CN108092707B - Data transmission method and device based on unmanned aerial vehicle ad hoc network - Google Patents
Data transmission method and device based on unmanned aerial vehicle ad hoc network Download PDFInfo
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Abstract
The invention discloses a data transmission method, a device and a computer readable storage medium based on unmanned aerial vehicle ad hoc network, which utilize a wireless communication unit carried on an unmanned aerial vehicle to obtain the accurate position of a nearby unmanned aerial vehicle, store the accurate position of the nearby unmanned aerial vehicle into a local routing information table, and can use the routing information of an intermediate node in the process of creating a route, thereby reducing the expense generated by maintaining the routing table in the network, when a source node creates a new route, the routing information data packet does not blindly diffuse to all nodes around in a large scale, but selectively and pertinently determines whether to continue diffusing the route creating data packet according to the position of the current node as heuristic information, thereby greatly reducing the number of diffusing data packets due to creating the route, and reducing the network expense for data interaction between the unmanned aerial vehicles, the data transmission delay is shortened, and the advantage that the unmanned aerial vehicle occupies the high air-leading position is fully exerted.
Description
Technical Field
The invention relates to the technical field of unmanned aerial vehicle ad hoc networks, in particular to a data transmission method and device based on an unmanned aerial vehicle ad hoc network and a computer readable storage medium.
Background
An unmanned aerial vehicle is a powered, controllable and reusable unmanned aerial vehicle, has the advantages of low cost, high efficiency, flexibility, convenience in maintenance, safety in use and the like, and is well known at an extremely high speed. Especially in recent years, sudden disasters seriously threaten life and property safety of people, along with rapid development of emergency command equipment, various intelligent equipment gradually expose the headquarters in sudden practices, and intelligent unmanned aerial vehicles are more and more emphasized by a decision layer as a mode of rapidly attacking and checking disasters, so that the intelligent unmanned aerial vehicles can play an important role and can easily deal with the emergencies, and the unmanned aerial vehicles are brought into an emergency command management system to effectively improve the response speed of on-site information acquisition of the emergencies. Due to the influence of comprehensive factors such as random movement of the unmanned aerial vehicle, mutual interference among wireless channels, terrain and the like, a network topology structure formed by the wireless channels among the mobile terminals changes at any time, and the changing mode and speed are unpredictable, so that the routing is extremely important.
Currently, the ad hoc network of the unmanned aerial vehicle is mainly based on OLSR (optimal link state protocol), and each node maintains topology information of the whole network by periodically exchanging link state information. Each node only selects a subset of its neighbor nodes as a multipoint relay set. Link state information is generated from nodes within the multipoint relay set. And continuously and dropwisely selecting a multipoint relay set by the node, forwarding the broadcast information, and finally calculating the shortest path of the destination node according to the new information. However, the network overhead of OLSR is large and the data transmission delay is large.
Therefore, how to realize the ad hoc network of the unmanned aerial vehicles, the network overhead and the data transmission delay are reduced when data interaction is carried out between the unmanned aerial vehicles, so that the advantage that the unmanned aerial vehicles occupy the high air-leading positions is fully developed, and the problem needs to be solved by technical personnel in the field.
Disclosure of Invention
The invention aims to provide a data transmission method and device based on an unmanned aerial vehicle ad hoc network and a computer readable storage medium, so that the unmanned aerial vehicle can realize data interaction through the ad hoc network, network overhead and data transmission delay are reduced, and the advantage that the unmanned aerial vehicle occupies high space is fully exerted.
In order to achieve the above purpose, the embodiment of the present invention provides the following technical solutions:
a data transmission method based on an unmanned aerial vehicle ad hoc network comprises the following steps:
s101, when a source node sends data to a destination node, the source node is used as an initial node;
s102, detecting whether target routing information capable of reaching the destination node exists in a routing information table stored in an initial node; the routing information table comprises the position information of each node in the preset range of the node; if yes, executing S103, and if not, executing S104;
s103, sending data to the destination node through the target routing information which is stored in the routing information table and can reach the destination node;
s104, calculating the forwarding probability of each node in the preset range of the initial node according to the position information of each node, selecting a preset number of forwarding nodes according to the forwarding probability of each node, taking each forwarding node as the initial node, and continuing to execute S102.
