CN110417588B - Aviation dynamic network path planning method based on alliance game - Google Patents
Aviation dynamic network path planning method based on alliance game Download PDFInfo
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Abstract
The invention provides an aviation dynamic network path planning method based on alliance game; firstly, acquiring an aviation dynamic network diagram, calculating the change rate of the topological relation of the aviation network, selecting a time interval, and converting the aviation dynamic network diagram into a plurality of static network topological diagrams according to the selected time interval; secondly, simplifying the static network topological graph according to the Euclidean distance between each airplane node and the neighbor nodes in the static network topological graph; and finally, establishing an alliance structure by mutually cooperating airplane nodes based on the simplified static network topological graph, and planning a transmission path in the aviation network by taking the transmission flow and the delay time as game rules. The invention more effectively utilizes idle resources in the aviation network and ensures the reliability and effectiveness of aviation communication.
Description
Technical Field
The invention relates to the technical field of aviation networks, in particular to an aviation dynamic network path planning method based on alliance game.
Background
Mobile communication and internet access have become important components of today's society. In recent years, commercial airlines are attempting to provide internet access and cellular network connectivity services within the passenger cabin, thereby forcing the first group of satellite-based flight information service providers to include Boeing, OnAir, AeroMobile, and Panasonic. Particularly, aviation flights across continents, often traverse oceans and remote areas such as large waters, deserts, polar regions, etc., where it is difficult to deploy communication infrastructure on the ground, mostly providing information services for aviation passengers via satellites, but the cost and latency of satellite communications is significant, and thus the aviation internet (airlnternet) has come to date, such as the american AirCell, providing faster and cheaper information services via the A2A (Air-to-Air) communication link.
The aviation internet is an ad-hoc wireless network formed by aircraft through direct air-to-air (A2A) communication links, and has the characteristics of high mobility, wide transmission range, three-dimensional space and the like. Aircraft within communication range of the ground base station access the ground base station network such that coverage extends from offshore to marine or remote airspace. A mesh network is formed over the air by having the aircraft itself act as a network router relay station. In transoceanic flight, an aircraft can bypass the expensive satellite link by using the air internet as a bridge to the ground infrastructure, and then maintaining the connection. From an airline perspective, avoiding satellite connections can greatly reduce communication costs. Another potential benefit is reduced latency compared to geostationary satellites, supporting delay sensitive applications such as voice and video conferencing. For a geostationary satellite, a one-way end-to-end transmission delay of approximately 250 milliseconds is required for the signal from the satellite to the ground base station. While the aeronautical internet may provide lower end-to-end delay guarantees by using appropriate quality of service (QoS) mechanisms, such as resource reservation or packet priority. However, the existing aviation network still has the problem that idle resources in the aviation network cannot be effectively utilized.
Disclosure of Invention
The invention aims to provide an aviation dynamic network path planning method based on a league game, and solves the problem that idle resources in an aviation network cannot be effectively utilized in the existing aviation network.
In order to solve the technical problem, the invention provides an aviation dynamic network path planning method based on a league game, which comprises the following steps:
acquiring an aviation dynamic network diagram, calculating the change rate of the topological relation of the aviation network, selecting a time interval, and converting the aviation dynamic network diagram into a plurality of static network topological diagrams according to the selected time interval;
simplifying the static network topological graph according to the Euclidean distance between each airplane node and the neighbor nodes in the static network topological graph;
and establishing an alliance structure by mutually cooperating airplane nodes based on a simplified static network topological graph, and planning a transmission path in the aviation network by taking the transmission flow and the delay time as game rules.
The method comprises the steps of obtaining an aviation dynamic network diagram, calculating the change rate of an aviation network topological relation, selecting a time interval, and converting the aviation dynamic network diagram into a plurality of static network topological diagrams according to the selected time interval, and comprises the following steps:
calculating flight path data of the flight according to the flight data, and constructing an aviation dynamic network diagram;
dividing the aviation dynamic network graph into static network graphs in a plurality of time periods according to a preset time interval;
forming initial structures of a plurality of static network graphs according to a sight distance propagation rule, and calculating the change rate of the topological relation of the aviation network in each time period;
when the change rate of the topological relation of the aviation network is greater than or equal to a preset threshold value, the time periods are continuously subdivided, the aviation dynamic network graph is divided again until the change rate of the topological relation of the aviation network in each time period is smaller than the preset threshold value, the time interval at the moment is selected to convert the aviation dynamic network graph into a plurality of static network topological graphs, and the aviation network topological relation in each time period is ensured to be relatively kept unchanged.
Wherein the flight data comprises: flight number, departure place, destination and corresponding longitude and latitude, departure time and arrival time; the track data includes: the latitude and longitude of the flight, the altitude, the speed, and the time of flight.
Wherein, the departure time, the arrival time and the flight time are all uniformly expressed by UTC; the flight data is 24-hour flight data information of the airplane flight.
The method for simplifying the static network topological graph according to the Euclidean distance between each aircraft node and the neighbor nodes thereof in the static network topological graph comprises the following steps:
dividing a sector area around each airplane node in the static network topological graph; the node in each sector area is a neighbor node of the airplane node corresponding to the sector area;
calculating the Euclidean distance between the neighbor node of each airplane node and the airplane node;
and reserving the neighbor node with the minimum Euclidean distance in each sector area, and deleting other neighbor nodes in the sector area, thereby forming a simplified aviation network topological structure.
