Maritime cooperative key system task reliability modeling method, device and storage medium

Abstract

The application relates to the field of intelligent communication, and provides a maritime cooperative key system task reliability modeling method, equipment and storage medium.The method comprises the following steps: collecting maritime cooperative task data, constructing a cooperative system reliability modeling overall scheme system, applying the reliability modeling overall scheme system to task characteristic information and task stage information, generating adaptability analysis results, refining typical features of the maritime cooperative task and characteristics of different task stages of the cooperative system, establishing corresponding subtask reliability models, calculating the reliability and confidence lower limit of each subtask reliability model, and outputting maritime cooperative key system task reliability modeling, wherein the total task is a collection of all subtasks. Relying on simulation statistics and confidence lower limit calculation, the application constructs a reliability modeling scheme suitable for the whole task process of patrol, reconnaissance and alert, and effectively solves the problem that a traditional method is difficult to adapt to a multi-stage, multi-state and dynamic reconstruction scene.

Description

Technical Field

[0001] This invention belongs to the field of maritime intelligent communication, specifically relating to a method, device, and storage medium for reliability modeling of a multi-stage maritime collaborative key system. Background Technology

[0002] Modern information operations involve a comprehensive, multi-domain coordination across land, sea, air, and space. An increasing number of electronic information systems will be deployed in operational scenarios, equipping limited spaces with a large number of radar, communication, navigation, and electronic countermeasures equipment. Future operational scenarios will be rapidly changing, and the collaborative execution of tasks by manned and unmanned vessels is a future trend. Collaborative tasks are often unpredictable, and the establishment of collaborative systems is often temporary.

[0003] At the same time, decision-makers not only need to plan collaborative tasks, but also need to assess the reliability of collaborative system tasks based on a preliminary assessment of the electromagnetic environment and conditions of the operational scenario. Due to the suddenness, temporariness, and complexity of the operational environment, it is impractical to evaluate the reliability of collaborative tasks through field tests. Instead, the reliability of collaborative system tasks under complex electromagnetic environments can only be comprehensively assessed using equipment-level reliability information. The primary issue is to study the reliability modeling methods for collaborative systems. Summary of the Invention

[0004] The purpose of this section is to outline some aspects of embodiments of the present invention and to briefly describe some preferred embodiments. Simplifications or omissions may be made in this section, as well as in the abstract and title of this application, to avoid obscuring the purpose of these documents. Such simplifications or omissions are not intended to limit the scope of the invention.

[0005] The problem that this invention aims to solve is the insufficient reliability of collaborative systems under sudden circumstances.

[0006] To address the aforementioned technical problems, this invention provides the following technical solution: a method for reliability modeling of critical maritime collaborative system missions, comprising: Collect maritime collaborative mission data, which includes mission characteristic information and mission phase information; A comprehensive reliability modeling scheme for collaborative systems is constructed, which includes reliability applicability analysis and modeling methods for proposing system reliability models for different task stages. The applicable analysis and the modeling method of the reliability model are applied to the task characteristic information and the task stage information to generate adaptive analysis results; Based on the applicable analysis results, the typical characteristics of maritime collaborative tasks and the characteristics of different task stages of the collaborative system are extracted. The maritime collaborative tasks include three types of maritime collaborative tasks that can be executed in stages: patrol, reconnaissance, and surveillance. Based on the typical characteristics of the maritime collaborative mission and the modeling method of the system reliability model for different mission stages, corresponding sub-mission reliability models are constructed for the characteristics of different mission stages of the collaborative system. Simulation experiments were conducted on the communication status between nodes of the sub-task reliability model to calculate the reliability and confidence lower limit of each sub-task reliability model. The success and failure counts of the total mission are counted, the reliability and confidence lower limit of the total mission are calculated, and the reliability model of the key maritime collaborative system mission is output. The total mission is the set of all sub-missions.

[0007] As a preferred embodiment of the reliability modeling method for a key maritime collaborative system described in this invention, the reliability applicability analysis includes: From four perspectives—system reliability integration, mission phase characteristics, mission time slicing, and system multi-state and reconfiguration—this paper demonstrates the applicability of the system reliability modeling methods for different mission phases to maritime collaborative patrol, reconnaissance, and surveillance missions, and forms a mission network.

[0008] As a preferred embodiment of the maritime collaborative key system mission reliability modeling method described in this invention, the method includes the following four aspects: system reliability integration, mission phase characteristics, mission time slicing, and system multi-state and reconfiguration: The system reliability synthesis refers to a method that uses the reliability information of the constituent units to give a probability estimate of the system reliability. The operational phase characteristics refer to clarifying the system's working mode at different task phases and identifying the reliability characteristics of tasks at different phases by sorting out the reconnaissance, alert, and patrol mission processes of the collaborative system. The task time slicing refers to finding the moment when the collaborative operation system is most likely to fail within each task stage, constructing a task slice at the moment when the task is most likely to fail, and evaluating the task reliability of the collaborative system under the electromagnetic environment at the moment when the task is most likely to fail. The system's multi-state and reconfiguration refers to the dynamic reorganization of the task network during task execution, establishing new connections to generate a new task network. The process of forming a new task network includes: Inter-cluster reconstruction, intra-cluster reconstruction, node self-healing, and task redistribution.

[0009] As a preferred embodiment of the maritime collaborative key system mission reliability modeling method described in this invention, the step of constructing corresponding sub-mission reliability models for the characteristics of different mission stages of the collaborative system includes: The different mission phases include the reconnaissance and reporting phase, the command issuance phase, and the tracking and expulsion phase. The reconnaissance and reporting phase refers to the target equipment outputting communication information to the command equipment. The command issuance phase is the command equipment outputting communication information to the target equipment. The tracking and expulsion phase is the command equipment and the target equipment exchanging communication information. During the reconnaissance reporting phase, a collaborative system reliability model based on a two-port network model is constructed. The communication relationship between the command equipment and the target equipment is described by a generalized model. The minimum path set is obtained by using the contact matrix method. The logical judgment of whether the reconnaissance reporting phase is successful or not is completed based on the communication connectivity status. During the instruction issuance phase, a collaborative system reliability model based on the SKT network model is constructed. The success criterion is that the command device completes the instruction issuance to all the target devices. The minimum path set is determined by the contact matrix method, and the state determination of the instruction issuance phase is completed by combining the communication status between nodes. During the tracking and expulsion phase, a collaborative system reliability model considering two-way interaction is constructed. The minimum path set calculation is performed for the communication information output between the command equipment and the target equipment. Successful two-way communication is used as the success criterion for the tracking and expulsion phase.

[0010] As a preferred embodiment of the maritime collaborative critical system mission reliability modeling method described in this invention, the collaborative system reliability model of the two-port network model includes: set up Towards The communication link is denoted as The connection of this link is considered a successful communication. A broken link is recorded as a communication failure. After obtaining the communication distance between the command equipment and the target equipment, the interference distance between the interference source and the target equipment, the communication transmission power, and the interference source transmission power, calculations can be performed. The communication signal power and interference power density at the antenna port can then be obtained. The signal-to-interference ratio at the antenna port is denoted as . The reliability of the Unicom task is abbreviated as Construct the connection matrix : A value of 0 indicates and No communication If it is not 0, it means and Communication was established between them, in which and These are the two ends of the communication device, based on the connection matrix. Calculate the adjacency matrix: in, , , The meaning is: the set of all minimum paths from node i to all possible nodes k, and then from node k to node j, reflecting that there is a link with a hop degree of 2 between nodes i and j. , indicating from node To the node Road length is The set of all minimum paths reflects the nodes and nodes Is there a length between them? The link, for nodes as In the graph, the longest path r ≤ ; Based on the adjacency matrix, determine all minimum path sets of the two-port network system, and take... ,get matrix ,matrix The Middle Line 1 All elements in the column are nodes. To the node The minimum path set; Here, we only care about the input node target device i ( 1) The output node will only show all the minimum path sets between j=1, so it only needs to calculate The element in the j=1th column can be used, denoted as: remember If target device i communicates with command device, then the logical relationship between successful communication between each target device and command device and the minimum path set is as follows: … It can be simply remembered as: remember For communication reporting to be considered successful, the following criteria must be met: all target devices must successfully report communication. in, Let z represent the minimum set of paths of length z when node i communicates with node j=1. Based on this, the logical judgment can be used to determine the connectivity between any two nodes in direct communication. Calculate the communication state from the i-th point to node j=1, and use the aforementioned logic to determine... Calculate whether the task phase is complete.

