CN102202425A - Satellite cluster self-organization networking method based on master-slave heterogeneous data transmission module - Google Patents
Satellite cluster self-organization networking method based on master-slave heterogeneous data transmission module Download PDFInfo
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Abstract
The invention discloses a satellite cluster self-organization networking method based on a master-slave heterogeneous data transmission module. The method comprises the following steps that: in an initialization state, all nodes are set in a slave mode, and heartbeat information is transmitted; if a master node in a master mode is in a network at this moment, the master node senses the participation of a new node through a heartbeat message and allocates a heartbeat message transmission time slice, an election time slice and a transmission demand polling time slice for the new node; if the network has no master node at this moment, and a slave node in the slave mode cannot receive the heartbeat information of the master node, the networking process enters into a master node election state, each slave node divides the time slice according to an ascending order of addresses and automatically switches into the master mode; if the heartbeat information of the master node is received within a waiting time, the network has the master node, time of the network is synchronized with that of the master node, and the network participates in time slice polling and data transmission under coordination of the master node. The method provided by the invention has higher fault tolerance, robustness and flexibility, and improves viability of the self-organization network.
Description
Technical field
The present invention is mainly concerned with the satellites formation method field in the satellite cluster field, refers in particular to a kind of satellite cluster ad hoc networking method.
Background technology
Self-organizing network is a kind of under the condition that lacks infrastructure, and by the Radio Network System that the communication node in the system interconnects or organizes by distributed protocol, what emphasize is multi-hop, self-organizing, acentric notion.Self-organizing network has characteristics such as independence, distributivity, multi-hop and mobility, all has wide practical use at civil area and military field.
Usually the communication module that is applied to self-organizing network all is an isomorphism, and what often use in the group of stars networking is the module that a class has principal and subordinate's isomery characteristic.Such wireless module has two kinds of patterns usually:
1. holotype: the node that is in this pattern is called host node, has and have only a host node in each network, and this node is responsible for coordinating the whole network of control, and all data all send to host node or transmit by host node in the network.
2. from pattern: the node that is under this pattern is called from node, promptly is arranged in the node of network linking communications terminal, directly communicates by letter with host node.
But existing networking technology as TDMA, FDMA, CDMA and ALOHA agreement, can not be applied directly on such principal and subordinate's heterogeneous digital transmission module.Therefore, the relevant ad hoc networking method of wireless module exploitation at this type of has great importance.
Summary of the invention
The technical problem to be solved in the present invention just is: at the technical problem of prior art existence, the invention provides a kind of have very high fault-tolerance, robustness and flexibility, can improve the satellite cluster ad hoc networking method based on principal and subordinate's heterogeneous digital transmission module of self-organizing network survival ability in the adverse circumstances of space.
For solving the problems of the technologies described above, the present invention by the following technical solutions:
A kind of satellite cluster ad hoc networking method based on principal and subordinate's heterogeneous digital transmission module, it is characterized in that: when being in init state, all nodes all place from pattern, and send heartbeat message; If there is the host node be in holotype this moment in the network, host node perceives the adding of new node by heartbeat message, distributes heartbeat message transmission time sheet, election timeslice and transmission demand poll timeslice to new node; If do not exist host node in the network this moment, be in from pattern will can not receive the heartbeat message of host node from node, then enter host node election state, each automatically switches to holotype from the order time division sheet of node according to address increment; If in the stand-by period, received the heartbeat message of host node, promptly there has been host node in the network, then carry out time synchronized, and under the coordination of host node, participate in round-robin and transfer of data with host node.
As a further improvement on the present invention:
Described init state is system's residing state when powering on, and main being responsible for carried out initialization setting and gps clock calibration to node; Described holotype is the residing pattern of host node, and the node under this pattern is responsible for Topology Management, timeslice management, host node election, transmitting and scheduling and data transfer task; Described is from the residing pattern of node from pattern, is network communication terminal from node, and direct and host node communicates; Described host node election state is the state when the mixing election mechanism competition of node by " competition " and " wheel change " becomes host node.
The step of described host node election state is: at first send election beginning message by host node, after receiving this message from node, according to the status of energy consumption of self, the number of times of serving as host node and topology information, take all factors into consideration the host node whether the back decision serves as next; If decision is served as, then in the election timeslice under it, send election application message, otherwise do not send; After the election timeslice of all nodes finished, host node was confirmed next host node according to the election application message of receiving, and sent the election results message to it, after this node is received, replied the election confirmation message; Receive the election confirmation message just automatically switch to holotype from node, the coordinated management network; Current host node then switches to from pattern, becomes from node.
