CN109981161B - Multi-unmanned aerial vehicle communication mode design method based on publish-subscribe - Google Patents
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Abstract
The invention discloses a method for designing a multi-unmanned aerial vehicle communication mode based on publish-subscribe, which comprises the following steps: step (1): designing a topological structure of a communication mode according to the requirements of multiple unmanned aerial vehicles on dynamics and reliability during communication and by combining the structural characteristics of various publish-subscribe systems; step (2): abstracting the capability and the state of the unmanned aerial vehicle into subscription, designing a subscription model of a communication mode, abstracting a task target and task constraint into an event, and designing an event model of the communication mode; and (3): and (3) designing an event-subscription matching mechanism of a communication mode according to the subscription model and the event model designed in the step (2) and by combining the requirement on information real-time transmission in the communication process of the multiple unmanned aerial vehicles. The invention has the advantages of dynamic property, reliability and loose coupling property, and can ensure certain communication quality of a plurality of unmanned aerial vehicles in a complex and variable battlefield environment.
Description
Technical Field
The invention relates to the field of communication, in particular to a method for designing a multi-unmanned aerial vehicle communication mode based on publish-subscribe.
Background
Unmanned Aerial Vehicle (UAV) is an Unmanned aircraft operated by a radio remote control device or a program control device, and has high flexibility and maneuverability, and strong adaptability to severe environments, so that the UAV has wide application in the fields of modern military and life, such as information reconnaissance, military attack, information confrontation, data acquisition, meteorological monitoring, personnel search and rescue and the like. Under the complicated and changeable informationized battlefield environment, a single unmanned aerial vehicle is limited by multiple aspects such as the range of motion, the load capacity, the killing radius, the attack precision and the like, and along with the continuous development of the anti-unmanned aerial vehicle technology, the operational capacity of the single unmanned aerial vehicle is reduced day by day. Therefore, the cooperative execution of multiple units is becoming an extremely important military operation in modern information battlefields.
The communication problem is inevitably faced by tasks such as attack, reconnaissance, patrol and the like which are cooperatively carried out by a plurality of unmanned aerial vehicles, and modern unmanned aerial vehicles have autonomous capabilities with different degrees according to models and purposes, an unmanned aerial vehicle cluster is similar to a distributed system and can decompose and issue a single complex task to each unmanned aerial vehicle, but the communication network changes frequently due to the high flexibility and the maneuvering capability of the unmanned aerial vehicles, the communication network has strong survivability due to the severe environment in a battlefield, different types of unmanned aerial vehicles can have completely different hardware devices, so that a communication mode applied to a communication scene among the unmanned aerial vehicles needs to have dynamics, reliability and loose coupling, and the issuing and subscribing communication mode just accords with the characteristics. Therefore, it is urgently needed to invent a communication mode design method which has dynamic property, reliability and loose coupling property and can ensure that a plurality of unmanned aerial vehicles can still ensure certain communication quality in a complex and variable battlefield environment.
Disclosure of Invention
The invention aims to provide a design method of a communication mode, which has dynamic property, reliability and loose coupling property and can ensure that a plurality of unmanned aerial vehicles can still ensure certain communication quality in a complex and variable battlefield environment.
In order to achieve the technical purpose, the invention adopts the following technical scheme: a design method of a multi-unmanned aerial vehicle communication mode based on subscription publishing is characterized in that: the method comprises the following steps:
step (1): designing a topological structure of a communication mode according to the requirements of multiple unmanned aerial vehicles on dynamics and reliability during communication and by combining the structural characteristics of various publish-subscribe systems;
step (2): abstracting the capability and the state of the unmanned aerial vehicle into subscription, designing a subscription model of a communication mode, abstracting a task target and task constraint into an event, and designing an event model of the communication mode;
and (3): and (3) designing an event-subscription matching mechanism of a communication mode according to the subscription model and the event model designed in the step (2) and by combining the requirement on information real-time transmission in the communication process of the multiple unmanned aerial vehicles.
