CN109803342A - A kind of unmanned plane method for self-organizing network routing towards balancing energy highly-reliable transmission - Google Patents
A kind of unmanned plane method for self-organizing network routing towards balancing energy highly-reliable transmission Download PDFInfo
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Abstract
A kind of unmanned plane method for self-organizing network routing towards balancing energy highly-reliable transmission, 1) channel of unmanned plane node is divided into control channel and data traffic channels, and designs corresponding control signaling frame and data frame；2) each unmanned plane node is communicated by control channel periodicity sending Hello control signaling frame with the unmanned plane node in coverage area, the information of neighbor nodes table in coverage area is established, and most short hop count table includes the most short hop count table of neighbor node in information of neighbor nodes table；3) source node, that is, unmanned plane sending node sends route requests frame RREQ, and source node passes through adjacent route selection algorithm and searches optimal forward node, sends UAV targets' node for control signaling frame by constantly forwarding；4) unmanned plane target node generates route response frame RREP after receiving route requests frame RREQ, establishes from unmanned plane source node to the routing of unmanned plane target node.
Description
Technical field
It is specifically a kind of towards the highly reliable biography of balancing energy the present invention relates to a kind of method of wireless communication technology field
Defeated unmanned plane method for self-organizing network routing.
Background technique
Flexibly, cheap and deployment is quick for the flight self-organizing network (FANET) being made of small drone (UAV).This makes
They become the technology of many civil and militaries application to have a great attraction.Due to the high mobility of node, unmanned plane is maintained
Between communication link be a challenging task.The topological structure of these networks is than typical mobile ad hoc network
Network (MANET) and typical vehicle self-organizing network have more dynamic.Therefore, it is difficult to for the existing routing protocol that MANET is designed
Meet the requirement of the dynamic topology transformation of unmanned plane networking.Existing method for routing is all first to find routing, then sends number
According to.But due to the high dynamic feature of unmanned plane networking, the case where link disconnects, nothing may be had occurred and that when transmitting data
Data packet is transferred to destination node by method.And in order to obtain the routing iinformation of real-time, node is needed when safeguarding routing table
The expenses such as a large amount of computing resource are paid, but power using time of unmanned plane node etc. all has limitation.Secondly, nobody
Machine node use flood strategy broadcast may cause broadcast storm.So the method for routing in existing Ad-hoc network is
No longer it is applicable in.
In prior art on-demand routing AODV, the method for shortest path is only considered, since unmanned plane battery resource has
Limit, will appear after link establishment since unmanned plane not enough power supply exits the problem of cluster leads to link breakdown.
By the retrieval discovery to existing literature, Arnau Rovira-Sugranes et al. is in 2017 in " IEEE
International Conference on Wireless for Space and Extreme Environments
(WiSEE) " entitled " Predictive Routing for Dynamic UAV Networks (dynamic unmanned plane has been delivered on
Method for routing is predicted in network) " article, be added to by predicting the geographical location of intermediate node in path considers.
The technology is directed to network topology change problem caused by unmanned plane node dynamic change, by prediction next node position come pre-
Survey grid network topology situation chooses node, but there is no solve for the problem poor compared with low energy and link stability for unmanned plane.
For the channel occupancy of data frame, if using traditional time division multiplexing tdm A, because of the dynamic of unmanned plane node
It is added, number of nodes can often change, and redistribute channel if there is new node addition may require that, waste computing resource.
In conclusion it is existing the problem of: (1) unmanned plane node location variation causes network topology change fast.(2) nothing
Man-machine battery resource limitation, chain road effectively node energy are not enough to that data is supported to be transmitted.(3) between unmanned plane node
Link is unstable.(4) number of nodes variation waste channel resource.Node establishes information of neighbor nodes table, node energy with
Under conditions of link stabilization and path are shorter, it is proposed that a kind of unmanned plane self-organizing towards balancing energy highly-reliable transmission
Network route method.
