CN120166375A - A UAV swarm networked measurement, control and communication system and communication method - Google Patents
A UAV swarm networked measurement, control and communication system and communication method Download PDFInfo
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Abstract
本发明涉及通信技术领域，提供一种无人机蜂群网络化测控通信系统及通信方法，所述通信系统的架构包括网络层、链路层和物理层；所述网络层中的路由协议使用跨层脉冲路由协议，所有节点跨层复用链路层的两跳内邻居连接关系；所述链路层采用基于时分多址接入协议的预分配加动态协商资源管理策略和基于服务质量等级的存储调度策略；所述物理层采用MIMO技术和自适应调制编码技术，支持多用户不同业务传输需求。本发明能够解决信道利用率低、对动态拓扑变化响应慢的问题，以及同时支持大容量信息传输、机间协同信息分发、无人机网络化测控业务。
The present invention relates to the field of communication technology, and provides a networked measurement and control communication system and communication method for unmanned aerial vehicle swarms. The architecture of the communication system includes a network layer, a link layer, and a physical layer. The routing protocol in the network layer uses a cross-layer pulse routing protocol, and all nodes reuse the two-hop intra-neighbor connection relationship of the link layer across layers. The link layer adopts a pre-allocation plus dynamic negotiation resource management strategy based on a time division multiple access protocol and a storage scheduling strategy based on a quality of service level. The physical layer adopts MIMO technology and adaptive modulation and coding technology to support multi-user different service transmission requirements. The present invention can solve the problems of low channel utilization and slow response to dynamic topology changes, and simultaneously support large-capacity information transmission, inter-machine collaborative information distribution, and networked measurement and control services for unmanned aerial vehicles.
Description
Technical Field
The invention relates to the technical field of communication, in particular to an unmanned aerial vehicle bee colony networking measurement and control communication system and a communication method.
Background
The existing unmanned aerial vehicle bee colony networking measurement and control communication system and communication method are ideal in designed application scene, and are not comprehensive in consideration of the actual combat environment, application scene, maneuverability, expandability and the like. For example, the invention patent of measurement and control communication link and communication method of unmanned aerial vehicle bee colony network (patent publication number CN 114697902A) is only suitable for single-hop network, and does not consider the complex actual combat environment, the movement of unmanned aerial vehicle nodes can cause severe topology change, and the routing protocol is required to maintain the stable connection of the communication link. The invention patent discloses a multi-node relay communication method based on time slot dynamic allocation (patent number publication CN 114125784A), which needs a master node to dynamically allocate time slots without considering the requirements of network survivability, mobility of unmanned aerial vehicle bee colony network and the like.
The unmanned aerial vehicle has the outstanding characteristics of huge number of bee colonies, flexibility, quick deployment, excellent synergistic ability and the like, and has unique battlefield advantages. The unmanned aerial vehicle bee colony autonomous networking and formation collaboration foundation is that all unmanned aerial vehicle nodes can be interconnected and intercommunicated through inter-machine communication links, and a robust measurement and control communication link is required on the premise that an operator can effectively command or monitor the unmanned aerial vehicle bee colony, so that the problems of limited task node scale and the like caused by slow response to topology change and low channel utilization rate exist in the existing unmanned aerial vehicle bee colony networking measurement and control communication system.
(1) The problem of low channel utilization is solved.
The link layer design commonly adopted by the existing unmanned aerial vehicle bee colony networking measurement and control communication system mainly comprises control protocols of distributed time division Multiple Access (Time Division Multiple Access, TDMA) type and competitive random Access type, for example, carrier sense Multiple Access/Collision avoidance protocol (CARRIER SENSE Multiple Access/Collision Avoid, CSMA/CA) provided by IEEE 802.11. The CSMA/CA adopts a competitive resource allocation mode, and uses an RTS/CTS mechanism to avoid collision, when the unicast traffic flow in the network is less, channel preemption can be completed quickly, the time delay is smaller, and when the unicast traffic flow in the network is more, a back-off mechanism is needed to avoid collision, which leads to longer waiting time of the data packet in the queue and further increases the end-to-end time delay. Furthermore, it is difficult for the CSMA/CA protocol to guarantee reliable transmission of broadcast traffic. The traditional TDMA protocol adopts a time slot polling mode to allocate resources to all nodes in a network, each node knows the time of accessing a channel and the time of occupying the channel in advance, the data packet sending time can be reasonably set according to the network scale, the collision probability of the data packet is reduced, the channel utilization rate is improved, and broadcasting and unicast services can be well supported. However, in the case of a large-scale network, the load difference of different links in the network is large, and the network node still lacks certain flexibility according to a fixed time slot polling mechanism, so that the delay of the data packet of the large-flow link is increased, and the performance is lower.
