CN116389552A - Heterogeneous data transmission system based on publish-subscribe model - Google Patents

Heterogeneous data transmission system based on publish-subscribe model Download PDF

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Publication number
CN116389552A
CN116389552A CN202310308911.XA CN202310308911A CN116389552A CN 116389552 A CN116389552 A CN 116389552A CN 202310308911 A CN202310308911 A CN 202310308911A CN 116389552 A CN116389552 A CN 116389552A
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data
layer
publish
interface
data transmission
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封慧英
张运
王保录
宋宇光
于喜红
周伟
赵良
王莉
刘萍
李萌萌
胡煜
尹思媛
彭晓
毛强
纪祖赑
窦小明
尹琼
严婷婷
丛薇
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Beijing Institute of Near Space Vehicles System Engineering
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Beijing Institute of Near Space Vehicles System Engineering
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    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
    • H04L67/00—Network arrangements or protocols for supporting network services or applications
    • H04L67/2866—Architectures; Arrangements
    • H04L67/288—Distributed intermediate devices, i.e. intermediate devices for interaction with other intermediate devices on the same level
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
    • H04L67/00—Network arrangements or protocols for supporting network services or applications
    • H04L67/2866—Architectures; Arrangements
    • H04L67/2885—Hierarchically arranged intermediate devices, e.g. for hierarchical caching
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
    • H04L69/00—Network arrangements, protocols or services independent of the application payload and not provided for in the other groups of this subclass
    • H04L69/16—Implementation or adaptation of Internet protocol [IP], of transmission control protocol [TCP] or of user datagram protocol [UDP]
    • H04L69/163—In-band adaptation of TCP data exchange; In-band control procedures
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
    • H04L69/00—Network arrangements, protocols or services independent of the application payload and not provided for in the other groups of this subclass
    • H04L69/16—Implementation or adaptation of Internet protocol [IP], of transmission control protocol [TCP] or of user datagram protocol [UDP]
    • H04L69/164—Adaptation or special uses of UDP protocol
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
    • H04L69/00—Network arrangements, protocols or services independent of the application payload and not provided for in the other groups of this subclass
    • H04L69/22—Parsing or analysis of headers
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02D—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN INFORMATION AND COMMUNICATION TECHNOLOGIES [ICT], I.E. INFORMATION AND COMMUNICATION TECHNOLOGIES AIMING AT THE REDUCTION OF THEIR OWN ENERGY USE
    • Y02D30/00—Reducing energy consumption in communication networks
    • Y02D30/50—Reducing energy consumption in communication networks in wire-line communication networks, e.g. low power modes or reduced link rate

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  • Engineering & Computer Science (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Signal Processing (AREA)
  • Computer Security & Cryptography (AREA)
  • Mobile Radio Communication Systems (AREA)

Abstract

The invention relates to a heterogeneous data transmission system based on a publish-subscribe model, which sequentially comprises a view layer, a storage layer, a protocol analysis layer and a data center layer from top to bottom; the view layer provides a personalized dynamic customized data monitoring display function for a user, and a standard data model is obtained and displayed through analysis by reading a cache queue of the storage layer; the storage layer stores the unified interface data model containing various attributes into a cache queue, and is in butt joint with the view layer through a standard interface; the protocol analysis layer analyzes the received external data according to the protocol format, converts the external data into an interface data model specified by the storage layer and sends the interface data model to the storage layer for storage; the data center layer receives external data input based on the DDS middleware and forwards the external data to the protocol analysis layer. The method has high reliability and universality, is suitable for heterogeneous data transmission of a spacecraft system, and has wide application prospect.