The method comprises the following steps of dividing a sector area around each airplane node in a static network topological graph, wherein the method specifically comprises the following steps:
selecting one of the airplane nodes, drawing a circle by taking the selected airplane node as a center and the maximum communication distance as a radius, and dividing the drawn circle into n fan-shaped areas by taking alpha as a parameter; wherein n is 2 pi/alpha;
the calculation of the Euclidean distance between the neighbor node of each airplane node and the airplane node specifically comprises the following steps:
calculating an angle between a neighbor node in each sector area of the airplane node and the airplane node according to the position coordinate of the airplane node and the position coordinate of the neighbor node, and dividing the corresponding neighbor node into the corresponding sector areas according to the angle;
and after each neighbor node is divided into corresponding sector areas, calculating the Euclidean distance between each neighbor node in each sector area of the airplane node and the airplane node.
The method comprises the following steps of establishing an alliance structure through mutual cooperation of airplane nodes based on a simplified static network topological graph, and planning a transmission path in an aviation network by taking transmission flow and delay time as game rules, wherein the method comprises the following steps:
selecting an aviation internet formed within a period of time based on a simplified static network topological graph, setting a part of airplane nodes as destination nodes De at initial time, and using the rest of airplane nodes as relay nodes Re to form a data transmission path; each airplane node randomly selects a base station to access, and if no base station exists in the communication range of a certain airplane node, connection is not performed to form an initial alliance structure;
calculating the total benefit according to the packet transmission success rate and the delay time of the initial alliance structure;
randomly changing the connection of some De in the initial alliance structure, if the De can not search the connectable node at the current moment, waiting to connect Re in the communication range in the next time period; searching neighboring nodes which can be connected at the periphery or can be connected in the next period by De so as to generate a new data transmission path and further form a new alliance structure;
calculating the total benefit according to the packet transmission success rate and the delay time of the new alliance structure; comparing the total benefit of the new alliance structure with the total benefit of the initial alliance structure;
if the total benefit of the new alliance structure is increased compared with the initial alliance structure, the currently formed aviation network connection is saved, and the total benefit of the current alliance structure is recorded; if the total benefit of the new alliance structure is not increased compared with the original alliance structure, the connection between airplane nodes is randomly changed again, the new alliance structure is formed again, all De continuously repeat the process until no transition occurs, and finally a stable alliance structure is formed.
Wherein, the expression of the total benefit of the alliance structure is as follows:
wherein u (G)ini) Representing federation structures GiniTotal benefit of (2), PSR (G)ini) Representing federation structures GiniPacket transmission success rate, delay (G)ini) Representing federation structures Giniβ is a predetermined constant.
The delay time of the whole alliance structure is the sum of the time required by each path in the alliance structure for transmitting data and the time for waiting for connection, and a calculation formula of the delay time is as follows:
where delay is the delay time, data is the amount of data received by each destination node, i, j are the two airplane nodes linked, ratei，jThe maximum information transmission rate between two nodes i and j is, and wait is the time waiting for connection;
ratei，jthe formula is obtained by the shannon formula, and the calculation formula is as follows:
ratei，j＝Bw*log2(1+SNRi，j)
where Bw is the channel bandwidth, SNRi，jSignal-to-noise ratio, SNR, for data transmitted by two nodes i, j in a pathi，jThe specific calculation formula of (2) is as follows:
SNRi，j＝PDD-20*lg(distancei，j)-20*lg(fc)+147.5-5-Noise-Bw
wherein, PDDFor transmitting power, distancei，jIs the distance between two nodes i, j, fc is the working frequency, Noise is the Noise interference during transmission, and Bw is the channel bandwidth.
Wherein, after the De searches for neighboring nodes connectable to the De or connectable to the De in a next period of time to generate a new data transmission path and form a new federation structure, the method further comprises:
and checking the conditions of each path in the new alliance structure, and adjusting the corresponding path when the number of the target nodes sharing the same relay node exceeds a preset upper limit value.
The technical scheme of the invention has the following beneficial effects:
the method comprises the steps of calculating the change rate of the topological relation of the aviation network by obtaining an aviation dynamic network diagram, selecting a time interval, and converting the aviation dynamic network diagram into a plurality of static network topological diagrams according to the selected time interval; simplifying the static network topological graph according to the Euclidean distance between each airplane node and the neighbor nodes in the static network topological graph; and establishing an alliance structure by mutually cooperating airplane nodes based on a simplified static network topological graph, and planning a transmission path in the aviation network by taking the transmission flow and the delay time as game rules. Idle resources in the aviation network are more effectively utilized, and reliability and effectiveness of aviation communication are ensured.