Wherein the S103 comprises:
if the node storing the target routing information which can reach the destination node is a source node, transmitting data to the destination node by using the target routing information through the source node;
if the node storing the target routing information which can reach the destination node is a forwarding node, the forwarding node sends the target routing information and the routing relay information to the source node so that the source node sends data to the destination node according to the target routing information and the routing relay information;
the routing relay information comprises source node address information, address information of passing forwarding nodes and target address information.
In S102, if the routing information table includes target routing information that can reach the destination node, before performing S103, the method further includes:
detecting whether target routing information which is stored in the routing information table and can reach the destination node is effective routing information or not; if yes, executing S103; if not, S104 is executed.
Wherein the S104 includes:
s1041, calculating the forwarding probability of each node in the 1-hop range according to the position information of each node in the 1-hop range of the initial node, and selecting 3 intermediate nodes according to the forwarding probability of each node;
s1042, detecting whether target routing information capable of reaching the destination node exists in a routing information table stored in each intermediate node; if yes, executing S103, and if not, executing S1043;
s1043, calculating the forwarding probability of each node in the 2-hop range according to the position information of each node in the 2-hop range of the initial node, selecting 6 forwarding nodes according to the forwarding probability of each node, taking each forwarding node as the initial node, and continuing to execute S102.
Wherein, calculating the forwarding probability of each node in the m-hop range comprises:
determining the number m of forwarding hops, the total number n of nodes of the network, the transmission radius l of the network, the propagation radius d of each hop and the distance d between each node and a source nodexAnd a weighting factor α; wherein m is a positive integer not less than 1;
calculating the forwarding probability of each node by using a forwarding probability determination rule;
the forwarding probability is determined as:
A data transmission system based on unmanned aerial vehicle ad hoc network comprises:
an initial node determining module, configured to use a source node as an initial node when the source node sends data to a destination node;
the detection module is used for detecting whether target routing information capable of reaching the destination node exists in a routing information table stored in the initial node; the routing information table comprises the position information of each node in the preset range of the node;
the data sending module is used for sending data to the destination node through the target routing information which is stored in the routing information table and can reach the destination node when the target routing information which can reach the destination node exists in the routing information table;
and the forwarding node determining module is used for calculating the forwarding probability of each node in the preset range of the initial node according to the position information of each node when target routing information which can reach the target node does not exist in the routing information table, selecting a preset number of forwarding nodes according to the forwarding probability of each node, taking each forwarding node as the initial node, and continuously triggering the detection module.
Wherein, the data sending module comprises:
a first sending unit, configured to send data to the destination node through a source node by using target routing information when a node storing the target routing information that can reach the destination node is the source node;
a second sending unit, configured to send, if a node storing target routing information that can reach the destination node is a forwarding node, the target routing information and the routing relay information to the source node through the forwarding node, so that the source node sends data to the destination node according to the target routing information and the routing relay information; the routing relay information comprises source node address information, address information of passing forwarding nodes and target address information.
Wherein, this scheme still includes:
an effective route detection module, configured to detect whether target route information that is stored in the route information table and can reach the destination node is effective route information; if yes, triggering the data sending module; if not, the forwarding node determination module is triggered.
Wherein the forwarding node determination module comprises:
the intermediate node determining unit is used for calculating the forwarding probability of each node in the 1-hop range according to the position information of each node in the 1-hop range of the initial node, and selecting 3 intermediate nodes according to the forwarding probability of each node;
a routing information detection unit, configured to detect whether there is target routing information that can reach the destination node in a routing information table stored in each intermediate node; if the data exists, the data sending module is triggered, and if the data does not exist, the forwarding node determining unit is triggered;
and the forwarding node determining unit is used for calculating the forwarding probability of each node in the 2-hop range according to the position information of each node in the 2-hop range of the initial node, selecting 6 forwarding nodes according to the forwarding probability of each node, taking each forwarding node as the initial node, and triggering the detection module.
A computer-readable storage medium, on which a computer program is stored which, when being executed by a processor, carries out the steps of the above-mentioned data transmission method.
