CN108092707A - A kind of data transmission method and device based on unmanned plane ad hoc network - Google Patents
A kind of data transmission method and device based on unmanned plane ad hoc network Download PDFInfo
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
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- H04B7/00—Radio transmission systems, i.e. using radiation field
- H04B7/14—Relay systems
- H04B7/15—Active relay systems
- H04B7/185—Space-based or airborne stations; Stations for satellite systems
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- H04W40/00—Communication routing or communication path finding
- H04W40/02—Communication route or path selection, e.g. power-based or shortest path routing
- H04W40/04—Communication route or path selection, e.g. power-based or shortest path routing based on wireless node resources
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Abstract
The invention discloses a kind of data transmission methods based on unmanned plane ad hoc network,Device and computer readable storage medium,Utilize the wireless communication unit carried on unmanned plane,To obtain the exact position of neighbouring unmanned plane,And the exact position of neighbouring unmanned plane is stored into local route information table,In routing procedure is created,The routing iinformation of intermediate node can be used,So as to reduce the expense generated in network when safeguarding routing table,When source node will create a new routing,Routing iinformation data packet is not blindly to be spread on a large scale to all nodes of surrounding,But it is used as heuristic information according to the location of present node,It is selective and pointedly decide whether to continue to external diffusion establishing route data packet,The quantity of diffusion data bag when being route so as to greatly reduce because creating,Reduce the network overhead that data interaction is carried out between unmanned plane,Data transmission is shortened to prolong,It has given full play to unmanned plane and has occupied this high-order advantage of territorial sky.
Description
Technical field
The present invention relates to unmanned plane ad hoc network field, more specifically to a kind of based on unmanned plane ad hoc network
Data transmission method, device and computer readable storage medium.
Background technology
Unmanned plane is a kind of dynamic, the controllable, push-button aircraft that can reuse, has low cost, efficiently
The advantages such as energy, maneuverability, easy maintenance, safe to use, at a terrific speed by called optical imaging.Particularly in recent years
Come, sudden disaster, the safety of life and property of the serious threat people, with the rapid development that emergency command is equipped, various intelligence
Makeup is standby also gradually to show up prominently in burst is put into practice, using Intelligent unattended machine as quickly launch an attack check the condition of a disaster in a manner of it is also more next
More paid attention to by decision-making level, Intelligent unattended machine can give play to weight when accident, accident etc. is handled
It acts on and can easily tackle, unmanned plane is included emergency command management system also will effectively promote accident field data
The reaction speed of acquisition.Due to composite factors such as interfering with each other between the random movement of unmanned plane, wireless channel and landform
It influences, the network topology structure formed between mobile terminal by wireless channel changes at any time, and the mode and speed that change are all
It is uncertain, this so that routing is abnormal important.
Unmanned plane ad hoc network is mainly based upon OLSR (best link status protocol) at present, and each node passes through periodic
Link exchange status information safeguards the topology information of whole network.Each node only selects a son of oneself neighbor node
Collection is relayed as multiple spot and collected.Link-state information is generated according to the node in multiple spot relaying collection.Selection is constantly dripped by node certainly
Oneself multiple spot relaying collection, is forwarded to broadcast message, the shortest path for the node that finally achieved the goal according to new information calculating.But
Be OLSR network overhead is larger and data transmission delay is bigger.
Therefore, how to realize the ad hoc network of unmanned plane, make to carry out between unmanned plane to reduce during data interaction network overhead with
And data transmission is prolonged, and is occupied this high-order advantage of territorial sky so as to give full play to unmanned plane, is that those skilled in the art need to solve
Certainly the problem of.
The content of the invention
It can it is an object of the invention to provide a kind of data transmission method based on unmanned plane ad hoc network, device and computer
Storage medium is read, the interaction of data is realized to realize unmanned plane by ad hoc network, reduces network overhead and data transmission is prolonged, from
And it gives full play to unmanned plane and has occupied this high-order advantage of territorial sky.
To achieve the above object, an embodiment of the present invention provides following technical solutions：
A kind of data transmission method based on unmanned plane ad hoc network, including：
When S101, source node are to destination node transmission data, using the source node as start node；
With the presence or absence of the target road that can reach the destination node in the route information table that S102, detection start node store
By information；The route information table includes the location information of each node in the preset range of this node；If in the presence of performing
S103 if being not present, performs S104；
S103, the target routing iinformation that can reach the destination node by being stored in the route information table, by number
According to being sent to the destination node；
S104, the forwarding probability according to each node in the positional information calculation start node preset range of each node, pass through
The forwarding probability of each node chooses the forward node of predetermined quantity, using each forward node as start node, continues to execute S102.
