CN109525958A - A kind of unmanned plane cluster network controller design method of software definition - Google Patents
A kind of unmanned plane cluster network controller design method of software definition Download PDFInfo
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
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Abstract
The invention discloses a kind of unmanned plane cluster network control methods of software definition.First, SDN control domain is divided according to unmanned plane mission requirements and overlay area, by the neighbor density and connection distance that calculate each node, neighbor density and connection distance value are utilized respectively to node sequencing, and sequence number is added and obtains total sequence number of node, region vertex set is obtained according to a total sequence number value, and according to the shortest principle of region vertex distance, network node is divided into multiple SDN control domains.Then, SDN controller is disposed in ground control station and the domain SDN, and centralized control is carried out to cluster network, and the functions such as task monitors, conflict management, relay management, data forwarding, router-level topology are executed by software implementation controller, so that controller deployment can be with the variation of flexible adaptation network topology structure, be conducive to the elasticity control to local network device, UAV network equipment complexity and communication delay are reduced, that realizes each UAV node stablizes interconnection.
Description
Technical field
The present invention relates to unmanned plane network fields, are a kind of raising unmanned plane cluster network communication reliability methods.
Background technique
In recent years, unmanned plane (UAV) is small in size with its, mobility is strong and the advantages such as at low cost obtain in terms of military and civilian
Grow rapidly, military aspect includes investigation enemy's situation, interference enemy etc., civilian aspect for example forest fire detection, traffic monitoring,
Emergency rescue etc..However, single unmanned plane has the shortcomings that survivability is weak and coverage area is limited, these factors result in singly nobody
The communication reliability of machine is not high.Multiple UAVs are formed cluster Turbo Detection for Cooperative Communication, shared Internet resources cooperate, altogether
With corresponding communication task is completed, can effectively solve these problems.
Since unmanned plane trunked communication system includes multiple unmanned aerial vehicle platforms mutually cooperateed with, when the part in unmanned aerial vehicle group
For unmanned plane since self reason or external cause break down, other unmanned planes can assist impaired unmanned plane to continue to execute
Task, this significantly improves the reliability of unmanned plane trunked communication system.Meanwhile by means of the collaboration each other of unmanned plane cluster,
One inorganic coverage area can be widened, and then realizes wide area wireless network covering.
Although unmanned plane cluster communication has very big development potentiality, also there is also some still unsolved key
It studies a question, for example network resource utilization is lower, difficult, network control complexity of communication for coordination etc. between different unmanned planes.Has spirit
The software defined network (SDN) of the advantages such as living, open, programmable provides new approaches in order to solve the above problem.SDN is to mention in recent years
The completely new networking paradigms of one kind out, the network architecture are made of application plane, control plane, data plane and management plane.Its
Essential characteristic includes: that control plane is separated with data plane；Network configuration is carried out by the controller of logical centralization；Pass through software
Realize network control logic；Has standardized programming interface.SDN is by the standardization bodies such as ONF, IETF and numerous internets
The support energetically of manufacturer, and be successfully applied to data center network (DCN), in 5G, wireless sense network (WSN), vehicle-mounted from group
The application in the fields such as knitmesh (VANET) and Internet of Things (IoT) is also widely studied.
The flexibility and opening that SDN will be enhanced applied to unmanned plane cluster network network, accelerate UAV cluster network
Innovation and development.Software defined network carries out centralized control to the network equipment, greatly reduces the difficulty of control UAV network.Meanwhile
Control plane can obtain the whole network information (such as user property, network demand variation and real-time the whole network state), can pass through transmission
The action optimization scheduling of rule and the modification network equipment and adjustresources distribution, forwarding strategy, radio configuration etc..Therefore, it controls
Device is the key that the design of software definition UAV cluster network, directly affects the performance of whole network.The present invention proposes that one kind is used for
The controller design method of software definition unmanned plane cluster network reaches and provides UAV cluster network performance purpose.