It can be known from the above solutions that the embodiments of the present invention provide a data transmission method, apparatus and computer readable storage medium based on ad hoc network of unmanned aerial vehicles, which utilize a wireless communication unit mounted on an unmanned aerial vehicle to obtain an accurate location of a nearby unmanned aerial vehicle, and store the accurate location of the nearby unmanned aerial vehicle in a local routing information table, and in a process of creating a route, may use routing information of an intermediate node, thereby reducing overhead generated by maintaining the routing table in the network, when a source node is to create a new route, a routing information packet is not blindly diffused to all nodes around in a large scale, but according to a current location of the node as heuristic information, it is selectively and pertinently determined whether to continue to diffuse the route creation packet, thereby greatly reducing the number of packets diffused by creating the route, the network overhead of data interaction between unmanned aerial vehicles is reduced, the data transmission delay is shortened, and the advantage that the unmanned aerial vehicles occupy the high positions of the air-lead is fully exerted.
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In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.
Fig. 1 is a schematic diagram of an unmanned aerial vehicle ad hoc network system model disclosed in an embodiment of the present invention;
fig. 2 is a schematic flow chart of a data transmission method based on an unmanned aerial vehicle ad hoc network disclosed in an embodiment of the present invention;
fig. 3 is a schematic flow chart of another data transmission method based on an unmanned aerial vehicle ad hoc network disclosed in the embodiment of the present invention;
fig. 4 is a schematic diagram of determining an intermediate node according to the embodiment of the present invention;
fig. 5 is a schematic diagram illustrating a forwarding node determination disclosed in an embodiment of the present invention;
fig. 6 is a schematic structural diagram of a data transmission device based on an unmanned aerial vehicle ad hoc network disclosed in an embodiment of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The embodiment of the invention discloses a data transmission method and device based on an unmanned aerial vehicle ad hoc network and a computer readable storage medium, so that the unmanned aerial vehicle realizes data interaction through the ad hoc network, network overhead and data transmission delay are reduced, and the advantage that the unmanned aerial vehicle occupies high leading space is fully exerted.
Referring to fig. 1, the model is an unmanned aerial vehicle ad hoc network system model, and the system includes N +1 nodes, where the number of ground nodes is 1, and the number of air nodes is N. In the process, remote control information sent by the ground vehicle G1 is guaranteed to be transmitted to 1-N unmanned aerial vehicles in real time, reconnaissance information generated by the N unmanned aerial vehicles is transmitted to the ground vehicle in real time, images observed by the ground vehicle are coherent, obvious image loss does not exist, and real-time data can be provided for ground personnel.
In the network, each unmanned aerial vehicle node has two functions of a router and a terminal, is used as the router, needs to run a corresponding routing protocol, and participates in data forwarding and routing maintenance work according to a routing strategy and a routing table; as a terminal, a node may run a corresponding application. Each unmanned aerial vehicle is provided with a radio station, and the reconnaissance information obtained by each unmanned aerial vehicle can be shared in real time through a wireless network according to a related algorithm. The unmanned aerial vehicle node looks for the unmanned aerial vehicle node that closes to according to unmanned aerial vehicle position to in proper order, jump ground connection becomes the net. As shown in fig. 1: if the node N1 wants to communicate with the node N5, it needs to forward the data to the destination node hop by route and relay forwarding of other neighboring nodes, such as a forwarding path N1 → N2 → N3 → N5, or N1 → N6 → N4 → N5. The whole process is automatically completed by running a distributed routing algorithm by each unmanned aerial vehicle node without any other facilities.
When a single unmanned aerial vehicle node on a selected path is damaged or a link is disconnected due to a large distance from an adjacent unmanned aerial vehicle, the original route is damaged, but the whole network still survives, at the moment, the affected node automatically searches another alternative path, as shown in fig. 1, the unmanned aerial vehicle node N4 on the forwarding path N6 → N3 → N4 → N5 cannot continuously provide forwarding service, and at the moment, the route is automatically switched to the forwarding path N6 → N3 → N2 → N5, so that the anti-damage and self-healing functions of the ad hoc network are realized, the communication is ensured to continue, the interactive sharing of tactical information is completed, and the working efficiency and the survival capability of the unmanned aerial vehicle are greatly improved. It can be seen from the above that, the nodes continuously select their own multipoint relay sets to forward the broadcast information, and finally calculate the shortest path to the destination node according to the new information, so that the network overhead is high and the data transmission delay is high.