(2) Solving the problem of slow response to dynamic topology changes
When the unmanned aerial vehicle bee colony works in complex environments such as cities, mountains and the like, the link state changes frequently due to factors such as obstacle shielding, multipath effect, high-speed movement of nodes, single-point faults and the like. When the traditional active link state type routing or the on-demand type routing is used, local link state change or interruption of an active path can cause the routing to broadcast control messages to the whole network, so that adaptability to communication in motion of tactical network nodes is poor, routing sensitivity is low, and robustness of a communication link cannot be guaranteed.
(3) The method solves the problems of supporting high-capacity information transmission, inter-machine collaborative information distribution and unmanned aerial vehicle networking measurement and control at the same time.
The typical service of the unmanned aerial vehicle bee colony networked measurement and control communication system comprises uplink remote control service of the command node to all unmanned aerial vehicles, downlink remote measurement service and task load of the unmanned aerial vehicle to the command node, and position information, online state, target data and cooperative information of interaction among the unmanned aerial vehicles.
Disclosure of Invention
The invention aims to provide an unmanned aerial vehicle bee colony networking measurement and control communication system and a communication method, so as to solve the problems.
The invention provides an unmanned aerial vehicle bee colony networking measurement and control communication system, wherein the architecture of the communication system comprises a network layer, a link layer and a physical layer;
the routing protocol in the network layer uses a cross-layer pulse routing protocol, and all nodes cross-layer multiplex the two-hop inner neighbor connection relationship of the link layer;
The link layer adopts pre-allocation and dynamic negotiation resource management strategy based on a time division multiple access protocol and storage scheduling strategy based on a service quality level;
the physical layer adopts a MIMO technology and a self-adaptive modulation coding technology to support different service transmission requirements of multiple users.
In some embodiments, the cross-layer pulse routing protocol comprises:
The method comprises the steps of selecting a ground command node as a pulse source node, and periodically flooding pulse messages in the whole network by the pulse source node;
After the node receives the pulse message, constructing a minimum loop-free spanning tree by updating the distance measurement to the pulse source node, and connecting all the nodes to the pulse source node;
each node performs cross-layer multiplexing on the neighbor relation in two hops reported by the link layer, and periodically updates the path from the local routing table to the neighbor in the two hops;
if the service source node receives the request for communication with the target node, checking whether a path from the local routing table to the target node exists, and if not, unicasting a routing request packet to the pulse source node by the service source node along the node on the minimum loop-free spanning tree;
A one-hop neighbor from a service source node to a node on a pulse source node path establishes a route to the service source node sending the route request packet according to the route request packet monitored by broadcasting;
When the pulse source node receives a routing request packet of the service source node, firstly checking whether a local routing forwarding table has an effective path pointing to a target node or not, if so, responding to the service source node, and sending a routing response message unicast to the service source node from the pulse source node;
When the target node receives that the address label of the target node is in the paging field of the pulse message, unicast the route response message to the pulse source node;
And forming an end-to-end shortcut between the service source node and the target node, and obtaining the broadcast transmission route modification message when a shorter path is found after the shortcut is monitored by a one-hop neighbor.
In some embodiments, the pulsed message includes a pulsed source node address tag, a distance metric to the pulsed source node, a current sequence number, and a list of target nodes that the pulsed source node is currently paging.
In some embodiments, each node on the path of the traffic source node to the pulse source node needs to complete:
Creating a reverse path towards the service source node in its route forwarding table;
Updating the distance metric from the service source node;
and sending the updated route request packet to the pulse source node along the tree structure.
In some embodiments, each node on the path of the target node to the pulse source node needs to complete:
creating a reverse path towards the target node in its route forwarding table;
updating the distance metric from the target node;
And sending the updated routing response packet to the pulse source node along the tree structure.
In some embodiments, the pre-allocation and dynamic negotiation resource management policy based on a time division multiple access protocol comprises:
the pre-allocated static time slot is reserved in advance for each node when the frame structure is designed, and the rest time slot is occupied by each node according to the real-time flow change and dynamic negotiation as required;
The neighbor interaction is carried out, and a two-hop neighbor connection relationship is established;
according to the current service load, calculating the number N of the data time slots required currently;
Calculating the number of time slots needing to be applied or released according to the number N of the required data time slots and the number of the time slots occupied by the current node;
the node sends a resource application message and a resource feedback message in the pre-allocated time slot;
And the node obtains the latest occupied time slot position according to the received resource feedback message.
In some embodiments, the formula for calculating the number of data slots currently needed, N, is as follows:
N=totalUnicastResDemandNum+totalBroadcastResDemandNum
wherein totalUnicastResDemandNum represents the sum of unicast traffic demand resource numbers sent to each neighbor node by the node, and totalBroadcastResDemandNum represents the broadcast traffic demand resource number.
