CN111181626B

CN111181626B - Data transmission method and device for unmanned aerial vehicle self-organizing network

Info

Publication number: CN111181626B
Application number: CN201911414596.9A
Authority: CN
Inventors: 余建国; 俞正; 王志方; 马洁; 董均国
Original assignee: Beijing University of Posts and Telecommunications
Current assignee: Beijing University of Posts and Telecommunications
Priority date: 2019-12-31
Filing date: 2019-12-31
Publication date: 2021-04-30
Anticipated expiration: 2039-12-31
Also published as: CN111181626A

Abstract

The embodiment of the invention provides a data transmission method and a data transmission device for an unmanned aerial vehicle self-organizing network, wherein any unmanned aerial vehicle in the unmanned aerial vehicle self-organizing network receives attribute data packets broadcast by nodes of other unmanned aerial vehicles; updating and recording attribute information of each first-hop neighbor unmanned aerial vehicle node; when a data packet to be transmitted is sent, first predicted position information of each first-hop neighbor unmanned aerial vehicle node is obtained according to each position information and each speed information; and determining a target neighbor unmanned aerial vehicle node based on each piece of first predicted position information, and sending the data packet to be transmitted to the target neighbor unmanned aerial vehicle node. Based on the characteristic of relative movement between unmanned aerial vehicle nodes, geographic position information and speed information are introduced, and information is periodically updated, so that when data is transmitted, a first unmanned aerial vehicle node can select a target neighbor unmanned aerial vehicle node according to a real-time position, the situation that a selected path is unavailable due to movement of an unmanned aerial vehicle is avoided, and the data transmission efficiency is improved.

Description

Data transmission method and device for unmanned aerial vehicle self-organizing network

Technical Field

The invention relates to the technical field of wireless communication, in particular to a data transmission method and device for an unmanned aerial vehicle self-organizing network.

Background

Along with the development and progress of the times, the unmanned aerial vehicles and the unmanned aerial vehicles can communicate through wireless links to form a self-organizing network, each unmanned aerial vehicle can transmit data to other unmanned aerial vehicles, routing is required to be selected during transmission, and the routing is just a path for data transmission from the unmanned aerial vehicles to the unmanned aerial vehicles. The existing routing protocol of the conventional ad hoc network is mostly aimed at network nodes with slow moving speed, for example, the moving speed of a ground mobile device is about several meters to ten meters per second, and the routing protocol has better performance in a low-speed or static ad hoc network.

Under the condition of high speed, the performance of the routing protocols is sharply reduced along with the increase of the speed, for example, the moving speed of the unmanned aerial vehicle is about tens of meters per second or even hundreds of meters, the position of the unmanned aerial vehicle can be changed continuously, information received by the unmanned aerial vehicle is delayed, a certain time delay is needed in the process of searching a data transmission path, the path obtained by utilizing the traditional self-organizing network routing protocol is easily unreachable, the path needs to be reselected, and therefore the transmission efficiency is reduced, and the existing traditional self-organizing network routing protocol is difficult to meet the requirements under the high-speed environment.

Disclosure of Invention

The embodiment of the invention aims to provide a data transmission method and device for an unmanned aerial vehicle self-organizing network, so as to improve the data transmission efficiency of the unmanned aerial vehicle in a high-speed mobile environment. The specific technical scheme is as follows:

in a first aspect, an embodiment of the present invention provides a data transmission method for an unmanned aerial vehicle ad hoc network, which is applied to a first unmanned aerial vehicle node, where the first unmanned aerial vehicle node is any one of unmanned aerial vehicle nodes in the unmanned aerial vehicle ad hoc network, and the method includes:

receiving attribute data packets periodically broadcast by other unmanned aerial vehicle nodes in an unmanned aerial vehicle self-organizing network, wherein the attribute data packets comprise position information and speed information of the unmanned aerial vehicle nodes broadcasting the attribute data packets and a first moment of broadcasting the attribute data packets;

updating and recording the position information, the speed information and the first moment of broadcasting an attribute data packet of each first-hop neighbor unmanned aerial vehicle node according to the position information of each unmanned aerial vehicle node, wherein the first-hop neighbor unmanned aerial vehicle node is a one-hop neighbor unmanned aerial vehicle node of the first unmanned aerial vehicle node;

when a data packet to be transmitted is transmitted, determining a second moment for transmitting the data packet to be transmitted;

