A centerless multi-zone NAVDAT time slot coordination method

Abstract

This invention discloses a decentralized, multi-partition NAVDAT time slot coordination method. The method includes assigning a unique partition identification code to each partition. Upon receiving a time slot coordination request from another partition, other partitions, while replying to the requesting partition, also send their own time slot recommendation results to other related partitions. The method performs a time slot resource quantity compatibility determination on the recommended time slots of all partitions, performs a time slot quantity compatibility determination on the latest time slot time of the reusable time slot list of all partitions, performs a time slot allocation compatibility determination on the time slots that successfully pass the time slot quantity compatibility determination, updates the global time slot allocation table within the partition based on the time slots that successfully pass the time slot allocation compatibility determination, and distributes the time slot allocation results to the NAVDAT stations that requested the time slots. This invention is a time slot coordination method that requires only one round of time slot recommendation to complete the coordination process.

Description

Technical Field

[0001] This invention relates to the field of partitioned NAVDAT time slot coordination technology, and specifically to a centerless multi-partition NAVDAT time slot coordination method. Background Technology

[0002] The existing NAVDAT communication system is a one-way system. Shore-based NAVDAT transmitters can only transmit signals and cannot receive them, while shipborne NAVDAT receivers can only receive signals and cannot transmit them. Therefore, shore-based NAVDAT transmitters cannot accurately assess signal reception within the communication coverage area, including interference between different stations.

[0003] Furthermore, shore-based NAVDAT stations have high transmission power (several kilowatts) and a long radio signal coverage range (greater than 200 nautical miles). Future NAVDAT broadcasting services on shortwave will have even greater coverage, exceeding 1000 nautical miles, covering an area that may even surpass the land and sea areas of several coastal nations. In this scenario, if NAVDAT stations within the target coverage area cannot effectively coordinate, the communication system's efficiency will be significantly reduced. This inevitably leads to the issue of time slot coordination between sub-regions (sub-centers). However, existing NAVDAT station time slot coordination methods employ a hierarchical centralized coordination approach. This can achieve optimal time slot resources within a single country or region, and also globally, achieving centralized time slot coordination with optimal resources. However, establishing a high-level international "coordination center" is often a goal contested by various maritime nations within the International Maritime Organization (IMO), and such establishment typically takes many years. Therefore, there is an urgent need for a decentralized time-slot coordination mechanism among multiple centers to facilitate equal consultation among NAVDAT stations in areas where interference occurs between their transmissions in certain countries and regions. This mechanism does not require a single top-level "coordination center" for cross-border coordination; it only requires coordination among several "districts" belonging to several NAVDAT stations related to the target sea area. Summary of the Invention

[0004] The purpose of this invention is to address the shortcomings of existing technologies by providing a decentralized, multi-partition NAVDAT time slot coordination method.

[0005] To achieve the above objectives, the present invention provides a decentralized multi-partition NAVDAT slot coordination method, comprising:

[0006] Step S1: Assign a unique partition identifier to each partition. The partition identifier is used for the corresponding partition to request time slot coordination from other partitions.

[0007] Step S2: After receiving a time slot coordination request from a certain partition, other partitions, while replying to the partition that made the time slot coordination request, also send their own time slot recommendation results to other related partitions. The time slot recommendation results include the number of recommended time slots and a list of reusable time slots.

[0008] Step S3: Perform a time slot resource quantity compatibility judgment on the number of recommended time slots for all partitions. If the number of recommended time slots for any partition is less than the minimum number of time slots requested, the time slot resource quantity compatibility judgment is considered successful.

[0009] Step S4: For the reusable time slot list of all partitions, perform time slot quantity compatibility judgment based on the latest time slot time. If a time slot is idle for all partitions, it is considered a compatible time slot; otherwise, it is considered an incompatible time slot. Then, count the number of compatible time slots. If the number of compatible time slots is not less than the minimum number of time slots requested, the time slot quantity compatibility judgment is considered successful.

[0010] Step S5: Perform time slot allocation compatibility judgment on the time slots that have successfully passed the time slot quantity compatibility judgment. If the latest time slot of the time slot that has successfully passed the time slot quantity compatibility judgment is not later than the latest time slot time proposed in the application, it is considered that the time slot allocation compatibility judgment is successful.

