CN109257790A - A kind of high stability route selection method of spacecraft data collection radio network - Google Patents

A kind of high stability route selection method of spacecraft data collection radio network Download PDF

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CN109257790A
CN109257790A CN201811273985.XA CN201811273985A CN109257790A CN 109257790 A CN109257790 A CN 109257790A CN 201811273985 A CN201811273985 A CN 201811273985A CN 109257790 A CN109257790 A CN 109257790A
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node
route selection
dio
route
time
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CN109257790B (en
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刘昊
王飞
邹涛
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Sanbao Sci & Tech Co Ltd Nanjing
Southeast University - Wuxi Institute Of Technology Integrated Circuits
Southeast University
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Sanbao Sci & Tech Co Ltd Nanjing
Southeast University - Wuxi Institute Of Technology Integrated Circuits
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    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W40/00—Communication routing or communication path finding
    • H04W40/02—Communication route or path selection, e.g. power-based or shortest path routing
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
    • H04L45/00—Routing or path finding of packets in data switching networks
    • H04L45/02—Topology update or discovery
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
    • H04L45/00—Routing or path finding of packets in data switching networks
    • H04L45/12—Shortest path evaluation
    • H04L45/124—Shortest path evaluation using a combination of metrics
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W40/00—Communication routing or communication path finding
    • H04W40/02—Communication route or path selection, e.g. power-based or shortest path routing
    • H04W40/12—Communication route or path selection, e.g. power-based or shortest path routing based on transmission quality or channel quality
    • H04W40/14—Communication route or path selection, e.g. power-based or shortest path routing based on transmission quality or channel quality based on stability
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W84/00—Network topologies
    • H04W84/18—Self-organising networks, e.g. ad-hoc networks or sensor networks

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  • Engineering & Computer Science (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Signal Processing (AREA)
  • Mobile Radio Communication Systems (AREA)
  • Data Exchanges In Wide-Area Networks (AREA)

Abstract

The present invention discloses a kind of high stability route selection method of spacecraft data collection radio network, includes the following steps: step 1, and the promoter that root node is constructed as route topological broadcasts DIO message to all neighbor nodes in communication range；Step 2, the neighbor node for receiving DIO information for the first time calculates Rank according to the objective function of hybrid metric and updates the neighbor table information of oneself into the Route Selection stage one；Step 3, the neighbor node of DIO information has been handled, the RANK information in DIO message is updated and has continued to forward this message；Step 4, it is completed when DIO message reaches leaf node topology constructing；Step 5, first establish of topology enters the Route Selection stage two after the completion, selects best father node according to objective function.Such route selection method can solve the problems, such as route flapping in RPL network, improve the reliability of network.