Summary of the invention
Present invention solves the technical problem that being how in the unmanned plane cluster network of high dynamic effectively to realize each communication section
The elasticity control and stable interconnection of point.
Basic principle of the invention are as follows: firstly, wide, large number of, density unevenness according to UAV cluster network Node distribution
Feature divides multiple domains SDN in cluster network node and disposes SDN control in each domain in conjunction with the demand of cotasking
Device.When dividing SDN control domain, the neighbor density and connection distance of each node are first calculated, respectively according to its value to node sequencing,
And sequence number is added and obtains total sequence number of node, according to total row's sequence number value and according to the shortest original of region vertex distance
Then, network node is divided into multiple SDN control domains.Then, SDN control is disposed in ground control station and each domain SDN
Device carries out centralized control to cluster network, and executes task monitors, conflict management, relay management, data by software implementation controller
The functions such as forwarding, router-level topology, so that controller deployment can be conducive to the variation of flexible adaptation network topology structure to local
The elasticity control of the network equipment, reduces UAV network equipment complexity and communication delay, and that realizes each UAV node stablizes interconnection.
A kind of controller design method for software definition unmanned plane cluster network, such as Fig. 1, including following implemented step
It is rapid:
Step (1): initialization sets the total node number N of unmanned plane cluster network, and is set according to the task and region of execution
Determine UAV number of clusters M.
Step (2): calculate separately each UAV node neighbor density and node it is most short from.
Wherein, the neighbor density ρ of definition node ii=∑jdij,dijFor the actual range between network node i and node j；
The node shortest distance is defined as node i to the shortest distance between the node j of neighbor density ratio i high, i.e. δi=minJ: ρ j > ρ idij。
Step (3): UAV node set V is distributed and arranges to obtain set V according to ρ value and δ value descending1And V2, and write down every
Corresponding arrangement the serial number i and j of a node.
Step (4): the ρ value arrangement serial number i of each node is added with δ value arrangement serial number j, obtains total arrangement serial number.
Step (5): node collection V is arranged to obtain V according to total arrangement sequence number value ascending order*, and preceding M point is taken to form vertex set
S*。
Step (6): calculate each UAV node to vertex distance, and according to apart from the shortest principle of vertex distance, whole
A UAV cluster network is divided into M SDN subdomain, i.e. N={ N1, N2... NM, }.
Step (7): disposing SDN controller in each domain SDN, is responsible for the forwarding of each UAV internodal data inside domain
Data transmitting between control and each cluster network.
Step (8): SDN controller is disposed in each ground control station, and these SDN controllers converge to a whole network
SDN controller.
In view of high dynamic UAV cluster network topology makes controller and stablizing for each node interconnect more difficulty, complexity is dynamic
There are the limitations that failure risk and wireless channel are easy to appear transmission error for controller under state environment, are also being responsible for each
UAV cluster carries out disposing SDN controller in the ground control station of observing and controlling, and the mixed of SDN controller is disposed on this kind of aerial and ground
It closes network-control framework and guarantees authentic communication interaction between node.In this way, even if aerial SDN controller is entirely ineffective, earth station end
SDN controller also can guarantee the reliable communication of each node in cluster.And design each ground of the whole network SDN controller management
It stands internal controller, so that all cluster members are unified controllable.
Step (9): the SDN controller of cluster network receives each UAV node in cluster using southbound interface periodically
Position, track, speed situation information.
Step (10): task monitors unit distributes it according to the situation information that each UAV node detects and holds in SDN controller
The band of position of row task.
Step (11): conflict management unit is saved according to the UAV that situation information estimation may clash in SDN controller
Point, and the relay node that can avoid conflict is selected to be communicated.
Step (12): relay management unit is to according to the position between source node and Lothrus apterus relay node in SDN controller
It sets, to configure its transmission power.
Step (13): routing management unit establishes source according to relay node situation information and conflicting information in SDN controller
The optimal routed path of node and destination node.