calculating the offset position of each first-hop neighbor unmanned aerial vehicle node according to the first time and the second time of each first-hop neighbor unmanned aerial vehicle node broadcasting the attribute data packet and the speed information of each first-hop neighbor unmanned aerial vehicle node;

according to the position information of each first-hop neighbor unmanned aerial vehicle node and the offset position, position prediction is carried out on each first-hop neighbor unmanned aerial vehicle node to obtain first predicted position information of each first-hop neighbor unmanned aerial vehicle node;

and determining a target neighbor unmanned aerial vehicle node from the first hop neighbor unmanned aerial vehicle nodes based on the first predicted position information of the first hop neighbor unmanned aerial vehicle nodes, and sending the data packet to be transmitted to the target neighbor unmanned aerial vehicle node.

Specifically, the updating and recording the position information, the speed information, and the first time of the broadcast attribute data packet of each first-hop neighbor drone node according to the position information of each drone node includes:

acquiring the position information of the first unmanned aerial vehicle node;

respectively calculating the distance between the first unmanned aerial vehicle node and each unmanned aerial vehicle node according to the position information of the first unmanned aerial vehicle node and the position information of each unmanned aerial vehicle node;

determining that the unmanned aerial vehicle node with the distance from the first unmanned aerial vehicle node to the first unmanned aerial vehicle node smaller than a preset threshold value is a first-hop neighbor unmanned aerial vehicle node;

and updating and recording the position information, the speed information and the first moment of broadcasting the attribute data packet of each first-hop neighbor unmanned aerial vehicle node.

In particular, the attribute data packet further includes the number of one-hop neighbor drone nodes of the drone node broadcasting the attribute data packet;

before the determining, based on the first predicted position information of each first-hop neighbor drone node, a target neighbor drone node from each first-hop neighbor drone node and sending the to-be-transmitted data packet to the target neighbor drone node, the method further includes:

acquiring a third moment of sending the data packet to be transmitted, a fourth moment of last broadcasting of the attribute data packet by the first unmanned aerial vehicle node, and speed information and position information of last broadcasting of the attribute data packet by the first unmanned aerial vehicle node;

according to the third moment, the fourth moment, the speed information and the position information, position prediction is carried out on the first unmanned aerial vehicle node to obtain second predicted position information of the first unmanned aerial vehicle node;

calculating a first prediction distance between each first-hop neighbor unmanned aerial vehicle node and the first unmanned aerial vehicle node according to the first prediction position information and the second prediction position information;

aiming at any first-hop neighbor unmanned aerial vehicle node, if a first predicted distance between the first-hop neighbor unmanned aerial vehicle node and the first unmanned aerial vehicle node is equal to a preset maximum directional transmission distance, calculating the link sustainable time of the first unmanned aerial vehicle node and the first-hop neighbor unmanned aerial vehicle node;

the determining a target neighbor unmanned aerial vehicle node from the first hop neighbor unmanned aerial vehicle nodes based on the first predicted position information of the first hop neighbor unmanned aerial vehicle nodes and sending the data packet to be transmitted to the target neighbor unmanned aerial vehicle node includes:

acquiring second predicted position information of the first unmanned aerial vehicle node and position information of a target node of the data packet to be transmitted;

calculating a first distance between the first unmanned aerial vehicle node and the target node according to second predicted position information of the first unmanned aerial vehicle node and position information of the target node, and calculating a second distance between each first-hop neighbor unmanned aerial vehicle node and the target node according to the first predicted position information of each first-hop neighbor unmanned aerial vehicle node and the position information of the target node;

determining each first neighbor unmanned aerial vehicle node of the first-hop neighbor unmanned aerial vehicle nodes, wherein the second distance is smaller than the first distance;

and determining the unmanned aerial vehicle node with the minimum weight change in each first neighbor unmanned aerial vehicle node as a target neighbor unmanned aerial vehicle node according to the second distance, the link sustainable time and the number corresponding to each first neighbor unmanned aerial vehicle node.