[0011] Step S6: Update the global time slot allocation table in this partition based on the time slots that have successfully passed the time slot allocation compatibility decision;

[0012] Step S7: The partition that submitted the time slot coordination request will send the time slot allocation results to the NAVDAT station that requested the time slot.

[0013] Furthermore, the time slot coordination application information includes a partition identification code, a list of relevant centers (CID_LIST[]), a desired number of time slots (NTSexp), a minimum number of time slots (NTSmin), a latest time slot time (TSlat), a recommended number of time slots (NTSelect), and a list of reusable time slot time (TSA_LIST[]), while also providing information about NAVDAT stations that actually use time slots for NAVDAT transmission.

[0014] Furthermore, in step S2, after receiving the relevant partition slot coordination request information listed in the relevant center list CID_LIST[], the number of slots that can be allocated, NTSelect, and the slot resource list TSA_LIST[] are proposed; then, while replying to the partition that made the slot coordination request, the recommendation results are sent to other partitions in the relevant center list CID_LIST[]; after all partitions in the relevant center list CID_LIST[] complete the aforementioned sending operation, they wait for the recommendation results sent by other partitions. If they do not receive them within a timeout, they actively request a retransmission until they obtain all the required recommendation results; if the partition that made the slot coordination request does not receive the recommendation result of a certain partition in the CID_LIST[] list within a timeout, it also actively requests that it retransmit the recommendation result until it obtains all the required recommendation results.

[0015] Furthermore, the implementation method of the time slot resource quantity compatibility decision in step S3 is as follows:

[0016] Construct an array NTSe[] using the number of recommended time slots for all partitions in the relevant center list CID_LIST[]. The length of the array NTSe[] is r+1, where r is the number of partitions that need to participate in the coordination among the partitions that submitted the time slot coordination application this time, and r+1 is the total number of partitions participating in the time slot coordination recommendation. Then calculate the minimum value NTSmin in the array NTSe[]. If the number of recommended time slots NTSminlect < the minimum value NTSmin, the time slot resource quantity compatibility decision is considered to have failed; otherwise, the time slot resource quantity compatibility decision is considered to have succeeded.

[0017] Furthermore, the implementation method of the time slot number compatibility decision in step S4 is as follows:

[0018] The earliest time slot Ta and the latest time slot Tb are calculated using the time slot schedule in the reusable time slot schedule of the relevant partitions listed in the relevant center list CID_LIST[]. Then, a two-dimensional binary array COMP[r+1][n] of length Tb minus Ta equals n is constructed using all the time slot schedules recommended by the relevant partitions listed in the relevant center list CID_LIST[]. The first dimension represents r+1 identical partitions, and the second dimension represents n consecutive time slots, where n = Tb - Ta. All the recommended reusable time slot schedules are aligned in the consecutive time slot space.

[0019] Iterate through all the recommended reusable time slot lists. If the recommended reusable time slot list of the i-th partition contains time slot j, then assign 1 to the two-dimensional array COMP[i][j]. Otherwise, assign 0 to the two-dimensional array COMP[i][j]. i = 1, 2, ..., r + 1, j = 1, 2, ..., n.

[0020] Calculate the result of ANDing the relevant partitions listed in the relevant center list CID_LIST[] on each aligned time slot, and record it in a one-dimensional binary array comp[] of length n, where comp[j] = COMP[0][j] & COMP[1][j] & … & COMP[r][j];

[0021] Count the one-dimensional binary array comp[] with a value of 1 to obtain the number of available time slots Nc; if the number of available time slots Nc is greater than or equal to the minimum number of time slots requested NTSmin, then the number of available time slots Nc is set to NTSexp; if the number of available time slots Nc is less than the minimum number of time slots NTSmin, then the time slot quantity compatibility decision is considered to have failed.

[0022] Furthermore, the implementation method of the time slot allocation compatibility decision in step S5 is as follows:

[0023] In the one-dimensional binary array comp[], start searching for time slots with a value of 1 from position j=1 until the Ncth time slot with a value of 1 is found. The value of Ta+j, timeTSlat, is the latest time slot time allocated in this time slot allocation. Then, compare timeTSlat with the latest time slot time TSlat. If TSlat is later than TSlat, assign the logical value TSAcomp to 0, indicating that the time slot allocation compatibility decision has failed. Otherwise, assign the logical value TSAcomp to 1, indicating that the time slot allocation compatibility decision has succeeded.