Drawings
Fig. 1 is a schematic flowchart of a method for planning an aviation dynamic network path based on a league game according to a first embodiment of the present invention;
FIG. 2 is a diagram illustrating an actual profile of an aircraft at a time according to a second embodiment of the present invention;
FIG. 3 is a diagram of an initial airline network formed according to line-of-sight rules according to a second embodiment of the present invention;
FIG. 4 is a simplified illustration of an aircraft network according to a second embodiment of the present invention;
fig. 5 is a schematic diagram of the whole iterative process of forming a stable league game under the condition that the relay station buffer is 20Mb and the bandwidth is 1MHz according to the second embodiment of the present invention;
fig. 6 is a schematic diagram of a change of a benefit function of different time slots (1min and 3m in) when a relay station buffer is 20Mb and a bandwidth is 1MHz according to a second embodiment of the present invention;
fig. 7 is a schematic diagram illustrating a change of a coalition benefit function formed in a relay station buffer change process when a timeslot with a bandwidth of 1MHz is 3min according to a second embodiment of the present invention;
fig. 8 is a union benefit function value formed by bandwidth change when the relay station buffer provided by the second embodiment of the present invention is 20mb and the timeslot is 3 min.
Detailed Description
In order to make the technical problems, technical solutions and advantages to be solved by the present invention clearer, the following detailed description is given with reference to the accompanying drawings and specific embodiments; it should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
Firstly, the flight distance of airplane nodes in the aviation internet is long, the route distribution is wide, the single-hop communication radius can reach hundreds of kilometers, and the density of the airplane nodes on the routes or near the intersection of the routes is high, so that the formed topological links of the aviation internet are complex. It is therefore necessary to optimize and control the topology, eliminating redundant communication links. This operation can avoid unnecessary energy consumption, save node resources, and facilitate subsequent routing. Secondly, the airplane nodes in the aviation internet do not move randomly but fly along the air route, and high dynamics is a big characteristic of the aviation network, so that under the condition that the airplane nodes cannot be directly connected to the base station, the airplane nodes can directly share data through an A2A link, exchange information such as respective flight states and link conditions, and construct a more stable A2A communication network. And finally, in an aviation dynamic network such as an aviation network formed by transoceanic flights, under the condition that the aircraft is far away from a ground base station, setting a part of aircraft as a relay station, carrying out data transmission through aircraft nodes, converting aviation internet link linkage and information sharing into all alliance games participated by the A2A nodes, planning an aviation internet transmission path by taking time delay and packet transmission success rate as benefit functions, and maximizing the benefit functions.
The scheme of the invention is further illustrated below by means of specific examples:
first embodiment
Referring to fig. 1, the present embodiment provides an aviation dynamic network path planning method based on a league game, where the aviation dynamic network path planning method based on the league game includes:
s101, acquiring an aviation dynamic network diagram, calculating the change rate of the topological relation of the aviation network, selecting a time interval, and converting the aviation dynamic network diagram into a plurality of static network topological diagrams according to the selected time interval;
s102, simplifying the static network topological graph according to the Euclidean distance between each airplane node and the neighbor nodes in the static network topological graph;
and S103, establishing an alliance structure by mutually cooperating airplane nodes based on the simplified static network topological graph, and planning a transmission path in the aviation network by taking the transmission flow and the delay time as game rules.
Wherein, the step S101 includes the steps of:
calculating flight path data of the flight according to flight data of 24 hours, and constructing an aviation dynamic network diagram; wherein the flight data comprises: flight number, departure place, destination and corresponding longitude and latitude, departure time, arrival time and the like; the track data includes: the longitude and latitude, the flight altitude, the flight speed, the flight time and the like of the whole flight journey of the flight are all represented by UTC;
dividing the aviation dynamic network graph into static network graphs in a plurality of time periods according to a preset time interval;
forming initial structures of a plurality of static network graphs according to a sight distance propagation rule, and calculating the change rate of the topological relation of the aviation network in each time period;
when the change rate of the topological relation of the aviation network is greater than or equal to a preset threshold value, the time periods are continuously subdivided, the aviation dynamic network graph is divided again until the change rate of the topological relation of the aviation network in each time period is smaller than the preset threshold value, the time interval at the moment is selected to convert the aviation dynamic network graph into a plurality of static network topological graphs, and the aviation network topological relation in each time period is ensured to be relatively kept unchanged.
The step S102 includes the steps of:
dividing a sector area around each airplane node in the static network topological graph; the node in each sector area is a neighbor node of the airplane node corresponding to the sector area;
calculating the Euclidean distance between the neighbor node of each airplane node and the airplane node;
and reserving the neighbor node with the minimum Euclidean distance in each sector area, and deleting other neighbor nodes in the sector area, thereby forming a simplified aviation network topological structure.
The method comprises the following steps of dividing a sector area around each airplane node in a static network topological graph, wherein the method specifically comprises the following steps:
selecting one of the airplane nodes, drawing a circle by taking the selected airplane node as a center and the maximum communication distance as a radius, and dividing the drawn circle into n fan-shaped areas by taking alpha as a parameter; wherein n is 2 pi/alpha;
calculating the Euclidean distance between the neighbor node of each airplane node and the airplane node, specifically:
calculating an angle between a neighbor node in each sector area of the airplane node and the airplane node according to the position coordinate of the airplane node and the position coordinate of the neighbor node, and dividing the corresponding neighbor node into the corresponding sector areas according to the angle;
and after each neighbor node is divided into corresponding sector areas, calculating the Euclidean distance between each neighbor node in each sector area of the airplane node and the airplane node.