Wherein, the S103 includes：
If storage can reach the node of the target routing iinformation of the destination node as source node, utilized by source node
Target routing iinformation sends data to the destination node；
If storage can reach the node of the target routing iinformation of the destination node as forward node, pass through forward node
Target routing iinformation and routing trunk information are sent to source node so that source node according to the target routing iinformation and
Routing trunk information sends data to destination node；
The routing trunk information include source node address information, by way of forward node address information and target
Location information.
Wherein, in the S102, if in the presence of the target routing that can reach the destination node in the route information table
Information before then performing S103, further includes：
Detect whether the target routing iinformation that can reach the destination node stored in the route information table is effective
Routing iinformation；If so, perform S103；If it is not, then perform S104.
Wherein, the S104 includes：
S1041, the location information according to each node in the range of the jump of start node 1 calculate each section in the range of 1 jump
The forwarding probability of point, and 3 intermediate nodes are chosen according to the forwarding probability of each node；
Whether there is in the route information table that S1042, each intermediate node of detection store can reach the destination node
Target routing iinformation；If in the presence of performing S103, if being not present, perform S1043；
S1043, the location information according to each node in the range of the jump of start node 2 calculate each section in the range of 2 jump
The forwarding probability of point, and 6 forward node are chosen according to the forwarding probability of each node, using each forward node as start node,
Continue to execute S102.
Wherein, calculating the forwarding probability of each node in the range of m jumps includes：
Determine forwarding hop count m, the node total number n of network, the transmission radius l of network, propagation radius d, each node often jumped
Distance d apart from source nodexAnd weighted factor；Wherein, m is the positive integer not less than 1；
Utilize the forwarding probability that determine the probability rule is forwarded to calculate each node；
It is described forwarding determine the probability be：
Wherein, pmFor the initial of forwarding hop count m
The forwarding probability of node.
A kind of data transmission system based on unmanned plane ad hoc network, including：
Start node determining module, for source node to destination node send data when, using the source node as at the beginning of
Beginning node；
Detection module can reach the destination node for detecting to whether there is in the route information table of start node storage
Target routing iinformation；The route information table includes the location information of each node in the preset range of this node；
Data transmission blocks, in route information table in the presence of the target routing iinformation of the destination node can be reached
When, by the target routing iinformation that can reach the destination node stored in the route information table, send data to institute
State destination node；
Forward node determining module, for the target routing that can reach the destination node to be not present in route information table
During information, according to the forwarding probability of each node in the positional information calculation start node preset range of each node, pass through each node
Forwarding probability choose the forward node of predetermined quantity, using each forward node as start node, continuation detection trigger module.
Wherein, the data transmission blocks include：
First transmitting element is source node for storing the node for the target routing iinformation that can reach the destination node
When, the destination node is sent data to using target routing iinformation by source node；
Second transmitting element saves for storing the node for the target routing iinformation that can reach the destination node for forwarding
Target routing iinformation and routing trunk information are then sent to source node, so that source node is according to institute by point by forward node
It states target routing iinformation and routing trunk information sends data to destination node；The routing trunk information includes source node
Address information, by way of forward node address information and target address information.
Wherein, this programme further includes：
Effective routing detection module, for detecting the mesh that can reach the destination node stored in the route information table
Mark whether routing iinformation is effective routing information；If so, trigger the data transmission blocks；If it is not, then trigger the forwarding
Node determining module.
Wherein, the forward node determining module includes：
Intermediate node determination unit, for the location information of each node in the range of being jumped according to start node 1, described in calculating
The forwarding probability of each node in the range of 1 jump, and 3 intermediate nodes are chosen according to the forwarding probability of each node；
Routing iinformation detection unit whether there is and can reach for detecting in the route information table of each intermediate node storage
The target routing iinformation of the destination node；If in the presence of triggering the data transmission blocks, if being not present, trigger forwarding
Node determination unit；
Forward node determination unit, for the location information of each node in the range of being jumped according to start node 2, described in calculating
The forwarding probability of each node in the range of 2 jumps, and 6 forward node are chosen according to the forwarding probability of each node, each forwarding is saved
Point is used as start node, and detection trigger module.
A kind of computer readable storage medium is stored with computer program on the computer readable storage medium, described
The step of above-mentioned data transmission method is realized when computer program is executed by processor.