In some embodiments, the calculation formula of the sum of the number of unicast traffic demand resources sent by the node to the neighbor node is as follows:
totalUnicastResDemandNum=totalUnicastFlow/tbSizecurrent
Wherein totalUnicastFlow represents the total unicast traffic sent by the node to the neighboring node, tbSize current represents the traffic that can be carried by a single slot obtained by AMC in the current link state.
In some embodiments, the quality of service class-based storage scheduling policy comprises:
the network layer identifies the service type and marks the corresponding service quality grade labels for the data packets of different types;
the link layer identifies the service quality grade label of the data packet from the upper layer, and stores the data packet into queues with different priorities and different destination node IDs, wherein the node IDs are counted from 1, and the broadcast message is stored in the index position of the index number 0 of each queue;
According to the time slot occupation result, if the current time slot is the pre-allocation time slot of the node, traversing step by step from the highest priority queue, sending a broadcast message of an index position No. 0, framing according to the bearing capacity corresponding to the index position No. 0, if the current time slot is the data time slot dynamically negotiated by the node, checking whether the high priority broadcast service still needs to be transmitted, if yes, preferentially sending the broadcast message of the index position No. 0 of the high priority queue, if not, traversing step by step from the highest priority queue, sending a unicast message to a certain destination node, and framing according to the AMC result;
If the current time slot is not the sending time slot of the node, inquiring a time slot occupation table stored locally for receiving, and adjusting the modulation coding grade in a self-adaptive mode according to the link measurement result.
In some embodiments, the adaptive modulation and coding technique adaptively selects a suitable adjustment coding level for transceiving according to the current transceiving link state, including:
The receiving node obtains the received power through wireless link measurement;
Calculating a signal-to-noise ratio (SNR) through the received power;
The link state quality between the local node and the current transmitting node can be perceived through the signal-to-noise ratio SNR, a proper MCS gear is selected for transmitting and receiving, and the latest MCS gear of the local node receiving and transmitting node is updated;
and carrying out the latest MCS gear in next neighbor information interaction so that the transmitting node transmits the latest MCS gear to the node after receiving the latest MCS gear.
The invention also provides an unmanned aerial vehicle bee colony networking measurement and control communication method, which is realized based on the unmanned aerial vehicle bee colony networking measurement and control communication system and comprises the following steps:
initially selecting a command node as a pulse source node of a cross-layer pulse routing protocol;
after the time synchronization is acquired, periodically flooding pulse messages by the command nodes, and establishing a minimum loop-free spanning tree from all unmanned aerial vehicle nodes to the command nodes in the whole network;
each node interacts control information in a static TDMA time slot pre-allocated to the node, and a link layer updates neighbor connection relations in two hops and reports the neighbor connection relations to a network layer at regular intervals;
The service flow driving node searches the path from the node to the destination node according to the need, if the effective path to the destination node exists in the local routing table entry, the service flow driving node forwards the data packet according to the existing path, if the effective path does not exist, the service flow driving node forwards the data packet after addressing according to the cross-layer pulse routing protocol;
the link layer perceives the unicast service flow in the sending queue of the node in real time, and performs dynamic time slot occupation and release according to the pre-allocation and dynamic negotiation resource management strategy based on the time division multiple access protocol;
the node inquires a time slot occupation table stored locally, if the current time slot is a sending time slot of the node, the link layer carries out frame assembly and disassembly on the data packet based on a storage scheduling strategy of the service quality grade, and sends the data packet to the physical layer to send out data;
other nodes query the locally stored time slot occupation table to receive, and meanwhile, the modulation coding grade is adaptively adjusted according to the link measurement result.
In summary, due to the adoption of the technical scheme, the beneficial effects of the invention are as follows:
1. The invention has large-scale networking application support and expandability. The invention adopts a centerless distributed ad hoc network design, a flattened networking structure, the relationship among nodes is equal, a main node is not needed, the relay transmission hop limit is avoided, any node is supported to move randomly in the network range, the mobility and the survivability are strong, the network nodes do not need to be subjected to subnet planning and interconnection coordination among subnets like a layered and clustered network structure, and the invention has higher networking flexibility and expandability. The physical layer utilizes the MIMO technology to ensure that a large number of users can obtain sufficient transmission bandwidth for networking communication, the link layer adopts a pre-allocation and dynamic negotiation TDMA protocol to improve the resource multiplexing degree and the fairness of resource allocation in a large-scale networking scene, the network layer adopts a cross-layer pulse routing protocol, the signaling overhead is controllable, the response to topology change is sensitive, and the influence of overhead increase caused by the increase of the scale of network users is small.