Description

Heterogeneous data transmission system based on publish-subscribe model
Technical Field
The invention belongs to the field of aerospace data transmission, and relates to a heterogeneous data transmission system based on a publish-subscribe model.
Background
With the continuous development of aerospace tasks, the network environment is increasingly complex, and information interaction paths among all subsystems are more and more. A large amount of heterogeneous data is generated in the flight process of the spacecraft, and the requirements for monitoring and displaying the data are also higher and higher. Moreover, large information systems are gradually moving toward componentized and served architectures. The structured and served software is also urgently required to study the data distribution technology in the distributed environment. The traditional Socket communication mode makes developers have to spend a great deal of effort on the communication details of the bottom layer, each communication node has to maintain the communication relation with other nodes, the network is in a tightly coupled state, and the expansion is very inconvenient.
So far, few documents are researched for heterogeneous data transmission contents based on a publish-subscribe model, and no general design example of a software framework is developed from a design stage to development of spacecraft network communication at home and abroad, so that development of a heterogeneous data transmission system based on the publish-subscribe, which is applicable to a spacecraft system, has high reliability and universality and has important significance and practical value.
Disclosure of Invention
The invention solves the technical problems that: the heterogeneous data transmission system based on the publish-subscribe model has high reliability and universality, and is suitable for a spacecraft system.
The solution of the invention is as follows:
the heterogeneous data transmission system based on the publish-subscribe model is a four-layer architecture, and sequentially comprises a view layer, a storage layer, a protocol analysis layer and a data center layer from top to bottom;
the view layer provides a personalized dynamic customized data monitoring display function for a user, and a standard data model is obtained and displayed through analysis by reading a cache queue of the storage layer; the storage layer stores the unified interface data model containing various attributes into a cache queue, and is in butt joint with the view layer through a standard interface; the protocol analysis layer analyzes the received external data according to the protocol format, converts the external data into an interface data model specified by the storage layer and sends the interface data model to the storage layer for storage; the data center layer receives external data input based on the DDS middleware and forwards the external data to the protocol analysis layer.
Preferably, the view layer is developed by adopting a componentization method, a software interface is divided into a plurality of UI components according to specific functions, the components are mutually independent and communicated through the interfaces, and a component framework provides an operation environment for the components and provides a standard interface for the components; the component inherits the corresponding interface provided by the component framework and provides specific implementation, so that corresponding functions can be completed; the communication mechanism between the components is established by the component framework.
Preferably, the assembly frame is an open assembly frame, so that the expansion of a user is facilitated.
Preferably, the protocol parsing layer is implemented by an interface function, which is encapsulated as a dynamic link library file.
Preferably, the DDS middleware comprises an operation management module, a statement management module and an interaction management module;
the operation management module provides basic services, wherein the basic services comprise test domain management, class-object hierarchical management service and publish-subscribe relationship management by maintaining a publisher list and a subscriber list to match published and subscribed information; the publisher list comprises object names, publishing end IP and port numbers to be published by all publishers, and the subscriber list comprises object names, subscribing end IP, port numbers and transmission modes to be subscribed by all subscribers;
the statement management module is used for establishing and maintaining a mapping relation between the publisher and the subscriber;
the interaction management module provides for the sending and receiving of interaction objects and provides for remote method invocation functions.
Preferably, in the declaration management module, a publish-subscribe mapping relationship based on TCP is established for reliability transmission; and establishing a release subscription mapping relation based on UDP for other transmissions.
Preferably, the DDS middleware provides an interface for an application program, and the application program sets a data transmission strategy between a publisher and a subscriber; the data transmission strategies include, but are not limited to, a sampling mode and a queue mode.
Preferably, the sampling mode is suitable for frequent sampling of test data, and the data is filtered according to a certain time; the queue mode is suitable for ready-to-use test data, stores data in the queue within the limits of available resources, and ensures that all or part of the data in the queue is reliable.
Preferably, the DDS middleware bottom layer network environment is ethernet, and provides a service interface for data communication for the upper layer application through encapsulating the ethernet programming interface.
