CN108200652B - Communication method and device applied to unmanned aerial vehicle cluster - Google Patents
Communication method and device applied to unmanned aerial vehicle cluster Download PDFInfo
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Abstract
The invention provides a communication method and a communication device applied to an unmanned aerial vehicle cluster, wherein at least one message to be transmitted is obtained, all the messages to be transmitted are clustered according to the content in a message type field in each message to be transmitted to obtain at least one message cluster, the message category of each message cluster is analyzed, and the sending mode and the sending time of each message cluster are determined according to the message category of each message cluster, so that each message to be transmitted in each message cluster is sent in a corresponding sending mode at corresponding sending time. According to the invention, different sending modes can be adopted to send different messages to be transmitted at corresponding sending time, so that time slot resources can be fully utilized, and various types of information can be transmitted efficiently and orderly.
Description
Technical Field
The invention relates to the technical field of unmanned aerial vehicle cluster communication, in particular to a communication method and device applied to an unmanned aerial vehicle cluster.
Background
The current unmanned aerial vehicle battlefield environment has high degree of antagonism, high dynamics and high uncertainty, therefore, the mode of unmanned aerial vehicle operation has gradually developed from single platform to the direction of multi-platform unmanned aerial vehicle cluster communication system operation.
Referring to fig. 1, the unmanned aerial vehicle cluster communication system is a communication system composed of a ground mobile station and a plurality of unmanned aerial vehicles, and the system includes a self-organizing communication mode among a plurality of unmanned aerial vehicles and a point-to-multipoint communication mode between the ground mobile station and each unmanned aerial vehicle, and has a complex network topology structure and transient changes.
The communication mode of the unmanned aerial vehicle cluster communication system can adopt one mode of a fixed allocation mode and a dynamic allocation mode.
The fixed allocation mode is to allocate a fixed time slot to each node for information transmission based on a fixed allocation mode, so that although the QoS requirement can be guaranteed, the channel utilization rate is very low, and the time slot allocation scheme cannot be dynamically adjusted according to the dynamic requirement of the service, so that the node still occupies the channel all the time when the node does not send the requirement, and the time slot resource is wasted.
In the dynamic allocation mode, the time slot resources can be allocated according to the requirements of users in the network, that is, when a user has data to send, the user is allocated with a time slot to transmit the data, and when the user has no data to transmit, the user is not allocated with the time slot resources. The method greatly improves the utilization rate of the channel, but because the network dynamics of the unmanned aerial vehicle is strong, the rapid change of the network topology structure can increase the conflict of the messages, so that the convergence time of the time slot reservation is prolonged, and the control overhead is increased.
As can be seen from the above, a single communication method is no longer suitable for the unmanned aerial vehicle trunking communication system, and a message transmission method suitable for the unmanned aerial vehicle trunking communication system is urgently needed.
Disclosure of Invention
In view of this, the present invention provides a communication method and apparatus applied to an unmanned aerial vehicle cluster, so as to solve the problem that a single message access manner is no longer applicable to an unmanned aerial vehicle cluster communication system in the prior art.
In order to solve the technical problems, the invention adopts the following technical scheme:
a communication method applied to an unmanned aerial vehicle cluster comprises the following steps:
acquiring at least one message to be transmitted; the information to be transmitted is information to be transmitted in the unmanned aerial vehicle cluster communication system;
clustering all the messages to be transmitted according to the content in the message type field in each message to be transmitted to obtain at least one message cluster; each message cluster comprises at least one message to be transmitted;
analyzing the message category of each message cluster;
determining a sending mode and sending time of each message cluster according to the message category of each message cluster, so that each message to be transmitted in each message cluster is sent in a corresponding sending mode at corresponding sending time;
the sending modes comprise a fixed allocation transmission mode, a reserved access transmission mode and a competition access transmission mode, and the sending time corresponding to each sending mode is different.
Preferably, the clustering all the messages to be transmitted according to the content in the message type field in each message to be transmitted to obtain at least one message cluster, includes:
extracting the content in the message type field from each message to be transmitted;
and according to the content in each message to be transmitted, grouping at least one message to be transmitted with the same content into a class to obtain at least one message cluster.
Preferably, the determining, according to the message category of each message cluster, a sending method and sending time of each message cluster so that each to-be-transmitted message in each message cluster is sent in a corresponding sending method at a corresponding sending time includes:
acquiring a service type corresponding to the message type of each message cluster; the service types comprise a fixed allocation transmission type, a reserved access transmission type and a competitive access transmission type;
and acquiring a sending mode and sending time corresponding to each service type so as to send each message to be transmitted in each message cluster in a corresponding sending mode at corresponding sending time.