Specifically, after the calculating a first distance between the first unmanned aerial vehicle node and the destination node according to the second predicted position information of the first unmanned aerial vehicle node and the position information of the destination node, and calculating a second distance between each first-hop neighbor unmanned aerial vehicle node and the destination node according to the first predicted position information of each first-hop neighbor unmanned aerial vehicle node and the position information of the destination node, the method further includes:

if the second distance between each first-hop neighbor unmanned aerial vehicle node and the destination node is greater than or equal to the first distance, acquiring position information and speed information of a plurality of second-hop neighbor unmanned aerial vehicle nodes, wherein the second-hop neighbor unmanned aerial vehicle nodes are one-hop neighbor unmanned aerial vehicle nodes of the first-hop neighbor unmanned aerial vehicle nodes;

according to the position information and the speed information of each second-hop neighbor unmanned aerial vehicle node, position prediction is carried out on each second-hop neighbor unmanned aerial vehicle node, and third predicted position information of each second-hop neighbor unmanned aerial vehicle node is obtained;

calculating a third distance between each second-hop neighbor unmanned aerial vehicle node and the destination node according to the third predicted position information of each second-hop neighbor unmanned aerial vehicle node and the position information of the destination node;

determining each second neighbor unmanned aerial vehicle node of the second hop neighbor unmanned aerial vehicle nodes, wherein the third distance is smaller than the first distance;

calculating a second predicted distance between each second neighbor unmanned aerial vehicle node and the first unmanned aerial vehicle node according to the second predicted position information and third predicted position information of each second neighbor unmanned aerial vehicle node;

and selecting the second neighbor unmanned aerial vehicle node with the minimum third distance as a target neighbor unmanned aerial vehicle node from the second neighbor unmanned aerial vehicle nodes with the second predicted distance smaller than the preset maximum directional transmission distance.

In particular, after the calculating a second predicted distance between each second neighboring drone node and the first drone node according to the second predicted position information and third predicted position information of each second neighboring drone node, the method further includes:

and when second predicted distances between the second neighbor unmanned aerial vehicle nodes and the first unmanned aerial vehicle node are greater than or equal to the preset maximum directional transmission distance, selecting the first-hop neighbor unmanned aerial vehicle node corresponding to the second neighbor unmanned aerial vehicle node with the minimum third distance as a target neighbor unmanned aerial vehicle node.

Specifically, the determining, based on the first predicted position information of each first-hop neighbor drone node, a target neighbor drone node from each first-hop neighbor drone node, and sending the to-be-transmitted data packet to the target neighbor drone node includes:

acquiring a fifth moment of sending the data packet to be transmitted, a sixth moment of last broadcasting of the attribute data packet by the first unmanned aerial vehicle node, speed information and position information of last broadcasting of the attribute data packet by the first unmanned aerial vehicle node, and position information of a target node of the data packet to be transmitted;

according to the fifth time, the sixth time, the speed information and the position information, position prediction is carried out on the first unmanned aerial vehicle node to obtain second predicted position information of the first unmanned aerial vehicle node;

calculating an included angle between a virtual straight line from each first-hop neighbor unmanned aerial vehicle node to the first unmanned aerial vehicle node and a virtual straight line from the target node to the first unmanned aerial vehicle node according to the first predicted position information, the second predicted position information and the position information of the target node of each first-hop neighbor unmanned aerial vehicle node;

and selecting the first-hop neighbor unmanned aerial vehicle node with the smallest included angle as a target neighbor unmanned aerial vehicle node.

In a second aspect, an embodiment of the present invention provides a data transmission device for an ad hoc network of an unmanned aerial vehicle, which is applied to a first unmanned aerial vehicle node, where the first unmanned aerial vehicle node is any one of unmanned aerial vehicle nodes in the ad hoc network of the unmanned aerial vehicle, and the device includes:

the system comprises a receiving module, a processing module and a processing module, wherein the receiving module is used for receiving attribute data packets periodically broadcast by other unmanned aerial vehicle nodes in an unmanned aerial vehicle self-organizing network, and the attribute data packets comprise position information and speed information of the unmanned aerial vehicle nodes broadcasting the attribute data packets and first time of broadcasting the attribute data packets;

the updating module is used for updating and recording the position information, the speed information and the first moment of broadcasting the attribute data packet of each first-hop neighbor unmanned aerial vehicle node according to the position information of each unmanned aerial vehicle node, wherein the first-hop neighbor unmanned aerial vehicle node is a first-hop neighbor unmanned aerial vehicle node of the first unmanned aerial vehicle node;

the determining module is used for determining a second moment for sending the data packet to be transmitted when the data packet to be transmitted is sent;

the calculation module is used for calculating the offset position of each first-hop neighbor unmanned aerial vehicle node according to the first time and the second time of each first-hop neighbor unmanned aerial vehicle node broadcasting the attribute data packet and the speed information of each first-hop neighbor unmanned aerial vehicle node;

