CN108924788A - Energy consumption balance method in wireless ultraviolet light cooperation unmanned plane formation network - Google Patents
Energy consumption balance method in wireless ultraviolet light cooperation unmanned plane formation network Download PDFInfo
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/30—Services specially adapted for particular environments, situations or purposes
- H04W4/40—Services specially adapted for particular environments, situations or purposes for vehicles, e.g. vehicle-to-pedestrians [V2P]
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W52/00—Power management, e.g. TPC [Transmission Power Control], power saving or power classes
- H04W52/04—TPC
- H04W52/18—TPC being performed according to specific parameters
- H04W52/28—TPC being performed according to specific parameters using user profile, e.g. mobile speed, priority or network state, e.g. standby, idle or non transmission
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W52/00—Power management, e.g. TPC [Transmission Power Control], power saving or power classes
- H04W52/04—TPC
- H04W52/38—TPC being performed in particular situations
Abstract
The invention discloses energy consumption balance methods in wireless ultraviolet light cooperation unmanned plane formation network.Initially set up the non-direct-view scattering,single traffic model of ultraviolet light, it determines the energy attenuation formula of ultraviolet light NILOS (c) class communication mode lower channel, is formed into columns using wireless ultraviolet communication energy consumption model to unmanned plane in-flight carry out energy consumption analysis on this basis.It executes to form into columns to unmanned plane secondly by the circulation that cluster head election, the foundation of cluster and stable data transmit 3 stages and carries out sub-clustering management, achieve the purpose that equalising network energy consumption.The advantages of the method for the present invention combining wireless ultraviolet Scattering Communication, forms into columns to unmanned plane by sub-clustering Topology Management mechanism and carries out energy consumption balance, can effectively optimize the energy distribution of unmanned plane formation, extend the life span that unmanned plane is formed into columns.
Description
Technical field
The invention belongs to photoelectric information technical field, it is related to energy consumption in a kind of wireless ultraviolet light cooperation unmanned plane formation network
Equalization methods.
Background technique
In recent years, the development of unmanned air vehicle technique relative maturity, has played unique effect in military and civilian.For
The function and effectiveness of single unmanned plane are improved, formation cluster concept comes into being, and relatively single unmanned plane being capable of very big enhancing collection
The survival ability of group's unmanned plane, extension unmanned plane improve unmanned plane and are performed in unison with task to the perception acquisition capability of battle field information
Ability.
Since unmanned plane application, safety problem is just adjoint always and gives birth to, and traditional radio communication is in practice
Radio listening silence, wireless monitoring, electronic interferences situations such as will affect the normal communication of link between unmanned plane, cause to generate wrong
Control instruction accidentally, causes that task can not be executed, in some instances it may even be possible to which air crash out of control, it is very that this, which is the battlefield surroundings become for the instant,
Unfavorable.And wireless " day is blind " ultraviolet communication mainly uses the ultraviolet band light wave of 200-280nm as transmission medium, benefit
The one kind for carrying out information transmission to the scattering of " day is blind " ultraviolet light with particles such as particle, aerosol, dusts in atmosphere is novel logical
Letter mode.Since there is low eavesdropping rate, low level to debate rate for ultraviolet communication, comprehensive property, strong antijamming capability, can be used for non-direct-view
(non-line-of-sight, NLOS) communication, all weather operations are not necessarily to the advantages that capture, alignment and tracking (APT), Neng Gouman
The reliable secret communication demand of unmanned plane in the complicated battlefield surroundings of foot.
In military domain, unmanned plane formation can be utilized for intelligence reconnaissance and battlefield surveillance, the information spied out passed through
Data link transmission is to leader, and leader is analyzed and processed collected data, then according to processing result progress decision.Its
In, formation unmanned plane dump energy is to determine the key factor of cooperation reconnaissance time, the energy consumption between balanced unmanned plane,
The reconnaissance time of unmanned plane formation can be extended.
Summary of the invention
The object of the present invention is to provide a kind of energy consumption balance methods in wireless ultraviolet light cooperation unmanned plane formation network, solve
The low problem of communication reliability of the traditional radio communication under Complex Battlefield Environments, and reach optimization unmanned plane formation energy
Distribution, increases the purpose of network lifecycle.