2. The invention provides the support of the quality of service (Quality of Service, qoS) guarantee, provides the differentiated service guarantee function of a plurality of layers of a protocol stack, and ensures the real-time service transmission with low time delay.
3. The pre-allocation and dynamic negotiation resource management strategy based on the time division multiple access protocol (TDMA) can sense the change condition of resource requirements in real time, carry out resource dynamic negotiation, effectively avoid conflict, keep high time slot application success rate under an unstable link, avoid conflict occupation, guarantee high priority transmission of broadcast signaling by pre-allocation time slots, and simultaneously can be used for service data transmission, further guarantee real-time transmission of high priority measurement and control service, and flexibly guarantee high-flow task load return service transmission by dynamic negotiation time slots.
4. The invention has high reliable communication application support in complex environment. The cross-layer pulse route has the capability of rapid self-formation and self-repair, and is suitable for the full-dynamic unmanned aerial vehicle bee colony network with topology change. In urban, mountain and other environments, the link state changes frequently due to the movement of the nodes. The routing mechanism does not need to announce the link state change of the whole network, the node movement does not cause remarkable increase of routing cost, the pulse source can rapidly repair damaged paths by one-time pulse flooding, and the two-hop neighbor relation of the link layer is multiplexed in a cross-layer manner, so that the routing cost of the inter-machine communication is saved, and the selected paths in the communication-in-motion network environment have higher reliability and robustness.
5. The method is suitable for the communication characteristics of various typical services of the unmanned aerial vehicle bee colony networked measurement and control communication system. In general, in the application scenario of the unmanned plane bee colony networking measurement and control communication system, a large amount of data in the network is returned to a command node or an information processing node and the like. Aiming at the characteristics of the 'back pass' communication mode, the invention takes the finger control node as a pulse source, utilizes a cross-layer pulse routing protocol to generate and maintain the minimum loop-free spanning tree structure from all unmanned plane nodes to the finger control node by using an active pulse flooding mechanism, can provide zero-waiting available routes for the 'back pass' services, and does not need to increase obvious network overhead. Moreover, by utilizing the minimum loop-free spanning tree structure, the method can provide high-efficiency distribution support for the transmission of the broadcasting service in the network, so that the data from the command node can be subjected to whole-network broadcasting diffusion along the tree structure path, unnecessary forwarding actions in the flooding type broadcasting are reduced, and the bearing capacity and instantaneity of the network for the broadcasting service such as remote control and the like sent to the unmanned aerial vehicle colony by the command node are improved. In addition, the cross-layer design in the routing protocol helps the inter-machine communication service shorten the path searching time, reduce the path searching cost, provide a shorter path and reduce the transmission delay.
Drawings
Fig. 1 is a schematic diagram of a typical application scenario of a unmanned aerial vehicle bee colony networking measurement and control communication system in an embodiment of the invention.
Fig. 2 is an overall block diagram of an architecture of a unmanned aerial vehicle bee colony networking measurement and control communication system in an embodiment of the invention.
Fig. 3 is a simulation topology diagram of the unmanned aerial vehicle bee colony networking measurement and control communication system in the embodiment of the invention.
Fig. 4 is a diagram of a comparison between routing protocol overhead simulation results and routing protocol overhead simulation results in an embodiment of the present invention.
Fig. 5 is a diagram of a comparison result of transmission success rate simulation results in an embodiment of the present invention.
Fig. 6 is a diagram of end-to-end delay simulation results for transmitting 4 QoS class services in an embodiment of the present invention.
Detailed Description
For the purpose of making the objects, technical solutions and advantages of the embodiments of the present invention more apparent, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention, and it is apparent that the described embodiments are some embodiments of the present invention, but not all embodiments of the present invention. The components of the embodiments of the present invention generally described and illustrated in the figures herein may be arranged and designed in a wide variety of different configurations.
Thus, the following detailed description of the embodiments of the invention, as presented in the figures, is not intended to limit the scope of the invention, as claimed, but is merely representative of selected embodiments of the invention. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
Examples
A typical application scene for constructing the unmanned aerial vehicle swarm networking measurement and control communication system is shown in fig. 1, and is composed of 1 ground finger control node and 59 unmanned aerial vehicle nodes in the air, wherein the total number of the unmanned aerial vehicle nodes is 60. The finger control nodes are one-to-many and are connected in multiple hops between the network nodes. In the application scene, the unmanned aerial vehicle bee colony networking measurement and control communication system and the communication method provided by the invention are implemented, a flattened networking structure is adopted, the relationship among nodes is equal, a main node is not needed, relay transmission hop limit is avoided, a measurement and control communication link and an inter-machine communication link work at the same frequency point, and a finger control node is selected as a pulse source node.