the prediction module is used for predicting the position of each first-hop neighbor unmanned aerial vehicle node according to the position information of each first-hop neighbor unmanned aerial vehicle node and the offset position to obtain first predicted position information of each first-hop neighbor unmanned aerial vehicle node;

and the sending module is used for determining a target neighbor unmanned aerial vehicle node from the first-hop neighbor unmanned aerial vehicle nodes based on the first predicted position information of the first-hop neighbor unmanned aerial vehicle nodes and sending the data packet to be transmitted to the target neighbor unmanned aerial vehicle node.

In a third aspect, an embodiment of the present invention provides an unmanned aerial vehicle, including a processor, a communication interface, a memory, and a communication bus, where the processor, the communication interface, and the memory complete mutual communication through the communication bus;

the memory is used for storing a computer program;

the processor is configured to implement the method when executing the computer program stored in the memory.

In a fourth aspect, an embodiment of the present invention provides a computer-readable storage medium, in which a computer program is stored, and the computer program, when executed by a processor, implements the above method.

The embodiment of the invention provides a data transmission method and a data transmission device for an unmanned aerial vehicle self-organizing network, which are used for receiving attribute data packets periodically broadcast by other unmanned aerial vehicle nodes in the unmanned aerial vehicle self-organizing network, wherein the attribute data packets comprise position information and speed information of the unmanned aerial vehicle nodes broadcasting the attribute data packets and first time of broadcasting the attribute data packets; updating and recording the position information, the speed information and the first moment of broadcasting the attribute data packet of each first-hop neighbor unmanned aerial vehicle node according to the position information of each unmanned aerial vehicle node, wherein the first-hop neighbor unmanned aerial vehicle node is a one-hop neighbor unmanned aerial vehicle node of the first unmanned aerial vehicle node; when the data packet to be transmitted is sent, determining a second moment for sending the data packet to be transmitted; calculating the offset position of each first-hop neighbor unmanned aerial vehicle node according to the first time and the second time of each first-hop neighbor unmanned aerial vehicle node broadcasting the attribute data packet and the speed information of each first-hop neighbor unmanned aerial vehicle node; according to the position information and the offset position of each first-hop neighbor unmanned aerial vehicle node, performing position prediction on each first-hop neighbor unmanned aerial vehicle node to obtain first predicted position information of each first-hop neighbor unmanned aerial vehicle node; and determining a target neighbor unmanned aerial vehicle node from each first-hop neighbor unmanned aerial vehicle node based on the first predicted position information of each first-hop neighbor unmanned aerial vehicle node, and sending the data packet to be transmitted to the target neighbor unmanned aerial vehicle node.

According to the embodiment of the invention, based on the characteristic of relative movement between unmanned aerial vehicle nodes, geographic position information and speed information are introduced and information is periodically updated, so that during data transmission, a first unmanned aerial vehicle node can quickly acquire the position information and the speed information of each first-hop neighbor unmanned aerial vehicle node, the real-time position of each first-hop neighbor unmanned aerial vehicle node is predicted according to the acquired information, and a target neighbor unmanned aerial vehicle node is selected according to the real-time position, so that the situation that the selected path is unavailable due to movement of the unmanned aerial vehicle is avoided, and the data transmission efficiency is improved. Of course, it is not necessary for any product or method of practicing the invention to achieve all of the above-described advantages at the same time.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.

Fig. 1 is a flowchart of a data transmission method for an ad hoc network of an unmanned aerial vehicle according to an embodiment of the present invention.

Fig. 2 is a flowchart of another data transmission method for an ad hoc network of an unmanned aerial vehicle according to an embodiment of the present invention.

Fig. 3 is a flowchart of another data transmission method for an ad hoc network of an unmanned aerial vehicle according to an embodiment of the present invention.

Fig. 4 is a flowchart of another data transmission method for an ad hoc network oriented to an unmanned aerial vehicle according to an embodiment of the present invention.

Fig. 5 is an included angle schematic diagram of an included angle selection method according to an embodiment of the present invention.

Fig. 6 is a schematic structural diagram of a data transmission device for an unmanned aerial vehicle ad hoc network according to an embodiment of the present invention.