For example, there is pending task when task monitors unit detects certain given position, routing unit finds closest be somebody's turn to do
The Lothrus apterus unmanned plane node in region executes inter-related task, and Lothrus apterus relay node is selected to establish source node to task node
Routed path.
Step (14): SDN controller southbound interface task monitors unit, conflict management unit, relay management unit and
The control information that routing management unit generates is sent to each unmanned plane in cluster.
Beneficial effect
The unmanned plane cluster network controller design method of software definition proposed by the present invention, utilizes the neighbours of UAV node
Density and connection distance divide multiple domains SDN and dispose SDN controller, and the configuration task in SDN controller in each domain
Monitoring unit, conflict management unit, relay management unit and routing management unit are controlled uniformly each unmanned plane, guarantee
Stablizing for entire cluster network interconnects under dynamic environment, and it is not necessary that each node is carried out task monitors, conflict is managed in cluster
Reason, the function of relay management and routing management, reduce network equipment complexity.Moreover, SDN Centralized Controller can obtain entirely
Cluster network situation information is advantageously implemented entire cluster network resources optimization distribution.
Detailed description of the invention
The implementation steps of the unmanned plane cluster network control of Fig. 1 software definition
Fig. 2 is the unmanned plane cluster network framework of software definition.
Fig. 3 is SDN controller function unit.
Fig. 4 is trunk node selection.
Specific embodiment
The unmanned plane cluster network framework for considering software definition as shown in Figure 2, by air transmission network and terrestrial transmission
Network composition.
Step (1): initialization sets total UAV number of nodes N=100 of unmanned plane cluster network, and each node index is i
∈ [1 ..., 100], and UAV number of clusters M=10 is set according to the task of execution and region.
Step (2): calculate separately each UAV node neighbor density and node it is most short from.
For example, the neighbor density ρ of node i=11=∑jd1j=1000km, d1jFor the reality between network node 1 and node j
Border distance；To the shortest distance between the neighbor density node j higher than 1, i.e., the node shortest distance is defined as node 1
Step (3): UAV node set V distribution peace is arranged to obtain set V according to ρ value and δ value descending1=[1500,
1200 ..., 500] and V2=[100,85 ..., 10], and write down corresponding arrangement serial number i=[56,45 ..., 2] of each node
With j=[33,76 ..., 23].
Step (4): the ρ value arrangement serial number i of each node is added with δ value arrangement serial number j, obtains total arrangement serial number.
For example, i=1:32+43=65；
I=2:23+31=54；
...
I=100:43+21=64.
Step (5): node collection V is arranged to obtain V according to total arrangement sequence number value ascending order*=[23,45 ..., 43,72], and
M point forms fixed-point set S before taking*=[72,43 ... 21].
Step (6): calculate each UAV node to vertex distance, and according to apart from the shortest principle of vertex distance, whole
A UAV cluster network is divided into M=10 SDN subdomain N={ N1, N2... NM, wherein
N1={ UAV1, UAV3... UAV22, ..., N10=[UAV5, UAV7... UAV72, here, it is designated as saving under UAV
Point index i.
Step (7): disposing SDN controller in each domain SDN, and such as Fig. 2 is responsible for each internodal data of cluster internal
Data transmitting between forwarding control and each cluster network.
Step (8): SDN controller, such as Fig. 2 are disposed in each ground control station, and these SDN controllers converge to one
A the whole network SDN controller.
In view of high dynamic UAV cluster network topology makes controller and stablizing for each node interconnect more difficulty, complexity is dynamic
There are the limitations that failure risk and wireless channel are easy to appear transmission error for controller under state environment, are also being responsible for each
UAV cluster carries out disposing SDN controller in the ground control station of observing and controlling, and the mixed of SDN controller is disposed on this kind of aerial and ground
It closes network-control framework and guarantees authentic communication interaction between node.In this way, even if aerial SDN controller is entirely ineffective, earth station end
SDN controller also can guarantee the reliable communication of each node in cluster.And design each ground of the whole network SDN controller management
It stands internal controller, so that all cluster members are unified controllable.