Preferably, the message category includes a synchronization message, a command message, networking information, a reservation access message, and a contention access message.
Preferably, the determining the sending mode and the sending time of each message cluster according to the message category of each message cluster includes:
when the message type of the message cluster is the synchronization message, the command message or the networking message, the sending mode of each message to be transmitted in the message cluster is the fixed distribution transmission mode;
when the message category of the message cluster is the reserved access message, the sending mode of each message to be transmitted in the message cluster is the reserved access transmission mode;
when the message category of the message cluster is the contention access message, the sending mode of each message to be transmitted in the message cluster is the contention access transmission mode;
the transmission time of message transmission by adopting the fixed distribution transmission mode is earlier than the transmission time of message transmission by adopting the reserved access transmission mode;
and the transmission time of message transmission by adopting the reserved access transmission mode is earlier than the transmission time of message transmission by adopting the competition access transmission mode.
A communication device for use in a cluster of drones, comprising:
the acquisition module is used for acquiring at least one message to be transmitted; the information to be transmitted is information to be transmitted in the unmanned aerial vehicle cluster communication system;
the clustering module is used for clustering all the messages to be transmitted according to the content in the message type field in each message to be transmitted to obtain at least one message cluster; each message cluster comprises at least one message to be transmitted;
the analysis module is used for analyzing the message category of each message cluster;
a determining module, configured to determine, according to the message category of each message cluster, a sending manner and sending time of each message cluster, so that each to-be-transmitted message in each message cluster is sent in a corresponding sending manner at a corresponding sending time;
the sending modes comprise a fixed allocation transmission mode, a reserved access transmission mode and a competition access transmission mode, and the sending time corresponding to each sending mode is different.
Preferably, the clustering module comprises:
the extraction submodule is used for extracting the content in the message type field from each message to be transmitted;
and the clustering submodule is used for clustering at least one message to be transmitted with the same content into a class according to the content in each message to be transmitted to obtain at least one message cluster.
Preferably, the determining module comprises:
the first obtaining submodule is used for obtaining the service type corresponding to the message type of each message cluster; the service types comprise a fixed allocation transmission type, a reserved access transmission type and a competitive access transmission type;
and the second obtaining submodule is used for obtaining the sending mode and the sending time corresponding to each service type so as to enable each message to be transmitted in each message cluster to be sent in a corresponding sending mode at corresponding sending time.
Preferably, the message category includes a synchronization message, a command message, networking information, a reservation access message, and a contention access message.
Preferably, the determining module comprises:
a first determining submodule, configured to, when a message category of the message cluster is the synchronization message, the command message, or the networking message, determine a sending mode of each to-be-transmitted message in the message cluster as the fixed allocation transmission mode;
a second determining submodule, configured to, when the message category of the message cluster is the reserved access message, determine a sending mode of each to-be-transmitted message in the message cluster as the reserved access transmission mode;
a third determining submodule, configured to, when a message category of the message cluster is the contention access message, determine a sending mode of each to-be-transmitted message in the message cluster as the contention access transmission mode;
the transmission time of message transmission by adopting the fixed distribution transmission mode is earlier than the transmission time of message transmission by adopting the reserved access transmission mode;
and the transmission time of message transmission by adopting the reserved access transmission mode is earlier than the transmission time of message transmission by adopting the competition access transmission mode.
Compared with the prior art, the invention has the following beneficial effects:
the invention provides a communication method and a communication device applied to an unmanned aerial vehicle cluster, wherein at least one message to be transmitted is obtained, all the messages to be transmitted are clustered according to the content in a message type field in each message to be transmitted to obtain at least one message cluster, the message category of each message cluster is analyzed, and the sending mode and the sending time of each message cluster are determined according to the message category of each message cluster, so that each message to be transmitted in each message cluster is sent in a corresponding sending mode at corresponding sending time. According to the invention, different sending modes can be adopted to send different messages to be transmitted at corresponding sending time, so that time slot resources can be fully utilized, and various types of information can be transmitted efficiently and orderly.
Drawings
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 embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the provided drawings without creative efforts.