Compared with prior art, the invention has the advantages that:
1, the present invention satisfied such digital transmission module exclusive master/slave heterogeneous characteristics, the node that is suitable for also has master/slave pattern.
2, the present invention has distributed nature, and each node has identical program code, but can judge alone according to s own situation, and the corresponding code of operation.
3, the present invention uses the survival condition of heartbeat message sensing node, from all can periodically sending heartbeat message between node and the host node, if do not receive the heartbeat message of this node in a period of time, then thinks this node failure or exit network.
4, the present invention has the characteristics of round-robin, and the time is divided into the timeslice of regular length, and each one is taken turns in the timeslice and all can elect new host node, is in charge of network.
5, the present invention have as required and to divide " time " characteristics, time slot allocation adopts " poll-scheduling " mechanism, according to the transmission demand distribution transmission time.
6, the invention belongs to distributed, based on heartbeat message, based on round-robin, based on " bunch ", based on divide as required " time " the ad hoc networking method, this method has very high fault-tolerance, robustness and flexibility, has improved the survival ability of satellite cluster self-organizing network in the adverse circumstances of space of being made up of this module.
Description of drawings
Fig. 1 is the schematic diagram of node state conversion among the present invention;
Fig. 2 is the schematic diagram that distributes from node election timeslice among the present invention;
Fig. 3 is the schematic flow sheet of network-building method among the present invention;
Fig. 4 is the mixing election mechanism schematic diagram of " competition " and " wheel changes " among the present invention;
Fig. 5 is the schematic diagram of round-robin among the present invention.
Embodiment
Below with reference to Figure of description and specific embodiment the present invention is described in further details.
As depicted in figs. 1 and 2, in the method for the invention, node mainly comprises one of four states: init state, holotype, from pattern and host node election state, the switching between each state all triggers in the mode of timeslice.
" init state " is system's residing state when powering on, and main being responsible for carried out initialization setting and gps clock calibration to node; " holotype " is the residing pattern of host node, and the node under this pattern is responsible for tasks such as Topology Management, timeslice management, host node election, transmitting and scheduling and transfer of data; " from pattern " is from the residing pattern of node, promptly is network communication terminal from node, and direct and host node communicates; " host node election state " is the state when the mixing election mechanism competition of node by " competition " and " wheel change " becomes host node.
When being in initialization during the moment, all nodes all place from pattern, and send heartbeat message.If exist host node (to be in the node of holotype in the network this moment, be leader cluster node), host node can perceive the adding of new node by heartbeat message, therefore distributes Internet resources such as heartbeat message transmission time sheet, election timeslice and transmission demand poll timeslice to it.If do not exist host node in the network this moment, will can not receive the heartbeat message of host node from node (being in node) from pattern, then enter host node election state, each node automatically switches to holotype according to the order time division sheet of address increment; If in the stand-by period, received the heartbeat message of host node, promptly there has been host node in the network, then carry out time synchronized, and under the coordination of host node, participate in round-robin and transfer of data with host node.
As from the foregoing, the present invention is actual to be the thought that adopts round-robin, each host node all only is responsible for the network management task of current this " wheel ", be divided into a lot of little timeslices in each is taken turns again and be used for transmitting and scheduling and transfer of data, conducting an election after each takes turns end produces new host node again.Do not receive certain any information from node within a certain period of time when host node, then host node is thought this from node loss, sends topological notification packet then to notify the message of this node loss.
If host node can not receive any information from node in one longer period, the network that may have other primary node constructs in this network then is described, so will automatically switching to from pattern, this node adds this network, just guaranteed that with this network is under node loss or out of order situation, no matter be host node or go wrong from node, the residue node is normally networking and carry out transfer of data still.
At this wherein, for the transmission of topological notification packet, the topology information of the whole network all host node is sent, can adopt in timer cycle transmission, the M-Beacon information incidentally or according to network topology change situation as required three kinds of modes send.For the transmission that relates to the time synchronized message, the temporal information of the whole network all host node is sent, and can adopt incidentally dual mode transmission in timer cycle transmission, the M-Beacon information.About data message forwarding,,, then submit to the upper strata to handle if the destination address of the message that discovery is received is the address of self for host node; If destination address is not the address of self, then transmit (sending once more), need not revise source address during forwarding.For from node,, then submit to the upper strata to handle if the destination address of the message that discovery is received is the address of self; If destination address is not the address of self, then abandon.