Step (9): design SDN controller function unit composition such as Fig. 3, including southbound interface, task monitors unit, conflict
Administrative unit, relay management unit and routing management unit.
SDN controller receives the position of each UAV node, track, speed situation in cluster using southbound interface periodically
Information.
Step (10): task monitors unit determines pending task according to the situation information of each UAV node in SDN controller
The band of position.
For example sending node 1 is in a certain areas adjacent, and its motion profile and speed are calculated and will not be sent out with other nodes
Raw conflict, then distribution node 1 executes the task near the band of position.
Step (11): conflict management unit is saved according to the UAV that situation information estimation may clash in SDN controller
Point, and the relay node that can avoid conflict is selected to be communicated.
In Fig. 3, if information source node is transmitted to destination node, although relay node 1,2 is closer apart from source node,
The two joint movements tracks, which may clash, leads to information Transmission, therefore selects relay node 3 to carry out information and be forwarded to
Destination node.
For complicated UAV Node distribution situation, the advanced flight collision anticipation such as some linear extrapolations also can be used and calculate
Method selects Lothrus apterus UAV node.
Step (12): relay management unit is according to node where it and selected Lothrus apterus relay node in SDN controller
Deployed position distributes transmission power rationally.
Source node configures suitable transmission power according to the distance between itself and the relay node 3 of selection, it is assumed that is 10w.
Step (13): routing management unit is according to relay node situation information and conflicting information in SDN controller, and selects
Lothrus apterus relay node establishes the optimal routed path of source node and destination node.
As Fig. 4 can then be established if task monitors unit detects destination node and has pending task, and 3 Lothrus apterus of node
The routed path of source node --- relay node 3 --- between destination node.Although can also establish from source node --- relaying section
Point 1 --- the routed path between destination node, but because node 1 may send conflict, therefore select node 3 as relay node.
Under normal circumstances, routed path selection is carried out in combination with routing algorithms such as relay node conflicting information and OLSR.
Step (14): SDN controller southbound interface task monitors unit, conflict management unit, relay management unit and
The control information of routing management unit decision making is sent to each UAV node in cluster.
Claims (1)
1. a kind of controller design method of the unmanned plane cluster network of software definition, which is characterized in that walked including following implemented
It is rapid:
Step (1): initialization sets the total node number N of unmanned plane cluster network, and is set according to the task of execution and region
UAV number of clusters M；
Step (2): calculate separately each UAV node neighbor density and node it is most short from；
Step (3): UAV node set V is distributed and arranges to obtain set V from value descending by neighbor density value and node are most short1With
V2, and write down corresponding arrangement the serial number i and j of each node；
Step (4): the neighbor density value of each node arrangement serial number i with node is most short is added from value arrangement serial number j, obtain always
Arrangement serial number；
Step (5): node collection V is arranged to obtain V according to total arrangement sequence number value ascending order*, and preceding M point is taken to form vertex set S*；
Step (6): calculate each UAV node to vertex distance, and according to apart from the shortest principle of vertex distance, entire
UAV cluster network is divided into M SDN subdomain；
Step (7): disposing SDN controller in each domain SDN, is responsible for the forwarding control of each UAV internodal data inside domain
Data transmitting between each cluster network；
Step (8): SDN controller is disposed in each ground control station, and these SDN controllers converge to the whole network SDN
Controller；
Step (9): the SDN controller of cluster network using southbound interface receive periodically the position of each UAV node in cluster,
Track, speed situation information；
Step (10): task monitors unit determines pending according to the situation information that each UAV node detects in SDN controller
The band of position of business；
Step (11): conflict management unit estimates the UAV node that may be clashed according to situation information in SDN controller, and
The relay node of selection Lothrus apterus is communicated；
Step (12): relay management unit is according to the distance between source node and Lothrus apterus relay node in SDN controller, to match
Set its transmission power；
Step (13): routing management unit according to node situation information and executes task location in SDN controller, selects Lothrus apterus
Relay node establishes the optimal routed path of source node and destination node；
Step (14): SDN controller southbound interface is task monitors unit, conflict management unit, relay management unit and routing
The control information that administrative unit generates is sent to each unmanned plane in cluster.