Therefore, in the scheme, the accurate position of the unmanned aerial vehicle is obtained through the wireless communication unit carried on the unmanned aerial vehicle, the route creating information is selectively transmitted according to the position information of the nearby unmanned aerial vehicle, the number of route creating is reduced, and therefore wireless network resources are reduced, and the method is more suitable for a rapid ad hoc network.
It can be understood that the positioning method of the wireless communication unit in the present scheme is not limited to using GPS, and Beidou, LBS, WiFi, and sensor methods can also be used. If a GPS and Beidou positioning method is used, the unmanned aerial vehicle is only required to send out the position information of the unmanned aerial vehicle in real time through the wireless communication unit; if the sensor positioning method is used, a method for realizing sensor positioning is given as follows: a. the binocular or monocular and other forward-looking vision sensor is used for identifying a tracking target and a neighbor unmanned aerial vehicle in the field of view of the lower vision sensor; b. the downward-looking vision sensor is used for capturing a tracking target and a neighbor unmanned aerial vehicle in the tracking process; c. the system comprises sensors for measuring distances, such as a laser distance measuring machine, an ultrasonic distance measuring machine and the like, and is used for measuring the physical distances between the sensors and a tracking target and a neighbor unmanned aerial vehicle; d. the inertial navigation component (comprising a three-axis gyroscope, a three-axis accelerometer), a magnetic compass, a GPS and other positioning sensors can provide the flight direction and the space coordinate of the unmanned aerial vehicle in real time; e. and the wireless network communication module is used for establishing an unmanned aerial vehicle ad hoc network, transmitting processing information to a neighbor unmanned aerial vehicle by using a wireless link and receiving the processing information sent by the neighbor unmanned aerial vehicle. Thus, a drone may determine its own position through its onboard equipment, identify neighboring drones, and capture tracked targets within the field of view.
It can be seen that when a node in the ad hoc network of the unmanned aerial vehicle is to communicate with a node outside the coverage range thereof, multi-hop forwarding through an intermediate node is required, and the multi-hop is a precondition basis for researching the routing protocol of the ad hoc network. In this system, it is assumed that each node is equipped with a positioning system. The accurate position information of all or nodes within a certain range in the unmanned aerial vehicle ad hoc network is obtained from the internal positioning module of the unmanned aerial vehicle, so that the synchronization in the network is accurately realized within a certain range. It should be noted that the wireless communication unit that sets up in every unmanned aerial vehicle in this scheme for communication between each unmanned aerial vehicle in the unmanned aerial vehicle cluster and the communication between unmanned aerial vehicle and the ground car, wireless communication unit is full duplex, all is receiving positional information all the time.
Referring to fig. 2, an embodiment of the present invention provides a data transmission method based on an unmanned aerial vehicle ad hoc network, including:
s101, when a source node sends data to a destination node, the source node is used as an initial node;
specifically, in the scheme, each node in the unmanned aerial vehicle ad hoc network learns the positions of neighbor nodes within a preset range by taking the node as a center according to the position information of the node, and creates a routing information table to store the positions of the neighbor nodes; it should be noted that the predetermined range in this scheme may be 1 hop or 2 hops, and the distance of each hop is the propagation radius d of the node.
S102, detecting whether target routing information capable of reaching the destination node exists in a routing information table stored in an initial node; the routing information table comprises the position information of each node in the preset range of the node; if yes, executing S103, and if not, executing S104;
specifically, in the scheme, a source node is a node for sending data, a target node is a node for receiving data, when the source node sends data, whether target routing information capable of reaching the target node exists is searched in a routing information table of the source node, if the target routing information can be searched, the data is sent, and if the target routing information cannot be searched, a forwarding node is selected according to the forwarding probability, and directional searching is continued.
In S102, if the routing information table includes target routing information that can reach the destination node, before performing S103, the method further includes:
detecting whether target routing information which is stored in the routing information table and can reach the destination node is effective routing information or not; if yes, executing S103; if not, S104 is executed.