[0011] As a preferred embodiment of the reliability modeling method for a maritime collaborative critical system mission described in this invention, the reliability modeling method includes: By simulating the communication status between N groups of target devices and the command device, and based on the logical judgment, N reconnaissance reporting stage status data can be obtained, where reconnaissance reporting is successful s times and fails f times, s+f=N; The reliability of the reconnaissance reporting phase can be calculated: Given confidence level Calculate the lower confidence limit of reliability during the reconnaissance reporting phase. : in This refers to the quantiles of the distribution.

[0012] As a preferred embodiment of the reliability modeling method for a maritime collaborative key system mission described in this invention, the reliability modeling of the collaborative system based on the SKT network model includes the construction of a generalized reliability model and the construction of a minimum path set of the system based on the connection matrix method. The generalized reliability model construction includes, during the command issuance phase, communication equipment Through self-organizing network communication When a sub-vessel issues a mission instruction and all sub-vessels receive the mission instruction, the mission is successful at this stage, i.e., k = n-1. The construction of the system minimum path set based on the connection matrix method includes: set up Towards The communication link is denoted as The connection of this link is considered a successful communication. A broken link is recorded as a communication failure. After obtaining the communication distance between each submarine, the interference distance between the interference source and each submarine, the communication transmission power, and the interference source transmission power, the following can be calculated. The communication signal power and interference power density at the antenna port can then be obtained. The signal-to-interference ratio at the antenna port is denoted as . ; The connection matrix method describes the adjacency relationships between nodes and edges using a connection matrix, thus encompassing the comprehensive topological relationships of the network. Its calculation steps are as follows: Constructing the connection matrix : In the formula: A value of 0 indicates and No communication If it is not 0, it means and Communication was established between them, and the adjacency matrix was calculated: in, , , The meaning is: the set of all minimum paths from node i to all possible nodes k, and then from node k to node j, reflecting the links between nodes i and j with a hop degree of 2. ... , indicating from node To the node Road length is The set of all minimum paths reflects the nodes and nodes Is there a length between them? The link, for nodes as In the graph, the longest path r ≤ Finally, all minimal path sets in the two-port network system are determined: Pick ,get matrix ,matrix The Middle Line 1 All elements in the column are nodes. To the node The minimum path set; Here, we only focus on the input node (manned control center i=1) and the output node (unmanned surface vessel j). For all minimum path sets between 1), only computation is needed. The element in the i=1th row of the array can be denoted as: remember If a manned control center i=1 communicates with an unmanned surface vessel (USV), then the relationship between the minimum set of paths to which manned control center i=1 successfully communicates with the USV and each connecting link is as follows: … It can be simply remembered as: remember For the command to be issued successfully, the following criteria apply: if the manned control center successfully issues all commands to each unmanned surface vessel, then the command issuance mission is successful. in, This represents the minimum set of paths of length z when node i=1 communicates with node j. Based on this, logical judgments can be used to determine the connectivity between any two nodes in direct communication. Calculate the communication state from the i=1th node to the jth node using logical judgment. The calculation command determines whether the subtask has been completed.

[0013] As a preferred embodiment of the reliability modeling method for a key maritime collaborative system described in this invention, the reliability modeling of the collaborative system considering bidirectional interaction includes constructing a generalized reliability model, establishing a communication matrix, calculating the minimum path set during the reporting phase, calculating the minimum path set during the command issuance phase, and calculating the minimum path set considering interaction. The construction of the generalized reliability model includes: The collaborative operation system consists of n nodes, each equipped with one radar and one communication device. During the tracking and expulsion phase, Each submersible reports radar-detected targets to the manned control center via an ad hoc network. The manned control center then plans operations based on the received reports and issues the latest operational instructions via the ad hoc network. Once all the sub-boats have received the mission instructions, the mission is successful at this stage. The establishment of the contact matrix includes: set up Towards The communication link is denoted as The connection of this link is considered a successful communication. A broken link is recorded as a communication failure. The system connection matrix method describes the adjacency relationships of nodes and edges through a connection matrix, thus encompassing the comprehensive topological relationships of the network. Constructing the connection matrix... : In the formula: A value of 0 indicates and No communication If it is not 0, it means and Communication was established between them; The minimum path set calculation in the reporting phase includes: Indicates from node To the node Road length is The set of all minimum paths reflects the nodes and nodes Is there a length between them? The link, for nodes as In the graph, the longest path r ≤ ; For the communication reporting phase, we only care about the input node unmanned surface vessel i ( 1) To find the minimum path set between the output node and platform j=1, we only need to calculate... The element in the j=1th column can be used, denoted as: remember This indicates that unmanned surface vessel i is communicating with manned control center j=1; The minimum path set calculation during the instruction issuance phase includes: During the instruction issuance phase, we only care about the input node (manned control center i=1) and the output node (unmanned surface vessel j). For all minimum path sets between 1), only computation is needed. The element in the i=1th row of the array can be denoted as: remember This indicates that the manned control center i=1 is communicating with the unmanned surface vessel; The minimum path set calculation considering interactions includes: The complete mission process during the tracking and expulsion phase: The unmanned surface vessel reports the detection results to the manned control center, which makes a decision and then issues new instructions to each unmanned surface vessel; Communication reporting success criteria: Communication reporting is successful if all unmanned surface vessels successfully report their communications. Criteria for successful command issuance: If the manned control center successfully issues all commands to each unmanned surface vessel, the command issuance mission is considered successful. remember For communication reporting to be successful, Record as a success for the instruction being issued. Successful tracking and deportation: This represents the minimum set of paths of length z when node i communicates with node j=1 during the reporting phase. This represents the minimum set of paths with path length z when node i=1 communicates to node j during the ordering phase. Therefore, logical judgments can be used based on the connectivity status of direct communication between any two nodes. Calculate the communication state from the i-th point to the j=1 node using logical judgment. Calculate the status of whether the reconnaissance reporting sub-task has been completed; use logical judgment. Calculate the communication state from the i=1th node to the jth node using logical judgment. Calculate the status of whether the subtask has been completed after the instruction is issued; use logical judgment. Calculate whether the tracking and expulsion phase subtask has been completed.

[0014] Compared with existing technologies, this invention has the following significant advantages: For multi-stage mission scenarios of key maritime collaborative systems, this invention constructs a reliability modeling scheme adapted to the entire mission process of patrol, reconnaissance, and surveillance. It can accurately match the operational modes and communication characteristics of different stages, effectively solving the problem that traditional methods are difficult to adapt to multi-stage, multi-state, and dynamically reconfigurable scenarios. Through mission time slicing and minimum path set analysis, it can locate high-risk moments and quantify system reliability, improving the accuracy of assessment. Dedicated models are established for typical stages such as reconnaissance reporting, command issuance, and tracking and expulsion, taking into account equipment correlation and two-way interaction characteristics, making it more consistent with actual operational conditions. Relying on simulation statistics and confidence lower limit calculation, the credibility and engineering practicality of the assessment results are ensured, significantly enhancing the comprehensiveness, relevance, and operability of maritime collaborative system reliability assessment, providing reliable support for system design and mission decision-making. Attached Figure Description

[0015] The accompanying drawings, which form part of this specification, are used to provide a further understanding of the invention. The illustrative embodiments and descriptions of the invention are used to explain the invention and do not constitute an undue limitation thereof. Obviously, those skilled in the art can obtain other drawings based on these drawings without any inventive effort.

[0016] Figure 1 This is a schematic diagram of the basic process of the method constructed according to an embodiment of the present invention; Figure 2 A simplified theoretical diagram constructed for embodiments of the present invention; Figure 3A schematic diagram of system task reliability and task time slice under electromagnetic environment; Figure 4 This is a multi-stage task flow and analysis diagram of an embodiment of the present invention. Detailed Implementation

[0017] To make the above-mentioned objects, features and advantages of the present invention more apparent and understandable, the specific embodiments of the present invention will be described in detail below with reference to the accompanying drawings.

[0018] Many specific details are set forth in the following description in order to provide a full understanding of the invention. However, the invention may also be practiced in other ways different from those described herein, and those skilled in the art can make similar extensions without departing from the spirit of the invention. Therefore, the invention is not limited to the specific embodiments disclosed below.

[0019] Secondly, the term "one embodiment" or "example" as used herein refers to a specific feature, structure, or characteristic that may be included in at least one implementation of the invention. The appearance of an embodiment in different places in this specification does not necessarily refer to the same embodiment, nor is it a single or selective embodiment that mutually excludes other embodiments.