Description

A kind of high stability route selection method of spacecraft data collection radio network
Technical field
The invention belongs to wireless sensor network field, in particular to a kind of height applied to the acquisition of spacecraft data is steady Qualitative route selection method.
Background technique
Spacecraft is integrated with speed and becomes class sensor and gradual class as the typical case platform as various sensors Sensor provides safeguard for condition monitoring, the pose adjustment of spacecraft.However traditional wired connection causes in spacecraft Configuration is intricate, and various equipment connecting relations are lengthy and tedious, lacks flexibility and expandability.This not only gives spacecraft Design, manufacture, equipment, debugging and upgrading bring difficulty, and occupy valuable load and space, objectively reduce fortune Loading capability.The research of wireless sensor network and be space flight wireless sense network in military, environment and industrial extensive use Application a possibility that providing fundamental basis and practicing.It is complete as space launch vehicle measurement communication and one in TT&C system New technology, wireless sensor technology just affect the sight of people in the industry from being born, its technological break-through each time all signifies China's aerospace cause step a critical step again.Space launch vehicle wireless sensor technology will more become space flight intelligence The important handgrip of upgrading.
RPL is popular Routing Protocol in massive wireless sensor at present.It is formulated in RFC6550 The specification of RPL Routing Protocol, the specification for RPL uplink routing and downstream routing building and loop avoid, class of traffic Type is described in detail.It proposes objective function 0 (OF0) respectively in RFC6551 and RFC6791 and there is hysteresis characteristic A kind of objective function (MRHOF) based on minimum ranking, the former proposes the general algorithmic method of abstraction metrics, Hou Zheti Decision threshold out can effectively avoid topology shake caused by the small size variation of measurement.However these documents are for routing degree There is no detailed regulations for the selection of amount (such as hop count, packet loss, node energy).In this realization side of ContikiRPL In formula, uses based on the MRHOF for expecting number of retransmissions (ETX), be capable of providing higher efficiency of transmission, but do not examine Consider route flapping problem brought by the dump energy of node, and local data is excessively intensively easy to cause part of nodes It fails because energy consumption is too fast, causes the loss of data, also bring great risk for space travel task.
Summary of the invention
The purpose of the present invention is to provide a kind of high stability Route Selection side of spacecraft data collection radio network Method can solve the problems, such as route flapping in RPL network, improve the reliability of network.
In order to achieve the above objectives, solution of the invention is:
A kind of high stability route selection method of spacecraft data collection radio network, used in the method not It is single route metric, but the hybrid metric objective function based on RSSI and ELT；Based on this objective function, Route Selection It is divided into two stages；At least one preferred father node of each node and suboptimum father node in addition to root node；
This method be based on RPL protocol realization, topology constructing and Route Selection process the following steps are included:
Step 1, the promoter that root node is constructed as route topological broadcasts DIO message to all neighbours in communication range Occupy node；
Step 2, the neighbor node for receiving DIO information for the first time, into the Route Selection stage one.Parse Rank information simultaneously The neighbor table information for updating oneself calculates each of the links according to RSSI route metric and arrives itself Rank, and selection Rank is the smallest Neighbor node in link is used herein RSSI route metric as optimal father node, can quickly select distance compared with Closely, meet the father node of signal strength；
Step 3, the neighbor node of DIO information has been handled, the RANK information in DIO message is updated and has continued that this is forwarded to disappear Breath；
Step 4, it is completed when DIO message reaches leaf node topology constructing.
Step 5, first establish of topology enters the Route Selection stage two after the completion, selects best father to save according to objective function Point completes the Optimization Work of topology.
The transmission of above-mentioned DIO message is managed using Trickle timer, and Trickle timer uses Tdoubl, Tmin,Tcurrent,Credundancy,CcounterThe transmission of totally 5 state modulator DIO message, CcounterDisappear often receiving a DIO Add 1 when breath, and if only if CcounterLess than CredundancyWhen, one time T of timer random delaycurrentCarry out DIO message Forwarding, and the delay time sent every time doubles, and the time upper limit of delay is Tmin+Tdoubl。
In above-mentioned steps 2, road is calculated using received signal strength indicator (RSSI) and expectation life time (ELT) combination By measuring.Objective function is defined as:
Wherein ω1And ω2Respectively represent RSSI measurement and expectation life time metric objective function, α and β represent two it is standby The next-hop of choosing routes, and < indicates a kind of dominance relation；Objective function regulation, if calculating weight, α routing using RSSI Node weights are better than β routing node, then select α routing node；Or when the weight being calculated using RSSI is equal, make It is measured with ELT, if the ELT metric weights that α routing node calculates at this time are better than the ELT metric weights that β routing node calculates, Select α routing node.
Above-mentioned ELT measurement is measured using the ratio of the quantity of giving out a contract for a project in the dump energy and unit time of node, Calculation method are as follows:
1) it calculates and is delivered successfully transmission times required for a data packet, wherein s indicates the number of Successful transmissions, f table Show the number for sending failure:
2) T in the watch window time is calculatedtotalTransmission times S required for a data packet are as follows:
S=Ttotal×ETX
3) consider the transmission speed of radio-frequency module physical layer, the working time t of radio-frequency module is as follows when sending S data Formula, wherein lenavgIndicate the average length of each data packet, DATA_RATE indicates the transmission speed of radio-frequency module physical layer:
4) the expectation life time such as following formula of calculate node, wherein E represents dump energy, and P, which is represented, sends power:
In above-mentioned steps 3, the RANK information in DIO message is updated, according to monotonic increase principle, the meter of RANK value R (k) Calculation method are as follows:
R (k)=floor ((R (p)+abs (RSSI))/MinHopIncrease)
Wherein floor indicates round numbers part, and R (p) indicates the Rank value in the DIO message received, MinHopIncrease is the constant for measuring minimum hop count growth, and abs (RSSI) indicates the exhausted of received signal strength indicator To value.
After adopting the above scheme, the present invention is based on RPL agreements, extensive suitable for resource-constrained sensing node building Mesh network.The present invention provides a kind of Route Selection objective functions of high stability, by RSSI measurement and ELT measurement combination For the objective function of hybrid metric, as the Rule of judgment of Route Selection, so that network transmission quality with higher, simultaneously Packet loss caused by route flapping can be reduced again.
The invention has the advantages that network struction early period using RSSI measurement can rapid build network, after network struction Phase optimizes Route Selection according to ELT measurement, has fully taken into account the transmission quality of link and the service life of node, The topologies change of network can be reduced, to reduce route flapping odds.It is especially in mesh network maincenter Routing node, assume responsibility for data packet transmission and forwarding two tasks, electric quantity consumption is very fast, in Route Selection use ELT Measurement can improve it is contemplated that load balancing to avoid part of nodes because electric quantity consumption comparatively fast causes localized network to fail The reliability of network.
Detailed description of the invention
Fig. 1 is network topology structure schematic diagram；
Fig. 2 is that topology control information sends relevant Trickle timer flow chart；
Fig. 3 is the flow chart using objective function selection next-hop routing；
Fig. 4 is flow chart of the invention.
Specific embodiment
Below with reference to attached drawing, technical solution of the present invention and beneficial effect are described in detail.
The present invention is based on the RPL routing algorithm ContikiRPL of the realization in Contiki, use new Route Selection Method constructs the wireless sensor network with high stability, in order to which the contents of the present invention are discussed in detail, below to some general Thought is illustrated or defines:
Define one: DIO message.The uplink of RPL route topological is routed through DIO (DODAG Information Object) Message is constructed and is safeguarded.The message is triggered by network root, includes rank (Rank) letter of sending node itself Breath.The neighbor node for receiving DIO message will select optimal father node according to objective function.
Definition two: route metric.Route metric is used to measure the link cost between node, as node under selection One jumps selection criteria when routing.Common route metric has hop count, signal quality, and dump energy expects number of retransmissions (ETX) etc..
Define three: Rank.For identifying node in network topology with respect to the position of root node, make in Route Selection For distance vector use.Relationship between child node N and the Rank information of father node P is as follows, and wherein Metric (P, N) is represented P, the route metric between N:
Rank (N)=Rank (P)+Metric (P, N)
The following are specific embodiments of the present invention, the present invention use this MCU of avr-atmega128rfa1 as The hardware plan of sensing node, on piece are integrated with the radio frequency chip of a compatible IEEE802.15.4 agreement, are passed using acceleration Sensor adxl345, Temperature Humidity Sensor dht11 become class sensor and gradual class sensor respectively as speed.Using Contiki Embedded OS is as running environment, the optimization being routed in ContikiRPL realization, and building has high steady Qualitative routing plan, route topological is as shown in Figure 1, process of the invention is as shown in Figure 4.
(1) current Rank value R_cur is set to the maximum of a MAX_RANK after node starting, and is arranged one Timer T1 uses the time of RSSI measurement for timing, only RSSI could be used as structure when the timer is not out of date Build the measurement of topology；
(2) it needs quickly to send DIO message to establish topology rapidly at the initial stage of network struction, be built in topological robust The quantity of control message, the time sent using Trickle Timer Controlling are gradually decreased after vertical.Trickle timer uses Tdoubl,Tmin,Tcurrent,Credundancy,CcounterThe transmission of totally 5 state modulator DIO message.Its transmission flow figure such as Fig. 2 institute Show, transmission process is as follows:
It is [T that 2.1 settings, which send delay,current/2,Tcurrent] between a random number；
2.2 by CcounterSet 0；
As soon as 2.3 often receive DIO message, by CcounterAdd 1；
2.4 CcounterLess than CredundancyWhen, DIO message is sent, and by CcounterAdd 1；Otherwise 2.5 are executed；
2.5 work as TcurrentLess than Tmin+TdoublWhen, by TcurrentIt doubles, otherwise takes Tcurrent=Tmin+Tdoubling, delay Tcurrent2.1 are returned afterwards to continue to execute；
Just the interval sent can be made to increase sharply with the speed of power exponent by the above this mode, finally converged on Tmin+Tdoubl, it is set to 2 here20s.The node of DIO message is received before obtaining in DIO message and network is set Sew, neighbor list is added in node, is considered whether according to objective function using node as father node.
(3) next-hop routing node selection process as shown in figure 3, within T1 validity period to receive DIO message carry out It handles, according to the following formula the level information R (k) of calculate node:
R (k)=floor ((R (p)+abs (RSSI))/MinHopIncrease)
If R (k) is less than the current rank R_cur of node, and RSSI value is less than thresholding δRSSI, then the node is added Enter candidate parent nodes set Pk；Otherwise continue to monitor DIO information；
(4) after T1 timer is expired, if current candidate father node set PkFor sky, then return step (1) structure again Initial topology is built, P is otherwise selectedkThe middle the smallest node of RSSI absolute value updates the Rank letter in DIO message as father node It ceases and forwards downwards；
(5) after the completion of initial topology is established, a timer T2 is set, is not had to prevent candidate parent nodes set It counts and all meets objective function ω1Node, if there is new node is added, then return step (1) continues to monitor DIO Otherwise message selects P after T2 is expiredkThe middle maximum node of ELTThe wherein calculation method of ELT are as follows:
(6) ifThe ELT of node is greater than minimum threshold δELT, then the node is selected as father node update R_cur and sent DIO message, otherwise return step (1).
The above examples only illustrate the technical idea of the present invention, and this does not limit the scope of protection of the present invention, all According to the technical idea provided by the invention, any changes made on the basis of the technical scheme each falls within the scope of the present invention Within.