It should be noted that, when a source node S in the ad hoc network of the unmanned aerial vehicle has a data packet to send to a destination node M, first, S queries an existing routing information table to see whether routing information capable of reaching the node M exists in the table and whether the routing information is still valid, if yes, sends data according to the routing information, and if not, the node S establishes a route from the node S to the destination node M; the valid routing information here means that data can be accurately sent to the destination node, and specifically, the update time of the route is the latest, or the transmission path of the route is correct, which is not specifically limited herein.
S103, sending data to the destination node through the target routing information which is stored in the routing information table and can reach the destination node;
specifically, S103 in the present embodiment includes:
if the node storing the target routing information which can reach the destination node is a source node, transmitting data to the destination node by using the target routing information through the source node;
if the node storing the target routing information which can reach the destination node is a forwarding node, the forwarding node sends the target routing information and the routing relay information to the source node so that the source node sends data to the destination node according to the target routing information and the routing relay information;
the routing relay information comprises source node address information, address information of passing forwarding nodes and target address information.
It should be noted that, when no valid target routing information exists in the source node, the source node may create routing creation information and send the routing creation information to the forwarding node, and after receiving the routing creation information, the forwarding node sends routing relay information to the next forwarding node if no valid target routing information is found, until the routing information sent to the target node is found; further, the route creation information and the route relay information are the same, and the contents thereof generally include at least: a source node IP, a destination node IP, a previous hop node IP address, a next hop node IP address, a precursor linked list pointer, etc.
It can be understood that the target routing information in the present scheme is a route that can lead to the target node on the node where the target routing information is located, and if the node where the target routing information is located is not the source node but the forwarding node, the target routing information is only a route from the forwarding node to the target node, but not a route from the source node to the target node, and only when the target routing information is connected with all the forwarding nodes that are passed through, a path that can send data from the source node to the target node is formed. And, the route relay information is updated when passing through each forwarding node, and the updated content may include an IP address of a previous hop node, an IP address of a next hop node, and the like.
Therefore, in the process, if the initial node is the source node, the data is directly sent according to the target routing information; if the initial node is a forwarding node, it means that the route finds the target routing information after being forwarded by other nodes, and therefore, the forwarding node needs to inform the source node of the routing information, that is, when the routing relay information reaches a certain node in the middle, when the routing relay information and the routing information in the routing table of the current node can create complete path information from the source node S to the destination node M, a path data packet containing complete routing information can be constructed by the current node, and is returned to the source node S along the opposite path, S can construct a route from the node S to the node M according to the received path data, and send the data packet to the destination node M along the newly constructed route.
S104, calculating the forwarding probability of each node in the preset range of the initial node according to the position information of each node, selecting a preset number of forwarding nodes according to the forwarding probability of each node, taking each forwarding node as the initial node, and continuing to execute S102.
Specifically, if complete path information from the source node S to the destination node m cannot be created according to the routing relay information sent by the previous node and the routing information in the routing table of the current initial node, the forwarding probability of each node in the predetermined range of the initial node is calculated, a predetermined number of forwarding nodes are selected according to the sequence of the forwarding probabilities from large to small, and the determined forwarding nodes are used for executing S102 to continuously search for the target routing information until the complete path information from the source node S to the destination node m is constructed or the hop count of the data packet exceeds a certain range.
It is obvious, in this scheme, utilize the wireless communication unit of carrying on the unmanned aerial vehicle, obtain near unmanned aerial vehicle's accurate position, the position information according to near unmanned aerial vehicle comes the selective propagation route to establish the information, the quantity that the route was established has been reduced, thereby reduce wireless network resources, furthermore, this scheme combines wireless broadband ad hoc network technique and unmanned aerial vehicle, full play unmanned aerial vehicle occupies this advantage of leading empty high-order, simultaneously with the help of the intelligent type of ad hoc network equipment, unmanned aerial vehicle's application also can break away from the mode of traditional ground single-point control unit, practical application for unmanned aerial vehicle bee colony provides breakthrough's impetus.
Referring to fig. 3, based on the foregoing embodiment, in this embodiment, S104 specifically includes:
s1041, calculating the forwarding probability of each node in the 1-hop range according to the position information of each node in the 1-hop range of the initial node, and selecting 3 intermediate nodes according to the forwarding probability of each node;
s1042, detecting whether target routing information capable of reaching the destination node exists in a routing information table stored in each intermediate node; if yes, executing S103, and if not, executing S1043;
s1043, calculating the forwarding probability of each node in the 2-hop range according to the position information of each node in the 2-hop range of the initial node, selecting 6 forwarding nodes according to the forwarding probability of each node, taking each forwarding node as the initial node, and continuing to execute S102.