[0020] This invention provides, by way of example, a reliability modeling method for a multi-stage maritime collaborative critical system, comprising: Collect maritime collaborative mission data, which includes mission characteristic information and mission phase information.

[0021] A comprehensive scheme for reliability modeling of collaborative systems is constructed, which includes reliability applicability analysis and modeling methods for proposing system reliability models for different task stages.

[0022] The applicable analysis and the modeling method of the reliability model are applied to the task characteristic information and the task stage information to generate adaptive analysis results.

[0023] Based on the applicable analysis results, the typical characteristics of maritime collaborative missions and the characteristics of different mission stages of the collaborative system are extracted. The maritime collaborative missions include three types of maritime collaborative missions that can be executed in stages: patrol, reconnaissance, and surveillance.

[0024] Based on the typical characteristics of the maritime collaborative mission and the modeling method of the system reliability model for different mission stages, corresponding sub-mission reliability models are constructed for the characteristics of different mission stages of the collaborative system.

[0025] Simulation experiments were conducted on the communication status between nodes of the sub-task reliability model to calculate the reliability and confidence lower limit of each sub-task reliability model.

[0026] The success and failure counts of the total mission are counted, the reliability and confidence lower limit of the total mission are calculated, and the reliability model of the key maritime collaborative system mission is output. The total mission is the set of all sub-missions.

[0027] This invention addresses multi-stage mission scenarios in key maritime collaborative systems by constructing a reliability modeling scheme adapted to the entire mission flow of patrol, reconnaissance, and surveillance. It accurately matches the operational modes and communication characteristics of different stages, effectively solving the problem that traditional methods struggle to adapt to multi-stage, multi-state, and dynamically reconfigurable scenarios. Through mission time slicing and minimum path set analysis, it can pinpoint high-risk moments and quantify system reliability, improving assessment accuracy. Dedicated models are established for typical stages such as reconnaissance reporting, command issuance, and tracking and expulsion, taking into account equipment correlation and two-way interaction characteristics, thus better reflecting actual operational conditions. Relying on simulation statistics and confidence lower limit calculations, the reliability and engineering practicality of the assessment results are ensured, significantly enhancing the comprehensiveness, relevance, and operability of maritime collaborative system reliability assessment, providing reliable support for system design and mission decision-making.

[0028] This invention provides an exemplary reliability applicability analysis method, which includes: demonstrating the applicability of the system reliability modeling method for different mission stages to maritime collaborative patrol missions, reconnaissance missions, and surveillance missions from four perspectives: system reliability integration, mission stage characteristics, mission time slices, and system multi-state and reconfiguration, thereby forming a mission network.

[0029] The purpose and advantages of using the modeling methods from the above four perspectives are: (1) System reliability integration – solving the practical engineering problem of “no experimental data support”. Maritime collaborative systems are characterized by suddenness and temporary setup, making it difficult to obtain system-level reliability data through field tests. By collecting reliability information from underlying equipment (radar, communication, navigation), and using system reliability integration methods to infer the reliability of system tasks, a bottom-up, local-to-overall quantitative assessment is achieved, making modeling both engineering-feasible and data-based.

[0030] (2) Task Stage Characteristics – Solving the Mismatch Problem of Single Models Being Unsuitable for Multiple Stages. The communication direction (one-way / two-way), participating nodes, and success criteria of the three types of tasks, namely reconnaissance, patrol, and guard, are completely different in different stages such as command issuance, information reporting, and tracking and expulsion. By sorting out the working mode of each stage and identifying its reliability characteristics, special models can be established for two-port networks, SKT networks, and two-way interactive networks respectively, avoiding the evaluation distortion caused by a one-size-fits-all approach.

[0031] (3) Task Time Slicing – Solving the Problem of Misaligned Evaluation Dimensions Due to the Non-Accumulation of Electromagnetic Interference over Time. Traditional reliability relies on the assumption that the longer the operating time, the higher the probability of failure. However, the impact of electromagnetic interference on frequency-using equipment depends on the intensity of the interference rather than its duration. By constructing task slices at the moments of strongest electromagnetic stress (most prone to failure) within each stage, the complex spatiotemporally changing electromagnetic environment is transformed into an instantaneous reliability assessment at that moment. This approach not only addresses the bottleneck but also significantly reduces the complexity of modeling.

[0032] (4) System Multi-State and Reconfiguration – Solving the problem of dynamically depicting the reliability logic relationship under dynamic topology. During the execution of the collaborative system, the network will be dynamically reorganized due to node failure or changes in task function, resulting in the real-time switching of the reliability logic relationship between series and parallel. By identifying the conditions that trigger reconfiguration and establishing the corresponding minimum path set update mechanism, the model can dynamically adjust the reliability logic according to the network topology changes, ensuring that the evaluation results always reflect the true state of the system.

[0033] This invention provides an exemplary method for system reliability synthesis, which is: to provide a system reliability probability estimate using the reliability information of the constituent units.

[0034] This invention provides an example of a phased operational feature: by analyzing the processes of reconnaissance, surveillance, and patrol missions within a collaborative system, the working modes of the system at different mission phases are clarified, and the reliability characteristics of missions at different phases are identified.

[0035] The present invention provides an exemplary task time slicing method, which involves: finding the moment when the collaborative operation system is most likely to fail within each task stage, constructing a task slice at the moment when the task is most likely to fail, and evaluating the task reliability of the collaborative system under the electromagnetic environment at the moment when the task is most likely to fail.

[0036] This invention provides an exemplary system multi-state and reconfiguration method, in which the task network dynamically reorganizes itself during task execution, establishes new connection relationships, and generates a new task network.

[0037] This invention provides an exemplary process for establishing a new task network, including: inter-cluster reconstruction, intra-cluster reconstruction, node self-repair, and task redistribution.

[0038] This invention provides an exemplary method for constructing corresponding sub-task reliability models for the characteristics of different task stages of the collaborative system, including: the different task stages include a reconnaissance and reporting stage, an instruction issuance stage, and a tracking and expulsion stage; the reconnaissance and reporting stage refers to the target device outputting communication information to the command device; the instruction issuance stage is the command device outputting communication information to the target device; and the tracking and expulsion stage is the command device and the target device exchanging communication information.

[0039] During the reconnaissance reporting phase, a collaborative system reliability model based on a two-port network model is constructed. The communication relationship between the command equipment and the target equipment is described by a generalized model. The minimum path set is obtained by using the contact matrix method. The success or failure of the reconnaissance reporting phase is determined based on the communication connectivity status.

[0040] During the instruction issuance phase, a collaborative system reliability model based on the SKT network model is constructed. The success criterion is that the command device completes the instruction issuance to all the target devices. The minimum path set is determined by the contact matrix method, and the state determination of the instruction issuance phase is completed by combining the communication status between nodes.

[0041] During the tracking and expulsion phase, a collaborative system reliability model considering two-way interaction is constructed. The minimum path set calculation is performed for the communication information output between the command equipment and the target equipment. Successful two-way communication is used as the success criterion for the tracking and expulsion phase.

[0042] A two-port network model was chosen for the reconnaissance and reporting phase. Its core purpose is to accurately characterize the communication topology characteristics of multi-source information converging towards a single center. This phase essentially involves multiple unmanned surface vessel (USV) nodes (n-1 inputs) reporting detection data to a single human control center (1 output). The model uses a connection matrix method to calculate only the minimum path set of the j=1th column (the column pointing to the command center), significantly reducing the redundant computational load of the entire network path search. Simultaneously, the successful reporting of all USVs serves as the parallel logic criterion, strictly matching the operational requirement that failure of any USV to report constitutes failure for this phase. The significance of this model lies in effectively solving the physical constraint of coupling radar and communication equipment on the same platform—detection results must be transmitted via the USV's own communication equipment and cannot be transmitted across USVs via wired connections. This ensures that the modeling assumptions are completely consistent with the actual equipment links, providing a reliable quantitative basis for the reconnaissance phase that aligns with engineering realities.

[0043] The SKT network model is selected during the command issuance phase, with the core objective of solving the problem of full-coverage reliability assessment for broadcast distribution from a single center to multiple nodes. This phase essentially involves a control center issuing task commands to k=n-1 unmanned surface vessels (USVs), a typical one-to-many multicast scenario. The model simplifies path search in a directed single-source network by only calculating the i=1th row of the communication matrix (i.e., the row originating from the center), strictly defining success as all USVs receiving the command (k=n-1, none can be missing), thus avoiding the logical fallacy of traditional models misjudging relay forwarding as redundant backup. The significance of this model lies in its full consideration of the engineering reality of USVs receiving commands through multi-hop relays from other USVs in ad hoc network communication. By iterating the path length r, all indirect forwarding paths are incorporated into the minimum path set, truly reflecting the physical characteristics of dynamic multi-hop in ad hoc networks, providing complete path coverage capability for reliability assessment during the command issuance phase.

