CN109309525A - A kind of distributed transmission mode selecting method based on unmanned plane during flying track - Google Patents
A kind of distributed transmission mode selecting method based on unmanned plane during flying track Download PDFInfo
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- CN109309525A CN109309525A CN201811122444.7A CN201811122444A CN109309525A CN 109309525 A CN109309525 A CN 109309525A CN 201811122444 A CN201811122444 A CN 201811122444A CN 109309525 A CN109309525 A CN 109309525A
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04B—TRANSMISSION
- H04B7/00—Radio transmission systems, i.e. using radiation field
- H04B7/14—Relay systems
- H04B7/15—Active relay systems
- H04B7/185—Space-based or airborne stations; Stations for satellite systems
- H04B7/18502—Airborne stations
- H04B7/18506—Communications with or from aircraft, i.e. aeronautical mobile service
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04B—TRANSMISSION
- H04B7/00—Radio transmission systems, i.e. using radiation field
- H04B7/14—Relay systems
- H04B7/15—Active relay systems
- H04B7/185—Space-based or airborne stations; Stations for satellite systems
- H04B7/1853—Satellite systems for providing telephony service to a mobile station, i.e. mobile satellite service
- H04B7/18532—Arrangements for managing transmission, i.e. for transporting data or a signalling message
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04B—TRANSMISSION
- H04B7/00—Radio transmission systems, i.e. using radiation field
- H04B7/14—Relay systems
- H04B7/15—Active relay systems
- H04B7/185—Space-based or airborne stations; Stations for satellite systems
- H04B7/1853—Satellite systems for providing telephony service to a mobile station, i.e. mobile satellite service
- H04B7/18545—Arrangements for managing station mobility, i.e. for station registration or localisation
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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
- H04W4/02—Services making use of location information
- H04W4/029—Location-based management or tracking services
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- 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
Abstract
The invention discloses a kind of distributed transmission mode selecting methods based on unmanned plane during flying track.Method are as follows: establish the communication on computer cluster network of multiple no-manned plane composition, each unmanned plane has the relative position of itself in group of planes formation, and according to task relative motion in flight course；Within a formation adjustment time, it enlivens unmanned plane and is dynamically selected relay transmission, carrying transmission or Straight transmission model progress data transmission, transmission rate estimation free time unmanned plane laser propagation effect under depending on the relative position, priority sequence sequence is carried out to relay node and transmission mode, the idle unmanned plane of highest priority is selected to send data transfer request；Idle unmanned plane selects most preferred unmanned plane and transmission mode to carry out data transmission according to itself flight path and transmission performance；It is iterated within the adjusting stage, terminates until the time.The present invention flexibly utilizes the dynamic characteristic of unmanned plane, in the case where not excess loss flight resource, improves transmission total amount of data.
Description
Technical field
The invention belongs to wireless communication technology field, especially a kind of distributed transmission mould based on unmanned plane during flying track
Formula selection method.
Background technique
Unmanned plane network plays an important role to following network various dimensions extension, with technology development and application demand, nothing
Man-machine group needs to carry out information exchange and number inside unmanned plane in large-scale trend development in order to independently complete air tasking
According to transmission.Since the unmanned plane in unmanned aerial vehicle group is distributed more widely, this is limited conflicting with unmanned plane transmission power, how to ensure
Unmanned aerial vehicle group internal communication becomes important problem.
Unlike the communication strategy of ground relative quiescent, under the driving of task, unmanned aerial vehicle group has quickly adjustment
With track controllable characteristics.Based on this, existing many researchs focus on the connection of the track optimizing or multiple no-manned plane of single unmanned plane
Close topology adjustment.They utilize the controllable characteristics of track, and on ground, auxiliary type network effectively improves the communication quality on ground.So
And the additional adjustment of track needs to expend the energy loss more much bigger than transimission power, it is unfavorable that frequent unmanned plane additionally delivers
In the continuation of the journey of unmanned aerial vehicle group.
In conclusion the promotion energy of unmanned plane compares with for transmission energy, the energy of consumption will be hundred times of quantity
Grade growth, if be only for promoting transmission rate and expending additional promotion energy will lose more than gain.
Summary of the invention
The purpose of the present invention is to provide a kind of distributed transmission mode selecting method based on unmanned plane during flying track, energy
Enough dynamic characteristics for flexibly utilizing unmanned plane promote transmission total amount of data in the case where not excess loss flight resource.