Preferably, the attribute of the unified interface data model includes a table number, a code, a name, a symbol, a value, a unit, an upper limit, a lower limit, an information type and a system to which the unified interface data model belongs.
Compared with the prior art, the invention has the beneficial effects that:
(1) Aiming at the complex network topology structure of the communication system, the invention provides a heterogeneous data transmission system based on a publish-subscribe model, wherein a data network communication middle layer is added between application software and a communication network, and the communication details of the bottom layer are hidden to the application software, so that the decoupling of the application software and the communication network is realized, and frequent software change caused by communication network topology change or communication protocol change is avoided.
(2) Aiming at the problem of high coupling degree between devices, the invention designs a publish/subscribe mechanism by using DDS data distribution middleware, and performs data differentiation through data topics, and data interaction between the devices is completed through publishing/subscribing the same topic, thereby avoiding direct interfaces between the devices, realizing decoupling between the devices, improving the flexibility of a software system, and reducing the influence of certain software design change on the system.
(3) Aiming at the problem that different transmission strategies are required to be customized for different types of data in a software system, the invention realizes service strategies (QoS) in the communication middleware, provides a setting interface for an application program, endows the application program with the capability of customizing the data transmission strategies, and realizes the diversity of the data transmission strategies in the same software system.
Drawings
FIG. 1 is a schematic diagram of the present invention;
fig. 2 is a DCPS communication model;
fig. 3 is a DDS data distribution workflow diagram;
fig. 4 is a functional block diagram of a communication middleware.
Detailed Description
The invention is further elucidated below in connection with the accompanying drawings.
Aiming at the problems that the network scale is large, the communication nodes are more, the requirements of different systems and different types of test data on the reliability of communication are different, the traditional Socket-based communication mode is analyzed, so that a developer needs to spend a great deal of effort to process the communication details of the bottom layer, each communication node needs to maintain the communication relation with other nodes, the network is in a tightly coupled state, and the expansion is very inconvenient. The data distribution assembly (Data Distribution Services, DDS) is a general data distribution specification based on a publish/subscribe model, and the "publish/subscribe" communication specification has the characteristics of anonymous communication, data distribution on demand, one-to-many communication and the like, can shield the communication details of a bottom network, enable the two communication parties to be transparent, enable developers to concentrate on the realization of upper application, and is very suitable for the publication and sharing of test data of a large-scale network system. The platform realizes a data distribution middleware communication interface based on an open source project OpenSplice DDS. The DDS specification specifies the standards for software application programming interfaces, and developers can create distributed applications based on a communication model. The DDS is a data-centric publish/subscribe communication paradigm, and the information publishers are decoupled from the information subscribers, so that the communication system has good expandability. The OpenSplice DDS provides a QoS configuration example, network communication requirements in different application scenes can be realized by configuring QoS, and real-time, efficient, reliable and flexible distribution of data can be ensured.
The invention provides a heterogeneous data transmission method based on a publish-subscribe model, which comprises a top-down four-layer system architecture of a view layer, a storage layer, a protocol analysis layer and a data center layer. As shown in fig. 1.
The system is a heterogeneous data communication scheme based on DDS, the view layer and the storage layer are subjected to standardized processing, the view layer provides a personalized dynamic customized data monitoring function for a user, and an open assembly framework is adopted to facilitate the expansion of the user; the storage layer provides a unified interface data model containing 10 attributes of table numbers, codes, names and the like, and realizes standard interface butt joint with the view layer; the protocol analysis layer is responsible for analyzing the received external data according to a protocol format and converting the external data into a data model specified by the storage layer; the data center layer is responsible for receiving external data input based on the DDS middleware, a communication protocol is not required to be designed for each data stream, the workload of a designer is reduced, decoupling between application software and a communication network and between application programs is realized, the influence domain of software state change and software abnormal conditions is greatly reduced, and the flexibility and the reliability of the system are improved.