Fig. 1 is a schematic structural diagram of an unmanned aerial vehicle cluster communication system;
fig. 2 is a flowchart of a communication method of an unmanned aerial vehicle cluster according to the present invention;
fig. 3 is a flowchart of a communication method of another cluster of drones according to the present invention;
fig. 4 is a flowchart of a communication method of an unmanned aerial vehicle cluster according to another embodiment of the present invention;
FIG. 5 is a diagram illustrating a structure of a data frame according to the present invention;
fig. 6 is a schematic structural diagram of a communication device of an unmanned aerial vehicle cluster provided in 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.
An embodiment of the present invention provides a communication method applied to an unmanned aerial vehicle cluster, and with reference to fig. 1, the communication method may include:
s11, acquiring at least one message to be transmitted;
the information to be transmitted is information to be transmitted in the unmanned aerial vehicle cluster communication system. Specifically, the message to be transmitted is a message for ensuring that the unmanned aerial vehicle cluster can work normally. The message types of the messages to be transmitted are divided into a plurality of types, namely synchronous messages, command control messages, networking messages, reservation access messages and competition access messages.
The synchronization message is a message for time synchronization.
The demand on real-time performance of the command message is high. The command control message comprises the flight height and the flight direction of the unmanned aerial vehicle, and is used for controlling the flight height and the flight direction of the unmanned aerial vehicle so that the unmanned aerial vehicle can continuously move according to the real-time control of the ground mobile station.
The networking information may include:
1. hello message: in the networking information transmission phase, in order to maintain the route and timely discover the route interrupted by the movement of the unmanned aerial vehicle node or other reasons, each unmanned aerial vehicle node needs to broadcast a Hello message to maintain local topology control.
2. Position information: the unmanned aerial vehicle node needs to update its location information for cooperative control.
3. Routing control information: in the networking information transmission stage, routing control information needs to be transmitted, so that data information can accurately reach the target unmanned aerial vehicle node. The routing control message includes information such as a routing table, a protocol IP and an original IP interconnected between destination networks, and the like.
The reservation access message is a message with higher requirement on quality of service (QoS) for services such as monitoring videos and data among nodes of the unmanned aerial vehicle.
The contention access message is data in a small amount of bursty traffic, such as: reconnaissance of data in the traffic or monitoring of data in the traffic, etc.
S12, clustering all messages to be transmitted according to the content in the message type field in each message to be transmitted to obtain at least one message cluster;
wherein each message cluster comprises at least one message to be transmitted.
Optionally, on the basis of this embodiment, step S12 may include: 1) extracting the content in the message type field from each message to be transmitted;
specifically, each message to be transmitted includes a message type field, and the content in the field is data capable of indicating the message type of the message to be transmitted, such as data that may be a synchronization message, a command message, networking information, a reservation access message, and a contention access message.
2) And according to the content in each message to be transmitted, grouping at least one message to be transmitted with the same content into a class to obtain at least one message cluster.
Specifically, in this embodiment, the process of dividing a set of physical or abstract objects into a plurality of classes composed of similar objects is called clustering to cluster a plurality of messages to be transmitted.
At least one message to be transmitted with the same content is grouped into one type, and then a plurality of message clusters can be obtained.
S13, analyzing the message category of each message cluster;
wherein the message types of different message clusters are different.
The message type of the message cluster can be the same as the message type of the message to be transmitted, and also can be divided into several types of synchronous messages, command control messages, networking information, reservation access messages and competition access messages.
S14, determining the sending mode and sending time of each message cluster according to the message category of each message cluster, so that each message to be transmitted in each message cluster is sent in a corresponding sending mode at corresponding sending time;
the sending modes comprise a fixed allocation transmission mode, a reserved access transmission mode and a competition access transmission mode, and the sending time corresponding to each sending mode is different.
In this embodiment, at least one message to be transmitted is obtained, all messages to be transmitted are clustered according to the content in the message type field of each message to be transmitted, so as to obtain at least one message cluster, the message category of each message cluster is analyzed, and the sending mode and the sending time of each message cluster are determined according to the message category of each message cluster, so that each message to be transmitted in each message cluster is sent in a corresponding sending mode at corresponding sending time. According to the invention, different sending modes can be adopted to send different messages to be transmitted at corresponding sending time, so that time slot resources can be fully utilized, and various types of information can be transmitted efficiently and orderly.
Optionally, on the basis of any of the foregoing embodiments, referring to fig. 3, step S14 may include:
s31, acquiring the service type corresponding to the message type of each message cluster;
the service types comprise a fixed allocation transmission type, a reserved access transmission type and a competition access transmission type.