The technical solution for realizing the aim of the invention is as follows: a kind of distributed transmission mode based on unmanned plane during flying track
Selection method, comprising the following steps:
Step 1, the communication on computer cluster network of multiple no-manned plane composition is established, the unmanned plane for not having data needs to send in network is
Idle unmanned plane, collection shareIt indicates；Having data to need the unmanned plane sent is to enliven unmanned plane, and set expression is
Each unmanned plane has the relative position of itself in group of planes formation, and according to task relative motion in flight course；Once compiling
In team adjustment time K, idle unmanned planeAssistance enlivens unmanned planeUse relay transmission CR(s, r, d, k) or fortune
It carries transmission to carry out data transmission, wherein carrying transmission includes that data load CDT(s, r, k) and load shedding CDT(r, d, k) process；
If not using the assistance of other unmanned planes, unmanned planeSelection is direct transferred transmission mode CDT(s, d, k) carries out data biography
It is defeated；Wherein CR(s,r,d,k)、CDT(s,r,k)、CDT(r, d, k) and CDT(s, d, k) respectively indicates relay transmission, data load,
The transmission rate of load shedding and the transmission mode that direct transfers, d indicate the destination node of Unmanned Aerial Vehicle Data transmission, and 0 < k < K indicates to compile
The moment of team's adjusting stage；
Step 2, it enlivens unmanned plane and descends transmission rate estimation free time unmanned plane depending on the relative position at the k momentTransmission
Effect carries out priority sequence sequence to relay node and transmission mode, and sends data to the idle unmanned plane of highest priority
Transmission request, obtains being received or being rejected two kinds of answers, if being carried out data transmission by receiving；If being rejected, to secondary
The relaying unmanned plane of priority is applied, until the answer being received；If being refused by the available free unmanned plane of institute, will select
Direct transfer transmission mode；
Step 3, idle unmanned planeReceive transmission request, the biography for enlivening unmanned plane that opposite direction oneself is filed an application
Defeated request, by efficiency of transmission carry out priority ranking, and select optimum transmission efficiency enliven unmanned plane and transmission mode into
Row receives, and refusal others enliven the data transfer request of unmanned plane；
Step 4, the iteration that step 2 and step 3 are carried out within the adjusting stage, terminates until the time.
Further, data-transmission mode in step 1, including the transmission mode that direct transfers, carrying transmission mode and relay transmission
Mode；
Setting enlivens unmanned plane s and sends data to destination node d at the k moment, and wherein Straight transmission model transmission rate is CDT(s,
D, k):
CDT(s, d, k)=Blog2(1+γ(s,d)) (1)
Wherein B is bandwidth, and γ (s, d) is the transmission signal-to-noise ratio of s to d；
Setting enlivens unmanned plane s and sends data to destination node d by idle unmanned plane r relay transmission at the k moment, belongs to
Relay transmission mode, transmission rate CR(s, r, d, k):
Because unmanned plane has mobility, enlivening unmanned plane s and selecting one at the k moment will fly to destination node d's
Idle unmanned plane r first sends the data to r, and referred to as data load CDT(s,r,k)；Idle unmanned plane r have received data it
Afterwards, in k1The data of delivery are sent to destination node d, referred to as load shedding C by the momentDT(r,d,k1)。
Further, unmanned plane is enlivened described in step 2 descends transmission rate estimation idle depending on the relative position at the k moment
Unmanned planeLaser propagation effect carries out priority sequence sequence to relay node and transmission mode, specifically:
By the C in step 2DT(s, d, k) and CR(s, r, d, k) unified representation is at C (s, r, d, k, ai)；
Wherein, a indicates the selection of transmission mode, a=a1Expression has selected CDTMode, a=a2Expression has selected CRMode；μ
(sn,rp,ai) indicate snAnd rpIn transmission mode aiUnder matching, whereinExpression enlivens unmanned plane,Table
Show idle unmanned plane, ai,ajIndicate the transmission mode of selection,Indicate snPreference relation, i.e. snMore preference left term, this
N-th-trem relation n beWithIn with transmission characteristic and reflexive binary crelation.
Further, idle unmanned plane described in step 3Transmission request is received, opposite direction oneself is filed an application
Enliven unmanned plane transmission request, by efficiency of transmission carry out priority ranking, it is specific as follows:
Wherein:
WhereinExpression enlivens unmanned plane,Indicate idle unmanned plane, ai,ajIndicate the transmission mould of selection
Formula,Indicate rmPreference relation, i.e. rmMore preference left term；At the time of k ' is remaining after the k moment；
After idle unmanned plane r receives delivery mode, the time of the unloading data needed later is reserved and freezed
ForAnd in the timeInside send the data to purpose unmanned plane.