By above scheme, a kind of transmission side data based on unmanned plane ad hoc network provided in an embodiment of the present invention
Method, device and computer readable storage medium, using the wireless communication unit carried on unmanned plane, to obtain neighbouring unmanned plane
Exact position, and the exact position of neighbouring unmanned plane is stored into local route information table, it, can in routing procedure is created
To use the routing iinformation of intermediate node, so as to reduce the expense generated in network when safeguarding routing table, when source node will be created
When building a new routing, routing iinformation data packet is not blindly to be spread on a large scale to all nodes of surrounding, and
Be according to the location of present node as heuristic information, it is selective and pointedly decide whether continuation to external diffusion
Establishing route data packet, the quantity of diffusion data bag when being route so as to greatly reduce because creating, reduces between unmanned plane
The network overhead of data interaction is carried out, data transmission is shortened and prolongs, unmanned plane has been given full play to and has occupied this high-order advantage of territorial sky.
Description of the drawings
It in order to illustrate more clearly about the embodiment of the present invention or technical scheme of the prior art, below will be to embodiment or existing
There is attached drawing needed in technology description to be briefly described, it should be apparent that, the accompanying drawings in the following description is only this
Some embodiments of invention, for those of ordinary skill in the art, without creative efforts, can be with
Other attached drawings are obtained according to these attached drawings.
Fig. 1 is a kind of unmanned plane self-organizing network system model schematic disclosed by the embodiments of the present invention；
Fig. 2 is a kind of data transmission method flow diagram based on unmanned plane ad hoc network disclosed by the embodiments of the present invention；
Fig. 3 is another data transmission method flow signal based on unmanned plane ad hoc network disclosed by the embodiments of the present invention
Figure；
Fig. 4 determines schematic diagram for intermediate node disclosed by the embodiments of the present invention；
Fig. 5 determines schematic diagram for forward node disclosed by the embodiments of the present invention；
Fig. 6 is a kind of data transmission device structure diagram based on unmanned plane ad hoc network disclosed by the embodiments of the present invention.
Specific embodiment
Below in conjunction with the attached drawing in the embodiment of the present invention, the technical solution in the embodiment of the present invention is carried out clear, complete
Site preparation describes, it is clear that described embodiment is only part of the embodiment of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, those of ordinary skill in the art are obtained every other without creative efforts
Embodiment belongs to the scope of protection of the invention.
The embodiment of the invention discloses a kind of data transmission method based on unmanned plane ad hoc network, devices and computer-readable
Storage medium realizes the interaction of data to realize unmanned plane by ad hoc network, reduces network overhead and data transmission is prolonged, so as to
It has given full play to unmanned plane and has occupied this high-order advantage of territorial sky.
It is a kind of unmanned plane self-organizing network system model referring to Fig. 1, which includes N+1 node, wherein ground node 1
A, aerial node is N number of.Node in network can be moved arbitrarily according to demand, so as to cause the random variation of network topology,
During this, it is ensured that the remote information that Ground Vehicle G1 is sent is real-time transmitted to this N frame unmanned plane of 1~N, the production of this N framves unmanned plane
Raw reconnaissance is real-time transmitted to Ground Vehicle, and the image observed at Ground Vehicle will link up, without apparent image impairment, foot
Real time data is provided with earthward personnel.
In this network, each unmanned plane node has both two kinds of functions of router and terminal, as router, section
Point needs to run corresponding Routing Protocol, participates in data forwarding according to routing policy and routing table and route maintenance works；As
Terminal, node can run corresponding application program.Each unmanned plane is equipped with radio station, according to related algorithm, each nothing
Man-machine obtained reconnaissance can be transferred through wireless network and reach Real-Time Sharing.Unmanned plane node is according to unmanned plane present position
The unmanned plane node closed on is found, so as to connect networking successively, hop-by-hop.As shown in Figure 1：If node N1 wants to lead to node N5
Letter, it is necessary to which routing and relay forwarding by other neighbor nodes forward the data to destination node hop-by-hop, can such as select
This forward-path of N1 → N2 → N3 → N5 is selected, N1 → N6 → N4 → N5 can also be selected.Whole process completely by it is each nobody
Machine node operation distributed routing algorithm is automatically performed, without any other facility.