As shown in fig. 2, in the unmanned aerial vehicle bee colony networking measurement and control communication system provided by the embodiment of the invention, the architecture of the communication system comprises a network layer, a link layer and a physical layer;
the routing protocol in the network layer uses a cross-layer PULSE (PULSE) routing protocol, and all nodes cross-layer multiplex the two-hop inner neighbor connection relationship of the link layer;
The link layer adopts pre-allocation and dynamic negotiation resource management strategy based on time division multiple access protocol (TDMA) and storage scheduling strategy based on quality of service (Quality of Service, qoS) level;
the physical layer adopts a MIMO technology and a self-adaptive modulation coding technology to support different service transmission requirements of multiple users.
Specific embodiments of the network layer, link layer, and physical layer are detailed below.
(1) Cross-layer pulse routing protocol implementation in network layer
The cross-layer pulse routing protocol adopted by the embodiment of the invention has the capability of rapid self-formation and self-repair, is sensitive to topology change response, has small influence on the increase of the cost caused by the increase of the scale of network users, can provide zero-waiting available routing for 'backhaul' service, does not need to increase obvious network cost, and is suitable for an Unmanned Aerial Vehicle (UAV) bee networking measurement and control communication system.
The cross-layer pulse routing protocol is a hybrid routing protocol, has the advantages of active routing and on-demand routing, and has the core ideas that a command node is selected as a pulse source node, pulse messages are periodically flooded through the pulse source node, an optimal path (minimum loop-free spanning tree) from all unmanned aerial vehicle nodes to the command node in the whole network is established, high-efficiency distribution support is provided for transmission of broadcast services in the network, data from the command node is subjected to whole-network broadcast diffusion along a tree structure path, unnecessary forwarding actions in flooding broadcast are reduced, the bearing capacity and instantaneity of the network for broadcast services such as remote control of unmanned aerial vehicle bee colonies sent by the command node are improved, in addition, the routing from other nodes to target nodes through the pulse source node is triggered by a service flow according to the requirement, meanwhile, the condition of space-air links among the unmanned aerial vehicle nodes is better, and two hops among most of nodes can be reached is considered, so that the two hops of connection relations collected in a link layer neighbor interaction process are multiplexed by using a cross-layer design, the neighbor links in two hops are updated periodically, and the routing time of the interaction service between the unmanned aerial vehicle is shortened.
In some embodiments, the cross-layer pulse routing protocol comprises the steps of:
S101, selecting a ground finger control node as a pulse source node, and periodically flooding pulse messages in the whole network by the pulse source node. In some embodiments, the ping message includes a ping source node address tag, a distance metric to the ping source node, a current sequence number, and a list of target nodes (if any) that the ping source node is currently paging.
S102, after receiving the pulse message, the node updates the distance measurement to the pulse source node, and if the distance updated measurement is lower than the previously received distance measurement, the next hop address to the pulse source node in the routing table is modified and the pulse message is rebroadcast, otherwise, the pulse message is discarded, once the pulse message propagates in the whole network, the network constructs a minimum loop-free spanning tree, and all the nodes are connected to the pulse source node. Note that all node routing tables only establish the optimal path to the pulse source node, not to the previous hop node, and are intended to produce a unidirectional, arbitrary node to pulse source node optimal path (minimum loop free spanning tree).
S103, each node performs cross-layer multiplexing on the neighbor relation in the two hops reported by the link layer, and periodically updates the path from the local routing table to the neighbor in the two hops.
S104, if the service source node (SRC) receives the request for communication with the target node (DEST), checking whether a path to the target node exists in the local routing table, if not, the service source node unicasts a routing request packet to the pulse source node along the node on the minimum loop-free spanning tree, wherein the routing request packet addressed to the pulse source node comprises a target node address label, a distance measurement to the service source node and a distance measurement to the target node. Wherein:
each node on the path of the traffic source node to the pulse source node does three things:
(1) Creating a reverse path towards the service source node in its route forwarding table;
(2) Updating the distance metric from the service source node;
(3) And sending the updated route request packet to the pulse source node along the tree structure.
Each node on the path of the target node to the pulse source node does three things:
(1) Creating a reverse path towards the target node in its route forwarding table;
(2) Updating the distance metric from the target node;
(3) And sending the updated routing response packet to the pulse source node along the tree structure.
S105, a one-hop neighbor from the service source node to the node on the pulse source node path establishes a route to the service source node sending the route request packet according to the route request packet monitored by broadcasting.
S106, when the pulse source node receives the route request packet of the service source node, firstly checking whether a valid path pointing to the target node exists in the local route forwarding table. If so, the routing response message is unicast from the impulse source node to the service source node in response to the service source node. If not, the pulse source node sends out the target node address label in the paging field of the pulse message when the next pulse floods.