Compared with prior art, the present invention its remarkable advantage is: (1) both fixed tracks based on unmanned plane, motor-driven land productivity
The transmission data between unmanned plane are improved when the promotion energy of unmanned plane is not lost with the dynamic characteristic of unmanned plane
Total amount；(2) distributed transmission decisions scheme is utilized, various unmanned aerial vehicle group self-organizing networks are widely used in.
Detailed description of the invention
Fig. 1 is the schematic diagram of the distributed transmission mode selecting method the present invention is based on unmanned plane during flying track.
Fig. 2 is model method performance schematic diagram in the embodiment of the present invention.
Specific embodiment
The present invention is based on the distributed transmission mode selecting methods of unmanned plane during flying track, to the unmanned plane under task-driven
Data transmission in group's formation adjustment optimizes.
In conjunction with Fig. 1, in the self-organizing unmanned plane formation network being made of multiple no-manned plane, unmanned aerial vehicle group is in formation adjustment mistake
Cheng Zhong can use the relative position variation of unmanned plane, intelligently select a variety of transmission modes, total with the data for promoting transmission
Amount.
The present invention promotes transmission performance as mesh using unmanned plane both fixed track not to be lost under unmanned plane additional propulsion energy
Mark optimizes transmission performance using distributed algorithm.
A kind of distributed transmission mode selection algorithm based on unmanned plane during flying track proposed by the present invention, including following step
It is rapid:
Step 1, the communication on computer cluster network of multiple no-manned plane composition is established, the unmanned plane for not having data needs to send in network is
Idle unmanned plane, collection shareIt indicates；Having data to need the unmanned plane sent is to enliven unmanned plane, and set expression isMachine
Each unmanned plane has the relative position of itself in group's formation, and according to task relative motion in flight course；Once forming into columns
In adjustment time K, idle unmanned planeAssistance enlivens unmanned planeUse relay transmission CR(s, r, d, k) or delivery
Transmission carries out data transmission, and wherein carrying transmission includes that data load CDT(s, r, k) and load shedding CDT(r, d, k) process；Such as
Fruit does not use the assistance of other unmanned planes, unmanned planeSelection is direct transferred transmission mode CDT(s, d, k) carries out data transmission；
Wherein CR(s,r,d,k)、CDT(s,r,k)、CDT(r, d, k) and CDT(s, d, k) respectively indicates relay transmission, data load, data
Unload and direct transfer the transmission rate of transmission mode, and d indicates the destination node of Unmanned Aerial Vehicle Data transmission, and 0 < k < K indicates to form into columns and adjust
One moment in whole stage；
Step 2, it enlivens unmanned plane and descends transmission rate estimation free time unmanned plane depending on the relative position at the k momentTransmission
Effect carries out priority sequence sequence to relay node and transmission mode, and sends data to the idle unmanned plane of highest priority
Transmission request, obtains being received or being rejected two kinds of answers, if being carried out data transmission by receiving；If being rejected, to secondary
The relaying unmanned plane of priority is applied, until the answer being received；If being refused by the available free unmanned plane of institute, will select
Direct transfer transmission mode；
Step 3, idle unmanned planeReceive transmission request, the biography for enlivening unmanned plane that opposite direction oneself is filed an application
Defeated request, by efficiency of transmission carry out priority ranking, and select optimum transmission efficiency enliven unmanned plane and transmission mode into
Row receives, and refusal others enliven the data transfer request of unmanned plane；
Step 4, the iteration that step 2 and step 3 are carried out within the adjusting stage, terminates until the time.