When single unmanned plane node is damaged on selected path or with neighbouring unmanned plane is in larger distance that link is caused to break
When situations such as opening occurs, original routing will be destroyed, but whole network is still survived, at this point, impacted node will
The spontaneous other alternative route of searching, as shown in Figure 1, the unmanned plane node N4 on forward-path N6 → N3 → N4 → N5 can not
Continue to provide forwarding service, route just automatically switch on N6 → N3 → N2 → N5 this forward-path at this time, thus realize
The anti-of ad hoc network is injured and self-healing function, and to ensure continuing for communication, the interaction for completing tactical information shares, so as to
Substantially increase the work efficiency and survival ability of unmanned plane.By above-mentioned as can be seen that constantly selecting oneself by node
Multiple spot relaying collection, broadcast message is forwarded to, is finally achieved the goal the shortest path of node according to new information calculating, network
Expense is larger and data transmission delay is bigger.
Therefore the exact position of unmanned plane, root in the present solution, wireless communication unit by being carried on unmanned plane, are being obtained
Establishing route information is selectively propagated according to the location information of neighbouring unmanned plane, reduces the quantity of establishing route, so as to subtract
Few wireless network resource, therefore, is more suitable for quick ad-hoc network in the present invention.
It is understood that the localization method of the wireless communication unit in this programme is not limited to, using GPS, to make
With the Big Dipper, LBS, WiFi, sensor method.If use GPS, the localization method of the Big Dipper, it is only necessary to unmanned plane by oneself
Location information is sent in real time by wireless communication unit；If using sensor positioning method, a kind of sensing is given below
The implementation method of device positioning：A. the forward-looking visions sensor such as binocular or monocular, to identify in lower visual sensor field range
Interior tracking target and neighbours' unmanned plane；B. it is lower to regard visual sensor, to capture tracking target and neighbours during tracking
Unmanned plane；C. laser range finder, ultrasonic ranging machine etc. to measurement distance sensor, to measure itself with tracking target
With the physical distance of neighbours' unmanned plane；D. inertial navigation components (including three-axis gyroscope, three axis accelerometer), magnetic compass and
The alignment sensors such as GPS can provide unmanned plane and provide heading and space coordinates in real time；E. wireless network communication module,
To establish unmanned plane ad-hoc network, to neighbours' unmanned plane transmission process information and neighbours' unmanned plane hair is received using Radio Link
The processing information gone out.Therefore, unmanned plane can determine that self-position, identification neighbours' unmanned plane and capture are regarded by its airborne equipment
Tracking target in the range of.
As can be seen that when the node in unmanned plane ad hoc network will communicate with the node outside its coverage, it is necessary to logical
The multi-hop transmission of intermediate node is crossed, multi-hop is the antecedent basis for studying Routing for On-Demand Protocol in MANET.In this system, it is assumed that each
Node is all provided with alignment system.Whole or the certain model in unmanned plane ad-hoc network are obtained from unmanned plane positioned internal module
Interior nodal exactness location information is enclosed, it is synchronous in net so as to accurately realize within the specific limits.It should be noted that this programme
In each unmanned plane in set wireless communication unit, for the communication between each unmanned plane in unmanned plane cluster and nobody
Communication between machine and Ground Vehicle, wireless communication unit are full duplexs, are all receiving location information always.
Referring to Fig. 2, a kind of data transmission method based on unmanned plane ad hoc network provided in an embodiment of the present invention, including：
When S101, source node are to destination node transmission data, using the source node as start node；
Specifically, in the present solution, in each node of unmanned plane from organizing network according to its location information, know with certainly
Centered on oneself, the position of neighbor node in preset range, and a route information table is created to preserve the position of neighbor node；It needs
It is noted that preset range can be that 1 jump or 2 are jumped in this programme, the distance often jumped is the propagation radius d of node.
With the presence or absence of the target road that can reach the destination node in the route information table that S102, detection start node store
By information；The route information table includes the location information of each node in the preset range of this node；If in the presence of performing
S103 if being not present, performs S104；
Specifically, source node is sends the node of data in this programme, destination node to receive the node of data, save by source
When point sends data, searched whether in the route information table of oneself first in the presence of the target routing that can reach the destination node
Information if can find, sends data, if cannot find, chooses forward node according to forwarding probability, continues have direction
Searching.
Wherein, in the S102, if in the presence of the target routing that can reach the destination node in the route information table
Information before then performing S103, further includes：
Detect whether the target routing iinformation that can reach the destination node stored in the route information table is effective
Routing iinformation；If so, perform S103；If it is not, then perform S104.
There is data packet to be sent to destination node M it should be noted that working as source node S in unmanned plane ad hoc network, S first is looked into
It askes and has route information table, see whether have the routing iinformation that can reach node M in table, and whether still the routing iinformation
Effectively, if so, then data are sent according to the routing iinformation, if it is not, establishing one from node S to target by node S
The routing of node M；Here routing iinformation effectively refers to that destination node can accurately be sent data to, and can be specifically routing
Renewal time for newest or routing transmission path be it is correct, it is not specific herein to limit.