[0024] Furthermore, NAVDAT station-related information includes station identification code (SID), geographic location (GIS), and radio coverage radius (COV).

[0025] Furthermore, if NAVDAT stations with no overlapping coverage are used between partitions, then overlapping transmission time slots are used; if there are NAVDAT stations with overlapping coverage between partitions, then mutually exclusive transmission time slots are used.

[0026] Furthermore, if there are overlapping NAVDAT stations between zones, a certain number of time slots will be reserved when the launch mission is full to cope with information broadcasting in emergency search and rescue situations.

[0027] Furthermore, a centralized time slot coordination and allocation mechanism is adopted within the partition.

[0028] Beneficial effects: The present invention is a time slot coordination method that can complete the coordination process with only one round of time slot recommendation. Each partition independently calculates and obtains a consistent time slot coordination allocation result, without the need for multiple rounds of negotiation. Attached Figure Description

[0029] Figure 1This is a flowchart illustrating the decentralized multi-partition NAVDAT time slot coordination method according to an embodiment of the present invention. Detailed Implementation

[0030] The present invention will be further illustrated below with reference to the accompanying drawings and specific embodiments. These embodiments are implemented based on the technical solutions of the present invention, and it should be understood that these embodiments are only used to illustrate the present invention and are not intended to limit the scope of the present invention.

[0031] This invention provides a decentralized multi-partition NAVDAT time slot coordination method, which is a time slot coordination mechanism between partitions (sub-centers). The time slot coordination mechanism proposed in this invention follows the following main time slot coordination rules during the time slot coordination process:

[0032] 1) Each partition has a unique partition identification code (CID). The CID is a 5-digit number consisting of a three-digit MMSI international code and an internal serial number. Therefore, a country can have a maximum of 99 stations and partitions in total.

[0033] 2) Each partition needs to use a unique and identifiable request code when requesting time slot coordination from other partitions. The format of the request code is AP (Request Identifier)_CID (Partition Identifier)_SN (Request Sequence Number). The request sequence number is the sequence number of the request issued within the partition. It is a 6-digit code, initially 0, and automatically incremented by 1 for each request, rolling back to 0 after reaching 999999.

[0034] 3) NAVDAT stations that do not have cross-coverage between zones can use overlapping transmission time slots.

[0035] 4) For NAVDAT stations with overlapping coverage between partitions, the transmission time slots used must be mutually exclusive and overlapping transmission time slots cannot be used.

[0036] 5) When NAVDAT stations with overlapping coverage between zones are fully booked for launches, a certain number of time slots also need to be reserved to broadcast information in emergency search and rescue situations such as air disasters and maritime disasters.

[0037] 6) A centralized time slot coordination and allocation mechanism is adopted within the partition.

[0038] 7) A time slot allocation mechanism of "voting election" is adopted between partitions. The "voting election" result is determined locally, resulting in one of two outcomes: 1) Allocation successful, with the actual number of time slots and the actual time slot schedule; 2) Allocation unsuccessful. If the determination is successful, each partition updates its "global time slot allocation table" based on the actual time slot resources allocated in the determination result and broadcasts the information to its subordinate NAVDAT stations.

[0039] 8) Each partition shall not reject time slot coordination requests from other partitions, and shall recommend some of its available time slots to the requester according to the request requirements and its own future needs. Furthermore, each partition shall send its recommended time slots for this request to other partitions affected by the NAVDAT launch station launches in this application.

[0040] See Figure 1 The method specifically includes:

[0041] Step S1: Assign a unique partition identification code to each partition. This code is used by the corresponding partition to request time slot coordination from other partitions. Specifically, when a partition submitting a time slot coordination request requests time slot coordination from other partitions, it needs to send time slot coordination request information to those partitions. This information includes the partition identification code, the relevant center list CID_LIST[]={CID1,CID2,…,CIDk}, the desired number of time slots NTSexp, the minimum number of time slots NTSmin, the latest time slot time TSlat, the recommended number of time slots NTSelect, and the list of reusable time slots TSA_LIST[m]={TSA1,TSA2,…,TSAm}. It also provides information about the NAVDAT stations actually using the time slots for NAVDAT transmissions, including the station identification code SID, geographic location GIS, and radio coverage radius COV.

