CN109803342B - Unmanned aerial vehicle self-organizing network routing method oriented to energy balance - Google Patents
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Abstract
An unmanned aerial vehicle self-organizing network routing method facing energy balance, 1) dividing the channels of unmanned aerial vehicle nodes into control channels and data traffic channels, and designing corresponding control signaling frames and data frames; 2) Each unmanned aerial vehicle node periodically sends a Hello control signaling frame to communicate with unmanned aerial vehicle nodes in a coverage area through a control channel, a neighbor node information table in the coverage area is established, and the shortest hop count table comprises a neighbor node shortest hop count table in the neighbor node information table; 3) The source node, namely the unmanned aerial vehicle sending node, sends a route request frame RREQ, the source node searches an optimal forwarding node through an adjacent route selection algorithm, and a control signaling frame is sent to a target unmanned aerial vehicle node through continuous forwarding; 4) And after receiving the route request frame RREQ, the unmanned aerial vehicle target node generates a route response frame RREP and establishes a route from the unmanned aerial vehicle source node to the unmanned aerial vehicle target node.
Description
Technical Field
The invention relates to a method design in the technical field of wireless communication, in particular to an unmanned aerial vehicle self-organizing network routing method for energy balance high-reliability transmission.
Background
A flight ad hoc network (FANET) comprised of small Unmanned Aerial Vehicles (UAVs) is flexible, inexpensive, and rapid to deploy. This makes them a very attractive technology for many civilian and military applications. Maintaining a communication link between drones is a challenging task due to the high mobility of the nodes. The topology of these networks is more dynamic than typical mobile ad hoc networks (MANETs) and typical vehicular ad hoc networks. Thus, existing routing protocols designed for MANETs have difficulty meeting the requirements of dynamic topology changes of unmanned networking. The existing routing methods are to find the route first and then send the data. However, due to the high dynamic nature of the unmanned network, a link disconnection may already occur during data transmission, and the data packet cannot be transmitted to the destination node. In order to obtain real-time routing information, a node needs to pay a lot of cost such as computing resources when maintaining a routing table, but the power supply use time and the like of the unmanned aerial vehicle node have limitations. Second, the unmanned aerial vehicle node broadcasting using flooding policies may cause broadcast storms. The routing methods in existing Ad-hoc networks are no longer applicable.
In the prior art, only the shortest path method is considered in the on-demand routing of the AODV, and due to the limited battery resources of the unmanned aerial vehicle, the problem of link breakage caused by the fact that the unmanned aerial vehicle exits from a cluster due to insufficient electric quantity after the link is established can occur.
Through a search of the existing literature, arnau Rovira-progranes et al, 2017 published an article entitled "Predictive Routing for Dynamic UAV Networks (predictive routing method in dynamic unmanned aerial vehicle networks)" in IEEE International Conference on Wireless for Space and Extreme Environments (WiSEE), which was incorporated into the path consideration by predicting the geographic location of intermediate nodes. The technology aims at the problem of network topology change caused by unmanned aerial vehicle node dynamic change, predicts the network topology condition to select the node by predicting the next node position, but the problems of lower energy and poor link stability of the unmanned aerial vehicle are not solved.
For the channel occupation of the data frame, if the traditional time division multiple access TDMA is adopted, because the unmanned aerial vehicle node is dynamically added, the number of nodes can be changed frequently, and if a new node is added, the channel needs to be reassigned, so that the calculation resource is wasted.
In summary, the existing problems are as follows: (1) The change of the position of the unmanned aerial vehicle node causes the rapid change of the network topology. (2) The unmanned aerial vehicle has limited battery resources, and the energy of effective nodes on links is insufficient to support the completion of data transmission. (3) unstable links between unmanned aerial vehicle nodes. (4) the change of the number of nodes wastes channel resources. The node establishes a neighbor node information table, and under the conditions of stable energy and link of the node and short path, an unmanned aerial vehicle self-organizing network routing method for energy balance high-reliability transmission is provided.
Disclosure of Invention
Aiming at the problems in the prior art, the invention provides an unmanned aerial vehicle self-organizing network routing method with energy-efficient link stability.