S103, the target routing iinformation that can reach the destination node by being stored in the route information table, by number
According to being sent to the destination node；
Specifically, the S103 in this programme includes：
If storage can reach the node of the target routing iinformation of the destination node as source node, utilized by source node
Target routing iinformation sends data to the destination node；
If storage can reach the node of the target routing iinformation of the destination node as forward node, pass through forward node
Target routing iinformation and routing trunk information are sent to source node so that source node according to the target routing iinformation and
Routing trunk information sends data to destination node；
The routing trunk information include source node address information, by way of forward node address information and target
Location information.
It should be noted that when, not there are during effective target routing iinformation, source node can create routing in source node
Information is created, which is sent to forward node, after forward node receives establishing route information, if not finding
Effective target routing iinformation, then send routing trunk information to next forward node, and destination node is sent to until finding
Until routing iinformation；Further, establishing route information and routing trunk information content are the same, and content is generally at least wrapped
It includes：Source node IP, destination node IP, upper hop node IP address, next-hop node IP address, forerunner's chain table pointer etc..
It is understood that the target routing iinformation in this programme can lead to mesh where target routing iinformation on node
The routing of node is marked, if node where the target routing iinformation is not source node, but forward node, then target routing letter
Breath is only the routing of routing from forward node to destination node rather than source node to destination node, only and by way of
All forward node connect, and just form a path that data can be sent to destination node from source node.It also, should
Route trunk information by each forward node when, can all update, more new content can include upper hop node IP address,
Next-hop node IP address etc..
Therefore in this process, if start node is exactly source node, data are directly sent according to target routing iinformation
；If start node is forward node, this just illustrates that this paths is just to find target after the forwarding by other nodes
Routing iinformation is informed source node by routing iinformation therefore, it is necessary to forward node, that is to say, that in routing trunk information reaches
Between some node when, when the routing iinformation in the routing information and present node routing table routeing in trunk information can create
It is whole slave source node S to the routing information of destination node M, a road for containing complete routing iinformation can be built by present node
Footpath data packet returns to source node S along reverse path, and S can build the routing from node S to node M according to the path data received,
Data packet is sent to destination node M along newly-built routing.
S104, the forwarding probability according to each node in the positional information calculation start node preset range of each node, pass through
The forwarding probability of each node chooses the forward node of predetermined quantity, using each forward node as start node, continues to execute S102.
If the specifically, road in the routing trunk information of upper node transmission and the routing table of current start node
It can not be created completely from source node S to the routing information of destination node m, then in the preset range for calculating start node by information
The forwarding probability of each node according to the order of forwarding probability from big to small, chooses predetermined quantity forward node, by determining
Forward node perform S102, target routing iinformation is continually looked for, until intactly from source node S to the road of destination node m
Footpath information is fabricated completion or the hop count of data packet exceeds certain scope.
As it can be seen that in the present solution, using the wireless communication unit carried on unmanned plane, to obtain the accurate of neighbouring unmanned plane
Position selectively propagates establishing route information according to the location information of neighbouring unmanned plane, reduces the quantity of establishing route,
So as to reduce wireless network resource, further, this programme is combined WiMAX ad hoc network with unmanned plane, is given full play to
Unmanned plane occupies this high-order advantage of territorial sky, while by the intelligent of ad hoc network equipment, the utilization of unmanned plane can also be put
The pattern of de- traditional ground single-point control unit, breakthrough motive force is provided for the practical application of unmanned plane bee colony.
Referring to Fig. 3, based on above-described embodiment, in the present embodiment, S104 is specifically included：
S1041, the location information according to each node in the range of the jump of start node 1 calculate each section in the range of 1 jump
The forwarding probability of point, and 3 intermediate nodes are chosen according to the forwarding probability of each node；
Whether there is in the route information table that S1042, each intermediate node of detection store can reach the destination node
Target routing iinformation；If in the presence of performing S103, if being not present, perform S1043；
S1043, the location information according to each node in the range of the jump of start node 2 calculate each section in the range of 2 jump
The forwarding probability of point, and 6 forward node are chosen according to the forwarding probability of each node, using each forward node as start node,
Continue to execute S102.