Specifically, different message categories correspond to different service types, the message categories may include a synchronization message, a finger control message, networking information, a reservation access message, and a contention access message, and the service types corresponding to the synchronization message, the finger control message, and the networking information are fixed allocation transmission types. The service type corresponding to the reserved access message is a reserved access transmission type. And the competition access transmission type corresponding to the competition access message.
And S32, acquiring the corresponding sending mode and sending time of each service type, so that each message to be transmitted in each message cluster is sent in the corresponding sending mode at the corresponding sending time.
The messages of the fixed distribution transmission type are transmitted in a fixed distribution transmission mode, the messages of the reserved access transmission type are transmitted in a reserved access transmission mode, and the messages of the competitive access transmission type are transmitted in a competitive access transmission mode.
Firstly, a fixed allocation mode of time division multiple access TDMA is adopted to allocate corresponding fixed transmission time for messages corresponding to fixed allocation transmission types, reservation access transmission types and competition access transmission types.
Specifically, the transmission of the synchronization information, the instruction control information and the networking information adopts a fixed distribution transmission mode, a reserved access transmission stage is entered after the fixed distribution transmission stage is completed, the reserved access transmission stage mainly transmits reserved access information, a competitive access transmission stage is entered after the reserved access transmission stage is completed, and response data with small data volume and burstiness is transmitted in the competitive access transmission stage. Therefore, the whole frame system mainly includes three parts, namely, a fixed allocation frame system, a reserved allocation frame system and a contention allocation frame system.
In this embodiment, the transmission mode of the message may be determined according to the service type corresponding to the message category of the message cluster, so that the time slot resource may be fully utilized, and various types of information may be efficiently and orderly transmitted.
Optionally, on the basis of the embodiment corresponding to fig. 2, when the message category includes a synchronization message, an instruction control message, networking information, a reservation access message, and a contention access message, determining a sending mode and sending time of each message cluster according to the message category of each message cluster, includes:
1) when the message type of the message cluster is a synchronous message, a command message or a networking message, the sending mode of each message to be transmitted in the message cluster is a fixed distribution transmission mode;
2) when the message category of the message cluster is a reserved access message, the sending mode of each message to be transmitted in the message cluster is a reserved access transmission mode;
3) when the message type of the message cluster is a competitive access message, the sending mode of each message to be transmitted in the message cluster is a competitive access transmission mode;
the transmission time of message transmission by adopting a fixed distribution transmission mode is earlier than the transmission time of message transmission by adopting a reserved access transmission mode;
the transmission time of the message transmission by adopting the reserved access transmission mode is earlier than the transmission time of the message transmission by adopting the competition access transmission mode.
The method comprises the steps of allocating fixed transmission time periods for a fixed allocation transmission mode, a reserved access transmission mode and a competition access transmission mode, for example, transmitting synchronous information in the fixed allocation transmission mode in 0-1ms, transmitting command information in the fixed allocation transmission mode in 1-3ms, transmitting networking information in the fixed allocation transmission mode in 4-6ms, transmitting reserved access information in the reserved access transmission mode in 6-12ms, and transmitting competition access information in the competition access transmission mode in 12-14 ms.
Specifically, when the message category of the message cluster is a synchronization message, a command message, or a networking message, the sending mode of each message to be transmitted is a fixed allocation transmission mode, that is, a fixed allocation mode, is adopted, that is, a fixed gap is allocated for the transmission of data, and the data is transmitted when the allocated gap arrives.
The sending time of the synchronous message is earlier than that of the command control message, and the sending time of the command control message is earlier than that of the networking message.
After the ground mobile station determines the sending time and sending mode of at least one message to be transmitted, i.e. the time slot distribution table for message sending, it enters into the message sending phase. At this time, a low power mode is entered, wherein the low power mode refers to a state in which data is not transmitted.
Thereafter, the ground mobile station determines in real time whether the time slice reaches the first time period, and when the first time period is reached, the ground mobile station can transmit the synchronization message.
And if the first time slice does not arrive, the low power consumption mode is still kept. And after the first time slice arrives, sending a synchronization message. And after receiving the synchronization message, the unmanned aerial vehicle performs time synchronization.
And when the second time slice is reached, sending a command message, and after the command message is sent, judging whether a response message of the unmanned aerial vehicle is received.
And after receiving the response message fed back by each unmanned aerial vehicle, clearing all the command control messages stored in the cache area.
Specifically, after a response message fed back by each unmanned aerial vehicle is received, the content in the cache area is cleared, and the low power consumption mode is entered, and if no response message is obtained, the low power consumption mode is directly entered.