Further, the foregoing method for designing a multi-drone communication mode based on subscription publishing is provided, wherein: in step (3), the design of the event-subscription matching mechanism comprises the following steps:
step (3.1): combining the subscription model and the event model characteristics to provide conditions for matching the event and the subscription;
step (3.2): based on the event and subscription matching condition proposed in the step (3.1), adding the attribute in the subscription condition into the data structure of the R-tree to define the index structure of the subscription;
step (3.3): and (4) designing an event-subscription matching method based on the subscription index structure proposed in the step (3.2) to quickly search qualified subscribers.
Further, the foregoing method for designing a multi-drone communication mode based on subscription publishing is provided, wherein: in step (3.1), when defining a matching condition between a subscription and an event, the event published by the drone must satisfy the following two constraints if the event is matched with a certain subscription:
(1) and (3) space constraint: given an event e and a subscription s, the spatial information point e.R for event m must be contained in the subscription scope s.R for subscription s;
(2) and (4) attribute constraint: given an event e and a subscription s, a predicate set { p ] of the subscription s1,p2,p3,…,pnAny predicate p ini＝p(ki,oi,vi) Key-value pair set e.A capable of at event enFind a key-value pair Aj＝A(kj,vj) So that k isi＝kjAnd p (k)i,oi,vi) Is true.
Further, the foregoing method for designing a multi-drone communication mode based on subscription publishing is provided, wherein: in step (3.2), the index structure for defining the subscription specifically includes:
organizing all registered subscriptions into a subscription tree similar to an R-tree, wherein the subscription tree is a balanced tree, each leaf node of the subscription tree comprises a plurality of data entries, each data entry represents a subscription, and the index, the predicate set and the subscription range of the subscription are owned by the data entry; each internal node n of the subscription tree has a plurality of point domains, each point domain comprises a triple < Child, MS, Keys >, Child is an index of a Child node of the node, MS is a minimum sphere of a spatial range of all Child nodes capable of containing the node, and Keys is a union of keywords in a key-value pair set of all Child nodes of the node.
Further, the foregoing method for designing a multi-drone communication mode based on subscription publishing is provided, wherein: in step (3.3), the defining event-subscription matching method specifically includes:
when an event e enters a subscription tree t, traversing the subscription tree t in sequence to find out a subscription matched with the event, screening nodes of the subscription tree in the traversing process, removing subscription nodes which are impossible to be matched, finding out a candidate subscription set with matching possibility, and then verifying whether all subscriptions in the subscription set can be completely matched with the event e;
wherein, the screening steps are as follows:
given an internal node n, let n.ms represent a minimum sphere that can accommodate the MS of all the point domains of the node, let n.keys represent the union of the keys of all the point domains of the node, the node is not pruned when node n satisfies the following constraint: (1) spatial screening: e.R are present in n.ms;
(2) and (3) screening attributes: e.An∩n.Keys≠null；
When n is not pruned, continuing to traverse the child nodes of n in a sequencing manner, if the child nodes are leaf nodes, adding all the subscriptions in the leaf nodes into the candidate subscription set SnAfter traversing the complete subscription tree, selecting subscription set SnAnd (6) carrying out verification.
Further, the foregoing method for designing a multi-drone communication mode based on subscription publishing is provided, wherein: in the step of(3.3) selecting subscription set SnThe method for verifying specifically comprises: suppose SiAs a candidate subscription set SnAny one of the candidate subscriptions, if subscribed SiIf the space constraint and the attribute constraint mentioned in step 1 can be satisfied simultaneously with the event e, subscribing SiBy verification, all verified subscriptions will be added to the matching subscription set and event e will be sent to all subscribers in the matching subscription set.
Through the implementation of the technical scheme, the invention has the beneficial effects that: the designed communication mode needs to have dynamic property, reliability and loose coupling property, wherein the dynamic property ensures that all members in the unmanned aerial vehicle cluster in the communication mode can exit the cluster, and unmanned aerial vehicles outside the cluster can join the cluster at any time; reliability ensures that if the unmanned aerial vehicle cluster in the communication mode is damaged by members within a certain number, the whole communication system cannot be paralyzed; the loose coupling ensures that the unmanned aerial vehicles in the communication mode do not need to be always connected and have asynchronous communication capability; make many unmanned aerial vehicles still can guarantee certain communication quality under complicated and changeable battlefield environment.