The technical scheme adopted by the invention is that energy consumption balance method in wireless ultraviolet light cooperation unmanned plane formation network,
It is specifically implemented according to the following steps：
Step 1, using the non-direct-view single scattering model of ultraviolet light, communication link between machine is established.
Based on ellipsoidal coordinates, ultraviolet light emission device and reception device are respectively placed at the two of ellipsoidal coordinates
In a focus.At the t=0 moment, energy EtThe transmitting of pulse emitted end after, arrived after isotropic medium scatters and absorbs
Up to receiving end.Under ultraviolet light NLOS (c) communication mode, and only consider Rayleigh scattering when, channel energy decay formula is：
In formula, EtTo emit pulse energy, unit J；
ErFor the energy that receiver detector receives, unit J；
R is transmitting terminal at a distance from receiving end, unit m；
βt、βrRespectively transmitting terminal, the receiving end elevation angle, unit radian；
θtTo emit half-angle, unit radian；
θsFor angle of scattering, unit radian；
ks、keRespectively scattering coefficient, attenuation coefficient, unit m-1；
P (μ) is single scattering phase function；
ArFor receiving aperture area, unit cm2。
Step 2, cluster head election in unmanned plane formation.
Unmanned plane, which is formed into columns, uses " leader-wing plane " offline mode, and carry ultraviolet communication hair receives dress on every frame unmanned plane
It sets, and known to assuming the receiving directions of data when communication between each unmanned plane each other.All wing plane nodes are all isomorphisms, that is, are had
There are identical data-handling capacity, communication capacity and primary power etc., and equal, cluster head node or member can be served as
Node, each node have a unique mark (ID).
Cluster head election need in dump energy based on wing plane node and network the average energy of wing plane node ratio, for letter
Change and calculate, is elected using the estimated value of average residual energy instead of average residual energy in real network come the cluster head of calculate node
Probability.Assuming that the wing plane node mean consumption energy in each round, then the average energy of wing plane node is in r wheel：
In formula, r is the wheel number currently elected, unit wheel；
N is wing plane quantity in network, unit；
EtotalFor network initial total energy, unit J；
rmaxFor network lifetime, unit wheel.
After the average energy for estimating every wheel wing plane node, carried out as reference value and the dump energy of wing plane node
Compare, residue energy of node is greater than its select probability of the node of average nodal dump energy and increases corresponding value, and dump energy is small
Node select probability reduce corresponding ratio, then the cluster head of each wing plane node elects Probability piFor：
In formula, poptFor the desired value of cluster head node percentage in unmanned plane bee colony wing plane node；
Ei(r) dump energy of wing plane node i when being taken turns for r.
The election threshold de of cluster head is in network at this time：
In formula, G is in nearest 1/piIt was not elected to the node set of cluster head in wheel.
Wing plane node generates the random number between a 0-1, if the random number is less than threshold value T (n), issuing oneself is cluster
First notice information.
Step 3, the foundation of cluster.
After cluster head is selected, each cluster head node broadcasts elected message to surrounding wing plane node, other member nodes
It is calculated to obtain distance d according to the signal strength receivedCThe smallest cluster head, while calculating the distance between leader dL.If dC<
dL, then the member node determines that this cluster is added, and sends a request message to corresponding cluster head；If dC>dL, then the member node is not
Any cluster is added in selection, directly transmits data to leader.
Step 4, reconnaissance data aggregate transmission.
Stablizing data transfer phase, cluster head node uses time division multiplexing mode to distribute for wing plane node each in cluster to it
It transmits the time point of data, cluster interior nodes send the data to cluster head, and cluster head carries out data fusion and sends the result to leader.
It is larger that cluster head such as needs to complete data fusion, communicates with leader at tasks, the energy consumption.Therefore, terminate will be according to above-mentioned for each round
Method reselects cluster head, carrys out balanced energy consumption averraged relayed communications business.