Specific implementation of the invention is as follows:
One, transmission mode described in step 1, including the transmission mode that direct transfers, carrying transmission mode and relay transmission mode；
Setting enlivens unmanned plane s and sends data to destination node d at the k moment, and wherein Straight transmission model transmission rate is CDT(s,
D, k):
CDT(s, d, k)=Blog2(1+γ(s,d)) (1)
Wherein B is bandwidth, and γ (s, d) is the transmission signal-to-noise ratio of s to d；
Setting enlivens unmanned plane s and sends data to destination node d by idle unmanned plane r relay transmission at the k moment, belongs to
Relay transmission mode, transmission rate CR(s, r, d, k):
Because unmanned plane has mobility, the destination node that will fly to can be selected at the k moment by enlivening unmanned plane s
Idle unmanned plane r near d first sends the data to r, and referred to as data load CDT(s,r,k)；Idle unmanned plane r is having received
After data, in k1The data of delivery are sent to destination node d, referred to as load shedding C by the momentDT(r,d,k1)。
Two, the sequence of unmanned plane priority sequence is enlivened described in step 2, specifically:
For convenience of expression, by the C in step 2DT(s, d, k) and CR(s, r, d, k) unified representation is at C (s, r, d, k, ai)。
Wherein, a indicates the selection of transmission mode, a=a1Expression has selected CDTMode, a=a2Expression has selected CRMode.μ
(sn,rp,ai) indicate snAnd rpIn transmission mode aiUnder matching, whereinExpression enlivens unmanned plane,Table
Show idle unmanned plane, ai,ajIndicate the transmission mode of selection,Indicate snPreference relation, i.e. snMore preference left term, this
N-th-trem relation n beWithIn with transmission characteristic and reflexive binary crelation.
Three, idle unmanned plane described in step 3 sorts to the priority sequence for enlivening unmanned plane, specific as follows:
Wherein:
WhereinExpression enlivens unmanned plane,Indicate idle unmanned plane, ai,ajIndicate the transmission mould of selection
Formula,Indicate rmPreference relation, i.e. rmMore preference left term, in 3It is similar.When k ' is remaining after the k moment
It carves；
After idle unmanned plane r receives delivery mode, the time of the unloading data needed later is reserved and freezed
ForAnd in the timeInside send the data to purpose unmanned plane.
The present invention is based on the distributed transmission mode selecting methods of unmanned plane during flying track, are adjusted using the dynamic of unmanned plane
The transmission characteristic of characteristic and task-driven, dynamic transmission prioritization scheme of the research multiple no-manned plane based on quick variation network, uses
Distributed chance Access Algorithm；Designed transmission mode selection algorithm actively answers the dynamic characteristic of right unmanned aerial vehicle group,
Not in the case where excess loss unmanned plane equipment energy consumption, unmanned plane selects the unmanned plane of relative motion to carry out relay transmission or fortune
Data are carried, to promote the efficiency of transmission, have saved promotion energy expense；Current biography is instructed between unmanned plane according to mission planning
Defeated strategy communicates the passive reply of existing environment without being constrained to, and is changed according to the relative position of unmanned plane, is predicting nobody
In the case of the flight path of machine, select to the advantageous transmission mode of overall transfer result.
Embodiment 1
The present embodiment is described below, and system emulation uses Matlab software, and parameter setting does not influence generality.At one 2
In the topological structure of × 2 × 2 cubes of kms, the maximum transmission power of unmanned plane is set as 0.1W.Setting system channel bandwidth is B
=1MHz, the noise power of system are -110dBm.In order to distinguish the effect that mobility utilizes, it is assumed that the nothing sent with data
Man-machine and purpose unmanned plane is all in relative static conditions, and under task-driven position can occur for some in idle unmanned plane
The adjustment set.Assuming that the destination node of the unmanned plane of each frame relative movement and track are drafted, relative velocity v=10m/
s。
Fig. 2 shows the performance maps that mobility utilizes lower transmission mode selection.Abscissa is the unmanned plane quantity in network, is indulged
Coordinate is the total transmitted data amount of network, and δ is indicated in the unmanned aerial vehicle group adjusting stage, shared by the unmanned plane that relative position changes
Ratio.Simulation result shows that in different network sizes, the designed unmanned plane transmission algorithm utilized based on track is all excellent
In the traditional algorithm of passively reply communication environment, it was confirmed that network will be made to effective chance utilization of unmanned aerial vehicle group dynamic
Transmission performance is significantly promoted.
To sum up, the distributed transmission mode selecting method proposed by the present invention based on unmanned plane during flying track, optimizes biography
The selection of defeated mode, unmanned plane does not need the control centre of centralization in decision process and additional promotion energy is lost,
The transmission total amount of data that the whole network can be promoted can be widely used in various unmanned aerial vehicle group self-organizing networks.