Drawings
FIG. 1 is a schematic diagram of a conceptual model of a publish-subscribe system in the present invention.
Fig. 2 is a schematic view of a topology structure of a publish-subscribe communication mode designed according to communication requirements of multiple drones in the present invention.
FIG. 3 illustrates exemplary subscriptions and events in the present invention.
Fig. 4 is a schematic diagram of a subscription tree generated by the subscription in fig. 3.
Detailed Description
The invention is described in further detail below with reference to the figures and specific examples.
As shown in fig. 1, fig. 2, fig. 3, and fig. 4, the method for designing a multi-drone communication mode based on publish-subscribe includes the following steps:
step (1): designing a topological structure of a communication mode according to the requirements of multiple unmanned aerial vehicles on dynamics and reliability during communication and by combining the structural characteristics of various publish-subscribe systems;
wherein, the topological structure that needs the design reliability and the expansibility of information network when should guaranteeing many unmanned aerial vehicle communication, the concrete presentation is in:
(1) the breakdown of the whole communication system can not be caused when the unmanned aerial vehicle member in the communication network has an accident;
(2) the new member can join the communication network at any time, and the member in the communication network can quit the communication network at any time;
the design of the topological structure specifically comprises the following steps:
the unmanned aerial vehicles generally need to communicate with each other, cooperate to execute tasks, and have group mobility, at the moment, the topological structure of a communication network changes frequently and the communication state of each unmanned aerial vehicle cannot be guaranteed, a communication mode used by the demand has the characteristics of multipoint communication, asynchronization, loose coupling and the like, and is very suitable for the characteristics of a publish-subscribe communication mode, because the publish-subscribe communication mode defines each communication member as a publisher, a subscriber, an event agent and other roles, the publisher and the subscriber are decoupled on the time, space and control flow, the publisher and the subscriber can join in and leave the communication system at any time, and events published by the publisher can be transmitted to a plurality of subscribers;
traditional publish-subscribe systems applied to OTO platforms (e.g. take-away platforms) or social software (e.g. microblogs, twitter) generally have the following topology:
a centralized topology:
the publish-subscribe system relies on a single proxy server to receive, match and forward events, and is suitable for scenes with high requirements on data reliability and consistency, but the proxy server has heavy load and the system has poor robustness;
② hierarchical topological structure
The publish-subscribe system is provided with a plurality of proxy servers, hierarchical relations exist among the servers, subscription and event messages are generally only forwarded to upper-layer servers, and a father node selectively forwards events to child nodes. The publish-subscribe system can conveniently divide services into blocks according to requirements, but has the defects of heavy load of a root node server and poor damage resistance;
③ Peer-to-Peer topology:
the publishing and subscribing system does not distinguish the server from the client, all nodes are in equal positions, and can receive, match and forward events; the system has no defect of single point failure, has strong damage resistance, but has complex routing and difficult guarantee of data consistency;
the above topological structure can not meet the requirements of multiple unmanned aerial vehicles on dynamics and reliability when used alone, so that the characteristics of the unmanned aerial vehicles need to be combined for comprehensive consideration;
firstly, the unmanned aerial vehicle cluster is divided into two stages, namely a leader and a slave, wherein the slave is a publisher and a subscriber and can join or quit a communication system at any time, the leader plays the role of a message agent, and the leader can also publish and receive events; the slave machine only needs to communicate with the leader, sends the interested subscription to the leader, and sends the perceived information as an event to the leader, and the leader is responsible for storing and matching the subscription and forwarding the event;
secondly, respectively designing topological structures for communication between the leaders and the slaves; peer-to-peer communication is carried out between the leader and the leader to form a mesh topology structure, while the slaves can only directly communicate with the leader and are connected into a star shape to reduce the data volume in the communication network;
finally, the reliability and the damage resistance of the communication system are designed, in order to prevent the occurrence of single-point failure, a plurality of communication agent leaders exist, and a peer-to-peer communication architecture is adopted among the leaders, so that when a certain one of the leaders fails, the whole communication system cannot be paralyzed, and when other leaders sense that the certain one of the leaders is separated from the communication system, a new leader is selected from the slave machines to maintain the number of the message agents;
step (2): abstracting the capability and the state of the unmanned aerial vehicle into subscription, designing a subscription model of a communication mode, abstracting a task target and task constraint into an event, and designing an event model of the communication mode;