In this embodiment, calculating the forwarding probability of each node in the m-hop range includes:
determining the number m of forwarding hops, the total number n of nodes of the network, the transmission radius l of the network, the propagation radius d of each hop and the distance d between each node and a source nodexAnd a weighting factor α; wherein m is a positive integer not less than 1;
calculating the forwarding probability of each node by using a forwarding probability determination rule;
the forwarding probability is determined as:
Specifically, in this embodiment, the routing information table includes location information of each node within a predetermined range of the node, where the predetermined range in this scheme may be set according to an actual situation, in this scheme, a distance of a propagation radius of each node is taken as 1 hop, and after an initial node determines that there is no target routing information in this node, a forwarding node is determined within the predetermined range, and in this embodiment, the predetermined range is a 2-hop range, so in this scheme, first, an intermediate node is selected within the 1-hop range, and then, data is sent to the determined forwarding node through the intermediate node.
In this embodiment, a method for determining an intermediate node and a forwarding node is disclosed, which specifically includes the following steps:
referring to fig. 4, assuming that l is the radius of the ad hoc network of the drone, d is the propagation radius of each hop node, the number of outward nodes is (1,2, …, l/d), n is the number of nodes in the whole network, and then
Is the node density in the entire network. Therefore:
the number of nodes in the 1-hop range is
The number of nodes in the 2-hop range is
The number of nodes in the 3-hop range is
The number of nodes in the m-hop range is as follows:
in FIG. 4, if the central node NSTo be transmitted to other nodes in the network, NSIt is necessary to create routes to other corresponding network nodes, NS1,2, …, m hops on centerThe propagation radii are d, 2d, …, md and NSWhen the route creating message is issued externally, the route creating message is positioned in a one-hop range, and all nodes in the transmission radius can accurately receive the route creating message, because any node can accurately know the positions of other nodes in the 1-hop and 2-hop ranges, the node in the 1-hop range is positioned in the N-hop rangeSThe nodes near the sphere of radius d for the center of the sphere diffuse the route creation information outward.
In order to reduce the network performance caused by excessive routing information, in the present scheme, only 3 intermediate nodes are selected from nodes near the sphere with the radius d as routing information propagation nodes (because the receiving areas of three nodes can cover the whole sphere in the ideal case), as shown in fig. 4, N1、N2、N3Is selected as a routing information intermediate node in a 1-hop range, and the propagation range of 3 nodes covers NSCentered on d, the whole sphere of jump 1 with the radius of NSThe vast majority of the 2-jump sphere range at the center (the figure here is a cross-sectional view in space).
As can be seen from fig. 4, a part still lies at NSThe region between 1 and 2 hops is not centered by N1、N2、N3Is covered by the propagation range of node NSCan inquire out the position at NSFor the situation of nodes distributed in the area between 1 hop and 2 hops, 6 nodes are selected from nodes near the circle with the radius of 2d as routing information propagation nodes. As shown in FIG. 5, N4、N5、N6、N7、N8、N9The routing information forwarding nodes are selected as routing information forwarding nodes in a 2-hop range, and the propagation range of 6 nodes covers NSThe entire 2-hop range centered, while also covering NSThe vast majority of the 3-hop range at the center.
By the above manner, when the source node S broadcasts the route creation information to all the neighboring nodes within the 1-hop range, after the nodes within the 1-hop range receive the route creation information, the route creation information is calculated by the probability:
furthermore, after the nodes between the m-1 and the m-hop range receive the route creation information sent by the m-1 hop, the route creation information is sent by the probability
And sending the route relay information, and propagating the route relay information so as to find a complete path from the source node to the destination node.
It should be noted that, in the present solution, the route creation information sent by the source node is broadcast and sent to the nodes in each 1-hop range, and 3 intermediate nodes are selected from the route creation information, and then forwarded, and the unselected nodes delete the route creation information sent by the source node; the route creation information is valid only on selected nodes and not on selected nodes.