[0044] In the tracking and expulsion phase, a cooperative system reliability model considering two-way interaction is selected. Its core purpose is to characterize the coupled reliability features of the two-way closed-loop interaction between reporting and command. This phase requires simultaneous communication in two directions: the unmanned surface vessel (USV) reporting detection information to the control center, and the control center transmitting new commands back to the USV. Failure in either direction results in the failure of the entire tracking and expulsion mission. Therefore, the model independently calculates the minimum path set for reconnaissance reporting (column search) and command issuance (row search) on the same physical topology matrix, and then defines the successful states of both as a series relationship (intersection operation), accurately reflecting the high dependence of the operational closed loop on the two-way link. The significance of this model lies in revealing the two-way bottleneck effect in the tracking and expulsion phase—system reliability is determined by the weakest link in both the reporting and command links. Assessing only one-way reliability would severely overestimate system capabilities. This model provides designers with clear quantitative guidance for identifying weak links in the closed-loop link and implementing targeted redundancy configurations or anti-interference enhancements.

[0045] This invention provides an exemplary reliability model for a cooperative system based on a two-port network model, comprising: set up Towards The communication link is denoted as The connection of this link is considered a successful communication. A broken link is recorded as a communication failure. After obtaining the communication distance between the command equipment and the target equipment, the interference distance between the interference source and the target equipment, the communication transmission power, and the interference source transmission power, calculations can be performed. The communication signal power and interference power density at the antenna port can then be obtained. The signal-to-interference ratio at the antenna port is denoted as . The reliability of the Unicom task is abbreviated as Construct the connection matrix : A value of 0 indicates and No communication If it is not 0, it means and Communication was established between them, in which and These are the two ends of the communication device, based on the connection matrix. Calculate the adjacency matrix: in, , , The meaning is: the set of all minimum paths from node i to all possible nodes k, and then from node k to node j, reflecting that there is a link with a hop degree of 2 between nodes i and j. , indicating from node To the node The length of the road is The set of all minimum paths reflects the nodes and nodes Is there a length between them? The link, for nodes as In the graph, the longest path r ≤ ; Based on the adjacency matrix, determine all minimum path sets of the two-port network system, and take... ,get matrices ,matrix The Middle Line 1 All elements in the column are nodes. To the node The minimum path set; Here, we only care about the input node target device i( 1) The output node will only show all the minimum path sets between j=1, so it only needs to calculate The element in the j=1th column can be used, denoted as: remember If target device i communicates with command device, then the logical relationship between successful communication between each target device and command device and the minimum path set is as follows: … It can be simply remembered as: remember For communication reporting to be considered successful, the following criteria must be met: all target devices must successfully report communication. in, Let z represent the minimum set of paths of length z when node i communicates with node j=1. Based on this, the logical judgment can be used to determine the connectivity between any two nodes in direct communication. Calculate the communication state from the i-th point to node j=1, and use the aforementioned logic to determine... Calculate whether the task phase is complete.

[0046] The present invention provides an exemplary method for modeling a reliability model, comprising: simulating the communication states of N groups of target devices and the command device, and obtaining N reconnaissance reporting stage status data based on the logical judgment, wherein the reconnaissance reporting is successful s times and fails f times, s+f=N; The reliability of the reconnaissance reporting phase can be calculated: Given confidence level Calculate the lower confidence limit of reliability during the reconnaissance reporting phase. : in This refers to the quantiles of the distribution.

[0047] This invention provides an exemplary method for reliability modeling of collaborative systems based on the SKT network model, including: generalized reliability model construction and system minimum path set construction based on the connection matrix method.

[0048] This invention provides an exemplary method for constructing a generalized reliability model, comprising: during the instruction issuance phase, a communication device... Through self-organizing network communication When a sub-submarine issues a mission instruction, and all sub-submarines receive the mission instruction, the mission is successful at this stage, i.e., k = n-1.

[0049] This invention provides an exemplary method for constructing a minimum path set of a system based on the connection matrix method, comprising: setting... Towards The communication link is denoted as The connection of this link is considered a successful communication. A broken link is recorded as a communication failure. After obtaining the communication distance between each submarine, the interference distance between the interference source and each submarine, the communication transmission power, and the interference source transmission power, the following can be calculated. The communication signal power and interference power density at the antenna port can then be obtained. The signal-to-interference ratio at the antenna port is denoted as . ; The connection matrix method describes the adjacency relationships between nodes and edges using a connection matrix, thus encompassing the comprehensive topological relationships of the network. Its calculation steps are as follows: Constructing the connection matrix : In the formula: A value of 0 indicates and No communication If it is not 0, it means and Communication was established between them, and the adjacency matrix was calculated: in, , , The meaning is: the set of all minimum paths from node i to all possible nodes k, and then from node k to node j, reflecting the links between nodes i and j with a hop degree of 2. ... , indicating from node To the node The length of the road is The set of all minimum paths reflects the nodes and nodes Is there a length between them? The link, for nodes as In the graph, the longest path r ≤ Finally, all minimal path sets in the two-port network system are determined: Pick ,get matrices ,matrix The Middle Line 1 All elements in the column are nodes. To the node The minimum path set; Here, we only focus on the input node (manned control center i=1) and the output node (unmanned surface vessel j). For all minimum path sets between 1), only computation is needed. The element in the i=1th row of the array can be denoted as: remember If a manned control center i=1 communicates with an unmanned surface vessel (USV), then the relationship between the minimum set of paths to which manned control center i=1 successfully communicates with the USV and each connecting link is as follows: … It can be simply remembered as: remember For the command to be issued successfully, the following criteria apply: if the manned control center successfully issues all commands to each unmanned surface vessel, then the command issuance mission is successful. in, This represents the minimum set of paths of length z when node i=1 communicates with node j. Based on this, logical judgments can be used to determine the connectivity between any two nodes in direct communication. Calculate the communication state from the i=1th node to the jth node using logical judgment. The calculation command determines whether the subtask has been completed.

[0050] This invention provides an exemplary method for reliability modeling of a collaborative system that considers bidirectional interaction, including: constructing a generalized reliability model, establishing a connection matrix, calculating the minimum path set during the reporting phase, calculating the minimum path set during the instruction issuance phase, and calculating the minimum path set considering interaction.

[0051] This invention provides an exemplary method for constructing a generalized reliability model, comprising: a collaborative operation system consisting of n nodes, each node carrying one radar and one communication device; during the tracking and removal phase... Each submersible reports radar-detected targets to the manned control center via an ad hoc network. The manned control center then plans operations based on the received reports and issues the latest operational instructions via the ad hoc network. Once all the sub-submarines have received the mission instructions, the mission is successful at this stage.

[0052] This invention provides an exemplary method for establishing a connection matrix, comprising: setting... Towards The communication link is denoted as The connection of this link is considered a successful communication. A broken link is recorded as a communication failure. The system connection matrix method describes the adjacency relationships of nodes and edges through a connection matrix, thus encompassing the comprehensive topological relationships of the network. Constructing the connection matrix... : In the formula: A value of 0 indicates and No communication If it is not 0, it means and Communication was established between them.

[0053] This invention provides an exemplary method for calculating the minimum path set during the reporting phase, comprising: Indicates from node To the node The length of the road is The set of all minimum paths reflects the nodes and nodes Is there a length between them? The link, for nodes as In the graph, the longest path r ≤ ; For the communication reporting phase, we only care about the input node unmanned surface vessel i ( 1) To find the minimum path set between the output node and platform j=1, we only need to calculate... The element in the j=1th column can be used, denoted as: remember This indicates that the unmanned surface vessel i is communicating with the manned control center j=1.

[0054] This invention provides an exemplary method for calculating the minimum path set during the command issuance phase, comprising: for the command issuance phase, only considering the input node (manned control center i=1) to the output node (unmanned surface vessel j) For all minimum path sets between 1), only computation is needed. The element in the i=1th row of the array can be denoted as: remember This indicates that the manned control center i=1 is communicating with the unmanned surface vessel.