[0042] Step S2: After receiving a time slot coordination request from a certain partition, other partitions, while replying to the partition that submitted the time slot coordination request, also send their own time slot recommendation results to other related partitions. The time slot recommendation results include the number of recommended time slots and a list of reusable time slots. Specifically, the relevant partitions listed in the relevant partition list CID_LIST[], after receiving the time slot coordination request, based on the relevant information of the NAVDAT stations actually using time slot resources and their own available idle time slots, perform time slot allocation optimization calculations and recommend the number of allocable time slots NTSelect and the list of reusable time slots TSA_LIST[]. Then, while replying to the partition that submitted the request, they send the recommendation results to other partitions in the CID_LIST[] list other than themselves: the CID to which this recommendation result belongs, their own partition CID, the number of recommended time slots NTSelect, and the list of reusable time slots TSA_LIST[]. After all partitions in the relevant center list CID_LIST[] complete the aforementioned sending operation, they wait for the recommendation results sent by other partitions. If they do not receive the results within a timeout, they actively request a retransmission until they obtain all the required recommendation results. If a partition that submitted a time slot coordination request does not receive the recommendation result from a partition in the CID_LIST[] list within a timeout, it also actively requests that the partition retransmit the recommendation result until it obtains all the required recommendation results. After all partitions in the relevant center list CID_LIST[] receive all the required recommendation results, they proceed to step S3.

[0043] Step S3: Perform a time slot resource quantity compatibility determination on the number of proposed time slots for all partitions (including the partitions that submitted applications). If the number of proposed time slots for any partition is less than the minimum number of time slots requested, the time slot resource quantity compatibility determination is considered to have failed, and the process ends. Otherwise, the time slot resource quantity compatibility determination is considered to have succeeded, and the process proceeds to step S4. The specific implementation method of the above time slot resource quantity compatibility determination is as follows:

[0044] Construct an array NTSe[] using the number of recommended time slots for all partitions in the relevant center list CID_LIST[]. The length of the array NTSe[] is r+1, where r is the number of partitions specified in the partitions that submitted the time slot coordination request that need to participate in the coordination, i.e., the number of relevant partitions listed in the relevant center list CID_LIST[]. r+1 is the total number of all partitions participating in the time slot coordination recommendation. Then calculate the minimum value NTSmin in the array NTSe[]. If the number of recommended time slots NTSminlect < the minimum value NTSmin, the time slot resource quantity compatibility decision is considered to have failed; otherwise, the time slot resource quantity compatibility decision is considered to have succeeded.

[0045] Step S4: For all partitions (including the partitions that submitted the application), perform a time slot quantity compatibility check on the latest time slot time of the reusable time slot list. If a time slot is idle for all partitions, it is considered a compatible time slot; otherwise, it is considered an incompatible time slot. Then, count the number of compatible time slots. If the number of compatible time slots is less than the minimum number of time slots requested, the time slot quantity compatibility check is considered to have failed, and the process ends; otherwise, the time slot quantity compatibility check is considered to have succeeded, and the process proceeds to step S5. The specific implementation method of the above time slot quantity compatibility check is as follows:

[0046] The earliest time slot Ta and latest time slot Tb for time slot allocation are calculated using the time slot schedule in the reusable time slot list SA_LIST[] of all relevant partitions listed in the relevant center list CID_LIST[]. Then, a two-dimensional binary array COMP[r+1][n] of length Tb minus Ta equals n is constructed using all the time slot schedules recommended by the relevant partitions listed in the relevant center list CID_LIST[]. The first dimension represents r+1 identical partitions, and the second dimension represents n = Tb - Ta consecutive time slots. All recommended reusable time slot schedules are then aligned in a continuous time slot space.

[0047] Iterate through all the recommended reusable time slot lists. If the recommended reusable time slot list for the i-th partition contains time slot j, then assign 1 (true) to the two-dimensional array COMP[i][j]. Otherwise, assign 0 (false) to the two-dimensional array COMP[i][j]. i = 1, 2, ..., r+1, j = 1, 2, ..., n.

[0048] Calculate the result of ANDing the relevant partitions listed in the relevant center list CID_LIST[] on each aligned time slot, and record it in a one-dimensional binary array comp[] of length n, where comp[j] = COMP[0][j] & COMP[1][j] & … & COMP[r][j].