The present invention removes flight energy consumption EFOutside, unmanned plane, which is formed into columns, awing uses wireless ultraviolet communication energy consumption mould
Type mainly includes following 3 part：Send data energy consumption ETx, receive data energy consumption ERx, data fusion energy consumption Ec.From step 1
Energy attenuation L under ultraviolet light NLOS (c) communication mode, then as transmitting pulse energy ETWhen determining, transmission loss energy can be obtained
For：
EL=ET(1-1/L)；
In order to obtain acceptable signal-to-interference ratio, unmanned plane node emits the position that the data of k bit are d to distance, consumption
Energy two parts be lost by transmitting data loss and energy attenuation form, i.e.,
ETx(k)=k (ET+EL)；
Unmanned plane node receives the energy that k bit data consumes
ERx(k)=kER；
Wherein ERIt indicates to receive the energy that bit data consumes.
In addition, data fusion also consumes certain energy, it is assumed that the data that neighbouring unmanned plane node scouts acquisition have one
Fixed redundancy, the data packet that cluster head can be fixed at a length by the data of its member and the data fusion of itself, then sends out
Give leader.The ENERGY E consumed in fusion processcFor
Ec(M, k)=(M+1) kEDA；
Wherein, EDAIndicate that the energy of fusion bit data consumption, M are the number of member in cluster.
The beneficial effects of the invention are as follows：
1) ultraviolet communication technology is utilized, there is low eavesdropping rate, low level to debate rate, strong antijamming capability, all weather operations, just
The advantages that taking formula can satisfy the reliable secret communication demand that unmanned plane is formed into columns in Complex Battlefield Environments.
2) it by the Energy-aware of unmanned plane in forming into columns, is distributed with the method optimizing energy of sub-clustering, reduces each frame unmanned plane
Average energy consumption, extend the life span that unmanned plane is formed into columns, obtain more acquisition information, provide reliable feelings to fight
Report ensures.
Detailed description of the invention
Fig. 1 is the non-direct-view scattering,single traffic model figure of ultraviolet light in the present invention；
Fig. 2 is unmanned plane formation Clustering Model figure in the present invention；
Fig. 3 is the comparison figure of different data packet length lower network dump energy in the present invention；
Fig. 4 is the comparison figure of different node density lower network dump energies in the present invention.
Specific embodiment
The present invention is further elaborated in the following with reference to the drawings and specific embodiments.
Referring to Fig. 2, wing plane node average residual in the dump energy and network in unmanned plane formation based on wing plane node
The ratio of energy estimators carries out cluster head election, as in Fig. 2 H1~H4 be elected as issuing after cluster head oneself be cluster head bulletin
Message.Member node M1~M16 calculates to obtain distance d according to the signal strength receivedCThe smallest cluster head, and comparison and leader
The distance between dL.As shown in Fig. 2, working as dC<dL, M1~M15 is separately added into cluster C1~C4；Work as dC>dL, M16, which does not select to be added, to be appointed
What cluster, directly transmits data to leader.Cluster head node for managing or control member node in entire cluster, coordinate member node it
Between work, be responsible for information in cluster and collect, forwarded between data fusion and cluster, finally passed fused data by cluster head wing plane
It is defeated by leader.The function of member's wing plane is fairly simple, without safeguarding a large amount of routing table, idle section as cluster head wing plane
Point may be at dormant state, and after continuing working a period of time, network reenters startup stage, carries out the cluster of next round
First wing plane is chosen and re-establishes cluster.
The present invention is a kind of energy consumption balance method in wireless ultraviolet light cooperation unmanned plane formation network, specifically according to following step
It is rapid to implement：
Step 1, using the non-direct-view single scattering model of ultraviolet light, communication link between machine is established.
As ultraviolet light emission device and reception device are respectively placed at ellipsoidal coordinates based on ellipsoidal coordinates by Fig. 1
In two focuses of system.At the t=0 moment, energy EtThe transmitting of pulse emitted end after, scatter and inhale through isotropic medium
Receiving end is reached after receipts.Under ultraviolet light NLOS (c) communication mode, and only consider Rayleigh scattering when, channel energy decay formula
For：
In formula, EtTo emit pulse energy, unit J；
ErFor the energy that receiver detector receives, unit J；
R is transmitting terminal at a distance from receiving end, unit m；
βt、βrRespectively transmitting terminal, the receiving end elevation angle, unit radian；
θtTo emit half-angle, unit radian；
θsFor angle of scattering, unit radian；
ks、keRespectively scattering coefficient, attenuation coefficient, unit m-1；
P (μ) is single scattering phase function；
ArFor receiving aperture area, unit cm2。
Step 2, cluster head election in unmanned plane formation.