[0055] This invention provides an exemplary method for calculating the minimum path set considering interactions, including: the complete task process of the tracking and expulsion phase: the unmanned surface vessel reports the detection results to the manned control center, the manned control center makes a decision, and then issues new instructions to each unmanned surface vessel; Communication reporting success criteria: Communication reporting is successful if all unmanned surface vessels successfully report their communications. Criteria for successful command issuance: If the manned control center successfully issues all commands to each unmanned surface vessel, the command issuance mission is considered successful. remember For communication reporting to be successful, Record as a successful instruction. Successful tracking and deportation: This represents the minimum set of paths of length z when node i communicates with node j=1 during the reporting phase. This represents the minimum set of paths with path length z when node i=1 communicates to node j during the ordering phase. Therefore, logical judgments can be used based on the connectivity status of direct communication between any two nodes. Calculate the communication state from the i-th point to the j=1 node using logical judgment. Calculate the status of whether the reconnaissance reporting sub-task has been completed; use logical judgment. Calculate the communication state from the i=1th node to the jth node using logical judgment. Calculate the status of whether the subtask has been completed after the instruction is issued; use logical judgment. Calculate whether the tracking and expulsion phase subtask has been completed.

[0056] This invention provides an exemplary electronic device, comprising: One or more processors.

[0057] A storage device on which one or more programs are stored.

[0058] When the one or more programs are executed by the one or more processors, the one or more processors implement the methods as described in the examples above.

[0059] The present invention provides, by way of example, a computer-readable storage medium having executable instructions stored thereon, which, when executed by a processor, cause the processor to implement one of the methods described above.

[0060] The technical solution of the present invention will be further described below with reference to specific embodiments.

[0061] Step 1: An applicability analysis of the system reliability assessment method is conducted based on four aspects: comprehensive system reliability theory, task characteristics, system task reliability and time slicing under electromagnetic conditions, and reconfigurability characteristics analysis of collaborative operation systems. Specifically: Step 1.1: Calculate the applicability of system task reliability based on the comprehensive theory of system reliability. Reliability test data for radar, communication, and navigation equipment were obtained through semi-physical testing. Equipment reliability modeling methods were used to calculate equipment reliability. Based on this, a comprehensive system reliability approach was employed to calculate the overall reliability of the collaborative system. The equipment reliability modeling methods included those based on signal-to-interference ratio (SIR), electromagnetic interference intensity, and success / failure data. The comprehensive system reliability approach required clarifying the logical reliability relationships between the constituent equipment and the collaborative system, and then constructing a collaborative system task reliability model based on this. Figure 2 As shown.

[0062] Reliability assessment of collaborative systems based on a comprehensive system reliability approach can evaluate the task reliability of a collaborative system before deployment of manned or unmanned operations, providing a reference for task decision-makers. Based on this assessment, it can determine whether the system can complete the intended tasks, identify weak links in system reliability, and improve system composition or equipment selection.

[0063] Step 1.2: Constructing a system reliability model based on the characteristics of the task. By analyzing the processes of reconnaissance, surveillance, and patrol missions in the collaborative system, the working modes of the system at different mission stages are clarified, thereby identifying the reliability characteristics of missions at different stages.

[0064] Step 1.2.1: Collaborative System Reconnaissance Mission Flow The collaborative system reconnaissance mission process is divided into three stages: command issuance, forward maneuver, and reconnaissance reporting, as shown in Figure 3. The collaborative system reconnaissance mission refers to the control center autonomously planning the mission based on the suspected target area through the command console, generating a reconnaissance operation plan, and dispatching unmanned surface vessels (USVs) to the suspected area using the ad-hoc network communication between the manned control center and the USV group. Within the suspected target area, the USVs search using radar, conduct close-range reconnaissance after detecting the target, and transmit the reconnaissance intelligence back to the control center via the ad-hoc network communication system.

[0065] Step 1.2.2: Collaborative System Alert Task Flow The collaborative system's surveillance mission flow is divided into four phases: command issuance, forward deployment, collaborative patrol, and tracking and expulsion. The mission flow is as follows: Figure 4 As shown, the collaborative system reconnaissance mission refers to the control center autonomously planning the mission based on the suspected target area through the command console, generating a reconnaissance operation plan, and dispatching unmanned surface vessels (USVs) to the suspected area using the ad-hoc network communication between the manned control center and the vessel group. Within the suspected target area, the USVs search using radar, and after detecting the target, transmit intelligence back to the control center via the ad-hoc network communication system. They then approach the target for identification and verification, and transmit the information back to the control center for further assessment.

[0066] Step 1.2.3: Collaborative System Patrol Task Flow The collaborative system patrol mission process is divided into three phases: command issuance, maneuver deployment, and collaborative patrol. A collaborative system patrol mission refers to the control center autonomously planning and generating patrol operation plans for important target areas via a command console. Using the ad-hoc network communication between the manned control center and the unmanned surface vessels (USVs), the USVs are commanded to proceed to the designated area and conduct patrols along the predetermined routes. Within the predetermined target area, the USVs use radar to search for and detect abnormal targets. Upon detecting these targets, the USVs transmit the intelligence back to the control center via the ad-hoc network communication system.

[0067] Step 1.2.4: Characteristics of Collaborative Work Tasks (1) Characteristics of the instruction issuance stage The collaborative system's patrol, reconnaissance, and surveillance missions all include a command issuance phase, primarily where the manned control center issues operational instructions to the unmanned surface vessel (USV) swarm via ad hoc network communication. The USV swarm consists of multiple USVs, and communication between them utilizes ad hoc network communication. The manned control center directly issues operational instructions to each USV via ad hoc network communication. If a USV does not receive instructions from the manned control center, it can still receive relayed instructions from other USVs via ad hoc network communication. During the command issuance process, the system is considered to have successfully issued instructions only when all USVs have received them from the manned control center. This is a typical k-port network system with one node sending information and k nodes receiving instructions.

[0068] (2) Characteristics of the information reporting stage Both collaborative system patrol and surveillance missions include a collaborative patrol phase, during which the radar detects targets and communication equipment reports the detected targets to the manned control center via ad-hoc network communication. Collaborative system reconnaissance missions include a reconnaissance reporting phase, during which the radar detects targets and communication equipment reports the detected targets to the manned control center via ad-hoc network communication.

[0069] This phase is characterized by the joint operation of radar and communication equipment. Based on the characteristics of unmanned platforms, radar and communication equipment share a single platform. Radar equipment on the same platform transmits detection results to the communication equipment of the same unmanned surface vessel (USV) via wired communication. The communication equipment then reports the detection results to the manned control center via ad-hoc network communication. Detection results from one USV's radar cannot be transmitted to another USV's communication equipment via wired transmission.

[0070] (3) Characteristics of the tracking and expulsion phase The collaborative system's surveillance mission includes a tracking and dispersal phase. During this phase, the unmanned surface vessel (USV) receives instructions from the manned control center, its radar equipment continuously tracks the target, and its communication equipment reports the detected target to the manned control center via ad-hoc network communication. In addition to the joint operation of the radar and communication equipment, this phase also involves interaction between the manned control center and the USV, making the communication network more complex.

[0071] Step 1.3: System task reliability and task time slicing under electromagnetic environment Within the time frame of suppressed electromagnetic interference, the failure rate of frequency-using equipment is related to the intensity of the electromagnetic stress, based on its characteristics. The greater the intensity of the suppressed interference, the higher the probability of equipment failure and the lower its reliability level. Under given electromagnetic environment conditions, the impact of the electromagnetic environment on frequency-using equipment does not change with the duration of interference. This makes traditional reliability methods that consider product operation / failure status on a time scale unsuitable for reliability analysis of frequency-using equipment under electromagnetic conditions.

[0072] For a specific task, the weakest link in the collaborative system's execution occurs when the electromagnetic interference stress is strongest along the task path. If the electromagnetic interference emission intensity remains constant within the task execution timeframe, the collaborative system will execute the task along the planned path, with the location of strongest electromagnetic stress occurring closest to the interference source. At this location, the collaborative system is most prone to task failure. Conversely, if the electromagnetic interference stress level suddenly increases within the task execution timeframe, the collaborative system is most likely to fail at the point of highest electromagnetic interference.

[0073] Considering the above characteristics, within each task phase, the moment when the collaborative system is most likely to fail is identified, a task slice is constructed at this moment, and the task reliability of the collaborative system is evaluated under the electromagnetic environment at this moment, which is then used as the task reliability of the collaborative system for that phase.