The DDS API interface under the DDS specification is divided into two layers: DCPS (Data-center publishing-subscore) and DLRL (Data Local Reconconstruction Layer). The DCPS is the core of the DDS specification and completes the data-centric publishing/subscribing, and the main task of the DCPS is to enable publishers to efficiently deliver the correct information to the appropriate subscribers. DCPS builds the concept of sharing a "global data space (Global Data Space, GDS)", publishers (publishers) create data in the global data space and set topics (topics) for the data, then distribute the data to subscribers to the data, subscribers (subscribers) subscribe to their own "interesting" data by registering topics, and then receive the data when it changes. After the subscription is completed, the data distribution is performed after the subscription is processed through a communication middleware, namely, the traditional client/server (C/S) mode is converted into a data-centered publishing/subscription (P/S) mode. The DCPS communication model is built on a Global Data Space (GDS), all data objects are contained in the global data space, but not all data are written into a memory address of a computer, and only the data required by each distributed node is declared to exist in the memory address space after the distributed node is started, so that the DDS communication efficiency is greatly improved by the design. The DCPS communication model is shown in fig. 2. The DDS model describes information such as the requirement of a subscriber on required data by using a quality of service (QoS) strategy through the condition of data information provided by a publisher, and the communication middleware selects the most suitable data publishing/subscribing mode according to the provided QoS parameter requirement, so that the real-time data transmission is realized, the communication flexibility is improved, and the reliable and stable real-time data distribution service is realized.
The data transmission flow of the system of the invention is shown in figure 3, and the steps are as follows:
(1) When a certain distributed node needs to send a message, a DataWriter is created by the publicher, the Topic of the message and the QoS parameters provided by the Topic are sent to the GDS of other distributed nodes, and the DataWriter keeps a blocking state after the sending is completed and is not activated until data needs to be released. Meanwhile, each distributed node adds the piece of release information in the release topic table in the GDS thereof.
(2) When a Subscriber needs to subscribe to data of a certain Topic, a database is firstly created by the subsciener, then the database finds publishers with the same Topic and matched QoS parameters in the GDS where the database is located, then one subscription object is selected, the Topic and QoS strategies corresponding to the data are sent to the GDS where the database is located, and then the subsciener keeps a blocking state and is not activated until the data needs to be received. When a certain distributed node receives subscription information from the DataReader, firstly, the record information of the subscription registry in the GDS is updated, and then the subscribed information in the release topic table is searched and the data is sent to the subscriber.
(3) When there is data to be published in a certain distributed node, the DataWriter is activated, and then the GDS looks up in the subscription registry to see if there is a QoS parameter match and the DataReader with the same Topic exists. If so, the DataWriter establishes a publish/subscribe relationship with the DataReader, then the GDS transmits subscription related information to the DataWriter, meanwhile, the DataReader is activated, after the activation is finished, the DataWriter sends data to the DataReader according to the received subscription related information, and then the data is kept in an activated state until the next time when the data needs to be received. After the data reader receives the data transmitted by the data writer, the data processing continues to keep the blocking state until the next time when the data needs to be received.
The data distribution service of the global data space is completed by DDS communication middleware. The communication middleware provides services such as operation management, statement management, interaction management and the like on the basis of the underlying operating system and the network, and the functional structure of the communication middleware is shown in fig. 4.
The middleware provides a service interface for data communication for upper layer application through an encapsulated Ethernet programming interface, and mainly comprises three modules: run management, claim management, and interaction management.
The execution management provides some basic services for communication middleware execution, including trial domain management, class-object hierarchy management service and publish-subscribe relationship management, by maintaining a publisher list and a subscriber list to match published and subscribed information. The publisher list comprises the corresponding information of the object name, the publisher IP and the port number to be published by each publisher, and the subscriber list comprises the corresponding information of the object name, the subscriber IP, the port number and the transmission mode (TCP/UDP) to be subscribed by each subscriber.
Claim management is used to establish and maintain mappings between publishers and subscribers. Different types of data require different transmission strategies, so that in declaration management, a release subscription mapping relation based on TCP is established aiming at reliable transmission; a UDP-based publish-subscribe mapping is established for best effort transmissions.
Interaction management provides for the sending and receiving of interaction objects and remote method invocation functions.
QoS (Quality of Service) is primarily the control management and optimization of data transmitted between publishers and subscribers in the network. The data in the system can be controlled in a conventional manner such as persistence, transmission mode, fault tolerance and the like by using QoS, and the data flow can be controlled in a deep level, including the control of the discovery process and the control of the use resources of the system. The QoS policies are various, but in specific use, consideration needs to be given to the QoS policies according to factors such as the type, high availability, security, and measurability of data transmission, and a clipping principle is applied to combine one policy or multiple policies to meet the requirement of data transmission.