It should be noted that, after receiving the command message, the drone moves to a position specified in the corresponding command message according to the command message.
Specifically, after receiving the command message, the unmanned aerial vehicle moves to a specified place according to the command message. If the command message indicates that the unmanned aerial vehicle flies upwards for two hundred meters, the unmanned aerial vehicle flies upwards for two hundred meters after receiving the command message.
After the unmanned aerial vehicle moves to the designated position according to the instruction control message, whether the unmanned aerial vehicle enters a third time slice for transmitting the networking message is waited, and if the third time slice is reached, each unmanned aerial vehicle starts to send the networking message to all unmanned aerial vehicles except the unmanned aerial vehicle in the unmanned aerial vehicle cluster communication system, so that all unmanned aerial vehicles in the unmanned aerial vehicle cluster communication system form an ad hoc network according to the networking message.
Specifically, the networking information has a high requirement on real-time performance like the command message. When such messages need to be transmitted, a fixed allocation transmission mode is adopted. In addition, after receiving the time slot allocation table sent by the ground mobile station, the unmanned aerial vehicle continuously judges whether the third time slot is reached, sends networking messages when the third time slot is reached, and enters a low power consumption mode when the third time slot is not reached.
After each unmanned aerial vehicle broadcasts out its own networking message, other unmanned aerial vehicles in the unmanned aerial vehicle cluster communication system can receive the networking message, and then according to the networking message, constitute the ad hoc network.
The ad hoc network adopts a mobile communication mode of a peer-to-peer structure without a base station, and all networking devices in the network can be dynamically networked in the moving process. The network does not require any pre-installed wireless communication infrastructure, and all nodes coordinate the respective behavior of each node through a layered protocol architecture and a distributed algorithm. Nodes can be networked quickly, autonomously, and independently.
And after the networking message is sent, when the fourth time slice for transmitting the reserved access message by adopting the reserved access transmission mode is reached, starting to transmit the reserved access message by adopting the reserved access transmission mode.
Specifically, at least one unmanned aerial vehicle sends a reservation access message to all unmanned aerial vehicles except the unmanned aerial vehicle in the unmanned aerial vehicle cluster communication system;
specifically, the reserved access message may include service data such as a monitoring video or monitoring data, which has a high requirement on real-time performance. Because the requirement of service data such as monitoring videos and data among nodes of the unmanned aerial vehicle on the QoS is high, when the service of the type needs to be transmitted, a reservation access transmission mode is adopted, the QoS requirement of the service can be guaranteed, and the problem of hiding a terminal can be well solved.
Wherein, the definition of the Hidden terminal (Hidden states) is as follows: in the communication field, a base station A sends information to a base station B, and a base station C does not detect that the base station A also sends information to the base station B, so that the base station A and the base station C send signals to the base station B at the same time, signal collision is caused, and finally the signals sent to the base station B are lost.
And when the fourth time slice for transmitting the message by adopting the reserved access transmission mode is finished and the fifth time slice for transmitting the competition access message by adopting the competition access transmission mode is reached, starting to transmit the competition access message by adopting the competition access transmission mode.
Specifically, at least one drone transmits a contention access message to a ground mobile station. The contention access message refers to some data in a small amount of bursty traffic, such as: reconnaissance of data in the traffic or monitoring of data in the traffic, etc. And the competition access message is transmitted in a competition access transmission mode.
The contention access transmission mode may be a contention mode of a L OHA, where the contention mode is to allow the node to immediately transmit data when a contention access message of one drone needs to be transmitted.
When the drone sending the data does not receive the message fed back by the ground mobile station within a specified time, such as 5ms, the data will be retransmitted.
In this embodiment, different messages are classified, different message transmission modes are set, that is, clustering analysis is performed on various services existing in the network, and then different access modes are adopted according to the characteristics of different clusters, so that the advantages of the various access modes are fully utilized, the packet loss rate is lower, the network delay is smaller, the time slot resources are fully utilized, and various messages can be transmitted efficiently and orderly.
Optionally, on the basis of the previous embodiment, referring to fig. 4, a process of transmitting a reservation access message by using a reservation access transmission manner includes:
s21, after the random back-off appointed time, monitoring whether the channel is idle; wherein, when the channel is idle, the step S22 is executed, and when the channel is not idle, the step S26 is executed.
The message sending node is any unmanned aerial vehicle which needs to send the reservation access message in the unmanned aerial vehicle cluster communication system.