[0074] Step 1.4: Analysis of the reconfigurability characteristics of the collaborative work system. The system reconfiguration triggering conditions can be divided into two main categories: Step 1.4.1: System component failure triggers system reconfiguration If a functional unit in the minimum path set fails at any stage of the mission, and this failure is detected by the shore-based command and control console, the mission system will be replanned. For example: a. The manned control center issues mission commands to the unmanned surface vessel (USV) swarm, which communicates via an ad hoc network. If the communication link between the manned control center (CC) and USV T5 is lost, USV T5 cannot directly receive mission commands from the manned control center. In this case, based on the ad hoc network connection rules, USV T4's communication equipment relays the mission commands from the manned control center to USV T5's communication equipment, thus reconfiguring the system.

[0075] b. Participate in patrols during the patrol phase. When the radar equipment on one of the unmanned surface vessels malfunctions, the shore-based command and control station detects the problem and replans the patrol areas / routes for the remaining unmanned surface vessels.

[0076] c. When an unmanned surface vessel (USV) is dispatched to track a target, if the communication equipment on the USV fails and the shore-based command and control station cannot receive target monitoring information, the USV will be reassigned to track the target.

[0077] Step 1.4.2: Changes in system task execution functions trigger system refactoring During task execution, the system may encounter unforeseen external situations. Different situations require different actions to achieve different task functions. Changes in task function execution trigger system refactoring, resulting in changes to the corresponding system reliability logic. For example: a. During patrol, the radar on board the unmanned surface vessel (USV) detects a target and transmits the target's location information back to the shore-based command and control station. The command and control station then designates the USV to conduct close reconnaissance, while the remaining USVs replan their patrols.

[0078] b. The unmanned surface vessel (USV) approaches and verifies the target, then transmits detailed target information back to the shore-based command and control station for decision-making. The shore-based command and control station decides whether to take vigilance action against the target, such as designating a reconnaissance USV to track the target or abandoning the target, and all USVs replan to continue their patrols.

[0079] Taking the system's patrol mission as an example, when a target intrudes during the detection process, the cooperative frequency-using system's mission changes from three boats simultaneously patrolling the predetermined area to one boat continuing to patrol the predetermined area according to a replanned path. and The task involves target tracking. If the radar subsystem is involved, the process has two sub-processes: Sub-process 1 and Sub-process 2. In Sub-process 1, the radars on each vessel perform surface reconnaissance. Successful target detection by any onboard radar constitutes a successful radar subsystem mission. The radars operate in parallel with a reliable logical relationship. In Sub-process 2, the unmanned surface vessel... The mission to detect targets in the designated sea area will continue along the new route. and The radar carries out the predetermined target tracking task. and It has a parallel reliability logical relationship, followed by Series connection.

[0080] Step 2.1: A Reliability Modeling Method for Communication Systems Based on Two-Port Networks (1) Generalization model In a generalized manner, the collaborative system is assumed to consist of one manned control center and... Platform boat ( The system consists of multiple submersibles, each reporting its detection results to the manned control center. Unmanned surface vessel The onboard communication equipment can directly report the detection results to the manned control center. Unmanned surface vessel The communication equipment carried by other sub-boats can also relay reports to the manned control center. It is a typical arrive A two-port communication network.

[0081] (2) Minimum path set of the system based on the connection matrix method set up Towards The communication link is denoted as The connection of this link is considered a successful communication. A broken link is recorded as a communication failure. After obtaining the communication distance between each vessel, the interference distance between the interference source and each vessel, the communication transmission power, and the interference source transmission power, calculations can be performed. The communication signal power and interference power density at the antenna port can then be obtained. The signal-to-interference ratio at the antenna port is denoted as . The reliability of the Unicom task is abbreviated as .

[0082] The connection matrix method describes the adjacency relationships between nodes and edges using a connection matrix, thus encompassing the comprehensive topological relationships of the network. Its calculation steps are as follows: a) Constructing the connection matrix , In the formula: A value of 0 indicates and No communication If it is not 0, it means and Communication was established between them.

[0083] b) Calculate the adjacency matrix. in, , . The meaning is: the set of all minimum paths from node i to all possible nodes k, and from node k to node j, reflecting the link between nodes i and j with a jump degree of 2.

[0084] ... , indicating from node To the node Road length is The set of all minimum paths. Reflects the nodes. and nodes Is there a length between them? The link. For nodes that are In the graph, the longest path r ≤ .

[0085] c) Determine all minimum path sets in the two-port network system. Pick ,get matrix ,matrix The Middle Line 1 All elements in the column are nodes. To the node The minimum path set.

[0086] Here, we only care about the input node unmanned surface vessel i ( 1) Find the minimum set of all paths between the output node and platform j=1. Only the minimum set of paths needs to be calculated. The element in the j=1th column can be used as denoted as remember Let i represent unmanned surface vessel (USV) communicating with the manned control center. Then, the relationship between the success of communication between each USV and the manned control center and the minimum path set is: … It can be simply remembered as, remember For communication reporting to be considered successful, the following criteria must be met: all unmanned surface vessels must successfully report their communications. in, Let z represent the minimum set of paths of length z when node i communicates with node j=1. Based on this, logical judgments can be used to determine the connectivity between any two nodes in direct communication. Calculate the communication state from the i-th point to the j=1 node using logical judgment. Calculate the status of whether the reconnaissance reporting sub-task has been completed.

[0087] (3) System task reliability model By simulating the communication status between N groups of underlying nodes, and based on the above logic, we can obtain the status data of N reconnaissance reporting subtasks, where the reconnaissance reports were successful s times and failed f times, and s+f=N.

[0088] Based on this, the reliability of the reporting subtask can be calculated. Given confidence level Calculate the lower confidence limit of the reliability of the subtask. , In the formula The quantiles of the distribution can be obtained by looking up a table.

[0089] Step 2.2: Reliability Modeling Method for Cooperative Systems Based on SKT Network Model (1) Generalized reliability model During the instruction issuance phase, communication equipment Through self-organizing network communication When a sub-submarine issues a mission instruction, and all sub-submarines receive the mission instruction, the mission is successful at this stage, i.e., k = n-1.

[0090] (2) Minimum path set of the system based on the connection matrix method set up Towards The communication link is denoted as The connection of this link is considered a successful communication. A broken link is recorded as a communication failure. After obtaining the communication distance between each vessel, the interference distance between the interference source and each vessel, the communication transmission power, and the interference source transmission power, calculations can be performed. The communication signal power and interference power density at the antenna port can then be obtained. The signal-to-interference ratio at the antenna port is denoted as . .

[0091] The connection matrix method describes the adjacency relationships between nodes and edges using a connection matrix, thus encompassing the comprehensive topological relationships of the network. Its calculation steps are as follows: a) Constructing the connection matrix , In the formula: A value of 0 indicates and No communication If it is not 0, it means and Communication was established between them.

[0092] b) Calculate the adjacency matrix. in, , . The meaning is: the set of all minimum paths from node i to all possible nodes k, and from node k to node j, reflecting the link between nodes i and j with a jump degree of 2.

[0093] ... , indicating from node To the node Road length is The set of all minimum paths. Reflects the nodes. and nodes Is there a length between them? The link. For nodes that are In the graph, the longest path r ≤ .

[0094] c) Determine all minimum path sets in the two-port network system. Pick ,get matrix ,matrix The Middle Line 1 All elements in the column are nodes. To the node The minimum path set.

[0095] Here, we only care about the input node (manned control center i=1) and the output node (unmanned surface vessel j). 1) All minimal path sets between. Only the minimum path sets between them need to be calculated. The element in the i=1th row of the array can be denoted as . remember Let i=1 be a manned control center communicating with an unmanned surface vessel (USV). The relationship between the minimum set of paths to successful communication between manned control center i=1 and the USV and all connected links is: … It can be simply remembered as, remember For the command to be issued successfully, the following criteria apply: if the manned control center successfully issues all commands to each unmanned surface vessel, then the command issuance mission is considered successful. in, Let z represent the minimum set of paths of length z when node i=1 communicates with node j. Based on this, logical judgments can be used to determine the connectivity between any two nodes in direct communication. Calculate the communication state from the i=1th node to the jth node using logical judgment. The calculation command determines whether the subtask has been completed.

[0096] (3) System Subtask Reliability Model By simulating the communication status between N groups of underlying nodes, and based on the above logic, we can obtain the status data of N instruction-issued subtasks, where the instruction was issued successfully s times and failed f times, and s+f=N.