The step S103 includes the steps of:
selecting an aviation internet formed within a period of time based on a simplified static network topological graph, setting a part of airplane nodes as destination nodes De at initial time, and using the rest of airplane nodes as relay nodes Re to form a data transmission path; each airplane node randomly selects a base station to access, and if no base station exists in the communication range of a certain airplane node, connection is not performed to form an initial alliance structure;
calculating the total benefit according to the packet transmission success rate and the delay time of the initial alliance structure;
randomly changing the connection of some De in the initial alliance structure, if the De can not search the connectable node at the current moment, waiting to connect Re in the communication range in the next time period; searching neighboring nodes which can be connected at the periphery or can be connected in the next period by De so as to generate a new data transmission path and further form a new alliance structure; checking the conditions of all paths in the new alliance structure, and adjusting the corresponding paths when the number of the target nodes sharing the same relay node exceeds a preset upper limit value;
calculating the total benefit according to the packet transmission success rate and the delay time of the new alliance structure; comparing the total benefit of the new alliance structure with the total benefit of the initial alliance structure;
if the total benefit of the new alliance structure is increased compared with the initial alliance structure, the currently formed aviation network connection is saved, and the total benefit of the current alliance structure is recorded; if the total benefit of the new alliance structure is not increased compared with the original alliance structure, the connection between airplane nodes is randomly changed again, the new alliance structure is formed again, all De continuously repeat the process until no transition occurs, and finally a stable alliance structure is formed.
Wherein, the expression of the total benefit of the alliance structure is as follows:
wherein u (G)ini) Representing federation structures GiniTotal benefit of (2), PSR (G)ini) Representing federation structures GiniPacket transmission success rate, delay (G)ini) Representing federation structures Giniβ is a predetermined constant.
The delay time of the whole alliance structure is the sum of the time required by each path in the alliance structure for transmitting data and the time for waiting for connection, and a calculation formula of the delay time is as follows:
where delay is the delay time, data is the amount of data received by each destination node, i, j are the two airplane nodes linked, ratei，jThe maximum information transmission rate between two nodes i and j is, and wait is the time waiting for connection;
ratei，jthe formula is obtained by the shannon formula, and the calculation formula is as follows:
ratei，j＝Bw*log2(1+SNRi，j)
where Bw is the channel bandwidth, SNRi，jSignal-to-noise ratio, SNR, for data transmitted by two nodes i, j in a pathi，jThe specific calculation formula of (2) is as follows:
SNRi，j＝PDD-20*lg(distancei，j)-20*lg(fc)+147.5-5-Noise-Bw
wherein, PDDFor transmitting power, distancei，jIs the distance between two nodes i, j, fc is the working frequency, Noise is the Noise interference during transmission, and Bw is the channel bandwidth.
The method comprises the steps of calculating the change rate of the topological relation of the aviation network by obtaining an aviation dynamic network diagram, selecting a time interval, and converting the aviation dynamic network diagram into a plurality of static network topological diagrams according to the selected time interval; simplifying the static network topological graph according to the Euclidean distance between each airplane node and the neighbor nodes in the static network topological graph; and establishing an alliance structure by mutually cooperating airplane nodes based on a simplified static network topological graph, and planning a transmission path in the aviation network by taking the transmission flow and the delay time as game rules. Idle resources in the aviation network are more effectively utilized, and reliability and effectiveness of aviation communication are ensured.
Second embodiment
Referring to fig. 2 to 8, the present embodiment provides an aviation dynamic network path planning method based on a league game, where the aviation dynamic network path planning method based on the league game includes:
1. calculating flight path data of the flight according to actual flight data of the airline company, wherein the flight path data generally comprises longitude and latitude, flight height, flight speed, flight time and other information in the whole flight path of the flight. Loading track data, wherein the aviation network has high dynamic property, so that the dynamic network graph is represented by a dynamic graph model, the dynamic network graph can be divided into static graphs of a plurality of times, then initial structures of a plurality of static networks are formed according to a line-of-sight propagation rule, the change rate of the topological relation of the aviation network in each time period is calculated, and the topological relation of the aviation network in the time period is ensured to be relatively kept unchanged;
2. simplifying a plurality of static graph topological structures; the method comprises the steps that a sector area is divided at the periphery of each airplane node i of a static topological graph, a circular area with the node i as the circle center and the designated communication distance as the radius is divided, the Euclidean distance between a neighbor node v and a node u in each alpha sector area is calculated by taking an angle alpha as a sector area dividing parameter, the neighbor node with the minimum distance is reserved, and other neighbor nodes in the sector area are deleted. Simplifying each node in sequence to form a simplified aviation network topological structure;
3. selecting an aviation internet formed within a period of time, setting a part of airplane nodes De as target nodes at initial time, transmitting certain data to the target nodes, and using the rest airplane nodes Re as relay nodes to form a data transmission path. Each airplane node i randomly selects a base station to access (no base station exists in the communication range)Make a connection), form an initialization federation structure Gini；
4. And calculating the total benefit of the initial alliance at the stage. Two major problems arise in the aviation internet. Firstly, how to improve the data transmission quantity, secondly, how to ensure the real-time performance of data transmission and reduce the transmission delay. From the two points, a benefit function, namely system power, in the alliance structure is designed, the system power is designed by taking packet transmission success rate (packet success rate) and delay as a standard, and an initial alliance structure G is calculatediniThe packet transmission success rate between nodes on each path;
5. after an initial alliance is formed, the connection of some airplane nodes De is randomly changed, the air route of the airplane is fixed, so that the airplane can wait when the connectable nodes cannot be searched at the current moment, and the airplane nodes Re in the communication range in the next time period are connected. Finally De searches the neighboring nodes which can be connected at the periphery or can be connected in the next period of time to generate a new data transmission path to form a new alliance which is marked as Scur；
6. Generating a new federation structure ScurAnd calculating the total benefit of the current alliance, and if the total benefit of the alliance is increased, storing the currently formed aviation network connection. And recording the current alliance total benefit function; if the total benefits of the alliance are not increased, randomly changing the connection between the airplane nodes again to form a new alliance, and continuously repeating the process by all the airplane nodes De until no transfer occurs any more, so that a stable alliance structure is formed finally.