S107, when the destination node receives that the address label of the node is in the paging field of the pulse message, the route response message is unicast to the pulse source node. This also creates a reverse route towards the target node in the node forwarding table on the tree. While the one-hop neighbor listens for the routing response packet and establishes a route to the destination node that sent the response packet (this procedure is the same as step S104).
S108, forming end-to-end shortcuts between the service source node and the target node, and broadcasting and transmitting route modification information to obtain the short path after the shortcuts are monitored by one-hop neighbors. That is, when the one-hop neighbor acquires that the data packet has a shorter path in the network, a one-hop gratuitous response, namely, a route modification message, is broadcast and sent to the neighbor, and then the node receiving the broadcast route modification message can modify the route forwarding table to reach the destination node in a shorter path.
(2) Implementation of pre-allocation plus dynamic negotiation resource management policies based on time division multiple access protocol (TDMA) in link layer
The link layer access mode of the embodiment of the invention uses a pre-allocation and dynamic negotiation resource management strategy based on a time division multiple access protocol (TDMA), does not use competitive CSMA/CA, has high contention type conflict and long back-off time when the unmanned platform networking scale is large, is not suitable for a node dense scene and has poor support on broadcasting service, and the pre-allocation and dynamic negotiation resource management strategy based on the time division multiple access protocol (TDMA) can sense the change condition of resource demand in real time to carry out resource dynamic negotiation, effectively avoid conflict, can maintain high time slot application success rate and cannot cause occupied conflict under an unstable link, can be used for transmitting service data while pre-allocation time slots guarantee high priority transmission of broadcasting signaling, further guarantee real-time transmission of high priority service, and has flexible dynamic negotiation time slots guarantee the transmission of large-flow task load back-off service.
In some embodiments, pre-allocation plus dynamic negotiation resource management policies based on time division multiple access protocol (TDMA) include the steps of:
S201, pre-allocated static time slots are reserved in advance for each node when a frame structure is designed, and the rest time slots are dynamically negotiated and occupied according to the need by each node according to the real-time flow change;
s202, neighbor interaction is carried out, and a two-hop neighbor connection relationship is established;
s203, according to the current service load, the number N of the data time slots needed currently is calculated.
N=totalUnicastResDemandNum+totalBroadcastResDemandNum
Wherein totalUnicastResDemandNum represents the sum of unicast traffic demand resource numbers sent to each neighbor node by the node, and totalBroadcastResDemandNum represents the broadcast traffic demand resource number.
The number of unicast traffic demand resources sent to the neighbor node by the node:
totalUnicastResDemandNum=totalUnicastFlow/tbSizecurrent
Wherein totalUnicastFlow represents the total unicast traffic sent by the node to the neighbor node, tbSize current represents the traffic that can be carried by a single time slot obtained by AMC in the current link state;
s204, calculating the number of time slots to be applied or released according to the number N of the required data time slots and the number of the time slots occupied by the current node;
S205, the node sends a resource application message and a resource feedback message in the pre-allocated time slot;
S206, the node obtains the latest occupied time slot position according to the received resource feedback information.
(3) Storage scheduling policy implementation based on quality of service (Quality of Service, qoS) class in link layer
S301, the network layer identifies the service type and marks the corresponding service quality grade labels for the data packets of different types;
S302, a link layer identifies a service quality grade label of a data packet from an upper layer, the data packet is stored in queues with different priorities and different destination node IDs, wherein the node IDs are counted from 1, and a broadcast message is stored in a number 0 index position of each queue;
S303, according to the time slot occupation result, if the current time slot is the pre-allocation time slot of the node, traversing step by step from the highest priority queue, sending a broadcast message of a number 0 index position (MCS), framing according to the bearing capacity corresponding to the number 0 index position, and ensuring the reliability transmission of the high priority broadcast service; if the current time slot is the data time slot dynamically negotiated by the node, firstly checking whether high-priority broadcasting service still needs to be transmitted, if yes, preferentially transmitting the broadcasting message of the index position of the 0 number of the high-priority queue to ensure the real-time transmission of the high-priority broadcasting service, if not, traversing step by step from the highest-priority queue, transmitting the unicast message to a certain destination node, and carrying out frame assembly and disassembly according to the AMC result to ensure the high-efficiency feedback of the high-flow task load service;
S304, if the current time slot is not the sending time slot of the node, inquiring a time slot occupation table stored locally for receiving, and adjusting the modulation coding grade in a self-adaptive mode according to the link measurement result.