[0049] A time slot with a value of 1 in the binary array `comp[]` indicates that it is usable for all partitions, and therefore compatible with all partitions. It is evident that the binary array `comp[]` stores compatible time slots, hence it is called a compatible time slot allocation table. The number of available time slots, `Nc`, is counted within the one-dimensional binary array `comp[]` with a value of 1. If the number of available time slots `Nc` is greater than or equal to the minimum requested time slot number `NTSmin`, then the number of available time slots `Nc` is set to `NTSexp`. If the number of available time slots `Nc` is less than the minimum requested time slot number `NTSmin`, then the time slot compatibility decision fails.

[0050] Step S5: For time slots that have successfully passed the time slot quantity compatibility judgment, perform a time slot allocation compatibility judgment on a temporal basis, as follows: If the latest time slot of a time slot that has successfully passed the time slot quantity compatibility judgment is later than the latest time slot time proposed in the application, then the time slot allocation compatibility judgment is considered to have failed, and the process ends; otherwise, the time slot allocation compatibility judgment is considered to have succeeded, and the process proceeds to step S6. Specifically, the implementation method of the above time slot allocation compatibility judgment is as follows:

[0051] In the one-dimensional binary array comp[], start searching for time slots with a value of 1 from position j=1 until the Ncth time slot with a value of 1 is found. The value of Ta+j, timeTSlat, is the latest time slot time allocated in this time slot allocation. Then, compare timeTSlat with the latest time slot time TSlat. If TSlat is later than TSlat, assign the logical value TSAcomp to 0, indicating that the time slot allocation compatibility decision has failed. Otherwise, assign the logical value TSAcomp to 1, indicating that the time slot allocation compatibility decision has succeeded.

[0052] Step S6: Update the global time slot allocation table in this partition based on the time slots that have successfully passed the time slot allocation compatibility judgment.

[0053] Step S7: The partition that submitted the time slot coordination request will send the time slot allocation results to the NAVDAT station that requested the time slot.

[0054] For example:

[0055] Let the applied partition be A, its partition identification code (ID) be CID_0, the NAVDAT station identification code using the time slot be SID_0, the geographical location of the NAVDAT station using the time slot be GIS_0, and the radio coverage radius of the NAVDAT station using the time slot be COV_0. Within the COV_0 coverage area of ​​station SID_0, if there are other NAVDAT stations that do not belong to this partition, their station list is denoted as SID_LIST[k]={SID1,SID2,…,SIDk}, and the partition ID list of the stations in SID_LIST[k] is denoted as CID_LIST[k]={CID1,CID2,…,CIDk}.

[0056] When station SID_0 requests time slot resources from partition A, if partition A finds a CID code in the partition ID list CID_LIST[k] corresponding to SID_LIST[k] that is not equal to CID_0, it means that SID_0's time slot request coordination needs to be coordinated with other partitions.

[0057] When partition A requests time slot coordination from other partitions, it submits the desired number of time slots NTSexp, the minimum number of time slots NTSmin, the latest time slot time TSlat, the recommended number of time slots NTSelect, and a list of reusable time slots TSA_LIST[m]={TSA1,TSA2,…,TSAm}. Where TSAm≤TSlat, m≥NTSelect, and 1≤NTSmin≤NTSexp≤30.

[0058] For partition A, submit a time slot coordination application to the partitions listed in CID_LIST[k]={CID1,CID2,…,CIDk}, with the application ID being AP-CID_0-SN. Attach the relevant partition list information for CID_LIST[r]={CID1,CID2,…,CIDr} and append the relevant information of the NAVDAT station actually using the time slot resources (station identification code SID_0, geographic location GIS_0, radio coverage radius COV_0) to facilitate decision-making by other stations.

[0059] After receiving a time slot coordination request with application ID AP-CID_0-SN from partition {CID1,CID2,…,CIDr}, the partitions listed in {CID1,CID2,…,CIDr} will, based on the relevant information of the NAVDAT stations actually using the time slot resources (station identification code SID_0, geographic location GIS_0, radio coverage radius COV_0) and their own available idle time slots, perform time slot allocation optimization calculations and propose the number of time slots that can be allocated, NTSelect, and the list of reusable time slots, TSA_LIST[m]={TSA1,TSA2,…,TSAm}. Then, while replying to partition CID_0, send the recommendation results to other partitions in the {CID1,CID2,…,CIDk} list except for itself: partition slot coordination recommendation result identifier VOT_RES, application ID (AP-CID_0-SN), its own partition ID, "recommended slot quantity" NTSelect, and reusable "slot time list" TSA_LIST[j]={TSA1,TSA2,…,TSAj}.