The current network data can be divided into frequency acquisition and instant acquisition data according to the reliability requirement, the frequency acquisition data is periodically transmitted, and a common UDP transmission mode is adopted. Namely, the acquired data is sent in a non-periodic manner, the requirement on the communication reliability is high, and reliable transmission, such as three-pass retransmission UDP, is realized through the feedback confirmation and retransmission. In response, the DDS provides both sampling mode and queue mode QoS policies. The sampling mode requires data to be collected according to a certain Time period, and the data corresponds to the QoS strategy, namely a Time-based Filter strategy mode. In the sampling mode, data is filtered according to a certain time, not all data is received or transmitted, and the data actually used is only a subset of the original data. The sampling pattern is suitable for frequent test data. The queue mode requires that data be kept in the queue within the limits of available resources and ensures that all or part of the data in the queue is reliable. In the QoS strategy, the policy History ensures that data is stored in a queue according to a certain sequence, the policy reliability ensures that the data is reliable within a certain limit, and the policy reliability ensures that the data stored in the queue mode can be reliably used by other programs according to a certain sequence by combining the policy History with the data. The queue mode is suitable for ready-to-collect test data.
The data center analyzes the received byte sequence by a protocol analysis layer. According to the past communication experience, the interface data is generally a byte stream based on the format of the agreed application layer, so the protocol analysis layer is designed as an independent module, and the data interface model specified for the storage layer is output as the byte stream. When the software is developed, the protocol analysis module is an interface function and is packaged into a dynamic link library file. When the software application needs to change and the protocol changes, only the library file needs to be rewritten for replacement, thereby reducing the workload of developers and minimizing the influence on the original software.
And the protocol analysis layer analyzes the data according to the protocol format of the application layer, converts the data into a standard data model and adds the standard data model into a cache queue. Referring to past experience, data typically contains 10 common attributes, including: table number, code, name, symbol, value, unit, upper limit, lower limit, information type, system to which the system belongs. And packaging the data structure of the 10 attributes. And the view layer analyzes the standard data model by reading the cache queue, and the test data is displayed on the view layer.
The component framework is the core of the view layer. The view layer development adopts a componentization method, and the basic idea is to divide a software interface into a plurality of UI components according to specific functions, wherein the components are mutually independent and communicate through the interfaces. The component framework establishes a whole set of communication mechanism of the component and is the basis of the whole test operation software. The component framework provides an environment for running the components, only provides standard interfaces of the components, does not relate to specific implementation of functions, and can complete the corresponding functions by inheriting the corresponding interfaces provided by the framework and providing specific implementation, and the coupling between the components is low. The frame is a container of components and is responsible for managing the components; the components are carriers of functions that interact with the framework following a canonical interface. The developer can focus on analyzing which components are used in the data monitoring software, and then assemble the components according to the interaction relation among the components without paying excessive attention to the implementation details of the lower components, so that the development period of the data monitoring software is shortened, and the component reuse rate is improved.
Aiming at the problems of heterogeneous network data, complex equipment interface, high coupling degree of application software and a communication network, frequent change of a communication protocol, poor function expansibility and the like of the space software system, the DDS-based communication scheme provides a solution for the software problem, effectively shortens the development period and improves the stability and reliability of the software. The DDS-based network communication middleware design and the subscription/release mechanism facing the data flow have universality. Therefore, the method has high reliability and universality, is applicable to the release subscription based on the spacecraft system, and has wide application prospect.
Although the present invention has been described in terms of the preferred embodiments, it is not intended to be limited to the embodiments, and any person skilled in the art can make any possible variations and modifications to the technical solution of the present invention by using the methods and technical matters disclosed above without departing from the spirit and scope of the present invention, so any simple modifications, equivalent variations and modifications to the embodiments described above according to the technical matters of the present invention are within the scope of the technical matters of the present invention.