The random backoff is: in order to avoid collision caused by the fact that a large number of unmanned aerial vehicle nodes send data transmission requests at the same time, during the backoff period, the nodes randomly select the backoff time, and different nodes select different backoff times, so that collision can be effectively avoided. For example, drone a may back off for 5ms and drone B may back off for 10 ms.
When the unmanned aerial vehicle which needs to send the reservation access message reaches the back-off time, whether the channel is idle or not is monitored. The monitoring of whether the channel is idle is to see whether data is being sent in the channel, and when no data is being sent, the channel is in an idle state.
S22, the message sending node sends a RTS request to all unmanned aerial vehicles except the message sending node in the unmanned aerial vehicle cluster communication system;
wherein, the RTS request includes the identity of the target unmanned aerial vehicle.
Specifically, the message sending node broadcasts the RTS request, and then other drones can receive the RTS request. The RTS request is to inform other drones in the ad hoc network that the drone has data to send.
The RTS request carries an identity of the target drone, and the target drone sends a destination of data to the message sending node.
S23, when the target unmanned aerial vehicle receives the RTS request, the target unmanned aerial vehicle feeds back a response message to the message sending node;
specifically, because the RTS request carries the identity of the target drone, the RTS request can only be recognized and analyzed by the target drone, and when the target drone receives the RTS request, a response message is generated and sent to the message sending node. Wherein the response message may be a CTS response message.
S24, when the message sending node receives the response message, sending a channel occupation message to all unmanned aerial vehicles except the message sending node in the unmanned aerial vehicle cluster communication system;
in particular, the channel occupancy message is sent in order to inform other drones that the channel is about to be occupied.
And S25, the message sending node sends the reservation access message to the target unmanned aerial vehicle.
And after the message sending node successfully sends out the channel occupation message, the reservation access message to be sent is sent to the target unmanned aerial vehicle.
The message sending node judges whether the ACK is received or not after the reserved access message is sent, and if the ACK is received, the reserved access message is sent successfully; and if the ACK is not received, continuing to perform a random back-off process and retransmitting the reserved access message.
S26, entering a random back-off process.
Specifically, when the channel is not idle, a random backoff procedure is performed, and after the backoff is completed, step S21 is started.
In this embodiment, the reservation access transmission mode is adopted to transmit the message, so that the reservation access message can be transmitted only when the unmanned aerial vehicle in the unmanned aerial vehicle cluster communication system is randomly retreated and the channel is idle, thereby avoiding the problem of data transmission failure caused by the simultaneous data transmission of a plurality of unmanned aerial vehicles.
As can be seen from the above description, referring to fig. 5 in this embodiment, in fig. 5, the synchronization message, the instruction control message, the networking message, the reserved access message, and the contention access message are used as one frame of data, the synchronization message, the instruction control message, and the networking message use a fixed allocation transmission mode, the reserved access message uses a reserved access transmission mode, and the contention access message uses a contention access transmission mode.
And after the synchronous message, the command control message, the networking information, the reservation access message and the competition access message in each frame of data are transmitted, transmitting the next frame of data. Wherein, the above messages need to be transmitted in each frame data.
In fig. 5, data transmitted by using the fixed allocation transmission method, the reserved access transmission method, and the contention access transmission method all need to be transmitted within a corresponding fixed time.
Optionally, on the basis of the above embodiment of the communication method applied to the unmanned aerial vehicle cluster, another embodiment of the present invention provides a communication device applied to the unmanned aerial vehicle cluster, and with reference to fig. 6, the communication device may include:
an obtaining module 101, configured to obtain at least one message to be transmitted; the information to be transmitted is information to be transmitted in the unmanned aerial vehicle cluster communication system;
the clustering module 102 is configured to cluster all messages to be transmitted according to content in a message type field in each message to be transmitted, so as to obtain at least one message cluster; each message cluster comprises at least one message to be transmitted;
an analysis module 103, configured to analyze a message category of each message cluster;
a determining module 104, configured to determine a sending method and sending time of each message cluster according to the message category of each message cluster, so that each to-be-transmitted message in each message cluster is sent in a corresponding sending method at a corresponding sending time;
the sending modes comprise a fixed allocation transmission mode, a reserved access transmission mode and a competition access transmission mode, and the sending time corresponding to each sending mode is different.
Further, the clustering module 102 may include:
the extraction submodule is used for extracting the content in the message type field from each message to be transmitted;
and the clustering submodule is used for clustering at least one message to be transmitted with the same content into a class according to the content in each message to be transmitted to obtain at least one message cluster.