Further, the step 1 specifically includes: flight information data of an airline company is obtained, wherein the flight information generally comprises a flight number, a departure place, a destination, corresponding longitude and latitude, departure time and arrival time. Because of the time difference problem, the time of the airplane is uniformly expressed by utc (coordinated Universal time). The aircraft flight is a dynamic process, in order to conveniently represent the dynamic topological relation of the whole flight process, 24-hour flight data information of the aircraft flight is selected and divided into a plurality of time periods, and the topological relation of the aviation network in each time period is relatively keptCalculating, without change, the rate of change between two successive time slots in the aeronautical network, where NeNumber of edges in the aeronautical network, Ne(H(tk+1)-H(tk) Is the number of different edges in two consecutive time slots in the aeronautical network diagram, when the change rate of the formula (1) is less than 1%, the topology is considered to be static, and relatively no change occurs. And generating an initial aviation network topological graph corresponding to a plurality of time periods according to the aircraft track data corresponding to each time period, including the flight time of the aircraft, the longitude and latitude information, the flight number and the like of the corresponding time. The line-of-sight communication range in an aeronautical network is determined by the radio horizon. The maximum communication distance between two aircraft nodes is therefore dependent on the flight altitude and the terrain features of the nodes, and the communication distance between two aircraft can be calculated according to the pythagorean theorem (equation (2)). Wherein h is1And h2R is the earth radius and R is the maximum communication distance of the aircraft for the flight altitude of each aircraft.
The step 2 is specifically as follows: the aviation network may be represented by an undirected graph when modeled. And selecting a node u, drawing a circle by taking u as a center and the maximum communication distance as a radius, wherein other nodes in the circle are all neighbor nodes of the node u. The circle is divided into n (n ═ 2 pi/α) α sector regions with α as a parameter, and numbered 1, 2, 3 … … n. By the coordinate position (x) of the aircraft1，y1)，(x2，y2) Calculating an angle between a node u and a neighbor node in each sector area, obtaining an angle between two points by using an arcsin function, and dividing the angle into each alpha sector area of the sector area to calculate the Euclidean distance between the node u and the neighbor node. And selecting the node with the minimum Euclidean distance in each sector area, and reserving the neighbor nodes to finally form a simplified aviation network topological graph.
The step 3 is specifically: in the aviation internet, a part of airplane nodes De are set as destination nodes and need to transmit certain data to the destination nodes, and the rest of airplane nodes Re can be used as relay nodes to form a data transmission path. Because the aeronautical network topology is divided in time slots, the aircraft may wait up to 3 time slots for connection when selecting a relay node. Each airplane node i randomly selects a base station to access (no base station is connected in a communication range) to form an initial alliance structure Gini。
The step 4 is specifically: and calculating the total benefit of the initial alliance. In a network where user quality of service is throughput and delay sensitive, one concept describing the benefit function is system power (system power), which is designed with a packet transmission success rate (packet success rate) and delay as a common criteria. The delay of the whole network is the sum of the time required for transmitting data and the time waiting for connection of each path in the alliance, and the delay calculation formula is as follows:
the data is the data quantity received by each destination node, and the data transmission rate formula among the nodes is obtained by a shannon formula, and the formula for calculating the maximum information transmission rate is as follows:
ratei，j＝Bw*log2(1+SNRi，j) (i, j are two airplane nodes linked) (6)
Where Bw is the channel bandwidth, SNRi，jTransmitting data as signal-to-noise ratio, SNR, for two nodes in a pathi，jThe specific calculation formula of (2) is as follows:
SNRi，j＝PDD-20*lg(distancei，j)-20*lg(fc)+147.5-5-Noise-Bw (7)
wherein P isDDFor transmission power, distance is the distance between two airplane nodes calculated in formula (4), fc is the operating frequency, Noise is the Noise interference during transmission, and Bw is the same as the formula and is the channel bandwidth. The unit of SNR is db, and needs to be converted into the following unit:
regarding the packet transmission success rate PSR, since one-hop or multi-hop wireless channel communication occurs, each data packet transmitted between nodes is affected by a Bit Error Rate (BER), and the Rayleigh routing relay multi-hop is utilized to calculate the bit error rate, where N is the bit error raterIs the set of all destination nodes de, e.g. { v }1，v2...vnIs and Nr(i)Indicating the node N passed in the path to the inode datar(i)＝{v1，v2...vi-1}，
Where the SNR is calculated the same as in equation (7) above. Therefore, the calculation formula of the PSR can be derived from the error rate formula as follows:
the above equations PSR and delay can be combined to obtain the benefit function equation, where β can be set according to the actual requirement:
the step (5) is specifically as follows: after an initial alliance is formed, the connection of some airplane nodes De is randomly changed, the air route of the airplane is fixed, so that the airplane can carry out connection when the connectable nodes cannot be searched at the current momentAnd waiting for connecting the airplane node Re in the communication range in the next time period. Finally De searches the neighboring nodes which can be connected at the periphery or can be connected in the next period of time to generate a new data transmission path to form a new alliance which is marked as Scur. And the conditions of a plurality of paths in the alliance are checked, so that the condition that a plurality of destination nodes share the same node Re (with upper limit setting) and data transmission interference is overlarge is avoided.