As shown in Figure 3, the idiographic flow of network-building method of the present invention is:
When 1, node powers on, enter init state, each module is provided with separately address value V voluntarily by incremental order
Addr(as being set at 1,2,3,4 successively, 5......), and all earlier oneself be set to promptly become from node, write down this and be made as T constantly from pattern
Start
2, from pattern, each sends S-beacon information (i.e. the heartbeat message that sends from node) to host node from node successively by the identical cycle, and only host node is provided with the heartbeat message timer.Simultaneously, each M-beacon message (being the heartbeat message that host node sends) from node wait host node, the stand-by period upper bound of setting this stage is T
Beacon_waitIf at T
Beacon_waitReceive the M-beacon information or any data/control message of autonomous node in time,, otherwise enter host node election state then with this heartbeat message timer counting zero clearing.
3, in host node election state, if do not have host node in the network of this moment, algorithm will be given each node distribution T by the order of address increment
Time_sliceThe timeslice of length allows and himself switches to host node, and the announcement of broadcasting heartbeat message oneself has become host node.As shown in Figure 1, from T
Start+ T
Beacon_waitConstantly begin, should begin to wait for one's own timeslice from node, the time span that each node need be waited for is different because of the address of node, is T
Mc=T
Time_slice* V
Addr, avoid each node to switch to the situation of host node simultaneously with this.If at T
McReceive the M-beacon information or any data/control message of autonomous node in time, illustrate that host node occurs in the network, then stop to wait for, still be in from pattern and continue operation.
In host node election state, if having host node in the network of this moment, network can will be divided into the wheel of fixed cycle length the time by the mode of round-robin.And when each took turns end, host node can be dominated network and enter the host node election stage, and elected host node in the mode of " wheel changes "+" competition ", and flow process as shown in Figure 4.At first send election beginning message by host node, after receiving this message from node, according to information such as the status of energy consumption of self, the number of times of serving as host node and topological structures, take all factors into consideration the host node whether the back decision serves as next, if decision is served as, then in the election timeslice under it, send election application message, otherwise do not send.After the election timeslice of all nodes finished, host node was confirmed next host node according to the election application message of receiving, and sent the election results message to it, after this node is received, replied the election confirmation message.That receives the election confirmation message just automatically switches to holotype from node, the coordinated management network; Current host node then switches to from pattern, becomes from node.
As shown in Figure 5, the every timeslice of taking turns in the network comprises " host node election stage " and " transmitting and scheduling and data transfer phase "." transmitting and scheduling and data transfer phase " comprises the timeslice of fixed number again, and wherein each timeslice is divided into transmission demand poll, scheduling announcement and three parts of transfer of data again.In this stage, host node sends each transmission demand from node of transmission poll message polling at first successively, receive that each is behind the transmission poll response message of node, dispatch according to the transmission demand of reality again, issue transmitting and scheduling notification packet distributes time slicing to send datagram for the node that the transfer of data demand is arranged.
For host node,, then submit to the upper strata to handle if the destination address of the message that discovery is received is the address of self; If destination address is not the address of self, then transmit (sending once more), need not revise source address during forwarding.
For from node,, then submit to the upper strata to handle if the destination address of the message that discovery is received is the address of self; If destination address is not the address of self, then abandon.
After node is elected and is become host node by " competition "+" wheel changes " mode, also will be with T
BeaconFor the cycle to send M-beacon information from node, to announce oneself operate as normal.Host node also will receive the S-beacon information from node, and each is provided with the heartbeat message timer separately from node, and the triggered time also is made as T
Beacon_wait, host node receives that whenever the S-beacon information from node maybe should be from any data/control message of node, all that it is corresponding heartbeat message timer counting zero clearing.If host node judge this heartbeat message from a unknown from node, promptly have and new add network from node, host node just can notify other nodes to have new node to add by topological notification packet, and distributes Internet resources such as a heartbeat message transmission time sheet, election timeslice and transmission demand poll timeslice to it.
If T
Beacon_waitHost node fails still to receive that certain heartbeat message from node maybe is somebody's turn to do any data/control message of sending from node in time; think that then this is from the node operation irregularity or exit network; and notify other nodes, and no longer distribute Internet resources such as heartbeat message transmission time sheet, election timeslice and transmission demand poll timeslice to it with this information.
In addition, if host node at T
Beacon_wait_allFail to receive any S-beacon information or any data/control message that sends from node in time, then illustrate the network that to have had other primary node constructs in this network to add this network so this node will automatically switch to from pattern.
In the present embodiment, each the symbol implication in the said method can see table:
Table 1 networking algorithm symbol description table:
In the present embodiment, basic message format is in the said method:
Start?delimiter：
The start of message (SOM) symbol defines the beginning of message.
Source|Destination：
Source node and destination node address, if host node receive when destination address is the message of self address, then submit to the upper strata to handle; If when receiving destination address for the message of self address, then this data message is transmitted in broadcasting.