The invention is realized in such a way that an unmanned aerial vehicle self-organizing network routing method facing energy balance high-reliability transmission comprises the following steps:
step 1: dividing the channels of the unmanned aerial vehicle nodes into control channels and data traffic channels, and designing corresponding control signaling frames and data frames;
step 2: each unmanned aerial vehicle node periodically sends a Hello control signaling frame to communicate with unmanned aerial vehicle nodes in a coverage area through a control channel, a neighbor node information table in the coverage area is established, and the shortest hop count table comprises a neighbor node shortest hop count table in the neighbor node information table;
step 3: the source node, namely the unmanned aerial vehicle sending node, sends a route request frame RREQ, the source node searches an optimal forwarding node through an adjacent route selection algorithm, and a control signaling frame is sent to the unmanned aerial vehicle target node through continuous forwarding;
step 4, the unmanned aerial vehicle target node receives the route request frame RREQ, generates a route response frame RREP, and sends the route response frame RREP to the source node along the reverse path forwarded by the request frame RREQ, and establishes a route from the unmanned aerial vehicle source node to the unmanned aerial vehicle target node;
the step 2 of establishing a neighbor node information table comprises the following steps:
step (2.1): each unmanned aerial vehicle sending node sends a Hello signaling frame containing unmanned aerial vehicle sending node information omega to an unmanned aerial vehicle target node in a communication range of the unmanned aerial vehicle sending node, wherein the node information omega comprises a node self ID, a node residual electricity value, a shortest hop count table and connection stability of the unmanned aerial vehicle sending node and the unmanned aerial vehicle target node;
step (2.2): the unmanned aerial vehicle target node which receives the Hello signaling frame stores node information omega of the unmanned aerial vehicle sending node, and updates the shortest hop table of the unmanned aerial vehicle target node;
step (2.3): the unmanned aerial vehicle sending node resends the Hello signaling frame once every a certain time, and each unmanned aerial vehicle target node updates own neighbor node information table and shortest hop count table when receiving a new Hello signaling frame;
wherein, the step 4 of sending the routing request is divided into the following steps:
step (4.1): the current node searches whether the ID of the target node of the unmanned aerial vehicle exists in a neighbor node information table of the current node; if the step (4.5) exists, if the step (4.2) does not exist, the step (4.5) is performed;
step (4.2): current node n i Obtaining the residual electric quantity E of each neighbor node k from the neighbor node information table ik Stability S ik Shortest hop count value N from current node to unmanned plane target node id And shortest hop count value N from neighbor node to destination d kd ；
Step (4.3): calculating excitation value R of neighbor node k of current node i k ， Wherein omega 1 、ω 2 、ω 3 Is weight coefficient, is determined by the importance of the index and satisfies omega 1 +ω 2 +ω 3 ＝1；
Step (4.4): calculating a forwarding probability P for forwarding to a neighbor node k ik ThenWherein C is i A set of all neighbor nodes for the current node;
step (4.5): selecting a forwarding probability value P ik The highest neighbor node is the relay node, ifThere are a plurality of P ik If the two paths are equal, randomly selecting one neighbor node from the two paths as a relay node, and recording path information in a cache by the relay node;
step (4.6): forwarding RREQ to the relay node, and then forwarding to step (4.1);
step (4.7): forwarding probability P of unmanned aerial vehicle target node ik =1, the current node directly forwards the RREQ to the drone destination node.
Further, in the control channel and the traffic channel, the total bandwidth is divided into a control channel and a traffic channel, wherein the control channel occupies a small part of bandwidth, and the control channel is used for sending a Hello signaling frame, a route request RREQ and a route response RREP, and the traffic channel transmits a data frame.
Further, each time reliable data transmission is completed between two neighboring nodes, namely the transmitting node and the unmanned aerial vehicle target node, the data is recorded in the buffer memory, the accumulated times S is the times of successful data interaction between the two nodes, and S represents the stability of links between the neighboring nodes.
Further, the unmanned aerial vehicle target node receives a Hello signaling frame from the neighbor node, the Hello signaling frame comprises a shortest hop count table of the neighbor node, the shortest hop count table of the unmanned aerial vehicle target node is updated, the shortest hop count from the unmanned aerial vehicle target node to all other nodes is recorded, and the shortest hop count value from the neighbor node of the unmanned aerial vehicle target node to the node is count=1;
further, the shortest hop table is updated as the following steps:
step (6.1): the unmanned aerial vehicle target node receives a Hello signaling frame sent by the neighbor sending node, checks whether a node ID in the neighbor sending node hop count table exists in the hop count table of the current node, and if so, goes to the step (6.2), and if not, goes to the step (6.3);
step (6.2): comparing the hop count value count of the same transmitting node k in the current hop count table k And a hop count value count in a hop count table of a neighbor transmitting node k ' if the count is satisfied k >count k ' +1, updating the hop count of node k in the hop count table of the current transmitting node, and turning to step (6.3), otherwise, notUpdating the jump value;
step (6.3): counting the number of hops of target node of unmanned aerial vehicle k The' +1 and neighbor transmitting node IDs are recorded in the hop count table of the current node.