Wherein, in the present embodiment, calculating the forwarding probability of each node in the range of m jumps includes：
Determine forwarding hop count m, the node total number n of network, the transmission radius l of network, propagation radius d, each node often jumped
Distance d apart from source nodexAnd weighted factor；Wherein, m is the positive integer not less than 1；
Utilize the forwarding probability that determine the probability rule is forwarded to calculate each node；
It is described forwarding determine the probability be：
Wherein, pmFor the initial of forwarding hop count m
The forwarding probability of node.
Specifically, in the present embodiment, route information table includes the position of each node in the preset range of this node
Information, wherein, the preset range in this programme actual conditions can be set according to, in the present solution, by each node
The distance of propagation radius jumped as 1, start node is determined in this node there is no after target routing iinformation, can be in predetermined model
Interior definite forward node is enclosed, in the present embodiment, preset range jumps scope for 2, therefore, in the present solution, jumping scope 1 first
Then interior selection intermediate node is sending data by intermediate node to definite forward node.
A kind of intermediate node is disclosed in the present embodiment and forward node determines method, specifically includes herein below：
Referring to Fig. 4, it is assumed that l is the radius of unmanned plane ad hoc network, and d is that radius is propagated per hop node, then arbitrary node is outside
Item number for (1,2 ..., l/d), n is the quantity of whole network interior joint, thenIt is to be saved in whole network
Dot density.So：
1 jump scope interior nodes quantity be
2 jump scope interior nodes quantity be
3 jump scope interior nodes quantity be
M jump scope interior nodes quantity be:
In Fig. 4, if Centroid NSOther nodes being transferred in network, then NSIt needs to be created to other respective wires
The routing of network node, with NSCentered on 1,2 ..., it is respectively d, 2d ..., md, N that radius is broadcast in m jump setSExternally issue establishing route
Message, then in the range of a jump, all nodes propagated in radiuses can receive like clockwork, because arbitrary node can be accurate
Know its 1 jump and 2 jump in the range of other nodes position, selection, which allows in the range of 1 jump, to be located at NSFor the centre of sphere, d is radius
Node near ball is to external diffusion establishing route information.
Network performance is reduced in order to reduce routing iinformation excessive, only from the section near the ball that radius is d in this programme
Select 3 intermediate nodes as route information spreading node (because ideally the receiving area of three nodes can be in point
Cover an entire ball), N as shown in Figure 41、N2、N3The selected routing iinformation intermediate node as in the range of 1 jump, 3 nodes
Spread scope is covered with NSCentered on, using d as the entire 1 jump-ball face scope of radius, while also cover with NSCentered on 2
The overwhelming majority of jump-ball face scope (figure here is the sectional view in space).
From fig. 4, it can be seen that still some is located at NSCentered on 1 jump and 2 hopscotch region not by N1、N2、
N3Spread scope covered, pass through node NSIt can inquire positioned at NSCentered on, 1 jumps and is distributed in 2 hopscotch regions
Node situation, from radius to select 6 nodes as route information spreading node in the node where 2d near circle.Such as Fig. 5
It is shown, N4、N5、N6、N7、N8、N9The selected routing iinformation forward node as in the range of 2 jumps, the spread scope of 6 nodes are covered
It has covered with NSCentered on entire 2 jump scope, while also cover with NSCentered on 3 jump scopes the overwhelming majority.
By the above-mentioned means, when source node S broadcast create information to all 1 jump in the range of neighbor node, 1 jump
In the range of node receive above-mentioned establishing route information after, with probability：
Forwarding routing trunk information, wherein, dxFor present node distance center section
The distance of point, α is weighted factor, and nodal distance Centroid is more remote, and forwarding probability is bigger；
Further, the node jumped in m-1 and m between scope is received after m-1 redirects the establishing route information sent, with probabilityHair routing trunk information, so as to which trunk information will be route
Propagation is gone down, to find one completely from source node to the path of destination node.
It should be noted that in the present solution, the establishing route information that source node is sent is to carry out broadcast transmission to each 1
Node in the range of jump, and 3 intermediate nodes are therefrom selected, it is then forwarded to, is saved without the selected knot removal source
The establishing route information that point is sent；The establishing route information is effective only on selected node, is on non-selected node
Invalid.
As can be seen that the unmanned plane ad hoc network method in this programme, in routing procedure is created, routing iinformation data packet is simultaneously
It is not blindly to be spread on a large scale to all nodes of surrounding, but according to the location information of acquisition, selective and pin
Property is decided whether to continue to external diffusion establishing route data packet, so as to greatly reduce the amount of establishing route data packet, contracting
Short data processing delay.