Version：
Version number
Type：
Type of message is distinguished heartbeat message, topological notification packet, time synchronized message, election beginning message, election application message, election confirmation message, transmission polling message, transmission poll response message and transmitting and scheduling notification packet with this.
Length：
Expression comprises the length of the whole data of heading/control message, is unit with the byte.When the message length value is start of message (SOM) symbol or escape indication symbol, then substitute with some spcial character.
Payload：
Application layer data or control message information.
Obscure for avoiding the message data character and beginning to define symbol, can adopt in the ppp protocol the escape method to the appearance in the data load begin define symbol and carry out escape.
In the said method, its bearing message form is:
(1) heartbeat message
| Type|Option | Topology notification packet (optional) | Time synchronized message (optional) |
Type：
Send the node type of heartbeat message: from node or host node
Option：
Whether incidentally topology information or time synchronization information
Incidentally topology information or time synchronization information in the M-beacon message that host node sends.For the S-beacon message that sends from node information incidentally not.Host node is received the S-beacon message, upgrades network topological information, and this information is useful when topology is issued.
(2) topological notification packet
| Node1 | Node2 | Node3 | Node4 |
| Node5 | … | … | … |
Node1～Node5：
1/0 this module of expression is/denys operate as normal
Host node is attached to topological notification packet in the heartbeat message, periodically sends, and send topological notification packet immediately when topology changes.Wherein, which is a host node, can obtain by the source address of message.
(3) time synchronized message
| CurrentTime |
CurrentTime：
Timeslice institute elapsed time length when previous round
The host node cycle transmission behind node time of receipt (T of R) sync message, changes elapsed time in the timeslice of oneself into CurrentTime or (CurrentTime+T
Delay).
(4) election beginning message, election application message, election confirmation message and transmission polling message
Such message does not need load information, directly can clear and definite message implication by the Source field in the basic message, Destination field and the type field.
(5) transmission poll response message
| DataSize |
DataSize：
The data volume that node self buffer memory is to be sent
Such message is used for replying from node the transmission polling message of host node, informs host node self buffer memory data volume to be sent.
(6) transmitting and scheduling notification packet
| Node1|SendTime | Node2|SendTime | Node3|SendTime | Node4|SendTime |
| Node5|SendTime | … | … | … |
Node：
Node number
SendTime：
The data transmitting time length of this node is given in distribution according to need
Below only be preferred implementation of the present invention, protection scope of the present invention also not only is confined to the foregoing description, and all technical schemes that belongs under the thinking of the present invention all belong to protection scope of the present invention.Should be pointed out that for those skilled in the art the some improvements and modifications not breaking away under the principle of the invention prerequisite should be considered as protection scope of the present invention.
Claims (3)
1. satellite cluster ad hoc networking method based on principal and subordinate's heterogeneous digital transmission module, it is characterized in that: when being in init state, all nodes all place from pattern, and send heartbeat message; If there is the host node be in holotype this moment in the network, host node perceives the adding of new node by heartbeat message, distributes heartbeat message transmission time sheet, election timeslice and transmission demand poll timeslice to new node; If do not exist host node in the network this moment, be in from pattern will can not receive the heartbeat message of host node from node, then enter host node election state, each automatically switches to holotype from the order time division sheet of node according to address increment; If in the stand-by period, received the heartbeat message of host node, promptly there has been host node in the network, then carry out time synchronized, and under the coordination of host node, participate in round-robin and transfer of data with host node.
2. the satellite cluster ad hoc networking method based on principal and subordinate's heterogeneous digital transmission module according to claim 1, it is characterized in that: described init state is system's residing state when powering on, and main being responsible for carried out initialization setting and gps clock calibration to node; Described holotype is the residing pattern of host node, and the node under this pattern is responsible for Topology Management, timeslice management, host node election, transmitting and scheduling and data transfer task; Described is from the residing pattern of node from pattern, is network communication terminal from node, and direct and host node communicates; Described host node election state is the state when the mixing election mechanism competition of node by " competition " and " wheel change " becomes host node.
3. the satellite cluster ad hoc networking method based on principal and subordinate's heterogeneous digital transmission module according to claim 1, the step that it is characterized in that described host node election state is: at first send election beginning message by host node, after receiving this message from node, according to the status of energy consumption of self, the number of times of serving as host node and topology information, take all factors into consideration the host node whether the back decision serves as next; If decision is served as, then in the election timeslice under it, send election application message, otherwise do not send; After the election timeslice of all nodes finished, host node was confirmed next host node according to the election application message of receiving, and sent the election results message to it, after this node is received, replied the election confirmation message; Receive the election confirmation message just automatically switch to holotype from node, the coordinated management network; Current host node then switches to from pattern, becomes from node.
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