Claims (6)

1. a kind of high stability route selection method of spacecraft data collection radio network, it is characterised in that including walking as follows It is rapid:
Step 1, the promoter that root node is constructed as route topological, broadcast DIO message are saved to all neighbours in communication range Point；
Step 2, the neighbor node for receiving DIO information for the first time, into the Route Selection stage one, according to the objective function of hybrid metric It calculates Rank and updates the neighbor table information of oneself；
Step 3, the neighbor node of DIO information has been handled, the RANK information in DIO message is updated and has continued to forward this message；
Step 4, it is completed when DIO message reaches leaf node topology constructing；
Step 5, first establish of topology enters the Route Selection stage two after the completion, selects best father node according to objective function.
2. a kind of high stability route selection method of spacecraft data collection radio network as described in claim 1, special Sign is: in the step 2, into the Route Selection stage one, parsing Rank information and updates the neighbor table information of oneself, root Each of the links are calculated according to RSSI (received signal strength indicator) route metric and arrive itself Rank, in the selection the smallest link of Rank Neighbor node as optimal father node.
3. a kind of high stability route selection method of spacecraft data collection radio network as described in claim 1, special Sign is: the transmission of the DIO message is managed using Trickle timer, and Trickle timer uses Tdoubl,Tmin, Tcurrent,Credundancy,CcounterThe transmission of totally 5 state modulator DIO message, CcounterAdd when often receiving a DIO message 1, and if only if CcounterLess than CredundancyWhen, one time T of timer random delaycurrentThe forwarding of DIO message is carried out, And the delay time sent every time doubles, and the time upper limit of delay is Tmin+Tdoubl。
4. a kind of high stability route selection method of spacecraft data collection radio network as described in claim 1, special Sign is: in the step 2, calculating route metric, target letter using received signal strength indicator and the combination of desired life time Number is defined as:
Wherein ω1And ω2Respectively represent received signal strength indicator measurement and expectation life time metric objective function, α and β generation Two, table alternative next-hop routings, < indicate a kind of dominance relation；Objective function regulation, if utilizing received signal strength Instruction calculates weight, and α routing node weight is better than β routing node, then selects α routing node；Refer to when using received signal strength It when showing that the weight being calculated is equal, is measured using desired life time, if the metric weights that α routing node calculates at this time are better than The metric weights that β routing node calculates, then select α routing node.
5. a kind of high stability route selection method of spacecraft data collection radio network as described in claim 1, special Sign is: the expectation life time measurement is carried out using the ratio of the quantity of giving out a contract for a project in the dump energy and unit time of node It measures, calculation method are as follows:
Step a, calculating are delivered successfully transmission times required for a data packet, and wherein s indicates the number of Successful transmissions, f table Show the number for sending failure:
Step b calculates T in the watch window timetotalTransmission times S required for a data packet are as follows:
S=Ttotal×ETX
Wherein, ETX indicates to expect number of retransmissions；
Step c considers the transmission speed of radio-frequency module physical layer, and the working time t of radio-frequency module is as follows when sending S data Formula, wherein lenavgIndicate the average length of each data packet, DATA_RATE indicates the transmission speed of radio-frequency module physical layer:
Step d, the expectation life time such as following formula of calculate node:
Wherein, E represents dump energy, and P, which is represented, sends power.
6. a kind of high stability route selection method of spacecraft data collection radio network as described in claim 1, special Sign is: in the step 3, according to monotonic increase principle, the calculation method of RANK value R (k) are as follows:
R (k)=floor ((R (p)+abs (RSSI))/MinHopIncrease)
Wherein floor indicates round numbers part, and R (p) indicates the Rank value in the DIO message received, MinHopIncrease It is the constant for measuring minimum hop count growth, abs (RSSI) indicates the absolute value of received signal strength indicator.
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