The beneficial effects are that: the unmanned aerial vehicle self-organizing network routing method for the energy balance high-reliability transmission solves the problems that the unmanned aerial vehicle node position change causes rapid network topology change, the unmanned aerial vehicle battery resource is limited, the energy of effective nodes on links is insufficient to support the completion of data transmission, the links among unmanned aerial vehicle nodes are unstable, and the like, and establishes a neighbor node information table through the nodes, and under the conditions that the energy of the nodes and the links are stable and the paths are short, the unmanned aerial vehicle self-organizing network routing method is oriented to the energy balance high-reliability transmission. The change in the number of nodes wastes channel resources. The method is also a routing method of the unmanned aerial vehicle self-organizing network with stable links.
Drawings
FIG. 1 is a diagram of a network topology;
FIG. 2 is a schematic diagram illustrating steps of a method for implementing an ad hoc network routing method according to the present invention;
FIG. 3 is a schematic diagram of steps for updating a hop-table for a node;
fig. 4 is an algorithm implementation diagram of a transmission route request.
Detailed Description
The present invention will be described in further detail with reference to the following examples in order to make the objects, technical solutions and advantages of the present invention more apparent. It should be understood that the specific examples described herein are for purposes of illustration only and are not intended to limit the scope of the invention.
The principle of application of the invention is described in detail below with reference to the accompanying drawings.
The embodiment of the invention provides an unmanned aerial vehicle self-organizing network routing method for energy balance high-reliability transmission, which adopts the network topology shown in fig. 1, wherein the network has 13 nodes, wherein node A is a source node and node M is a destination node.
The implementation steps are as follows
S101: dividing the channels of the unmanned aerial vehicle nodes into control channels and service channels, and designing corresponding control signaling frames and data frames;
s102: each node periodically sends a Hello signaling frame through a control channel to communicate with nodes in a coverage area, and establishes a neighbor node information table, a shortest hop table and a neighbor node shortest hop table;
s103: the source node sends a route request frame RREQ, the node searches an optimal forwarding node through an adjacent route selection algorithm, and a signaling frame is sent to the target node through continuous forwarding;
s104, the destination node generates a route response frame RREP and sends the route response frame RREP to the source node along a reverse path, and a route from the source node to the destination node is established;
the principle of application of the invention is further described below with reference to the accompanying drawings.
The unmanned aerial vehicle self-organizing network routing method for the energy balance high-reliability transmission provided by the embodiment of the invention comprises the following steps:
dividing the bandwidth into a control channel and a traffic channel, wherein for the control channel, a control signaling frame comprising a Hello signaling frame and a hop count signaling frame needs to be transmitted, and the traffic channel transmits a data frame, the routing method comprises the following three types of data packets:
specifically, the Hello data packet needs to include information such as the ID of the node itself, the ID of the neighboring node, and the transmission time interval of the Hello packet, and the header already includes the source node ID of the transmitted packet, and the detailed format of the Hello packet is as follows:
step two, each node periodically sends a Hello signaling frame through a control channel to communicate with nodes in a coverage area, and establishes a neighbor node information table, a shortest hop table and a neighbor node shortest hop table, wherein the specific steps are as follows:
firstly, each node transmits a Hello signaling frame containing node information omega to nodes in a communication range, wherein the node information omega comprises a node self ID, a node residual electricity value E, a hop list and the connection stability S of the node and a target node;
step two, the node which receives the Hello signaling frame stores the ID of the source node and node information omega;
third, retransmitting the Hello signaling frame at intervals of a certain time, and updating the neighbor node information table and the hop table of each node when each node receives the new Hello signaling frame;
taking node B as an example, the steps for updating the hop-table specifically are as follows:
the first step, the node B receives the Hello packet from the neighbor nodes A, C and G, the hop count table of the node B is empty, and the hop counts of the nodes A, C and G are recorded to be 1;
step two, the node B receives the hop count table of the node A, compares the hop count value count of the same node k in the node B in the current hop count table k And a hop count value count in node a's hop count table k ' if the count is satisfied k >count k ' +1, updating the hop count of node k in the hop count table of the current node B, otherwise, not updating the hop count value;
third, count the number of hops of the node k ' +1 and node ID are recorded in the hop count table of node B;
the final hop count table for the node B records the shortest hop count values for the node B to the other 12 nodes as follows:
wherein Hello packets are retransmitted once every time interval Δt, a typical value of Δt being 0.1 seconds.
Wherein R is max Is the maximum value of the distance between any two nodes, and v is the data packet transmission speed.
After the Hello packet is resent, all nodes update their own neighbor node information tables, and delete the previous neighbor node information table.