The step (6) is specifically as follows: generating a new federation structure ScurAnd calculating the total benefit of the current alliance, and if the total benefit of the alliance is increased, storing the currently formed aviation network connection. And recording the current alliance total benefit function; if the total alliance benefit is not increased, randomly changing the connection among the airplane nodes to form a new alliance, and continuously repeating the process until no transfer occurs, namely, the total alliance benefit is not improved when any change occurs in the whole alliance, so that a stable alliance structure is formed finally, and the reliability of communication transmission is ensured.
Further, the algorithm implementation process of the embodiment is as follows:
the application effect of the present invention will be described in detail with reference to the simulation. In the embodiment, a matlab2018a simulation tool is adopted to simulate the aviation dynamic network path planning based on the alliance game. The simulation parameters are shown in table one:
table-simulation parameters
1. In this example, the transoceanic flight data is adopted, flight data within 24 hours is selected, corresponding flight path information data is generated, part of the flight path data information of the airplane is as shown in table two, then the maximum communication distance is calculated, the aviation internet connectivity within a period of time is unchanged, the number of airplanes is large at the moment, an initial aerograph is generated as shown in fig. 2, and most airplanes at the moment are distributed over the atlantic:
watch two aircraft some flight path information of a moment
| Aircraft number | Flight number | UTC time | Dimension (d) of | Longitude (G) |
| 2 | 70 | 1740 | 57.32648 | -31.7614 |
| 4 | 7249 | 1740 | 54.86795 | 3.560385 |
| 12 | 64 | 1740 | 51.73254 | -10.9821 |
| 14 | 750 | 1740 | 54.21946 | -20.2666 |
| 19 | 36 | 1740 | 47.51303 | -34.3694 |
| 22 | 754 | 1740 | 52.24674 | -18.4087 |
| 24 | 78 | 1740 | 50.57195 | -67.953 |
| 25 | 7001 | 1740 | 52.73538 | -15.0504 |
| 28 | 7397 | 1740 | 69.65679 | -35.6493 |
| 29 | 1900 | 1740 | 48.4414 | 4.277563 |
| 30 | 1912 | 1740 | 50.32747 | -39.5619 |
| 31 | 1914 | 1740 | 49.56718 | -26.844 |
| 36 | 758 | 1740 | 46.29175 | 5.576832 |
| 37 | 7421 | 1740 | 56.88547 | 0.547134 |
| 38 | 7431 | 1740 | 56.16205 | -92.0406 |
| 39 | 1908 | 1740 | 47.25051 | -72.7772 |
| 40 | 104 | 1740 | 46.74831 | -61.4925 |
| 41 | 40 | 1740 | 44.61433 | -81.9023 |
| 42 | 46 | 1740 | 55.15189 | -52.7802 |
| 45 | 7473 | 1740 | 54.52407 | -14.5154 |
| 46 | 1916 | 1740 | 45.52879 | -71.4002 |
| 47 | 110 | 1740 | 53.32269 | -21.8443 |
| 48 | 204 | 1740 | 55.04095 | -25.5231 |
| 49 | 290 | 1740 | 54.27844 | -27.4642 |
| 51 | 704 | 1740 | 53.32418 | -8.24177 |
| 53 | 740 | 1740 | 45.0805 | -22.7782 |
| 54 | 744 | 1740 | 45.2609 | -51.1753 |
| 55 | 208 | 1740 | 56.13727 | -46.1293 |
| 57 | 724 | 1740 | 54.21272 | -27.5666 |
| 60 | 1928 | 1740 | 55.74014 | -25.5984 |
| 61 | 1932 | 1740 | 52.33395 | -37.5434 |
| 65 | 48 | 1740 | 54.77225 | -42.1779 |
| 66 | 50 | 1740 | 55.77715 | -24.1722 |
| 71 | 786 | 1740 | 52.14762 | -27.0226 |
| 72 | 1902 | 1740 | 51.50839 | -7.76119 |
| 75 | 1910 | 1740 | 56.72815 | -41.4722 |
| 79 | 120 | 1740 | 49.97431 | -48.7303 |
| 82 | 742 | 1740 | 47.26985 | -25.1967 |
| 83 | 7393 | 1740 | 44.08707 | -117.214 |
2. And calculating the change rate of the topological network, and if the change rate is less than or equal to 1%, considering that the topology is static.Otherwise, the topology will continue to subdivide the time period. Fig. 3 shows the variation of 4 consecutive topologies in a certain area, where the rate of change is about 0.92%. According to the aviation network line-of-sight propagation rule, all airplanes are set to be at the same height, and the typical flight height of the cross-Atlantic flight is between FL310(31000 ft) and FL400(40000 ft), in this example, we choose h 35000ft, Re6378.137km, and r 400nmi is calculated by substituting the formula. The generated initial aviation network is as shown in fig. 3, and the network is dense, so that the subsequent routing selection operation is inconvenient.