[0060] After the partitions listed in {CID1, CID2, ..., CIDr} complete the above sending operation, they wait for the recommendation results of the other partitions in the {CID1, CID2, ..., CIDr} list, excluding themselves. If they do not receive the results within the timeout period, they will actively request a retransmission until they obtain all the required recommendation result information.

[0061] If partition A, which submitted the AP-CID_0-SN application, does not receive the recommendation result of a partition in the {CID1,CID2,…,CIDr} list within the timeout period, it will also actively request that the recommendation result be resent until all the required recommendation result information is obtained.

[0062] Once any partition receives all the required nomination results, it begins calculating the time slot allocation results (time slot resource quantity compatibility decision, time slot quantity compatibility decision, and time slot allocation compatibility decision). For successful time slot coordination results, each partition must update its "Global Time Slot Allocation Table" within its jurisdiction and notify its affiliated NAVDAT stations of this update. If the decision fails, the impact of this time slot allocation is ignored, and each partition's "Global Time Slot Allocation Table" remains unchanged due to this application.

[0063] The above description is merely a preferred embodiment of the present invention. It should be noted that for those skilled in the art, other parts not specifically described are existing technology or common knowledge. Several improvements and modifications can be made without departing from the principle of the present invention, and these improvements and modifications should also be considered within the scope of protection of the present invention.

Claims

1. A decentralized, multi-partition NAVDAT time slot coordination method, characterized in that, include: Step S1: Assign a unique partition identifier to each partition. The partition identifier is used for the corresponding partition to request time slot coordination from other partitions. Step S2: After receiving a time slot coordination request from a certain partition, other partitions, while replying to the partition that made the time slot coordination request, also send their own time slot recommendation results to other related partitions. The time slot recommendation results include the number of recommended time slots and a list of reusable time slots. Step S3: Perform a time slot resource quantity compatibility judgment on the number of recommended time slots for all partitions. If the number of recommended time slots for any partition is less than the minimum number of time slots requested, the time slot resource quantity compatibility judgment is considered to have failed. Step S4: For the reusable time slot list of all partitions, perform time slot quantity compatibility judgment based on the latest time slot time. If a time slot is idle for all partitions, it is considered a compatible time slot; otherwise, it is considered an incompatible time slot. Then, count the number of compatible time slots. If the number of compatible time slots is not less than the minimum number of time slots requested, the time slot quantity compatibility judgment is considered successful. Step S5: Perform time slot allocation compatibility judgment on the time slots that have successfully passed the time slot quantity compatibility judgment. If the latest time slot of the time slot that has successfully passed the time slot quantity compatibility judgment is not later than the latest time slot time proposed in the application, it is considered that the time slot allocation compatibility judgment is successful. Step S6: Update the global time slot allocation table in this partition based on the time slots that have successfully passed the time slot allocation compatibility decision; Step S7: The partition that submitted the time slot coordination request will send the time slot allocation results to the NAVDAT station that requested the time slot; If NAVDAT stations with no overlapping coverage are used between partitions, then overlapping transmission time slots are used; if there are NAVDAT stations with overlapping coverage between partitions, then mutually exclusive transmission time slots are used.

2. The decentralized multi-partition NAVDAT time slot coordination method according to claim 1, characterized in that, The time slot coordination application information includes the partition identification code, the relevant center list CID_LIST[], the expected number of time slots NTSexp, the minimum number of time slots NTSmin, the latest time slot time TSlat, the number of recommended time slots NTSelect, and the list of reusable time slot times TSA_LIST[], and also provides information about the NAVDAT stations that actually use the time slots for NAVDAT transmission.