Summary of the invention
In view of the problems of the existing technology, the present invention provides a kind of unmanned planes that energy efficient link is stable from group
Knit network route method.
The invention is realized in this way a kind of unmanned plane self-organizing network routing towards balancing energy highly-reliable transmission
Method, comprising the following steps:
Step 1: the channel of unmanned plane node being divided into control channel and data traffic channels, and designs corresponding control
Signaling frame and data frame processed；
Step 2: each unmanned plane node passes through control channel periodicity sending Hello control signaling frame and covering model
Unmanned plane node communication in enclosing, and most short hop count table establish the information of neighbor nodes table in coverage area, and most short jump
Number table includes the most short hop count table of neighbor node in information of neighbor nodes table；
With the most short hop count table of the neighbor node in information of neighbor nodes table；
Step 3: source node, that is, unmanned plane sending node sends route requests frame RREQ, and source node passes through adjacent routing choosing
It selects algorithm and searches optimal forward node, send UAV targets' node for control signaling frame by constantly forwarding；
Step 4: unmanned plane target node receives and generates route response frame RREP after route requests frame RREQ, and along asking
The inverse path for asking frame RREQ to forward is sent to source node, establishes from unmanned plane source node to the routing of unmanned plane target node；
The transmission route requests of the step 4 are following steps:
Step (4.1): the ID that present node finds destination node whether there is in the information of neighbor nodes table of oneself；If
In the presence of (4.5) are gone to step, if it does not exist, (4.2) are gone to step；
Step (4.2): present node (source node, that is, unmanned plane sending node) niIt is obtained from information of neighbor nodes table every
The remaining capacity e of a neighbor node kik, stability sik, present node to destination node most short jumping figure value nidAnd neighbor node
To the most short jumping figure value n of destination dkd；
Step (4.2): the excitation value R of the neighbor node k of present node i is calculatedk, Wherein, ω1、ω2、ω3It for weight coefficient, is determined, and met by the importance of index
ω1+ω2+ω3=1；
Step (4.4): the probability P for being forwarded to neighbor node k is calculatedk, thenWherein, CiTo deserve prosthomere
The set of all neighbor nodes of point；
Step (4.5): selection forwarding probability value PkHighest neighbor node is relay node, if there is multiple P_k phases
Deng, then from a neighbor node is wherein randomly choosed as relay node, relay node record path information in the buffer；
Step (4.6): RREQ is to relay node for forwarding, then goes to step (4.1).
Step (4.7): the forwarding probability P of destination nodek=1, RREQ is directly transmitted to destination node by present node；
Further, total bandwidth is divided into control channel and Traffic Channel, control channel for send Hello signaling frame,
Route requests RREQ, route response RREP, traffic channel transmission data frame；Wherein control channel accounts for very little bandwidth,
Further, the step 2 establishes information of neighbor nodes table and is divided into following steps:
Step (2.1): it includes unmanned plane that each unmanned plane node is sent to UAV targets' node in its communication range
The Hello signaling frame of sending node information Ω, wherein nodal information Ω includes node self ID, node residual electric quantity E, most
The connective stability S of short hop count table and unmanned plane sending node and UAV targets' node；
Step (2.2): the UAV targets' node storage unmanned plane for receiving Hello signaling frame sends the section of source node
Point information Ω, updates the most short hop count table of oneself；
Step (2.3): unmanned plane sending node retransmits a Hello signaling frame, each target at regular intervals
Unmanned plane node updated when receiving new Hello signaling frame oneself neighbours UAV targets informational table of nodes and most short jump
Number table；
Further, whenever authentic data of two neighbor nodes, that is, complete between sending node and destination node passes
It is defeated, then it records in the buffer, the number of cumulative number S data success interaction between two nodes, S is indicated between neighbor node
The stability of link；
Further, destination node receives the Hello signaling frame from neighbor node, includes neighbours in Hello signaling frame
The most short hop count table of node, update destination node oneself most short hop count table, record destination node to other all nodes most
The most short jumping figure value of short hop count, neighbor node to the node of destination node is count=1；
It is described to update most short hop count table for following steps:
Step (6.1) UAV targets' node receives the Hello signaling frame of neighbours' sending node transmission, checks current
With the presence or absence of the node ID in neighbours' sending node hop count table in the hop count table of node, and if it exists, step (6.2) are gone to, if not
In the presence of going to step (6.3)；
The more same sending node k of step (6.2) jumping figure value count in current hop count tablekIt is saved with being sent in neighbours
Jumping figure value count in the hop count table of pointk', if meeting countk>countk'+1, then it updates in the hop count table of currently transmitted node
The hop count of node k goes to step (6.3), does not otherwise update jumping figure value；
Step (6.3) will send the hop count count of unmanned plane nodek'+1 is recorded in currently with unmanned plane node ID is sent
In the hop count table of node.