Claims (10)

1. A heterogeneous data transmission system based on a publish-subscribe model is characterized in that: the heterogeneous data transmission system is of a four-layer architecture and sequentially comprises a view layer, a storage layer, a protocol analysis layer and a data center layer from top to bottom;
the view layer provides a personalized dynamic customized data monitoring display function for a user, and a standard data model is obtained and displayed through analysis by reading a cache queue of the storage layer; the storage layer stores the unified interface data model containing various attributes into a cache queue, and is in butt joint with the view layer through a standard interface; the protocol analysis layer analyzes the received external data according to the protocol format, converts the external data into an interface data model specified by the storage layer and sends the interface data model to the storage layer for storage; the data center layer receives external data input based on the DDS middleware and forwards the external data to the protocol analysis layer.
2. A heterogeneous data transmission system based on a publish-subscribe model as claimed in claim 1, wherein: the view layer is developed by adopting a componentization method, a software interface is divided into a plurality of UI components according to specific functions, the components are mutually independent and communicate through the interfaces, and a component framework provides an operating environment for the components and provides a standard interface for the components; the component inherits the corresponding interface provided by the component framework and provides specific implementation, so that corresponding functions can be completed; the communication mechanism between the components is established by the component framework.
3. A heterogeneous data transmission system based on a publish-subscribe model as claimed in claim 2, wherein: the assembly frame is an open type assembly frame, and is convenient for users to expand.
4. A heterogeneous data transmission system based on a publish-subscribe model as claimed in claim 1, wherein: the protocol parsing layer is implemented by an interface function, which is encapsulated as a dynamic link library file.
5. A heterogeneous data transmission system based on a publish-subscribe model as claimed in claim 1, wherein: the DDS middleware comprises an operation management module, a statement management module and an interaction management module;
the operation management module provides basic services, wherein the basic services comprise test domain management, class-object hierarchical management service and publish-subscribe relationship management by maintaining a publisher list and a subscriber list to match published and subscribed information; the publisher list comprises object names, publishing end IP and port numbers to be published by all publishers, and the subscriber list comprises object names, subscribing end IP, port numbers and transmission modes to be subscribed by all subscribers;
the statement management module is used for establishing and maintaining a mapping relation between the publisher and the subscriber;
the interaction management module provides for the sending and receiving of interaction objects and provides for remote method invocation functions.
6. The heterogeneous data transmission system based on the publish-subscribe model according to claim 5, wherein: establishing a release subscription mapping relation based on TCP aiming at reliability transmission in a statement management module; and establishing a release subscription mapping relation based on UDP for other transmissions.
7. The heterogeneous data transmission system based on the publish-subscribe model according to claim 5, wherein: the DDS middleware provides an interface for the application program, and the application program sets a data transmission strategy between the publisher and the subscriber; the data transmission strategies include, but are not limited to, a sampling mode and a queue mode.
8. A heterogeneous data transmission system based on a publish-subscribe model as claimed in claim 7, wherein: the sampling mode is suitable for frequency sampling test data, and the data is filtered according to a certain time; the queue mode is suitable for ready-to-use test data, stores data in the queue within the limits of available resources, and ensures that all or part of the data in the queue is reliable.
9. The heterogeneous data transmission system based on the publish-subscribe model according to claim 5, wherein: the DDS middleware bottom layer network environment is an Ethernet, and provides a service interface for data communication for the upper layer application through an encapsulated Ethernet programming interface.
10. A heterogeneous data transmission system based on a publish-subscribe model as claimed in claim 1, wherein: the attributes of the unified interface data model include table number, code, name, symbol, value, unit, upper limit, lower limit, information type and system.
CN202310308911.XA 2023-03-27 2023-03-27 Heterogeneous data transmission system based on publish-subscribe model Pending CN116389552A (en)

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Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN117668122A (en) * 2024-01-31 2024-03-08 中国电子科技集团公司第十五研究所 Geographic information data synchronization method and device, electronic equipment and storage medium

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN117668122A (en) * 2024-01-31 2024-03-08 中国电子科技集团公司第十五研究所 Geographic information data synchronization method and device, electronic equipment and storage medium

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