(4) Physical layer implementation
The embodiment of the invention can select the bands such as L, S, C bands to work according to different task environments and applications, and the channel bandwidth can be customized according to requirements. The physical layer adopts the MIMO multi-antenna technology, supports the MIMO technology including maximum ratio combining (Maximal Ratio Combining, MRC), space-time block coding (Space-Time Block Coding, STBC) and Space multiplexing based on an orthogonal frequency division multiplexing (Orthogonal Frequency Division Multiplexing, OFDM) multi-carrier modulation transmission scheme, and fully utilizes the multipath propagation characteristics of wireless signals. Moreover, by receiving and processing multipath radio frequency reflection propagation signals generated in surrounding wireless environments, the MIMO technology expands the communication distance range of users in urban, underground, offshore and other complex environments, and improves the link transmission throughput and communication reliability of the network. The application of these advanced technologies enables the network of the present invention to exhibit significant performance advantages when operating in urban, tunnel, building, etc. environments.
The Adaptive Modulation and Coding (AMC) function adaptively selects a proper modulation and coding level (MCS) for transmitting and receiving according to the current state of the transmitting and receiving link, and includes the following steps:
S401, a receiving node obtains the received power through wireless link measurement;
s402, calculating a signal-to-noise ratio SNR through the received power;
S403, the link state quality between the local node and the current transmitting node can be perceived through the SNR, the appropriate MCS gear is selected for transmitting and receiving, and the latest MCS gear of the local node receiving and transmitting node is updated;
S404, carrying out the latest MCS gear in next neighbor information interaction, so that the transmitting node transmits the latest MCS gear to the node after receiving the latest MCS gear.
Based on the constructed unmanned aerial vehicle bee colony networking measurement and control communication system, the unmanned aerial vehicle bee colony networking measurement and control communication method provided by the embodiment of the invention comprises the following steps:
s1, initially selecting a command node as a pulse source node of a cross-layer pulse routing protocol;
S2, all nodes are online, after time synchronization is acquired, periodically flooding pulse messages by the pilot node, and establishing an optimal path (minimum loop-free spanning tree) from all unmanned aerial vehicle nodes to the pilot node in the whole network;
S3, each node interacts control information in a static TDMA time slot pre-allocated to the node, and the link layer updates neighbor connection relation in two hops and reports the neighbor connection relation to the network layer periodically;
S4, the service flow driving node searches the path from the node to the destination node according to the need, if the effective path to the destination node exists in the local routing table entry, the data packet is forwarded according to the existing path, if the effective path does not exist, the data packet is forwarded after addressing according to the cross-layer pulse routing protocol;
S5, the link layer perceives the flow of the unicast service in the sending queue of the node in real time, and the dynamic time slot occupation and release are carried out according to the pre-allocation and dynamic negotiation resource management strategy based on the time division multiple access protocol;
S6, the node inquires a time slot occupation table stored locally, if the current time slot is a sending time slot of the node, the link layer performs frame assembly and disassembly on the data packet based on a storage scheduling strategy of the service quality grade, and sends the data packet to the physical layer to send out data;
S7, other nodes inquire a time slot occupation table stored locally to receive, and meanwhile, the modulation coding grade is adjusted in a self-adaptive mode according to the link measurement result.
The invention is further illustrated by simulation tests below.
1. Test conditions
Windows 10;
CPU is more than intel i7 7700;
The memory is more than 16 GB;
the hard disk is 512GB or more;
Simulation software, OMNeT++6.0Preview10+INET 4.3.0;
2. test method
The simulation topology of the unmanned aerial vehicle bee colony networking measurement and control communication system is constructed in OMNET ++ software, as shown in figure 3, host [0] is a ground finger control node, host [1] to host [59] are 59 unmanned aerial vehicle nodes in the air, and the whole network is composed of 60 nodes. The finger control nodes are one-to-many and are connected with each other in a multi-hop mode among the network nodes. Firstly, comparing Routing cost with a typical self-organizing network Routing protocol, namely an active Optimized link state Routing protocol (OLSR) and an on-demand plane distance Vector Routing protocol (A dhoc On-DEMAND DISTANCE Vector Routing, AODV), analyzing performance of a cross-layer pulse Routing protocol used by the method, comparing transmission success rate with a typical competitive link layer access protocol IEEE802.11b, analyzing performance of a pre-allocation and dynamic negotiation TDMA protocol used by the method, and finally configuring typical service of an unmanned plane bee colony networking measurement and control communication system to verify network comprehensive performance and information link design correctness.
Modeling is carried out on the service of the unmanned aerial vehicle bee colony networking measurement and control communication system based on the service quality level, and as shown in tables 1 and 2, qoS0 is defined as the highest priority in the invention.