the design of the subscription model specifically comprises the following steps:
unmanned aerial vehicles can be classified into information, reconnaissance, monitoring, baiting, electronic countermeasure, communication relay, unmanned fighter and the like according to purposes, functions of the unmanned aerial vehicles with different purposes are different, tasks capable of being executed are also different, the capability of the unmanned aerial vehicles is abstracted into subscriptions (i.e. subscriptions are represented by s), each Subscription is { T, R }, wherein s.T represents a predicate set, s.R represents a Subscription range, and represents an action range of the unmanned aerial vehicle, and the action range consists of a circle center and a radius (in km), for example (lat:49.336124, ling: 110.664322, R: 2000);
the Predicate set contains several predicates (i.e. Predicate, denoted by p), each Predicate is composed of three parts, namely Key (Key), Operator (Operator), and Value (Value), where the Operator can be >, <, >, and e, and then one Predicate can be expressed as:
p＝p(k,o,v)
for example: k is focalength, o is < ═ v is 560, and p (k, o, v) is focalength < (560). So the predicate set in the subscription can be represented as:
s.P＝{p1,p2,p3,…,pn}
thus, subscription s can be expressed as:
s＝{p1,p2,p3,…,pn,R}
the design of the event model specifically comprises the following steps:
battlefield information perceived by the drone through the onboard sensors may be abstracted into events (i.e., events, denoted by e), each event e ═ an,R}，e.AnRepresenting a set of key-value pairs, e.R is a point of spatial information represented by latitude and longitude and height (in m), e.g. (lat:49.336124, ling: 110.664322, hei: 500). Each Key-Value pair a is composed of two parts, namely a Key (Key) and a Value (Value), and one Key-Value pair can be expressed as:
A＝A(k,v)
for example, if k is Mode and v is Scout, a (k, v) is Mode or Scout. The set of key-value pairs can be represented as:
e.An＝{A1,A2,A3,…,An}
thus, event e can be represented as:
e＝{A1,A2,A3,…,An,R}；
and (3): designing an event-subscription matching mechanism of a communication mode according to the subscription model and the event model designed in the step (2) and by combining the requirement on information real-time transmission in the communication process of the multiple unmanned aerial vehicles;
the design of the event-subscription matching mechanism comprises the following steps:
step (3.1): combining the subscription model and the event model characteristics to provide conditions for matching the event and the subscription;
when a matching condition between a subscription and an event is defined, the following two constraints must be satisfied if the event issued by the unmanned aerial vehicle is matched with a certain subscription:
(1) and (3) space constraint: given an event e and a subscription s, the spatial information point e.R for event m must be contained in the subscription scope s.R for subscription s;
(2) and (4) attribute constraint: given an event e and a subscription s, a predicate set { p ] of the subscription s1,p2,p3,…,pnAny predicate p ini＝p(ki,oi,vi) Key-value pair set e.A capable of at event enFind a key-value pair Aj＝A(kj,vj) So that k isi＝kjAnd p (k)i,oi,vi) Is true;
step (3.2): based on the event and subscription matching condition proposed in the step (3.1), adding the attribute in the subscription condition into the data structure of the R-tree to define the index structure of the subscription;
the index structure for defining the subscription specifically includes:
organizing all registered subscriptions into a subscription tree similar to an R-tree, wherein the subscription tree is a balanced tree, each leaf node of the subscription tree comprises a plurality of data entries, each data entry represents a subscription, and the index, the predicate set and the subscription range of the subscription are owned by the data entry; each internal node n of the subscription tree has a plurality of point domains, each point domain comprises a triple < Child, MS, Keys >, Child is an index of the Child node of the node, MS is a minimum sphere of a space range of all Child nodes capable of containing the node, and Keys is a union of keywords in a key-value pair set of all Child nodes of the node;
step (3.3): designing an event-subscription matching method based on the subscription index structure proposed in the step (3.2) to quickly search qualified subscribers;
the method for defining the event-subscription matching specifically comprises the following steps:
when an event e enters a subscription tree t, traversing the subscription tree t in sequence to find out a subscription matched with the event, screening nodes of the subscription tree in the traversing process, removing subscription nodes which are impossible to be matched, finding out a candidate subscription set with matching possibility, and then verifying whether all subscriptions in the subscription set can be completely matched with the event e;
wherein, the screening steps are as follows:
given an internal node n, let n.ms represent a minimum sphere that can accommodate the MS of all the point domains of the node, let n.keys represent the union of the keys of all the point domains of the node, the node is not pruned when node n satisfies the following constraint:
(1) spatial screening: e.R are present in n.ms;
(2) and (3) screening attributes: e.An∩n.Keys≠null；
When n is not pruned, continuing to traverse the child nodes of n in a sequencing manner, if the child nodes are leaf nodes, adding the subscriptions in the leaf nodes into the candidate subscription set SnAfter traversing the complete subscription tree, selecting subscription set SnAnd (6) carrying out verification.