3. The decentralized multi-partition NAVDAT time slot coordination method according to claim 2, characterized in that, In step S2, after receiving the relevant partition slot coordination request information listed in the relevant center list CID_LIST[], the number of allocable slots NTSelect and the list of reusable slot times TSA_LIST[] are proposed. Then, while replying to the partition that made the slot coordination request, the recommendation results are sent to other partitions in the relevant center list CID_LIST[]. After all partitions in the relevant center list CID_LIST[] complete the recommendation result sending operation, they wait for the recommendation results sent by other partitions. If they do not receive them within a timeout, they actively request a resend until they obtain all the required recommendation results. If the partition that made the slot coordination request does not receive the recommendation result of a certain partition in the CID_LIST[] list within a timeout, it also actively requests that it resend the recommendation result until it obtains all the required recommendation results.

4. The decentralized multi-partition NAVDAT time slot coordination method according to claim 2, characterized in that, The specific implementation method of the time slot resource quantity compatibility decision in step S3 is as follows: Construct an array NTSe[] using the number of recommended time slots for all partitions in the relevant center list CID_LIST[]. The length of the array NTSe[] is r+1, where r is the number of partitions that need to participate in the coordination among the partitions that submitted the time slot coordination application this time, and r+1 is the total number of partitions participating in the time slot coordination recommendation. Then calculate the minimum value NTSmin in the array NTSe[]. If the number of recommended time slots NTSelect < the minimum value NTSmin, the time slot resource quantity compatibility decision is considered to have failed; otherwise, the time slot resource quantity compatibility decision is considered to have succeeded.

5. The decentralized multi-partition NAVDAT time slot coordination method according to claim 4, characterized in that, The specific implementation method of the time slot number compatibility decision in step S4 is as follows: The earliest time slot Ta and the latest time slot Tb are calculated using the time slot schedule in the TSA_LIST[] list of all reusable time slots for the relevant partitions listed in the CID_LIST[]. Then, a two-dimensional binary array COMP[r+1][n] of length Tb minus Ta equals n is constructed using all the time slot schedules recommended by the relevant partitions listed in the CID_LIST[]. The first dimension represents r+1 different partitions, and the second dimension represents n consecutive time slots, where n = Tb - Ta. All the recommended reusable time slot schedules are aligned in the consecutive time slot space. Iterate through all the recommended reusable time slot lists. If the recommended reusable time slot list of the i-th partition contains time slot j, then assign 1 to the two-dimensional array COMP[i][j]. Otherwise, assign 0 to the two-dimensional array COMP[i][j]. i = 1, 2, ..., r + 1, j = 1, 2, ..., n. Calculate the result of ANDing the relevant partitions listed in the relevant center list CID_LIST[] on each aligned time slot, and record it in a one-dimensional binary array comp[] of length n, where comp[j] = COMP[0][j] & COMP[1][j] & … & COMP[r][j]; Count the one-dimensional binary array comp[] with a value of 1 to obtain the number of available time slots Nc; if the number of available time slots Nc is greater than or equal to the minimum number of time slots requested NTSmin, then the number of available time slots Nc is set to NTSexp; if the number of available time slots Nc is less than the minimum number of time slots NTSmin, then the time slot quantity compatibility decision is considered to have failed.

6. The decentralized multi-partition NAVDAT time slot coordination method according to claim 5, characterized in that, The specific implementation method of the time slot allocation compatibility decision in step S5 is as follows: In the one-dimensional binary array comp[], start searching for time slots with a value of 1 from position j=1 until the Ncth time slot with a value of 1 is found. The value of Ta+j, timeTSlat, is the latest time slot time allocated in this time slot allocation. Then, compare timeTSlat with the latest time slot time TSlat. If timeTSlat is later than TSlat, assign the logical value TSAcomp to 0, indicating that the time slot allocation compatibility decision has failed. Otherwise, assign the logical value TSAcomp to 1, indicating that the time slot allocation compatibility decision has succeeded.

7. The decentralized multi-partition NAVDAT time slot coordination method according to claim 2, characterized in that, NAVDAT station information includes station identification code (SID), geographic location (GIS), and radio coverage radius (COV).

8. The decentralized multi-partition NAVDAT time slot coordination method according to claim 1, characterized in that, If there are overlapping NAVDAT stations in the partitions, a certain number of time slots will be reserved when the launch mission is full to cope with the information broadcasting in emergency search and rescue situations.

9. The decentralized multi-partition NAVDAT time slot coordination method according to claim 1, characterized in that, The partition employs a centralized time slot coordination and allocation mechanism.

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