Unmanned plane, which is formed into columns, uses " leader-wing plane " offline mode, and carry ultraviolet communication hair receives dress on every frame unmanned plane
It sets, and known to assuming the receiving directions of data when communication between each unmanned plane each other.All wing plane nodes are all isomorphisms, that is, are had
There are identical data-handling capacity, communication capacity and primary power etc., and equal, cluster head node or member can be served as
Node, each node have a unique mark (ID).
Cluster head election need in dump energy based on wing plane node and network the average energy of wing plane node ratio, for letter
Change and calculate, is elected using the estimated value of average residual energy instead of average residual energy in real network come the cluster head of calculate node
Probability.Assuming that the wing plane node mean consumption energy in each round, then the average energy of wing plane node is in r wheel：
In formula, r is the wheel number currently elected, unit wheel；
N is wing plane quantity in network, unit；
EtotalFor network initial total energy, unit J；
rmaxFor network lifetime, unit wheel.
After the average energy for estimating every wheel wing plane node, carried out as reference value and the dump energy of wing plane node
Compare, residue energy of node is greater than its select probability of the node of average nodal dump energy and increases corresponding value, and dump energy is small
Node select probability reduce corresponding ratio, then the cluster head of each wing plane node elects Probability piFor：
In formula, poptFor the desired value of cluster head node percentage in unmanned plane bee colony wing plane node；
Ei(r) dump energy of wing plane node i when being taken turns for r.
The election threshold de of cluster head is in network at this time：
In formula, G is in nearest 1/piIt was not elected to the node set of cluster head in wheel.
Wing plane node generates the random number between a 0-1, if the random number is less than threshold value T (n), issuing oneself is cluster
First notice information.
Step 3, the foundation of cluster.
After cluster head is selected, each cluster head node broadcasts elected message to surrounding wing plane node, other member nodes
It is calculated to obtain distance d according to the signal strength receivedCThe smallest cluster head, while calculating the distance between leader dL.If dC<
dL, then the member node determines that this cluster is added, and sends a request message to corresponding cluster head；If dC>dL, then the member node is not
Any cluster is added in selection, directly transmits data to leader.
Step 4, reconnaissance data aggregate transmission.
Stablizing data transfer phase, cluster head node uses time division multiplexing mode to distribute for wing plane node each in cluster to it
It transmits the time point of data, cluster interior nodes send the data to cluster head, and cluster head carries out data fusion and sends the result to leader.
It is larger that cluster head such as needs to complete data fusion, communicates with leader at tasks, the energy consumption.Therefore, terminate will be according to above-mentioned for each round
Method reselects cluster head, carrys out balanced energy consumption averraged relayed communications business.
Dump energy such as Fig. 3 and Fig. 4 of different data packet length and different node density lower networks have been obtained by emulating
It is shown, show that the life cycle of unmanned plane formation can be extended by choosing suitable data packet length and node density.
The above is present pre-ferred embodiments, for the ordinary skill in the art, according to the present invention
Introduction, in the case where not departing from the principle of the present invention and spirit, changes, modifications, replacement and change that embodiment is carried out
Type is still fallen within protection scope of the present invention.
