limit the present invention, and the present invention is not limited to the examples given above. Any changes, modifications, additions or substitutions made by those skilled in the art within the scope of the present invention should also fall within the protection scope of the present invention.

Claims

1. A data management system for a low small and slow target perception system, characterized in that, The application comprises: a memory pool, which is applied for memory by a publishing user when the user accesses and stores a publishing message; a first read-write queue, which is used for managing memory address pointers and is configured with a monitoring pointer for scanning the first read-write queue; a user management interface module, which creates a data channel for a user after the user registers and accesses a publishing / subscription system; the publishing user sends a memory address pointer applied for the memory pool to an intelligent distribution service module through the data channel; the subscription user receives the memory address pointer forwarded by the intelligent distribution service module through the data channel and reads a subscription message from the memory pool based on the memory address pointer; the intelligent distribution service module is used for obtaining a user identifier and a data channel identifier of a registered / subscription user, establishing a hash table of a mapping relationship between the user and the data channel, inserting the memory address pointer read from the data channel of the publishing user into the first read-write queue, forwarding the memory address pointer of the subscription message read from the first read-write queue to the data channel of the subscription user by querying the hash table, and generating a control instruction based on a monitoring result of the monitoring pointer and delivering the control instruction to a target user through the data channel of the target user. The intelligent distribution service module comprises a channel management unit, a data forwarding unit, a monitoring pointer management unit and a control instruction delivery unit; 2. The data management system for low, small and slow target perception system according to claim 1, wherein, the channel management unit is used for listening to a management channel of a user, obtaining a user identifier and a data channel identifier of a registered user, and establishing a hash table of a mapping relationship between the user and the data channel; the data forwarding unit is used for inserting the memory address pointer read from the data channel of the publishing user into the first read-write queue and forwarding the memory address pointer of the subscription message read from the first read-write queue to the data channel of the target subscription user by querying the hash table; the monitoring pointer management unit is used for monitoring a data publishing state and a running health degree of each subsystem based on real-time scanning of the first read-write queue by the monitoring pointer; the control instruction delivery unit is used for generating a control instruction based on a monitoring result and delivering the control instruction to a target subsystem through the data channel of the target user. When a subscription user registers and accesses a target subsystem, a user management interface module of the subscription user judges whether there is a prior subscription user subscribing to the same message, if there is, the user management interface module does not create a data channel for the subscription user, obtains a data channel identifier of the prior subscription user by querying a hash table of an intelligent distribution service module, and notifies the subscription user to read a memory address pointer of a subscription message from the data channel of the prior subscription user.

3. The data management system for low, small and slow target perception system according to claim 2, wherein, The user management interface module is also used for monitoring a congestion condition of the data channel and sending monitoring data to the intelligent distribution service module; the intelligent distribution service module defines a congestion control mode in the hash table and executes the congestion control mode after discovering the congestion by querying the hash table; the congestion control mode comprises dereferencing and storing and then dereferencing.

4. The data management system for low, small and slow target perception system according to claim 3, wherein, In the congestion control, the first read-write queue is released when congestion occurs during writing data into the first read-write queue by the publishing user through the data channel; the data channel is released when congestion occurs during obtaining a subscription message by the subscription user through the data channel.

5. The data management system for low, small and slow target perception system according to claim 4, wherein, ​ 6. The data management system for low, small and slow target perception system according to claim 1, wherein, The data management and control system further comprises a data storage module for storing data in the first read-write queue or the data channel of the user, so as to deduce process playback and post-analysis.

7. The data management system for low, small and slow target perception system according to claim 1, wherein, The monitoring pointer is used to detect interruption, frequency anomaly or format error in the data stream of the subsystem, and issue an alarm or control instruction.

8. The data management system for low, small and slow target perception system according to claim 1, wherein, The control instruction includes simulation model task reset, parameter adjustment, pause or recovery, real device restart or mode switching, deduction process pause, acceleration or data freezing.

9. The data management method for low, small and slow target perception system, applied in the data management system for low, small and slow target perception system according to any one of claims 1-8, characterized in that, The method comprises the following steps: A publish / subscribe user registration access system is provided, and a user management interface module is used to create a data channel for the user; An intelligent distribution service module is used to store the mapping relationship between the user and the data channel in a hash table; A publish user applies for a memory pool through the management channel interface module and stores a publish message, and sends a memory address pointer to the intelligent distribution service module through the data channel; The intelligent distribution service module inserts the memory address pointer of the publish user into the first read-write queue, and reads the memory address pointer of a subscribe message from the first read-write queue, queries the hash table to obtain a data channel of a target subscribe user, and forwards the memory address pointer of the subscribe message to the target subscribe user through the data channel of the target subscribe user; During the above steps, a monitoring pointer scans the message content of the first read-write queue in real time; The intelligent distribution service module generates a control instruction based on the monitoring result, and sends the control instruction to the target subsystem through the data channel of the target user.

10. The data management and control method for a low, small and slow target perception system according to claim 9, characterized in that, After the publish user publishes the message, the user management interface module releases the data channel and sends a data channel destruction message to the intelligent distribution service module, and the intelligent distribution service module deletes the mapping relationship between the publish user and the data channel from the hash table; After the subscribe user subscribes to the message, it is determined whether there are other subscribe users reading data from the data channel; if not, the data channel is released, a data channel destruction message is sent to the intelligent distribution service module, and the intelligent distribution service module deletes the mapping relationship between the subscribe user and the data channel from the hash table; if there are, the data channel is released after the other subscribe users finish reading.

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