3. The initial aviation network is obtained through the step 2, but discrete points exist in the network, so that the discrete points in the aviation network are removed, and the maximum connected sub-component is reserved. And generating a corresponding adjacent matrix according to the communication relation, and calculating the Euclidean distance between each alpha sector area of the node and the neighbor node. And selecting the node with the minimum Euclidean distance, reserving the connectivity with the neighbor node, and removing the connectivity between the sector area and other neighbor nodes. And if the communication of other neighbor nodes is deleted, the communication of the whole aviation network is lost, and the deletion is not carried out. Fig. 4 is a simplified and completed aviation network topology, and it can be seen that the algorithm greatly reduces the network complexity, facilitates subsequent routing operations, and also reduces the energy consumption of network nodes.
4. Fig. 5 is a process of league game algorithm iteration, and it can be seen from fig. 5 that an optimal value is stably found in the whole iteration process, a benefit function value gradually rises, and the whole league can be stabilized within a limited number of iterations to obtain an optimal value. Fig. 6 shows the influence of the setting of the time interval in the dynamic graph model on the subsequent league game formation, where the two time intervals, namely 3min and 1min, are both 30min, and it can be seen that the smaller the time interval is, the larger the benefit function is, but the difference is not large, because it is reasonable to set the simulation interval to 3 min. Fig. 7 shows the change of the resulting coalition benefit function during the change of the relay station buffer, because the whole data transmission process is waiting and needs to store data in the buffer during the waiting time, the relay station buffer also limits the size of the data amount that can be received in the subsequent transmission and the delay size of the whole transmission. It can be seen from fig. 7 that the larger the buffer area, the larger the overall benefit function value. Fig. 8 is a coalition benefit function value formed by bandwidth change under the condition that the relay station buffer is 20mb and the time slot is 3 min. From the overall model, the bandwidth parameter affects the transmission rate of the data stream, so the increase of the bandwidth also increases the received traffic, the transmission time becomes shorter, and the overall benefit function increases.
Furthermore, it should be appreciated by those skilled in the art that embodiments of the present invention may be provided as a method, apparatus, or computer program product. Accordingly, embodiments of the present invention may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, embodiments of the present invention may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
Embodiments of the present invention are described with reference to flowchart illustrations and/or block diagrams of methods, terminal devices (systems), and computer program products according to embodiments of the invention. It will be understood that each flow and/or block of the flow diagrams and/or block diagrams, and combinations of flows and/or blocks in the flow diagrams and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, embedded processor, or other programmable data processing terminal to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing terminal, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing terminal to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks. These computer program instructions may also be loaded onto a computer or other programmable data processing terminal to cause a series of operational steps to be performed on the computer or other programmable terminal to produce a computer implemented process such that the instructions which execute on the computer or other programmable terminal provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
While preferred embodiments of the present invention have been described, additional variations and modifications in those embodiments may occur to those skilled in the art once they learn of the basic inventive concepts. Therefore, it is intended that the appended claims be interpreted as including preferred embodiments and all such alterations and modifications as fall within the scope of the embodiments of the invention.
It should also be noted that, in this document, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or terminal that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or terminal. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other like elements in a process, method, article, or terminal that comprises the element.
While the foregoing is directed to the preferred embodiment of the present invention, it will be understood by those skilled in the art that various changes and modifications may be made without departing from the spirit and scope of the invention as defined in the appended claims.
Claims (10)
1. An aviation dynamic network path planning method based on alliance game is characterized by comprising the following steps:
acquiring an aviation dynamic network diagram, calculating the change rate of the topological relation of the aviation network, selecting a time interval, and converting the aviation dynamic network diagram into a plurality of static network topological diagrams according to the selected time interval;
simplifying the static network topological graph according to the Euclidean distance between each airplane node and the neighbor nodes in the static network topological graph;
and establishing an alliance structure by mutually cooperating airplane nodes based on a simplified static network topological graph, and planning a transmission path in the aviation network by taking the transmission flow and the delay time as game rules.
2. The alliance game-based aeronautical dynamic network path planning method of claim 1, wherein obtaining an aeronautical dynamic network graph, calculating a change rate of an aeronautical network topology relationship, selecting a time interval, and converting the aeronautical dynamic network graph into a plurality of static network topology graphs according to the selected time interval comprises:
calculating flight path data of the flight according to the flight data, and constructing an aviation dynamic network diagram;
dividing the aviation dynamic network graph into static network graphs in a plurality of time periods according to a preset time interval;
forming initial structures of a plurality of static network graphs according to a sight distance propagation rule, and calculating the change rate of the topological relation of the aviation network in each time period;
when the change rate of the topological relation of the aviation network is greater than or equal to a preset threshold value, the time periods are continuously subdivided, the aviation dynamic network graph is divided again until the change rate of the topological relation of the aviation network in each time period is smaller than the preset threshold value, the time interval at the moment is selected to convert the aviation dynamic network graph into a plurality of static network topological graphs, and the aviation network topological relation in each time period is ensured to be relatively kept unchanged.