Claims (2)
1. energy consumption balance method in wireless ultraviolet light cooperation unmanned plane formation network, which is characterized in that include the following steps:
Step 1, using the non-direct-view single scattering model of ultraviolet light, communication link between machine is established；
Based on ellipsoidal coordinates, ultraviolet light emission device and reception device are respectively placed to two cokes of ellipsoidal coordinates
On point, at the t=0 moment, energy EtThe transmitting of pulse emitted end after, reach and connect after isotropic medium scatters and absorbs
Receiving end, under ultraviolet light NLOS (c) communication mode, and only consider Rayleigh scattering when, channel energy decay formula is：
In formula, EtTo emit pulse energy, unit J；
ErFor the energy that receiver detector receives, unit J；
R is transmitting terminal at a distance from receiving end, unit m；
βt、βrRespectively transmitting terminal, the receiving end elevation angle, unit radian；
θtTo emit half-angle, unit radian；
θsFor angle of scattering, unit radian；
ks、keRespectively scattering coefficient, attenuation coefficient, unit m-1；
P (μ) is single scattering phase function；
ArFor receiving aperture area, unit cm2；
Step 2, cluster head election in unmanned plane formation；
Unmanned plane, which is formed into columns, uses " leader-wing plane " offline mode, equal carry ultraviolet communication SRU sending-receiving unit on every frame unmanned plane, and
And when communication the receiving direction of data has phase each other it is found that all wing plane nodes are all isomorphisms between each unmanned plane of hypothesis
Same data-handling capacity, communication capacity and primary power etc., and it is equal, cluster head node or member's section can be served as
Point, each node have a unique mark (ID)；
Cluster head election need in dump energy based on wing plane node and network the average energy of wing plane node ratio, using average
The estimated value of dump energy replaces the cluster head that average residual energy carrys out calculate node in real network to elect probability, i.e., in each round
Middle wing plane node mean consumption energy, then the average energy of wing plane node is in r wheel：
In formula, r is the wheel number currently elected, unit wheel；
N is wing plane quantity in network, unit；
EtotalFor network initial total energy, unit J；
rmaxFor network lifetime, unit wheel；
After the average energy for estimating every wheel wing plane node, compared as reference value and the dump energy of wing plane node
Compared with residue energy of node is greater than its select probability of the node of average nodal dump energy and increases corresponding value, and dump energy is small
Node select probability reduces corresponding ratio, then the cluster head of each wing plane node elects Probability piFor：
In formula, poptFor the desired value of cluster head node percentage in unmanned plane bee colony wing plane node；
Ei(r) dump energy of wing plane node i when being taken turns for r；
The election threshold de of cluster head is in network at this time：
In formula, G is in nearest 1/piIt was not elected to the node set of cluster head in wheel；
Wing plane node generates the random number between a 0-1, if the random number is less than threshold value T (n), issuing oneself is cluster head
Notice information：
Step 3, the foundation of cluster；
After cluster head is selected, each cluster head node broadcasts elected message to surrounding wing plane node, other member nodes according to
The signal strength received calculates to obtain distance dCThe smallest cluster head, while calculating the distance between leader dLIf dC<dL, then
The member node determines that this cluster is added, and sends a request message to corresponding cluster head；If dC>dL, then the member node does not select to add
Enter any cluster, directly transmits data to leader；
Step 4, reconnaissance data aggregate transmission；
Stablizing data transfer phase, cluster head node uses time division multiplexing mode to distribute for wing plane node each in cluster to it and transmits
The time point of data, cluster interior nodes send the data to cluster head, and cluster head carries out data fusion and sends the result to leader, cluster head
The tasks such as need to complete data fusion, communicate with leader, energy consumption is larger, and each round terminates to select again according to the method described above
Cluster head is selected, carrys out balanced energy consumption averraged relayed communications business.
2. energy consumption balance method in wireless ultraviolet light cooperation unmanned plane formation network as described in claim 1, which is characterized in that
Include the following steps:
Except flight energy consumption EFOutside, unmanned plane form into columns awing use wireless ultraviolet communication energy consumption model, mainly include with
Lower 3 parts：Send data energy consumption ETx, receive data energy consumption ERx, data fusion energy consumption Ec, ultraviolet light NLOS (c) is obtained by step 1
Energy attenuation L under communication mode, then as transmitting pulse energy ETWhen determining, can obtain transmission loss energy is：
EL=ET(1-1/L)；
In order to obtain acceptable signal-to-interference ratio, unmanned plane node emits the position that the data of k bit are d to distance, the energy of consumption
Amount is lost two parts by transmitting data loss and energy attenuation and forms, i.e.,
ETx(k)=k (ET+EL)；
Unmanned plane node receives the energy that k bit data consumes
ERx(k)=kER；
Wherein ERIt indicates to receive the energy that bit data consumes；
In addition, data fusion also consumes certain energy, i.e., there is centainly superfluous adjacent to the data that unmanned plane node scouts acquisition
Remaining, the data packet that cluster head can be fixed at a length by the data of its member and the data fusion of itself, is then sent to length
Machine, the ENERGY E consumed in fusion processcFor
Ec(M, k)=(M+1) kEDA；
Wherein, EDAIndicate that the energy of fusion bit data consumption, M are the number of member in cluster.
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