In this embodiment, at least one message to be transmitted is obtained, all messages to be transmitted are clustered according to the content in the message type field of each message to be transmitted, so as to obtain at least one message cluster, the message category of each message cluster is analyzed, and the sending mode and the sending time of each message cluster are determined according to the message category of each message cluster, so that each message to be transmitted in each message cluster is sent in a corresponding sending mode at corresponding sending time. According to the invention, different sending modes can be adopted to send different messages to be transmitted at corresponding sending time, so that time slot resources can be fully utilized, and various types of information can be transmitted efficiently and orderly.
It should be noted that, for the working processes of each module and sub-module in this embodiment, please refer to the working processes of each module in the above embodiments, which are not described herein again.
Optionally, on the basis of any one of the embodiments of the communication apparatus, the determining module 104 includes:
the first obtaining submodule is used for obtaining the service type corresponding to the message category of each message cluster; the service types comprise a fixed allocation transmission type, a reserved access transmission type and a competitive access transmission type;
and the second obtaining submodule is used for obtaining the sending mode and the sending time corresponding to each service type so as to enable each message to be transmitted in each message cluster to be sent in a corresponding sending mode at corresponding sending time.
In this embodiment, the transmission mode of the message may be determined according to the service type corresponding to the message category of the message cluster, so that the time slot resource may be fully utilized, and various types of information may be efficiently and orderly transmitted.
It should be noted that, for the working processes of each module and sub-module in this embodiment, please refer to the working processes of each module in the above embodiments, which are not described herein again.
Optionally, on the basis of the embodiment corresponding to fig. 6, the message category includes a synchronization message, a command message, networking information, a reservation access message, and a contention access message.
Further, the determining module comprises:
the first determining submodule is used for determining the sending mode of each message to be transmitted in the message cluster to be a fixed distribution transmission mode when the message type of the message cluster is a synchronous message, an instruction control message or a networking message;
the second determining submodule is used for determining the sending mode of each message to be transmitted in the message cluster as a reserved access transmission mode when the message type of the message cluster is reserved access message;
a third determining submodule, configured to, when the message category of the message cluster is a contention access message, determine a sending mode of each to-be-transmitted message in the message cluster as a contention access transmission mode;
the transmission time of message transmission by adopting a fixed distribution transmission mode is earlier than the transmission time of message transmission by adopting a reserved access transmission mode;
the transmission time of the message transmission by adopting the reserved access transmission mode is earlier than the transmission time of the message transmission by adopting the competition access transmission mode.
In this embodiment, different messages are classified, different message transmission modes are set, that is, clustering analysis is performed on various services existing in the network, and then different access modes are adopted according to the characteristics of different clusters, so that the advantages of the various access modes are fully utilized, the packet loss rate is lower, the network delay is smaller, the time slot resources are fully utilized, and various messages can be transmitted efficiently and orderly.
It should be noted that, for the working processes of each module and sub-module in this embodiment, please refer to the working processes of each module in the above embodiments, which are not described herein again.
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 (10)
1. A communication method applied to an unmanned aerial vehicle cluster is characterized by comprising the following steps:
acquiring at least one message to be transmitted; the information to be transmitted is information to be transmitted in the unmanned aerial vehicle cluster communication system;
clustering all the messages to be transmitted according to the content in the message type field in each message to be transmitted to obtain at least one message cluster; each message cluster comprises at least one message to be transmitted;
analyzing the message category of each message cluster; the service type corresponding to the message type has a corresponding sending mode and sending time;
determining a sending mode and sending time of each message cluster according to the message category of each message cluster, so that each message to be transmitted in each message cluster is sent in a corresponding sending mode at corresponding sending time;
the sending modes comprise a fixed allocation transmission mode, a reserved access transmission mode and a competition access transmission mode, and the sending time corresponding to each sending mode is different.
2. The communication method according to claim 1, wherein the clustering all the messages to be transmitted according to the content in the message type field of each message to be transmitted to obtain at least one message cluster comprises:
extracting the content in the message type field from each message to be transmitted;
and according to the content in each message to be transmitted, grouping at least one message to be transmitted with the same content into a class to obtain at least one message cluster.