It can be seen that in the unmanned aerial vehicle ad hoc network method in the scheme, in the process of creating the route, the route information data packet is not blindly diffused to all the nodes around in a large scale, but whether the route creation data packet is continuously diffused outwards is selectively and pertinently determined according to the acquired position information, so that the amount of the route creation data packet is greatly reduced, and the data processing delay is shortened.
In the following, the data transmission system provided by the embodiment of the present invention is introduced, and the data transmission system described below and the data transmission system described above may be referred to each other.
Referring to fig. 6, an embodiment of the present invention provides a data transmission system based on an unmanned aerial vehicle ad hoc network, including:
an initial node determining module 100, configured to use a source node as an initial node when the source node sends data to a destination node;
a detecting module 200, configured to detect whether there is target routing information that can reach the destination node in a routing information table stored in the initial node; the routing information table comprises the position information of each node in the preset range of the node;
a data sending module 300, configured to send data to the destination node through the target routing information that is stored in the routing information table and can reach the destination node when the target routing information that can reach the destination node exists in the routing information table;
a forwarding node determining module 400, configured to calculate, when there is no target routing information that can reach the destination node in the routing information table, a forwarding probability of each node within a predetermined range of an initial node according to the location information of each node, select a predetermined number of forwarding nodes according to the forwarding probability of each node, use each forwarding node as the initial node, and continue to trigger the detecting module.
Wherein, the data sending module 300 includes:
a first sending unit, configured to send data to the destination node through a source node by using target routing information when a node storing the target routing information that can reach the destination node is the source node;
a second sending unit, configured to send, if a node storing target routing information that can reach the destination node is a forwarding node, the target routing information and the routing relay information to the source node through the forwarding node, so that the source node sends data to the destination node according to the target routing information and the routing relay information; the routing relay information comprises source node address information, address information of passing forwarding nodes and target address information.
Wherein, this scheme still includes:
an effective route detection module, configured to detect whether target route information that is stored in the route information table and can reach the destination node is effective route information; if yes, triggering the data sending module; if not, the forwarding node determination module is triggered.
Wherein the forwarding node determining module 400 includes:
the intermediate node determining unit is used for calculating the forwarding probability of each node in the 1-hop range according to the position information of each node in the 1-hop range of the initial node, and selecting 3 intermediate nodes according to the forwarding probability of each node;
a routing information detection unit, configured to detect whether there is target routing information that can reach the destination node in a routing information table stored in each intermediate node; if the data exists, the data sending module is triggered, and if the data does not exist, the forwarding node determining unit is triggered;
and the forwarding node determining unit is used for calculating the forwarding probability of each node in the 2-hop range according to the position information of each node in the 2-hop range of the initial node, selecting 6 forwarding nodes according to the forwarding probability of each node, taking each forwarding node as the initial node, and triggering the detection module.
Based on any of the above embodiments, in this embodiment, a computer-readable storage medium is further disclosed, where a computer program is stored on the computer-readable storage medium, and when the computer program is executed by a processor, the steps of the data transmission method are implemented.
Specifically, the storage medium may include: various media capable of storing program codes, such as a usb disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk, or an optical disk.
The embodiments in the present description are described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments are referred to each other.
The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the invention. Thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
Claims (7)
1. A data transmission method based on an unmanned aerial vehicle ad hoc network is characterized by comprising the following steps:
s101, when a source node sends data to a destination node, the source node is used as an initial node;
s102, detecting whether target routing information capable of reaching the destination node exists in a routing information table stored in an initial node; the routing information table comprises the position information of each node in the preset range of the node; if yes, executing S103, and if not, executing S104;
s103, sending data to the destination node through the target routing information which is stored in the routing information table and can reach the destination node;
s104, calculating the forwarding probability of each node in the preset range of the initial node according to the position information of each node, selecting a preset number of forwarding nodes according to the forwarding probability of each node, taking each forwarding node as the initial node, and continuing to execute S102;
wherein the S104 includes:
s1041, calculating the forwarding probability of each node in the 1-hop range according to the position information of each node in the 1-hop range of the initial node, and selecting 3 intermediate nodes according to the forwarding probability of each node;
s1042, detecting whether target routing information capable of reaching the destination node exists in a routing information table stored in each intermediate node; if yes, executing S103, and if not, executing S1043;
s1043, calculating the forwarding probability of each node in the 2-hop range according to the position information of each node in the 2-hop range of the initial node, selecting 6 forwarding nodes according to the forwarding probability of each node, taking each forwarding node as the initial node, and continuing to execute S102;
wherein, calculating the forwarding probability of each node in the m-hop range comprises:
determining the number m of forwarding hops, the total number n of nodes of the network, the transmission radius l of the network, the propagation radius d of each hop and the distance d between each node and a source nodexAnd a weighting factor α; wherein m is a positive integer not less than 1;
calculating the forwarding probability of each node by using a forwarding probability determination rule;
the forwarding probability determination rule is as follows:
2. The data transmission method according to claim 1, wherein the S103 comprises:
if the node storing the target routing information which can reach the destination node is a source node, transmitting data to the destination node by using the target routing information through the source node;
if the node storing the target routing information which can reach the destination node is a forwarding node, the forwarding node sends the target routing information and the routing relay information to the source node so that the source node sends data to the destination node according to the target routing information and the routing relay information;
the routing relay information comprises source node address information, address information of passing forwarding nodes and target address information.