Cause network topology change fast and unmanned plane battery resource office the utility model has the advantages that solving the variation of unmanned plane node location
Limit, chain road effectively node energy be not enough to support data be transmitted and unmanned plane node between link is unstable etc. asks
Topic, establishes information of neighbor nodes table by node, under conditions of the energy of node and link are stable and path is shorter, face
To the unmanned plane method for self-organizing network routing of balancing energy highly-reliable transmission.Number of nodes variation waste channel resource.It is also
A kind of unmanned plane method for self-organizing network routing that link is stable.
Detailed description of the invention
Fig. 1 is network topology structure figure；
Fig. 2 is the step schematic diagram that the present invention implements ad hoc network method for routing；
Fig. 3 is the step schematic diagram of node updates hop count table；
Fig. 4 is the algorithm realization figure of transmission route request.
Specific embodiment
In order to make the objectives, technical solutions, and advantages of the present invention clearer, with reference to embodiments, to this hair
It is bright to be further elaborated.It should be appreciated that specific example described herein is only used to explain the present invention, and do not have to
It is of the invention in limiting.
Application principle of the invention is explained in detail with reference to the accompanying drawing.
A kind of unmanned plane self-organizing network routing side towards balancing energy highly-reliable transmission provided in an embodiment of the present invention
Method, the present embodiment use network topology shown in FIG. 1, and network shares 13 nodes in figure, and interior joint A is source node, node
M is purpose node.
Implementation steps are as follows
S101: being divided into control channel and Traffic Channel for the channel of unmanned plane node, and designs corresponding control signaling frame
And data frame；
S102: each node is logical by the node in control channel periodicity sending Hello signaling frame and coverage area
Letter, establishes information of neighbor nodes table, and most short hop count table and the most short hop count table of neighbor node；
S103: source node sends route requests frame RREQ, and node passes through adjacent route selection algorithm and searches optimal forwarding section
Point sends destination node for signaling frame by constantly forwarding；
S104: destination node generates route response frame RREP, and it is sent to source node along inverse path, establishes
Routing from source node to destination node；
Application principle of the invention is further described with reference to the accompanying drawing.