[0097] Based on this, the reliability of the subtasks issued by the instruction can be calculated. Given confidence level Calculate the lower confidence limit of the reliability of the subtask. , In the formula The quantiles of the distribution can be obtained by looking up a table.

[0098] Step 2.3: Reliability modeling method for cooperative systems considering bidirectional interaction: (1) Generalized reliability model The collaborative operation system consists of n nodes, each equipped with one radar and one communication device. During the tracking and dispersal phase... Each submersible reports radar-detected targets to the manned control center via an ad hoc network. The manned control center then plans operations based on the received reports and issues the latest operational instructions via the ad hoc network. Once all the sub-submarines have received the mission instructions, the mission is successful at this stage.

[0099] (2) Connection matrix set up Towards The communication link is denoted as The connection of this link is considered a successful communication. A broken link is recorded as a communication failure. The system connection matrix method describes the adjacency relationships between nodes and edges using a connection matrix, thus encompassing the comprehensive topological relationships of the network. Constructing the connection matrix... , In the formula: A value of 0 indicates and No communication If it is not 0, it means and Communication was established between them.

[0100] (3) Minimum path set in the reporting phase Indicates from node To the node Road length is The set of all minimum paths. Reflects the nodes. and nodes Is there a length between them? The link. For nodes that are In the graph, the longest path r ≤ .

[0101] For the communication reporting phase, we only care about the input node unmanned surface vessel i ( 1) Find the minimum set of all paths between the output node and platform j=1. Only the minimum set of paths needs to be calculated. The element in the j=1th column can be used as denoted as remember This indicates that the unmanned surface vessel i is communicating with the manned control center j=1.

[0102] (4) Minimum path set during instruction issuance stage During the instruction issuance phase, we only care about the input node (manned control center i=1) and the output node (unmanned surface vessel j). 1) All minimal path sets between. Only the minimum path sets between them need to be calculated. The element in the i=1th row of the array can be denoted as . remember This indicates that the manned control center i=1 is communicating with the unmanned surface vessel.

[0103] (5) Consider the minimum path set of interactions The complete mission process of the tracking and expulsion phase: The unmanned surface vessel reports the detection results to the manned control center, the manned control center makes a decision, and then issues new instructions to each unmanned surface vessel.

[0104] Criteria for successful communication reporting: Communication reporting is successful if all unmanned surface vessels successfully report their communications.

[0105] Criteria for successful command issuance: If the manned control center successfully issues all commands to each unmanned surface vessel, then the command issuance mission is successful.

[0106] remember For communication reporting to be successful, Record as a success for the instruction being issued. For the tracking and expulsion to be successful, This represents the smallest path set with path length z when node i communicates with node j=1 during the reporting phase. This represents the minimum path set of length z when node i=1 communicates with node j during the delivery phase.

[0107] Therefore, logical judgments can be used based on the connectivity status of direct communication between any two nodes. Calculate the communication state from the i-th point to the j=1 node using logical judgment. Calculate the status of whether the reconnaissance reporting sub-task has been completed. Utilize logical judgment. Calculate the communication state from the i=1th node to the jth node using logical judgment. Calculate the completion status of subtasks after the instruction is issued. Utilize logical judgment. Calculate whether the tracking and expulsion phase subtask has been completed.

[0108] (6) System task reliability model By simulating the communication status between N groups of underlying nodes, and based on the above logic, N tracking and ion-driving task status data can be obtained, where the tracking and ion-driving is successful s times and fails f times, and s+f=N.

[0109] Based on this, the reliability of the tracking ion-driving mission can be calculated. Given confidence level Calculate the lower confidence limit of the reliability of the subtask. , In the formula The quantiles of the distribution can be obtained by looking up a table.

[0110] Step 3: Reliability Modeling Method for Multi-Stage Task Systems The system's reconnaissance, patrol, and surveillance missions are divided into m sub-mission phases. The experiment is repeated V times, and success and failure data for each phase are obtained during the trials. The result of the v-th (v = 1, 2, …, V) trial in the l-th (l = 1, 2, …, m) phase is denoted as xl,v. yes Status indicator quantity, yes The status indicator states that the overall task succeeds if all m stage subtasks succeed. The experiment is repeated V times, with s successes and f failures, and s + f = V. Based on this, the overall mission reliability can be calculated. Given confidence level Calculate the lower confidence limit of the reliability of the subtask. , In the formula The quantiles of the distribution can be obtained by looking up a table.

[0111] The above embodiments or implementation methods are merely illustrative of the present invention. The present invention may also be implemented in other specific ways or forms without departing from the spirit or essential characteristics of the invention. Therefore, the described embodiments should be considered illustrative rather than limiting in any respect. The scope of protection of the present invention should be determined by the contents of the claims, and any changes equivalent to the intent and scope of the claims should also be included within the scope of the present invention.

Claims

1. A reliability modeling method for a key maritime collaborative system, characterized in that, include: Collect maritime collaborative mission data, which includes mission characteristic information and mission phase information; A comprehensive reliability modeling scheme for collaborative systems is constructed, which includes reliability applicability analysis and modeling methods for proposing system reliability models for different task stages. The applicable analysis and the modeling method of the reliability model are applied to the task characteristic information and the task stage information to generate adaptive analysis results; Based on the applicable analysis results, the typical characteristics of maritime collaborative tasks and the characteristics of different task stages of the collaborative system are extracted. The maritime collaborative tasks include three types of maritime collaborative tasks that can be executed in stages: patrol, reconnaissance, and surveillance. Based on the typical characteristics of the maritime collaborative mission and the modeling method of the system reliability model for different mission stages, corresponding sub-task reliability models are constructed for the characteristics of different mission stages of the collaborative system. Simulation experiments were conducted on the communication status between nodes of the sub-task reliability model to calculate the reliability and confidence lower limit of each sub-task reliability model. The success and failure counts of the total mission are counted, the reliability and confidence lower limit of the total mission are calculated, and the reliability model of the key maritime collaborative system mission is output. The total mission is the set of all sub-missions.

2. The reliability modeling method for key maritime collaborative systems as described in claim 1, characterized in that, The reliability applicability analysis includes: From four perspectives—system reliability integration, mission phase characteristics, mission time slicing, and system multi-state and reconfiguration—this paper demonstrates the applicability of the system reliability modeling methods for different mission phases to maritime collaborative patrol, reconnaissance, and surveillance missions, and forms a mission network.

3. The reliability modeling method for key maritime collaborative systems as described in claim 2, characterized in that: The analysis from four perspectives—system reliability, task phase characteristics, task time slicing, and system multi-state and reconfiguration—includes the following: The system reliability synthesis refers to a method that uses the reliability information of the constituent units to give a probability estimate of the system reliability. The operational phase characteristics refer to clarifying the working mode of the system at different task phases and identifying the reliability characteristics of tasks at different phases by sorting out the reconnaissance, alert and patrol mission processes of the collaborative system. The task time slice refers to finding the moment when the collaborative operation system is most likely to fail within each task stage, constructing a task slice at the moment when the task is most likely to fail, and evaluating the task reliability of the collaborative system under the electromagnetic environment at the moment when the task is most likely to fail. The system's multi-state and reconfiguration refers to the dynamic reorganization of the task network during task execution, establishing new connections to generate a new task network. The process of forming a new task network includes: Inter-cluster reconstruction, intra-cluster reconstruction, node self-healing, and task redistribution.

4. The reliability modeling method for key maritime collaborative systems as described in claim 1, characterized in that, The construction of corresponding sub-task reliability models for the characteristics of different task stages of the collaborative system includes: The different mission phases include the reconnaissance and reporting phase, the command issuance phase, and the tracking and expulsion phase. The reconnaissance and reporting phase refers to the target equipment outputting communication information to the command equipment. The command issuance phase is the command equipment outputting communication information to the target equipment. The tracking and expulsion phase is the command equipment and the target equipment exchanging communication information. During the reconnaissance reporting phase, a collaborative system reliability model based on a two-port network model is constructed. The communication relationship between the command equipment and the target equipment is described by a generalized model. The minimum path set is obtained by using the contact matrix method. The logical judgment of whether the reconnaissance reporting phase is successful or not is completed based on the communication connectivity status. During the instruction issuance phase, a collaborative system reliability model based on the SKT network model is constructed. The success criterion is that the command device completes the instruction issuance to all the target devices. The minimum path set is determined by the contact matrix method, and the state determination of the instruction issuance phase is completed by combining the communication status between nodes. During the tracking and expulsion phase, a collaborative system reliability model considering two-way interaction is constructed. The minimum path set calculation is performed for the communication information output between the command equipment and the target equipment. Successful two-way communication is used as the success criterion for the tracking and expulsion phase.