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| CN110691380A (en) * | 2019-10-30 | 2020-01-14 | 北京工业大学 | Method for reducing communication overhead and time delay of software defined unmanned aerial vehicle cluster network |
| CN110881187A (en) * | 2019-12-11 | 2020-03-13 | 北京智联安科技有限公司 | SDN-based IoT network security protection system and method |
| CN110913402A (en) * | 2019-11-27 | 2020-03-24 | 南京航空航天大学 | High-coverage-efficiency unmanned aerial vehicle ad hoc network clustering method for jointly optimizing communication and formation |
| CN110995601A (en) * | 2019-12-19 | 2020-04-10 | 北京工业大学 | Software-defined space-based backbone network topology construction method |
| CN112230679A (en) * | 2020-12-15 | 2021-01-15 | 中国人民解放军国防科技大学 | Group coupling system cooperative control method and device based on time delay |
| CN112423341A (en) * | 2020-10-23 | 2021-02-26 | 中国电子科技集团公司第七研究所 | SDN southbound interface control method suitable for condition of limited air-based node resources |
| CN112543151A (en) * | 2020-11-25 | 2021-03-23 | 中移（杭州）信息技术有限公司 | SDN controller deployment method and device, electronic equipment and storage medium |
| CN113341712A (en) * | 2021-05-31 | 2021-09-03 | 西南电子技术研究所（中国电子科技集团公司第十研究所） | Intelligent hierarchical control selection method for unmanned aerial vehicle autonomous control system |
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| CN110149671B (en) * | 2019-05-28 | 2022-10-28 | 西南电子技术研究所（中国电子科技集团公司第十研究所） | Routing method of unmanned aerial vehicle swarm network |
| CN110691380A (en) * | 2019-10-30 | 2020-01-14 | 北京工业大学 | Method for reducing communication overhead and time delay of software defined unmanned aerial vehicle cluster network |
| CN110913402A (en) * | 2019-11-27 | 2020-03-24 | 南京航空航天大学 | High-coverage-efficiency unmanned aerial vehicle ad hoc network clustering method for jointly optimizing communication and formation |
| CN110881187A (en) * | 2019-12-11 | 2020-03-13 | 北京智联安科技有限公司 | SDN-based IoT network security protection system and method |
| CN110995601B (en) * | 2019-12-19 | 2021-11-26 | 北京工业大学 | Software-defined space-based backbone network topology construction method |
| CN110995601A (en) * | 2019-12-19 | 2020-04-10 | 北京工业大学 | Software-defined space-based backbone network topology construction method |
| CN112423341A (en) * | 2020-10-23 | 2021-02-26 | 中国电子科技集团公司第七研究所 | SDN southbound interface control method suitable for condition of limited air-based node resources |
| CN112543151A (en) * | 2020-11-25 | 2021-03-23 | 中移（杭州）信息技术有限公司 | SDN controller deployment method and device, electronic equipment and storage medium |
| CN112230679A (en) * | 2020-12-15 | 2021-01-15 | 中国人民解放军国防科技大学 | Group coupling system cooperative control method and device based on time delay |
| CN113341712A (en) * | 2021-05-31 | 2021-09-03 | 西南电子技术研究所（中国电子科技集团公司第十研究所） | Intelligent hierarchical control selection method for unmanned aerial vehicle autonomous control system |
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| CN114500359A (en) * | 2022-04-15 | 2022-05-13 | 深圳市永达电子信息股份有限公司 | Cluster dynamic networking method and cluster dynamic networking |
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