A kind of unmanned plane self-organizing network routing side towards balancing energy highly-reliable transmission provided in an embodiment of the present invention
Method the following steps are included:
Bandwidth division is control channel and Traffic Channel by step 1, and it includes Hello that control channel, which is needed to transmit,
The control signaling frame of signaling frame and hop count signaling frame, traffic channel transmission data frame, the method for routing include the following three types type
Data packet:
Specifically, Hello data packet need include the ID of node itself, neighbor node ID, Hello packet sending time
These information are spaced, head has included that the long form of source node ID, the Hello packet of transmission packet is as follows:
Step 2, each node pass through the node in control channel periodicity sending Hello signaling frame and coverage area
Communication, establishes information of neighbor nodes table, and most short hop count table and the most short hop count table of neighbor node, the specific steps are as follows:
The first step, each node send the Hello signaling frame comprising nodal information Ω to the node in its communication range,
Wherein nodal information Ω includes the company for including node self ID, node residual electric quantity E, hop count table and node and destination node
Meet stability S；
Second step receives the ID and nodal information Ω of the node storage source node of Hello signaling frame；
Third step, retransmits a Hello signaling frame at regular intervals, and each node receives new Hello letter
Oneself information of neighbor nodes table and hop count table are updated when enabling frame；
By taking node B as an example, specific the step of updating hop count table, is as follows:
The first step, Node-B receiver is to neighbor node A is come from, and the Hello packet of C, G, the hop count table of node B is sky at this time,
Node A is recorded, the hop count of C, G are 1；
Second step, the hop count table of Node-B receiver to node A, same node k is in current hop count table in comparison node B
Jumping figure value countkWith the jumping figure value count in the hop count table of node Ak', if meeting countk>countk'+1, then it updates and works as
The hop count of the hop count table interior joint k of front nodal point B, does not otherwise update jumping figure value；
Third step, by the hop count count of nodek'+1 and node ID be recorded in the hop count table of node B；
The final hop count table of node B has recorded node B to the most short jumping figure value of other 12 nodes, as follows:
| A | 1 |
| C | 1 |
| D | 2 |
| E | 3 |
| F | 2 |
| G | 1 |
| H | 2 |
| I | 3 |
| J | 3 |
| K | 3 |
| L | 2 |
| M | 3 |
Wherein, Hello packet retransmits primary every time interval Δ T, and the representative value of Δ T is 0.1 second.
Wherein RmaxIt is the maximum value of any two nodal distance, v is speed packet transmission.
The information of neighbor nodes table of all node updates oneself, deletes a upper neighbor node after retransmission Hello packet
Information table.
Step 3, source node initiate route requests frame RREQ, pass through adjacent route selection algorithm choosing in its neighbor node
Optimal forward node is taken to be forwarded.As shown in Figure 3, the specific steps are as follows:
The first step, source node A look for whether that there are node Ms in the information of neighbor nodes table of oneself, do not find node
M calculates the R value of all neighbor nodes:
Wherein, ω1、ω2、ω3For weight coefficient, and meet
ω1+ω2+ω3=1
Here weight coefficient uses the method for average, i.e.,
Wherein EkFor the corresponding remaining capacity of neighbor node k, SkFor the connective stability between node A and neighbor node k,
I.e. whenever completing a data transmission between two nodes, then record in the buffer, cumulative number S is completed between two nodes
The number of data transmission, NidIt is here 4, N for the most short hop count of present node to destination nodekdFor neighbor node k to purpose
The most short jumping figure value of node d, the neighbor information of node A are as follows:
| E | S | N | R | |
| B | 80 | 2 | 3 | 1.068 |
| C | 60 | 2 | 3 | 1.026 |
| D | 70 | 1 | 4 | 0.837 |
The forwarding probability value P of each neighbor node of calculate node Ai
Wherein, N is the set of all neighbor nodes of the node；
Obtain the forwarding probability value of all neighbor nodes of A point:
PB=0.364, PC=0.350, PD=0.286
The forwarding probability P of node BBRREQ is transmitted to node B by maximum, node A.