5. The reliability modeling method for key maritime collaborative systems as described in claim 1, characterized in that: The cooperative system reliability model of the two-port network model includes: set up Towards The communication link is denoted as The connection of this link is considered a successful communication. A broken link is recorded as a communication failure. After obtaining the communication distance between the command equipment and the target equipment, the interference distance between the interference source and the target equipment, the communication transmission power, and the interference source transmission power, calculations can be performed. The communication signal power and interference power density at the antenna port can then be obtained. The signal-to-interference ratio at the antenna port is denoted as . The reliability of the Unicom task is abbreviated as Construct the connection matrix : A value of 0 indicates and No communication If it is not 0, it means and Communication was established between them, in which and These are the two ends of the communication device, based on the connection matrix. Calculate the adjacency matrix: in, , , The meaning is: the set of all minimum paths from node i to all possible nodes k, and then from node k to node j, reflecting that there is a link with a hop degree of 2 between nodes i and j. , indicating from node To the node The length of the road is The set of all minimum paths reflects the nodes and nodes Is there a length between them? The link, for nodes as In the graph, the longest path r ≤ ; Based on the adjacency matrix, determine all minimum path sets of the two-port network system, and take... ,get matrices ,matrix The Middle Line number All elements in the column are nodes. To the node The minimum path set; Here, we only care about the input node target device i( 1) The output node will only show all the minimum path sets between j=1, so it only needs to calculate The element in the j=1th column can be used, denoted as: remember If target device i communicates with command device, then the logical relationship between successful communication between each target device and command device and the minimum path set is as follows: ….. It can be simply remembered as: remember For communication reporting to be considered successful, the following criteria must be met: all target devices must successfully report communication. in, Let z represent the minimum set of paths of length z when node i communicates with node j=1. Based on this, the logical judgment can be used to determine the connectivity between any two nodes in direct communication. Calculate the communication state from the i-th point to node j=1, and use the aforementioned logic to determine... Calculate whether the task phase is complete.

6. The method for reliability modeling of maritime collaborative key system missions as described in claim 1, 4, or 5, characterized in that: The modeling method for the reliability model includes: By simulating the communication status between N groups of target devices and the command device, and based on the logical judgment, N reconnaissance reporting stage status data can be obtained, where reconnaissance reporting is successful s times and fails f times, s+f=N; The reliability of the reconnaissance reporting phase can be calculated: Given confidence level Calculate the lower confidence limit of reliability during the reconnaissance reporting phase. : in This refers to the quantiles of the distribution.

7. The reliability modeling method for key maritime collaborative systems as described in claim 4, characterized in that: The collaborative system reliability modeling based on the SKT network model includes the construction of a generalized reliability model and the construction of a minimum path set based on the connection matrix method. The generalized reliability model construction includes, during the command issuance phase, communication equipment Through self-organizing network communication When a sub-vessel issues a mission instruction and all sub-vessels receive the mission instruction, the mission is successful at this stage, i.e., k = n-1. The construction of the system minimum path set based on the connection matrix method includes: set up Towards The communication link is denoted as The connection of this link is considered a successful communication. A broken link is recorded as a communication failure. After obtaining the communication distance between each submarine, the interference distance between the interference source and each submarine, the communication transmission power, and the interference source transmission power, the following can be calculated. The communication signal power and interference power density at the antenna port can then be obtained. The signal-to-interference ratio at the antenna port is denoted as . ; The connection matrix method describes the adjacency relationships between nodes and edges using a connection matrix, thus encompassing the comprehensive topological relationships of the network. Its calculation steps are as follows: Constructing the connection matrix : In the formula: A value of 0 indicates and No communication If it is not 0, it means and Communication was established between them, and the adjacency matrix was calculated: in, , , The meaning is: the set of all minimum paths from node i to all possible nodes k, and then from node k to node j, reflecting the links between nodes i and j with a hop degree of 2. …… , indicating from node To the node The length of the road is The set of all minimum paths reflects the nodes and nodes Is there a length between them? The link, for nodes as In the graph, the longest path r ≤ Finally, all minimal path sets in the two-port network system are determined: Pick ,get matrices ,matrix The Middle Line number All elements in the column are nodes. To the node The minimum path set; Here, we only focus on the input node (manned control center i=1) and the output node (unmanned surface vessel j). For all minimum path sets between 1), only computation is needed. The element in the i=1th row of the array can be denoted as: remember If a manned control center i=1 communicates with an unmanned surface vessel (USV), then the relationship between the minimum set of paths to which manned control center i=1 successfully communicates with the USV and each connecting link is as follows: ….. It can be simply remembered as: remember For the command to be issued successfully, the following criteria apply: if the manned control center successfully issues all commands to each unmanned surface vessel, then the command issuance mission is successful. in, This represents the minimum set of paths of length z when node i=1 communicates with node j. Based on this, logical judgments can be used to determine the connectivity between any two nodes in direct communication. Calculate the communication state from the i=1th node to the jth node using logical judgment. The calculation command determines whether the subtask has been completed.

8. The reliability modeling method for key maritime collaborative systems as described in claim 4, characterized in that: The reliability modeling of the cooperative system considering bidirectional interaction includes constructing a generalized reliability model, establishing a communication matrix, calculating the minimum path set in the reporting phase, calculating the minimum path set in the instruction issuance phase, and calculating the minimum path set considering interaction. The construction of the generalized reliability model includes: The collaborative operation system consists of n nodes, each equipped with one radar and one communication device. During the tracking and expulsion phase, Each submersible reports radar-detected targets to the manned control center via an ad hoc network. The manned control center then plans operations based on the received reports and issues the latest operational instructions via the ad hoc network. Once all the sub-boats have received the mission instructions, the mission is successful at this stage. The establishment of the contact matrix includes: set up Towards The communication link is denoted as The connection of this link is considered a successful communication. A broken link is recorded as a communication failure. The system connection matrix method describes the adjacency relationships of nodes and edges through a connection matrix, thus encompassing the comprehensive topological relationships of the network. Constructing the connection matrix... : In the formula: A value of 0 indicates and No communication If it is not 0, it means and Communication was established between them; The minimum path set calculation in the reporting phase includes: Indicates from node To the node The length of the road is The set of all minimum paths reflects the nodes and nodes Is there a length between them? The link, for nodes as In the graph, the longest path r ≤ ; For the communication reporting phase, we only care about the input node unmanned surface vessel i ( 1) To find the minimum path set between the output node and platform j=1, we only need to calculate... The element in the j=1th column can be used, denoted as: remember This indicates that unmanned surface vessel i is communicating with manned control center j=1; The minimum path set calculation during the instruction issuance phase includes: During the instruction issuance phase, we only care about the input node (manned control center i=1) and the output node (unmanned surface vessel j). For all minimum path sets between 1), only computation is needed. The element in the i=1th row of the array can be denoted as: remember This indicates that the manned control center i=1 is communicating with the unmanned surface vessel; The minimum path set calculation considering interactions includes: The complete mission process during the tracking and expulsion phase: The unmanned surface vessel reports the detection results to the manned control center, which makes a decision and then issues new instructions to each unmanned surface vessel; Communication reporting success criteria: Communication reporting is successful if all unmanned surface vessels successfully report their communications. Criteria for successful command issuance: If the manned control center successfully issues all commands to each unmanned surface vessel, the command issuance mission is considered successful. remember For communication reporting to be successful, Record as a successful instruction. Successful tracking and deportation: This represents the minimum set of paths of length z when node i communicates with node j=1 during the reporting phase. This represents the minimum set of paths with path length z when node i=1 communicates to node j during the ordering phase. Therefore, logical judgments can be used based on the connectivity status of direct communication between any two nodes. Calculate the communication state from the i-th point to the j=1 node using logical judgment. Calculate the status of whether the reconnaissance reporting sub-task has been completed; use logical judgment. Calculate the communication state from the i=1th node to the jth node using logical judgment. Calculate the status of whether the subtask has been completed after the instruction is issued; use logical judgment. Calculate whether the tracking and expulsion phase subtask has been completed.

9. An electronic device, characterized in that... include: One or more processors; A storage device on which one or more programs are stored; When the one or more programs are executed by the one or more processors, the one or more processors implement the method as described in any one of claims 1-8.

10. A computer-readable storage medium having executable instructions stored thereon, characterized in that... When executed by the processor, this instruction causes the processor to implement the method of any one of claims 1-8.

Images