Table 1, typical service model of unmanned aerial vehicle bee colony networking measurement and control communication system:
table 2, simulation parameter configuration table:
3. Content of the experiment and results
(1) And (5) verifying the performance of the routing protocol. Firstly, configuring 1, 5 and 10 backhaul traffic flows for a network in turn, namely, randomly selecting 1, 5 and 10 sending nodes from unmanned plane nodes in turn by a sending node, wherein receiving nodes are all command nodes. Under the pre-allocation and dynamic negotiation resource allocation scheme TDMA protocol and the competitive resource allocation scheme IEEE802.11b protocol, active OLSR routing and on-demand AODV routing are used, compared with cross-layer pulse routing in the invention, the three routing protocol overhead change conditions are observed along with the increase of the number of return traffic.
As can be seen from fig. 4, under two different link layer access schemes, the routing protocols have similar trends, among the three routing protocols, the routing overhead is the biggest active routing OLSR, the second is the hybrid routing cross-layer PULSE, the overhead is the on-demand routing AODV, wherein as the traffic flows (the number of transceiving node pairs) increases, the routing overhead of OLSR and cross-layer PULSE does not obviously float, and the routing overhead of AODV increases as the traffic flows increase, because OLSR is used as active routing, each node actively establishes all paths of the whole network, the routing overhead does not change with the backhaul traffic flows, the cross-layer PULSE also establishes the backhaul paths from all unmanned plane nodes to the finger control nodes in advance through periodic PULSE flooding of PULSE source nodes, the routing overhead does not change greatly with the backhaul traffic flows, and AODV is used as on-demand routing, after the traffic flows increase, more traffic source nodes need to initiate new path request addressing, and the overhead is increased.
(2) Link layer access protocol performance verification. And (3) under the scene in the step (1), observing the transmission success rate conditions under different access protocols. As can be seen from fig. 5, when the number of "backhaul" traffic flows is 1, the transmission success rate of the service packets of the two link layer protocols and the three routing protocols is close to 100%, but as the number of "backhaul" traffic flows increases, the transmission success rate of the 802.11b protocol and the three routing protocols gradually decreases, because the 802.11b protocol directly sends the broadcast message, the channel is free without the RTS/CTS mechanism, the probability of broadcast collision is higher for the active routing OLSR with the largest broadcast signaling overhead, the route establishment fails, so the network packet loss of the 802.11b and the OLSR is the most serious, and the TDMA protocol and the three routing protocols can all maintain higher transmission success rate, because the TDMA adopts a pre-allocation dynamic negotiation resource management strategy, resources are negotiated for each node according to the traffic volume, the collision is avoided, and the success of route establishment is ensured. Therefore, when the nodes are dense and the traffic flow in the network is more, the transmission success rate of the link layer adopting the TDMA protocol is higher for the unmanned aerial vehicle cellular network.
Further, the transmission success rate is obtained by comparing the TDMA protocol with the combination of 3 routing protocols, the TDMA is matched with the cross-layer PULSE routing, and the higher transmission success rate can be obtained all the time, because the routing cost of the OLSR is large, the service transmission opportunity is occupied, the service packet loss is caused, the transmission success rate is reduced, the AODV has poorer countermeasure mobility, the node responds slowly to topology change in the moving process, the service packet loss is caused when a link is disconnected, the transmission success rate is reduced, the cross-layer PULSE routing is used as a mixed routing, the command node is selected as a PULSE source to periodically maintain the minimum loop-free spanning tree from all the nodes to the PULSE source, the self-repairing of paths in a mobile scene is considered, the large quantity of broadcast flooding cost in a network is avoided, and the method is naturally suitable for the 'back transmission' service scene of the unmanned aerial vehicle bee colony networking measurement and control communication system.
(3) And (5) verifying the performance of the unmanned aerial vehicle bee colony networking measurement and control communication system. Typical services of 4 QoS classes are configured for nodes in the network, and transmission delay and transmission success rate results are observed in a simulation mode.
Table 3, configuration of unmanned aerial vehicle bee group network service:
After the simulation is finished, the success rate of service transmission of the 4 QoS classes is counted to be 100%, and the end-to-end time delay result is shown in fig. 6.
The test result shows that the invention can effectively solve the communication requirement of the unmanned aerial vehicle bee colony networking measurement and control communication system, and support large-capacity information transmission, inter-machine cooperative information distribution and unmanned aerial vehicle networking measurement and control. Robust connections for multi-hop dynamic large-scale flattened networks can be maintained. And the effective transmission of the high-flow back transmission service is supported while the efficient and reliable transmission of remote control and telemetering information is ensured.
The above description is only of the preferred embodiments of the present invention and is not intended to limit the present invention, but various modifications and variations can be made to the present invention by those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
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