Data transmission system provided in an embodiment of the present invention is introduced below, data transmission system described below with
Above-described data transmission system can be cross-referenced.
Referring to Fig. 6, a kind of data transmission system based on unmanned plane ad hoc network provided in an embodiment of the present invention, including：
Start node determining module 100, for source node to destination node send data when, using the source node as
Start node；
Detection module 200 can reach the purpose for detecting to whether there is in the route information table of start node storage
The target routing iinformation of node；The route information table includes the location information of each node in the preset range of this node；
Data transmission blocks 300, for routeing letter in the presence of the target that can reach the destination node in route information table
During breath, by the target routing iinformation that can reach the destination node stored in the route information table, send data to
The destination node；
Forward node determining module 400, for the target that can reach the destination node to be not present in route information table
During routing iinformation, according to the forwarding probability of each node in the positional information calculation start node preset range of each node, by each
The forwarding probability of node chooses the forward node of predetermined quantity, using each forward node as start node, continues detection trigger mould
Block.
Wherein, the data transmission blocks 300 include：
First transmitting element is source node for storing the node for the target routing iinformation that can reach the destination node
When, the destination node is sent data to using target routing iinformation by source node；
Second transmitting element saves for storing the node for the target routing iinformation that can reach the destination node for forwarding
Target routing iinformation and routing trunk information are then sent to source node, so that source node is according to institute by point by forward node
It states target routing iinformation and routing trunk information sends data to destination node；The routing trunk information includes source node
Address information, by way of forward node address information and target address information.
Wherein, this programme further includes：
Effective routing detection module, for detecting the mesh that can reach the destination node stored in the route information table
Mark whether routing iinformation is effective routing information；If so, trigger the data transmission blocks；If it is not, then trigger the forwarding
Node determining module.
Wherein, the forward node determining module 400 includes：
Intermediate node determination unit, for the location information of each node in the range of being jumped according to start node 1, described in calculating
The forwarding probability of each node in the range of 1 jump, and 3 intermediate nodes are chosen according to the forwarding probability of each node；
Routing iinformation detection unit whether there is and can reach for detecting in the route information table of each intermediate node storage
The target routing iinformation of the destination node；If in the presence of triggering the data transmission blocks, if being not present, trigger forwarding
Node determination unit；
Forward node determination unit, for the location information of each node in the range of being jumped according to start node 2, described in calculating
The forwarding probability of each node in the range of 2 jumps, and 6 forward node are chosen according to the forwarding probability of each node, each forwarding is saved
Point is used as start node, and detection trigger module.
Based on above-mentioned any embodiment, a kind of computer readable storage medium, the calculating are also disclosed in the present embodiment
Computer program is stored on machine readable storage medium storing program for executing, the computer program realizes above-mentioned data transmission when being executed by processor
The step of method.
Specifically, the storage medium can include：USB flash disk, mobile hard disk, read-only memory (Read-Only Memory,
ROM), random access memory (Random Access Memory, RAM), magnetic disc or CD etc. are various can store program
The medium of code.
Each embodiment is described by the way of progressive in this specification, the highlights of each of the examples are with other
The difference of embodiment, just to refer each other for identical similar portion between each embodiment.
The foregoing description of the disclosed embodiments enables professional and technical personnel in the field to realize or use the present invention.
A variety of modifications of these embodiments will be apparent for those skilled in the art, it is as defined herein
General Principle can be realized in other embodiments without departing from the spirit or scope of the present invention.Therefore, it is of the invention
The embodiments shown herein is not intended to be limited to, and is to fit to and the principles and novel features disclosed herein phase one
The most wide scope caused.
Claims (10)
1. a kind of data transmission method based on unmanned plane ad hoc network, which is characterized in that including：
When S101, source node are to destination node transmission data, using the source node as start node；
With the presence or absence of the target routing letter that can reach the destination node in the route information table that S102, detection start node store
Breath；The route information table includes the location information of each node in the preset range of this node；If in the presence of performing
S103 if being not present, performs S104；
S103, the target routing iinformation that can reach the destination node by being stored in the route information table, data are sent out
It send to the destination node；
S104, the forwarding probability according to each node in the positional information calculation start node preset range of each node, pass through each section
The forwarding probability of point chooses the forward node of predetermined quantity, using each forward node as start node, continues to execute S102.