3. The data transmission method according to claim 1, wherein in S102, if there is target routing information that can reach the destination node in the routing information table, before performing S103, the method further includes:
detecting whether target routing information which is stored in the routing information table and can reach the destination node is effective routing information or not; if yes, executing S103; if not, S104 is executed.
4. The utility model provides a data transmission system based on unmanned aerial vehicle ad hoc network which characterized in that includes:
an initial node determining module, configured to use a source node as an initial node when the source node sends data to a destination node;
the detection module is used for detecting whether target routing information capable of reaching the destination node exists in a routing information table stored in the initial node; the routing information table comprises the position information of each node in the preset range of the node;
the data sending module is used for sending data to the destination node through the target routing information which is stored in the routing information table and can reach the destination node when the target routing information which can reach the destination node exists in the routing information table;
the forwarding node determining module is used for calculating the forwarding probability of each node in the preset range of the initial node according to the position information of each node when target routing information which can reach the target node does not exist in the routing information table, selecting a preset number of forwarding nodes according to the forwarding probability of each node, taking each forwarding node as the initial node, and continuing to trigger the detection module;
wherein the forwarding node determination module comprises:
the intermediate node determining unit is used for calculating the forwarding probability of each node in the 1-hop range according to the position information of each node in the 1-hop range of the initial node, and selecting 3 intermediate nodes according to the forwarding probability of each node;
a routing information detection unit, configured to detect whether there is target routing information that can reach the destination node in a routing information table stored in each intermediate node; if the data exists, the data sending module is triggered, and if the data does not exist, the forwarding node determining unit is triggered;
the forwarding node determining unit is used for calculating the forwarding probability of each node in the 2-hop range according to the position information of each node in the 2-hop range of the initial node, selecting 6 forwarding nodes according to the forwarding probability of each node, taking each forwarding node as the initial node, and triggering the detection module;
wherein the forwarding node determination module is specifically configured to: determining the number of forwarding hops m, the total number of nodes n of the network, the transmission radius l of the network, perPropagation radius of hop d, distance of each node from source node dxAnd a weighting factor α; wherein m is a positive integer not less than 1; calculating the forwarding probability of each node by using a forwarding probability determination rule; the forwarding probability determination rule is as follows:
5. The data transmission system of claim 4, wherein the data sending module comprises:
a first sending unit, configured to send data to the destination node through a source node by using target routing information when a node storing the target routing information that can reach the destination node is the source node;
a second sending unit, configured to send, if a node storing target routing information that can reach the destination node is a forwarding node, the target routing information and the routing relay information to the source node through the forwarding node, so that the source node sends data to the destination node according to the target routing information and the routing relay information; the routing relay information comprises source node address information, address information of passing forwarding nodes and target address information.
6. The data transmission system of claim 5, further comprising:
an effective route detection module, configured to detect whether target route information that is stored in the route information table and can reach the destination node is effective route information; if yes, triggering the data sending module; if not, the forwarding node determination module is triggered.
7. A computer-readable storage medium, characterized in that a computer program is stored on the computer-readable storage medium, which computer program, when being executed by a processor, carries out the steps of the data transmission method according to one of claims 1 to 3.
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