Claims (4)
1. a kind of distributed transmission mode selecting method based on unmanned plane during flying track, which comprises the following steps:
Step 1, the communication on computer cluster network of multiple no-manned plane composition is established, the unmanned plane for not having data to need to send in network is the free time
Unmanned plane, collection shareIt indicates；Having data to need the unmanned plane sent is to enliven unmanned plane, and set expression isA group of planes is compiled
Each unmanned plane has the relative position of itself in team, and according to task relative motion in flight course；In a formation adjustment
In time K, idle unmanned planeAssistance enlivens unmanned planeUse relay transmission CR(s, r, d, k) or carrying transmission
Carry out data transmission, wherein carrying transmission includes that data load CDT(s, r, k) and load shedding CDT(r, d, k) process；If no
Use the assistance of other unmanned planes, unmanned planeSelection is direct transferred transmission mode CDT(s, d, k) carries out data transmission；Wherein
CR(s,r,d,k)、CDT(s,r,k)、CDT(r, d, k) and CDT(s, d, k) respectively indicates relay transmission, data load, load shedding
With the transmission rate for the transmission mode that direct transfers, d indicates the destination node of Unmanned Aerial Vehicle Data transmission, and 0 < k < K indicates formation adjustment rank
One moment of section；
Step 2, it enlivens unmanned plane and descends transmission rate estimation free time unmanned plane depending on the relative position at the k momentLaser propagation effect,
Priority sequence sequence is carried out to relay node and transmission mode, and sends data transmission to the idle unmanned plane of highest priority and asks
It asks, obtains being received or being rejected two kinds of answers, if being carried out data transmission by receiving；If being rejected, to sub-priority
Relaying unmanned plane applied, until the answer being received；If being refused by the available free unmanned plane of institute, selection is direct transferred biography
Defeated mode；
Step 3, idle unmanned planeTransmission request is received, the transmission for enlivening unmanned plane that opposite direction oneself is filed an application is asked
Ask, by efficiency of transmission carry out priority ranking, and select optimum transmission efficiency enliven unmanned plane and transmission mode is connect
It receives, refusal others enliven the data transfer request of unmanned plane；
Step 4, the iteration that step 2 and step 3 are carried out within the adjusting stage, terminates until the time.
2. the distributed transmission mode selecting method according to claim 1 based on unmanned plane during flying track, feature exist
In, data-transmission mode in step 1, including the transmission mode that direct transfers, carrying transmission mode and relay transmission mode；
Setting enlivens unmanned plane s and sends data to destination node d at the k moment, and wherein Straight transmission model transmission rate is CDT(s,d,
K):
CDT(s, d, k)=Blog2(1+γ(s,d)) (1)
Wherein B is bandwidth, and γ (s, d) is the transmission signal-to-noise ratio of s to d；
Setting enlivens unmanned plane s and sends data to destination node d by idle unmanned plane r relay transmission at the k moment, belongs to relaying
Transmission mode, transmission rate CR(s, r, d, k):
Because unmanned plane has mobility, the free time that unmanned plane s selects the destination node d that will fly at the k moment is enlivened
Unmanned plane r first sends the data to r, and referred to as data load CDT(s,r,k)；Idle unmanned plane r after having received data,
k1The data of delivery are sent to destination node d, referred to as load shedding C by the momentDT(r,d,k1)。
3. the distributed transmission mode selecting method according to claim 1 based on unmanned plane during flying track, feature exist
In enlivening unmanned plane described in step 2 at the k moment and descend transmission rate estimation free time unmanned plane depending on the relative positionIt passes
Defeated effect carries out priority sequence sequence to relay node and transmission mode, specifically:
By the C in step 2DT(s, d, k) and CR(s, r, d, k) unified representation is at C (s, r, d, k, ai)；
Wherein, a indicates the selection of transmission mode, a=a1Expression has selected CDTMode, a=a2Expression has selected CRMode；μ(sn,
rp,ai) indicate snAnd rpIn transmission mode aiUnder matching, whereinExpression enlivens unmanned plane,Indicate empty
Not busy unmanned plane, ai,ajIndicate the transmission mode of selection,Indicate snPreference relation, i.e. snMore preference left term, this pass
System forWithIn with transmission characteristic and reflexive binary crelation.
4. the distributed transmission mode selecting method according to claim 1 based on unmanned plane during flying track, feature exist
In idle unmanned plane described in step 3Transmission request is received, what opposite direction oneself was filed an application enlivens unmanned plane
Transmission request carries out priority ranking by efficiency of transmission, specific as follows:
Wherein:
WhereinExpression enlivens unmanned plane,Indicate idle unmanned plane, ai,ajIndicate the transmission mode of selection,
Indicate rmPreference relation, i.e. rmMore preference left term；At the time of k ' is remaining after the k moment；
After idle unmanned plane r receives delivery mode, the time of the unloading data needed later is reserved and is freezed for
And in the timeInside send the data to purpose unmanned plane.
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