Wherein, the pair selection subscription set SnThe method for verifying specifically comprises: suppose SiAs a candidate subscription set SnAny one of the candidate subscriptions, if subscribed SiIf the space constraint and the attribute constraint mentioned in step 1 can be satisfied simultaneously with the event e, subscribing SiBy authentication, all authenticated subscriptions will be addedAnd (4) entering the matching subscription set, and sending an event e to all subscribers in the matching subscription set.
Taking the subscription tree shown in FIG. 4 as an example, when event e is shown in FIG. 32When entering the subscription tree, checking whether the point domain in the root node has a candidate node or not, and cutting off the nodes which do not meet the constraint condition. The root node has two point domains a2、a3Respectively wrap n2Node and n3Index, set of keywords, set of spatial extents of nodes, a2Will be pruned because it cannot be spatially screened, see event e in FIG. 32Spatial information point p of2And a2Set of spatial ranges R5There is no intersection, so a2Will be pruned. a is3Will be preserved due to the point field a3Set of spatial ranges R6And event e2Spatial information point p of2Has an intersection, and a3The key set (Mode, FocalLength) and the event e2The key word sets (Mode, length, FocalLength) have intersection, so that the right subtree of the root node is traversed in advance, namely the leaf node n is judged at the beginning3Whether there is a qualified subscription. n is3Presence of subscription s in3And s4Will subscribe to s3And s4And adding the candidate subscription set. At this time, the complete subscription tree has been traversed, and the verification of the subscriptions in the candidate subscription set is started, subscriptions s3And s4Do not match event e2This is due to s3And s4Subscription scope R3、R4Do not contain event e2Does not meet the spatial constraints in the event-subscription matching conditions.
The invention has the advantages that: the designed communication mode needs to have dynamic property, reliability and loose coupling property, wherein the dynamic property ensures that all members in the unmanned aerial vehicle cluster in the communication mode can exit the cluster, and unmanned aerial vehicles outside the cluster can join the cluster at any time; reliability ensures that if the unmanned aerial vehicle cluster in the communication mode is damaged by members within a certain number, the whole communication system cannot be paralyzed; the loose coupling ensures that the unmanned aerial vehicles in the communication mode do not need to be always connected and have asynchronous communication capability; make many unmanned aerial vehicles still can guarantee certain communication quality under complicated and changeable battlefield environment.