And thirdly, the source node initiates a route request frame RREQ, and the optimal forwarding node is selected from the neighbor nodes to forward through an adjacent route selection algorithm. As shown in fig. 3, the specific steps are as follows:
the first step, the source node A searches whether a node M exists in a neighbor node information table of the source node A, the node M is not found, and R values of all neighbor nodes are calculated:
wherein omega 1 、ω 2 、ω 3 Is a weight coefficient and satisfies
ω 1 +ω 2 +ω 3 ＝1
The weighting coefficients here are averaged, i.e
Wherein E is ik S is the residual capacity corresponding to the neighbor node k ik For the connection stability between the node A and the neighbor node k, namely, every time data transmission is completed between two nodes, the connection stability is recorded in a cache, and the accumulated times S are the times of completing the data transmission between the two nodes, N id For the shortest hop count from the current node to the destination node, here 4, N kd For the shortest hop count value from the neighbor node k to the destination node d, the neighbor information of the node a is as follows:
| E | S | N | R | |
| B | 80 | 2 | 3 | 1.068 |
| C | 60 | 2 | 3 | 1.026 |
| D | 70 | 1 | 4 | 0.837 |
calculating a forwarding probability value P of each neighbor node of node A i
Wherein N is the set of all neighbor nodes of the node;
obtaining forwarding probability values of all neighbor nodes of the point A:
P B ＝0.364，P C ＝0.350，P D ＝0.286
forwarding probability P of node B B Maximum, node A forwards the RREQ toAnd (3) a node B.
Step two, the node B calculates the forwarding probability of the neighbor node after receiving the RREQ, and the shortest hop number N from the node B to the destination node M BM 3, the information of the neighbor node information 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 |
P A ＝0.315，P G ＝0.379，P C ＝0.306
the forwarding probability of the node G is maximum, and the RREQ is forwarded to the node G;
third step, node G calculates the forwarding probability of neighbor node after receiving RREQ, and node G to destination node M shortest hop count N GM For 2, calculating the forwarding probability of the neighbor node
| 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 |
P B ＝0.264，P F ＝0.266，P L ＝0.261，P C ＝0.209
The forwarding probability of the node F is maximum, and the forwarding number RREQ is forwarded to the node F;
fourth step, node F calculates the forwarding probability of neighbor node after receiving RREQ, and shortest hop number N from node F to destination node M FM For 3, calculating the forwarding probability of the neighbor node
P E ＝0.208，P C ＝0.188，P G ＝0.222，P H ＝0.224，P D ＝0.158
The forwarding probability of the node H is maximum, and the RREQ is forwarded to the node H;
fifth step, node H calculates the forwarding probability of neighbor node after receiving RREQ, and node H reaches the shortest hop count N of destination node M HM For 2, calculating the forwarding probability of the neighbor node
| 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 |
P F ＝0.156，P I ＝0.138，P K ＝0.143，P L ＝0.162，
P E ＝0.129，P G ＝0.141，P J ＝0.131
The forwarding probability of the node L is maximum, and the RREQ is forwarded to the node L;
sixthly, after receiving RREQ, node L calculates forwarding probability of neighbor node, and shortest hop number N from node L to destination node M LM For 1, calculating the forwarding probability R of the neighbor node
| E | S | N | R | |
| G | 45 | 2 | 2 | 0.762 |
| H | 60 | 3 | 2 | 0.863 |
| M | 35 | 1 | 0 | 0.848 |
The node M is a destination node, and the forwarding probability of the node M is:
P M ＝1
the forwarding probability of other neighbor nodes is smaller than 1, so that the nodes are forwarded to the node M.
Through the method, the RREQ reaches the destination node M through the path A, B, G, F, H, L and M;
and fifthly, after receiving the RREQ, the destination node M reversely replies a route response frame RREP to the source node along the path, after receiving the RREP, the source node A establishes a route, and the source node A caches the path.