3. The alliance game based aeronautical dynamic network path planning method of claim 2, wherein the flight data comprises flight number, departure place, destination and corresponding longitude and latitude, departure time, and arrival time; the track data includes: the latitude and longitude of the flight, the altitude, the speed, and the time of flight.
4. A league game based aeronautical dynamic network path planning method according to claim 3, wherein the departure time, arrival time, and flight time are all collectively represented by UTC; the flight data is 24-hour flight data information of the airplane flight.
5. A league game based aviation dynamic network path planning method according to claim 1, wherein the simplification of the static network topology map according to the euclidean distance between each aircraft node and its neighbor nodes in the static network topology map comprises:
dividing a sector area around each airplane node in the static network topological graph; the node in each sector area is a neighbor node of the airplane node corresponding to the sector area;
calculating the Euclidean distance between the neighbor node of each airplane node and the airplane node;
and reserving the neighbor node with the minimum Euclidean distance in each sector area, and deleting other neighbor nodes in the sector area, thereby forming a simplified aviation network topological structure.
6. The alliance game-based aeronautical dynamic network path planning method, according to claim 5, wherein a sector area is divided around each aircraft node in the static network topology map, specifically:
selecting one of the airplane nodes, drawing a circle by taking the selected airplane node as a center and the maximum communication distance as a radius, and dividing the drawn circle into n fan-shaped areas by taking alpha as a parameter; wherein, alpha represents a preset angle, n is 2 pi/alpha, and the value of n is an integer;
the calculation of the Euclidean distance between the neighbor node of each airplane node and the airplane node specifically comprises the following steps:
calculating an angle between a neighbor node in each sector area of the airplane node and the airplane node according to the position coordinate of the airplane node and the position coordinate of the neighbor node, and dividing the corresponding neighbor node into the corresponding sector areas according to the angle;
and after each neighbor node is divided into corresponding sector areas, calculating the Euclidean distance between each neighbor node in each sector area of the airplane node and the airplane node.
7. The aviation dynamic network path planning method based on alliance game of claim 1, wherein based on the simplified static network topological graph, an alliance structure is established through the mutual cooperation of airplane nodes, transmission flow and delay time are used as game rules, and the transmission path planning in the aviation network comprises:
selecting an aviation internet formed within a period of time based on a simplified static network topological graph, setting a part of airplane nodes as destination nodes De at initial time, and using the rest of airplane nodes as relay nodes Re to form a data transmission path; each airplane node randomly selects a base station to access, and if no base station exists in the communication range of a certain airplane node, connection is not performed to form an initial alliance structure;
calculating the total benefit according to the packet transmission success rate and the delay time of the initial alliance structure;
randomly changing the connection of some De in the initial alliance structure, if the De can not search the connectable node at the current moment, waiting to connect Re in the communication range in the next time period; searching neighboring nodes which can be connected at the periphery or can be connected in the next period by De so as to generate a new data transmission path and further form a new alliance structure;
calculating the total benefit according to the packet transmission success rate and the delay time of the new alliance structure; comparing the total benefit of the new alliance structure with the total benefit of the initial alliance structure;
if the total benefit of the new alliance structure is increased compared with the initial alliance structure, the currently formed aviation network connection is saved, and the total benefit of the current alliance structure is recorded; if the total benefit of the new alliance structure is not increased compared with the original alliance structure, the connection between airplane nodes is randomly changed again, the new alliance structure is formed again, all De continuously repeat the process until no transition occurs, and finally a stable alliance structure is formed.
8. A league game based aeronautical dynamic network path planning method according to claim 7, wherein the expression of the total benefit of the league structure is as follows:
wherein u (G)ini) Representing federation structures GiniTotal benefit of (2), PSR (G)ini) Representing federation structures GiniPacket transmission success rate, delay (G)ini) Representing federation structures Giniβ is a predetermined constant.
9. A league game based aeronautical dynamic network path planning method according to claim 8, wherein the delay time of the whole league structure is the sum of the time required for transmitting data and the time waiting for connection of each path in the league structure, and the calculation formula of the delay time is as follows:
where delay is the delay time, data is the amount of data received by each destination node, i, j are the two airplane nodes linked, ratei，jThe maximum information transmission rate between two nodes i and j is, and wait is the time waiting for connection;
ratei，jthe formula is obtained by the shannon formula, and the calculation formula is as follows:
ratei，j＝Bw*log2(1+SNRi，j)
where Bw is the channel bandwidth, SNRi，jSignal-to-noise ratio, SNR, for data transmitted by two nodes i, j in a pathi，jThe specific calculation formula of (2) is as follows:
SNRi，j＝PDD-20*lg(distancei，j)-20*lg(fc)+147.5-5-Noise-Bw
wherein, PDDFor transmitting power, distancei，jIs the distance between two nodes i, j, fc is the working frequency, Noise is the Noise interference during transmission, and Bw is the channel bandwidth.
10. A league game based aeronautical dynamic network path planning method according to claim 7, wherein after the neighbor nodes connectable by the De or connectable in the next period are searched for, thereby generating a new data transmission path, and further forming a new league structure, the method further comprises:
and checking the conditions of each path in the new alliance structure, and adjusting the corresponding path when the number of the target nodes sharing the same relay node exceeds a preset upper limit value.
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