Second step, the forwarding probability of neighbor node is calculated after Node-B receiver to RREQ, and node B is most short to destination node M
Hop count NBMIt is 3, the information of information of neighbor nodes table is as follows:
| E | S | N | R | |
| A | 50 | 2 | 4 | 0.867 |
| G | 45 | 3 | 2 | 1.043 |
| C | 60 | 1 | 3 | 0.842 |
PA=0.315, PG=0.379, PC=0.306
The forwarding maximum probability of node G, forwarding RREQ give node G；
Third step, node G receive the forwarding probability of calculating neighbor node after RREQ, and node G is most short to destination node M
Hop count NGMIt is 2, calculates neighbor node and forward probability
| E | S | N | R | |
| B | 80 | 3 | 3 | 0.960 |
| F | 50 | 5 | 3 | 0.965 |
| L | 35 | 2 | 1 | 0.948 |
| C | 60 | 1 | 3 | 0.759 |
PB=0.264, PF=0.266, PL=0.261, PC=0.209
The forwarding maximum probability of node F, forwarding number RREQ give node F；
4th step, node F receive the forwarding probability of calculating neighbor node after RREQ, and node F is most short to destination node M
Hop count NFMIt is 3, calculates neighbor node and forward probability
| E | S | N | R | |
| E | 80 | 3 | 3 | 1.043 |
| C | 60 | 2 | 3 | 0.943 |
| G | 45 | 5 | 2 | 1.117 |
| H | 60 | 4 | 2 | 1.126 |
| D | 60 | 1 | 4 | 0.792 |
PE=0.208, PC=0.188, PG=0.222, PH=0.224, PD=0.158
The forwarding maximum probability of node H, forwarding RREQ give node H；
5th step, node H receive the forwarding probability of calculating neighbor node after RREQ, and node H is most short to destination node M
Hop count NHMIt is 2, calculates neighbor node and forward probability
| E | S | N | R | |
| F | 50 | 5 | 3 | 0.966 |
| I | 40 | 3 | 3 | 0.860 |
| K | 50 | 1 | 1 | 0.899 |
| L | 35 | 3 | 1 | 1.007 |
| E | 80 | 1 | 3 | 0.801 |
| G | 45 | 2 | 2 | 0.873 |
| J | 60 | 1 | 2 | 0.815 |
PF=0.156, PI=0.138, PK=0.143, PL=0.162, PE=0.129, PG=0.141, PJ=0.131
The forwarding maximum probability of node L, forwarding RREQ give node L；
6th step, node L receive the forwarding probability of calculating neighbor node after RREQ, and node L is most short to destination node M
Hop count NLMIt is 1, calculates neighbor node and forward probability R
| E | S | N | R | |
| G | 45 | 2 | 2 | 0.762 |
| H | 60 | 3 | 2 | 0.863 |
| M | 35 | 1 | 0 | 0.848 |
Node M is purpose node, then the forwarding probability of node M are as follows:
PM=1
Other neighbor nodes forwarding probability is respectively less than 1, therefore is transmitted to node M.
By the above method, RREQ reaches destination node M by path A → B → G → F → H → L → M；
Step 5, destination node M are saved along one route response frame RREP of path reverse reverting to source after receiving RREQ
Point, after source node A receives RREP, Route establishment, source node A caches this paths.
Claims (7)
1. a kind of unmanned plane method for self-organizing network routing towards balancing energy highly-reliable transmission, it is characterised in that: including with
Lower step:
Step 1: the channel of unmanned plane node being divided into control channel and data traffic channels, and designs corresponding control signaling
Frame and data frame；
Step 2: each unmanned plane node passes through in control channel periodicity sending Hello control signaling frame and coverage area
The communication of unmanned plane node, establishes the information of neighbor nodes table in coverage area, and most short hop count table includes information of neighbor nodes
The most short hop count table of neighbor node in table；
Step 3: source node, that is, unmanned plane sending node sends route requests frame RREQ, and source node passes through adjacent route selection algorithm
Optimal forward node is searched, sends UAV targets' node for control signaling frame by constantly forwarding；
Step 4: unmanned plane target node generates route response frame RREP after receiving route requests frame RREQ, and along claim frame
The inverse path of RREQ forwarding is sent to source node, establishes from unmanned plane source node to the routing of unmanned plane target node.
2. control channel according to claim 1 and Traffic Channel, which is characterized in that total bandwidth be divided into control channel and
Traffic Channel, wherein control channel accounts for very little bandwidth, and control channel is for sending Hello signaling frame, route requests RREQ, routing
Respond RREP, traffic channel transmission data frame.