Claims (2)
1. An unmanned aerial vehicle self-organizing network routing method oriented to energy balance is characterized in that: the method comprises the following steps:
step 1: dividing the channels of the unmanned aerial vehicle nodes into control channels and data traffic channels, and designing corresponding control signaling frames and data frames;
step 2: each unmanned aerial vehicle node periodically sends a Hello control signaling frame to communicate with unmanned aerial vehicle nodes in a coverage area through a control channel, a neighbor node information table in the coverage area is established, and the shortest hop count table comprises a neighbor node shortest hop count table in the neighbor node information table;
step 3: the source node, namely the unmanned aerial vehicle sending node, sends a route request frame RREQ, the source node searches an optimal forwarding node through an adjacent route selection algorithm, and a control signaling frame is sent to the unmanned aerial vehicle target node through continuous forwarding;
step 4, the unmanned aerial vehicle target node receives the route request frame RREQ, generates a route response frame RREP, and sends the route response frame RREP to the source node along the reverse path forwarded by the request frame RREQ, and establishes a route from the unmanned aerial vehicle source node to the unmanned aerial vehicle target node;
the step 2 of establishing a neighbor node information table comprises the following steps:
step (2.1): each unmanned aerial vehicle sending node sends a Hello signaling frame containing unmanned aerial vehicle sending node information omega to an unmanned aerial vehicle target node in a communication range of the unmanned aerial vehicle sending node, wherein the node information omega comprises a node self ID, a node residual electricity value, a shortest hop count table and connection stability of the unmanned aerial vehicle sending node and the unmanned aerial vehicle target node;
step (2.2): the unmanned aerial vehicle target node which receives the Hello signaling frame stores node information omega of the unmanned aerial vehicle sending node, and updates the shortest hop table of the unmanned aerial vehicle target node;
step (2.3): the unmanned aerial vehicle sending node resends the Hello signaling frame once every a certain time, and each unmanned aerial vehicle target node updates own neighbor node information table and shortest hop count table when receiving a new Hello signaling frame;
wherein, the step 4 of sending the routing request is divided into the following steps:
step (4.1): the current node searches whether the ID of the target node of the unmanned aerial vehicle exists in a neighbor node information table of the current node; if the step (4.5) exists, if the step (4.2) does not exist, the step (4.5) is performed;
step (4.2): current node n i Obtaining the residual electric quantity E of each neighbor node k from the neighbor node information table ik Stability S ik Shortest hop count value N from current node to unmanned plane target node id And shortest hop count value N from neighbor node to destination d kd ；
Step (4.3): calculating neighbor node k of current node iExcitation value R k ，R k ＝ω 1 ×log(E ik )+Wherein omega 1 、ω 2 、ω 3 Is weight coefficient, is determined by the importance of the index and satisfies omega 1 +ω 2 +ω 3 ＝1；
Step (4.4): calculating a forwarding probability P for forwarding to a neighbor node k ik ThenWherein C is i A set of all neighbor nodes for the current node;
step (4.5): selecting a forwarding probability value P ik The highest neighbor node is a relay node, if there are multiple P' s ik If the two paths are equal, randomly selecting one neighbor node from the two paths as a relay node, and recording path information in a cache by the relay node;
step (4.6): forwarding RREQ to the relay node, and then forwarding to step (4.1);
step (4.7): forwarding probability P of unmanned aerial vehicle target node ik =1, the current node directly forwards the RREQ to the unmanned target node;
the total bandwidth is divided into a control channel and a traffic channel, wherein the control channel occupies a small part of bandwidth, and is used for sending a Hello signaling frame, a route request RREQ and a route response RREP, and the traffic channel transmits a data frame;
the unmanned aerial vehicle target node receives a Hello signaling frame from a neighbor node, the Hello signaling frame comprises a shortest hop count table of the neighbor node, the shortest hop count table of the unmanned aerial vehicle target node is updated, the shortest hop count from the unmanned aerial vehicle target node to all other nodes is recorded, and the shortest hop count value from the neighbor node of the unmanned aerial vehicle target node to the node is count=1;
updating the shortest hop table as the following steps:
step (6.1): the unmanned aerial vehicle target node receives a Hello signaling frame sent by the neighbor sending node, checks whether a node ID in the neighbor sending node hop count table exists in the hop count table of the current node, and if so, goes to the step (6.2), and if not, goes to the step (6.3);
step (6.2): comparing the hop count value count of the same transmitting node k in the current hop count table k And a hop count value count in a hop count table of a neighbor transmitting node k ' if the count is satisfied k >count k ' +1, updating the hop count of node k in the hop count table of the current transmitting node, and turning to the step (6.3), otherwise, not updating the hop count value;
step (6.3): counting the number of hops of target node of unmanned aerial vehicle k The' +1 and neighbor transmitting node IDs are recorded in the hop count table of the current node.
2. The unmanned aerial vehicle self-organizing network routing method for energy balance according to claim 1, wherein each time a reliable data transmission is completed between two neighboring nodes, namely a transmitting node and an unmanned aerial vehicle target node, the data is recorded in a buffer memory, the accumulated number S is the number of successful data interaction between the two nodes, and S represents the stability of a link between the neighboring nodes.
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| 一种基于分簇的大规模无人机组网与轨迹规划方法;朱惠茹;《中国优秀硕士学位论文全文数据库 工程科技Ⅱ辑》;20210415;正文第3章 * |
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