3. The communication method according to claim 1, wherein the determining, according to the message category of each message cluster, a sending manner and a sending time of each message cluster so that each message to be transmitted in each message cluster is sent in a corresponding sending manner at a corresponding sending time comprises:
acquiring a service type corresponding to the message type of each message cluster; the service types comprise a fixed allocation transmission type, a reserved access transmission type and a competitive access transmission type;
and acquiring a sending mode and sending time corresponding to each service type so as to send each message to be transmitted in each message cluster in a corresponding sending mode at corresponding sending time.
4. The communication method according to claim 1, wherein the message categories include synchronization messages, steering messages, networking information, reserved access messages, and contention access messages.
5. The communication method according to claim 4, wherein the determining a sending mode and a sending time of each message cluster according to the message category of each message cluster comprises:
when the message type of the message cluster is the synchronization message, the command message or the networking message, the sending mode of each message to be transmitted in the message cluster is the fixed distribution transmission mode;
when the message category of the message cluster is the reserved access message, the sending mode of each message to be transmitted in the message cluster is the reserved access transmission mode;
when the message category of the message cluster is the contention access message, the sending mode of each message to be transmitted in the message cluster is the contention access transmission mode;
the transmission time of message transmission by adopting the fixed distribution transmission mode is earlier than the transmission time of message transmission by adopting the reserved access transmission mode;
and the transmission time of message transmission by adopting the reserved access transmission mode is earlier than the transmission time of message transmission by adopting the competition access transmission mode.
6. A communication device applied to unmanned aerial vehicle cluster is characterized by comprising:
the acquisition module is used for acquiring at least one message to be transmitted; the information to be transmitted is information to be transmitted in the unmanned aerial vehicle cluster communication system;
the clustering module is used for clustering all the messages to be transmitted according to the content in the message type field in each message to be transmitted to obtain at least one message cluster; each message cluster comprises at least one message to be transmitted;
the analysis module is used for analyzing the message category of each message cluster; the service type corresponding to the message type has a corresponding sending mode and sending time;
a determining module, configured to determine, according to the message category of each message cluster, a sending manner and sending time of each message cluster, so that each to-be-transmitted message in each message cluster is sent in a corresponding sending manner at a corresponding sending time;
the sending modes comprise a fixed allocation transmission mode, a reserved access transmission mode and a competition access transmission mode, and the sending time corresponding to each sending mode is different.
7. The communications apparatus of claim 6, wherein the clustering module comprises:
the extraction submodule is used for extracting the content in the message type field from each message to be transmitted;
and the clustering submodule is used for clustering at least one message to be transmitted with the same content into a class according to the content in each message to be transmitted to obtain at least one message cluster.
8. The communications apparatus of claim 6, wherein the means for determining comprises:
the first obtaining submodule is used for obtaining the service type corresponding to the message type of each message cluster; the service types comprise a fixed allocation transmission type, a reserved access transmission type and a competitive access transmission type;
and the second obtaining submodule is used for obtaining the sending mode and the sending time corresponding to each service type so as to enable each message to be transmitted in each message cluster to be sent in a corresponding sending mode at corresponding sending time.
9. The communications apparatus of claim 6, wherein the message categories include synchronization messages, steering messages, networking information, reserved access messages, and contention access messages.
10. The communications apparatus of claim 9, wherein the means for determining comprises:
a first determining submodule, configured to, when a message category of the message cluster is the synchronization message, the command message, or the networking message, determine a sending mode of each to-be-transmitted message in the message cluster as the fixed allocation transmission mode;
a second determining submodule, configured to, when the message category of the message cluster is the reserved access message, determine a sending mode of each to-be-transmitted message in the message cluster as the reserved access transmission mode;
a third determining submodule, configured to, when a message category of the message cluster is the contention access message, determine a sending mode of each to-be-transmitted message in the message cluster as the contention access transmission mode;
the transmission time of message transmission by adopting the fixed distribution transmission mode is earlier than the transmission time of message transmission by adopting the reserved access transmission mode;
and the transmission time of message transmission by adopting the reserved access transmission mode is earlier than the transmission time of message transmission by adopting the competition access transmission mode.
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| CN109510658B (en) * | 2018-12-29 | 2021-06-15 | 湖北航天技术研究院总体设计所 | Networking access method, system and platform applied to multi-floating platform scene |
| CN111194087B (en) * | 2020-01-07 | 2023-02-17 | 江苏飞图智能控制技术有限公司 | Method, device and system for converging network communication of unmanned aerial vehicle |
| CN116896767B (en) * | 2023-09-11 | 2024-01-23 | 四川腾盾科技有限公司 | Unmanned aerial vehicle cluster information transmission and synchronization method under unreliable network |
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