2. data transmission method according to claim 1, which is characterized in that the S103 includes：
If storage can reach the node of the target routing iinformation of the destination node as source node, target is utilized by source node
Routing iinformation sends data to the destination node；
If the node that storage can reach the target routing iinformation of the destination node is forward node, by forward node by mesh
Mark routing iinformation and routing trunk information are sent to source node, so that source node is according to the target routing iinformation and routing
Trunk information sends data to destination node；
It is described routing trunk information include source node address information, by way of forward node address information and destination address letter
Breath.
3. data transmission method according to claim 1, which is characterized in that in the S102, if the routing iinformation
In the presence of the target routing iinformation that can reach the destination node in table, then before performing S103, further include：
Detect whether the target routing iinformation that can reach the destination node stored in the route information table is effective routing
Information；If so, perform S103；If it is not, then perform S104.
4. data transmission method as claimed in any of claims 1 to 3, which is characterized in that the S104 includes：
S1041, according to start node 1 jump in the range of each node location information, calculate described 1 jump in the range of each node
Probability is forwarded, and 3 intermediate nodes are chosen according to the forwarding probability of each node；
With the presence or absence of the target that can reach the destination node in the route information table that S1042, each intermediate node of detection store
Routing iinformation；If in the presence of performing S103, if being not present, perform S1043；
S1043, according to start node 2 jump in the range of each node location information, calculate described 2 jump in the range of each node
Probability is forwarded, and 6 forward node are chosen according to the forwarding probability of each node, using each forward node as start node, is continued
Perform S102.
5. data transmission method according to claim 4, which is characterized in that calculate the forwarding of each node in the range of m jumps
Probability includes：
Determine forwarding hop count m, the node total number n of network, the transmission radius l of network, propagation radius d, each nodal distance often jumped
The distance d of source nodexAnd weighted factor；Wherein, m is the positive integer not less than 1；
Utilize the forwarding probability that determine the probability rule is forwarded to calculate each node；
It is described forwarding determine the probability be：
Wherein, pmTo forward the start node of hop count m
Forwarding probability.
6. a kind of data transmission system based on unmanned plane ad hoc network, which is characterized in that including：
Start node determining module, for when source node sends data to destination node, being saved using the source node as initial
Point；
Detection module, for detecting in the route information table of start node storage with the presence or absence of the mesh that can reach the destination node
Mark routing iinformation；The route information table includes the location information of each node in the preset range of this node；
Data transmission blocks, for when presence can reach the target routing iinformation of the destination node in route information table, leading to
The target routing iinformation that can reach the destination node stored in the route information table is crossed, sends data to the purpose
Node；
Forward node determining module, for the target routing iinformation that can reach the destination node to be not present in route information table
When, according to the forwarding probability of each node in the positional information calculation start node preset range of each node, pass through turning for each node
The forward node that probability chooses predetermined quantity is sent out, using each forward node as start node, continues detection trigger module.
7. data transmission system according to claim 6, which is characterized in that the data transmission blocks include：
First transmitting element when the node that the target routing iinformation of the destination node can be reached for storage is source node, leads to
It crosses source node and sends data to the destination node using target routing iinformation；
Second transmitting element is forward node for storing the node for the target routing iinformation that can reach the destination node, then
Target routing iinformation and routing trunk information are sent to by source node by forward node, so that source node is according to the target
Routing iinformation and routing trunk information send data to destination node；The routing trunk information is believed including source node address
Breath, by way of forward node address information and target address information.
8. data transmission system according to claim 6, which is characterized in that further include：
Effective routing detection module, for detecting the target road that can reach the destination node stored in the route information table
Whether it is effective routing information by information；If so, trigger the data transmission blocks；If it is not, then trigger the forward node
Determining module.
9. the data transmission system according to any one in claim 6 to 8, which is characterized in that the forward node is true
Cover half block includes：
Intermediate node determination unit for the location information according to each node in the range of the jump of start node 1, calculates described 1 and jumps
In the range of each node forwarding probability, and according to the forwarding probability of each node choose 3 intermediate nodes；
Routing iinformation detection unit, for detecting in the route information table of each intermediate node storage with the presence or absence of described in reaching
The target routing iinformation of destination node；If in the presence of triggering the data transmission blocks, if being not present, trigger forward node
Determination unit；
Forward node determination unit for the location information according to each node in the range of the jump of start node 2, calculates described 2 and jumps
In the range of each node forwarding probability, and according to the forwarding probability of each node choose 6 forward node, each forward node is made
For start node, and detection trigger module.
10. a kind of computer readable storage medium, which is characterized in that be stored with computer on the computer readable storage medium
Program realizes the step of the data transmission method as described in any one of claim 1 to 5 when the computer program is executed by processor
Suddenly.
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