3. node according to claim 1 is communicated with the node in coverage area, which is characterized in that the step 2 is established
Information of neighbor nodes table is following steps:
Step (2.1): each unmanned plane node sends to UAV targets' node in its communication range and sends comprising unmanned plane
The Hello signaling frame of nodal information Ω, wherein nodal information Ω includes node self ID, node residual electric quantity E, most short hop count
The connective stability S of table and unmanned plane sending node and UAV targets' node；
Step (2.2): the UAV targets' node storage unmanned plane for receiving Hello signaling frame sends the nodal information of source node
Ω updates the most short hop count table of oneself；
Step (2.3): unmanned plane sending node retransmits a Hello signaling frame at regular intervals, each target nobody
Machine node updates the neighbours UAV targets informational table of nodes and most short hop count table of oneself when receiving new Hello signaling frame.
4. stability between node according to claim 3, which is characterized in that whenever two neighbor node, that is, sending nodes with
A reliable data transmission is completed between destination node, then is recorded in the buffer, cumulative number S data success between two nodes
Interactive number, S indicate the stability of link between neighbor node.
5. most short hop count table according to claim 3, which is characterized in that destination node is received from neighbor node
Hello signaling frame, the interior most short hop count table including neighbor node of Hello signaling frame, updates the most short hop count of destination node oneself
Table, the most short hop count of record destination node to other all nodes, the most short hop count of the neighbor node of destination node to the node
Value is count=1.
6. according to claim 5 update most short hop count table, which is characterized in that described to update most short hop count table for following step
It is rapid:
Step (6.1) UAV targets' node receives the Hello signaling frame of neighbours' sending node transmission, checks present node
With the presence or absence of the node ID in neighbours' sending node hop count table in hop count table, and if it exists, go to step (6.2), if it does not exist, turn
To step (6.3)；
The more same sending node k of step (6.2) jumping figure value count in current hop count tablekWith the jump in neighbours' sending node
Jumping figure value count in number tablek', if meeting countk> countk'+1, then update the hop count table interior joint k of currently transmitted node
Hop count, go to step (6.3), otherwise do not update jumping figure value；
Step (6.3) will send the hop count count of unmanned plane nodek'+1 is recorded in present node with unmanned plane node ID is sent
In hop count table.
7. adjacent route selection algorithm according to claim 1, which is characterized in that the transmission routing of the step 4 is asked
It asks and is divided into following steps:
Step (4.1): the ID that present node finds destination node whether there is in the information of neighbor nodes table of oneself；Turn if it exists
Step (4.5) goes to step (4.2) if it does not exist；
Step (4.2): present node, that is, source node, that is, unmanned plane sending node niEach neighbours are obtained from information of neighbor nodes table
The remaining capacity e of node kik, stability sik, present node to destination node most short jumping figure value nidWith neighbor node to purpose
The most short jumping figure value n of ground dkd；
Step (4.2): the excitation value R of the neighbor node k of present node i is calculatedk, Wherein, ω1、ω2、ω3It for weight coefficient, is determined by the importance of index, and meets ω1+ω2+
ω3=1；
Step (4.4): the probability P for being forwarded to neighbor node k is calculatedk, thenWherein, CiFor present node i institute
There is the set of neighbor node k；
Step (4.5): selection forwarding probability value PkHighest neighbor node is relay node, if there is multiple PkIt is equal, then from
A neighbor node is wherein randomly choosed as relay node, relay node record path information in the buffer；
Step (4.6): RREQ is to relay node for forwarding, then goes to step (4.1).
Step (4.7): the forwarding probability P of destination nodek=1, RREQ is directly transmitted to destination node by present node.
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| CN110445720A (en) * | 2019-07-26 | 2019-11-12 | 北京神导科讯科技发展有限公司 | Routing table update method, apparatus, aircraft and storage medium |
| CN110691404A (en) * | 2019-12-11 | 2020-01-14 | 浙江天地人科技有限公司 | Multi-level link data uploading and issuing method |
| WO2021056635A1 (en) * | 2019-09-29 | 2021-04-01 | 中国人民解放军陆军工程大学 | Rotor unmanned aerial vehicle network data transmission method and device based on energy efficiency optimization |
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