Claims (1)
1. A design method of a multi-unmanned aerial vehicle communication mode based on subscription publishing is characterized in that: the method comprises the following steps:
step (1): designing a topological structure of a communication mode according to the requirements of multiple unmanned aerial vehicles on dynamics and reliability during communication and by combining the structural characteristics of various publish-subscribe systems;
step (2): abstracting the capability and the state of the unmanned aerial vehicle into subscription, designing a subscription model of a communication mode, abstracting a task target and task constraint into an event, and designing an event model of the communication mode;
and (3): designing an event-subscription matching mechanism of a communication mode according to the subscription model and the event model designed in the step (2) and by combining the requirement on information real-time transmission in the communication process of the multiple unmanned aerial vehicles;
in step (3), the design of the event-subscription matching mechanism comprises the following steps:
step (3.1): combining the subscription model and the event model characteristics to provide conditions for matching the event and the subscription;
in step (3.1), when defining a matching condition between a subscription and an event, the event published by the drone must satisfy the following two constraints if the event is matched with a certain subscription:
(1) and (3) space constraint: given an event e and a subscription s, the spatial information point e.R of the event e must be contained in the subscription scope s.R of the subscription s;
(2) and (4) attribute constraint: given an event e and a subscription s, a predicate set { p ] of the subscription s1,p2,p3,…,pnAny predicate p ini＝p(ki,oi,vi) Key-value pair set e.A capable of at event enFind a key-value pair Aj＝A(kj,vj) So that k isi＝kjAnd p (k)i,oi,vi) Is true; wherein, in predicate pi＝p(ki,oi,vi) Inner, kiRepresenting keywords (Key), oiPresentation Operator (Operator), viRepresents a Value (Value), where the operator may be >, <, ═ b,>＝、<E, the whole predicate piToken pair key kiA constraint of (2); at key value pair Aj＝A(kj,vj) Inner, kjRepresenting keywords (Key), vjValue, the whole key-Value pair AjCharacterizing a keyword k at a current statejA value of (d);
step (3.2): based on the event and subscription matching condition proposed in the step (3.1), adding the attribute in the subscription condition into the data structure of the R-tree to define the index structure of the subscription;
in step (3.2), the index structure for defining the subscription specifically includes:
organizing all registered subscriptions into a subscription tree similar to an R-tree, wherein the subscription tree is a balanced tree, each leaf node of the subscription tree comprises a plurality of data entries, each data entry represents a subscription, and the index, the predicate set and the subscription range of the subscription are owned by the data entry; each internal node n of the subscription tree has a plurality of point domains, each point domain comprises a triple < Child, MS, Keys >, Child is an index of the Child node of the node, MS is a minimum sphere of a space range of all Child nodes capable of containing the node, and Keys is a union of keywords in a key-value pair set of all Child nodes of the node;
step (3.3): designing an event-subscription matching method based on the subscription index structure proposed in the step (3.2) to quickly search qualified subscribers;
in step (3.3), the defining event-subscription matching method specifically includes:
when an event e enters a subscription tree t, traversing the subscription tree t in sequence to find out a subscription matched with the event, screening nodes of the subscription tree in the traversing process, removing subscription nodes which are impossible to be matched, finding out a candidate subscription set with matching possibility, and then verifying whether all subscriptions in the subscription set can be completely matched with the event e;
wherein, the screening steps are as follows:
given an internal node n, let n.ms represent a minimum sphere that can accommodate the MS of all the point domains of the node, let n.keys represent the union of the keys of all the point domains of the node, the node is not pruned when node n satisfies the following constraint:
(1) spatial screening: e.R are present in n.ms;
(2) and (3) screening attributes: e.An∩n.Keys≠null；
Wherein, the battlefield information that unmanned aerial vehicle perceived through airborne sensor can be abstracted into event, is represented by e, and every event e ═ { An,R}，e.AnRepresenting a set of key-value pairs, e.R being a point of spatial information represented by latitude and longitude and height (in m); each Key-Value pair a is composed of two parts, namely a Key (Key) and a Value (Value), and one Key-Value pair can be represented as a ═ a (k, v); when n is not pruned, continuing to traverse the child nodes of n in a sequencing manner, if the child nodes are leaf nodes, adding all the subscriptions in the leaf nodes into the candidate subscription set SnAfter traversing the complete subscription tree, selecting subscription set SnCarrying out verification;
in step (3.3), the subscription set S is selectednThe method for verifying specifically comprises: suppose SiAs a candidate subscription set SnAny one of the candidate subscriptions, if subscribed SiIf the space constraint and the attribute constraint mentioned in step 1 can be satisfied simultaneously with the event e, subscribing SiBy verification, all verified subscriptions will be added to the matching subscription set and event e will be sent to all subscribers in the matching subscription set.
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