Fig. 7 is a schematic structural diagram of an unmanned aerial vehicle according to an embodiment of the present invention.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

In a first aspect, an embodiment of the present invention provides a data transmission method for an unmanned aerial vehicle ad hoc network, which is applied to a first unmanned aerial vehicle node, where the first unmanned aerial vehicle node is any one of unmanned aerial vehicle nodes in the unmanned aerial vehicle ad hoc network, and with reference to fig. 1, the method includes:

s101: and receiving attribute data packets periodically broadcast by other unmanned aerial vehicle nodes in the unmanned aerial vehicle self-organizing network, wherein the attribute data packets comprise position information and speed information of the unmanned aerial vehicle nodes broadcasting the attribute data packets and the first moment of broadcasting the attribute data packets.

S102: and updating and recording the position information, the speed information and the first moment of broadcasting the attribute data packet of each first-hop neighbor unmanned aerial vehicle node according to the position information of each unmanned aerial vehicle node, wherein the first-hop neighbor unmanned aerial vehicle node is a one-hop neighbor unmanned aerial vehicle node of the first unmanned aerial vehicle node.

S103: and when the data packet to be transmitted is transmitted, determining a second moment for transmitting the data packet to be transmitted.

S104: and calculating the offset position of each first-hop neighbor unmanned aerial vehicle node according to the first time and the second time of each first-hop neighbor unmanned aerial vehicle node broadcasting the attribute data packet and the speed information of each first-hop neighbor unmanned aerial vehicle node.

S105: and according to the position information and the offset position of each first-hop neighbor unmanned aerial vehicle node, performing position prediction on each first-hop neighbor unmanned aerial vehicle node to obtain first predicted position information of each first-hop neighbor unmanned aerial vehicle node.

S106: and determining a target neighbor unmanned aerial vehicle node from each first-hop neighbor unmanned aerial vehicle node based on the first predicted position information of each first-hop neighbor unmanned aerial vehicle node, and sending the data packet to be transmitted to the target neighbor unmanned aerial vehicle node.

According to the embodiment of the invention, the characteristic of relative movement between nodes of the unmanned aerial vehicle is considered, the geographical position information and the speed information are introduced, and the information is periodically updated, so that during data transmission, the first unmanned aerial vehicle can more quickly acquire the position information and the speed information of each first-hop neighbor unmanned aerial vehicle node, the real-time position of each first-hop neighbor unmanned aerial vehicle node is predicted according to the acquired information, the target neighbor unmanned aerial vehicle node is selected according to the real-time position, the situation that the selected path is unavailable due to movement of the unmanned aerial vehicle is avoided, and the data transmission efficiency is improved.

In the embodiment of the invention, each unmanned aerial vehicle node is provided with a Global Positioning System (GPS), and the position and speed information of the unmanned aerial vehicle node can be timely obtained through real-time Positioning or periodic Positioning. Each unmanned aerial vehicle node periodically broadcasts an attribute data packet of the unmanned aerial vehicle node to other unmanned aerial vehicle nodes, wherein the attribute data packet comprises position information and speed information of the unmanned aerial vehicle node broadcasting the attribute data packet, identification information (such as a node ID) of the node and the number of first-hop neighbor unmanned aerial vehicle nodes of the node. Adopt the mode of omnidirectional transmission when unmanned aerial vehicle node broadcast attribute data package, use this unmanned aerial vehicle node to carry out 360 even radiation as the centre of a circle promptly, not only to some direction or scope propagation, be convenient for let all first hops of this node neighbor unmanned aerial vehicle node can both receive this information package. Each unmanned aerial vehicle node only stores the attribute data packet which is received by the unmanned aerial vehicle node and broadcasted by the first-hop neighbor unmanned aerial vehicle node, and replaces the stored information for information updating every time when the attribute data packet is received, so that the memory occupation of the unmanned aerial vehicle node is reduced.

The first-hop neighbor unmanned aerial vehicle node is a one-hop neighbor unmanned aerial vehicle node of the first unmanned aerial vehicle node, the one-hop neighbor unmanned aerial vehicle node is in the passing range of the unmanned aerial vehicle node, and the first-hop neighbor unmanned aerial vehicle node and the one-hop neighbor unmanned aerial vehicle node can directly communicate. When the final destination node of data transmission is the first hop neighbor unmanned aerial vehicle node of the first unmanned aerial vehicle node, the data to be transmitted can be directly sent to the destination node, otherwise, the data to be transmitted needs to be sent to the destination node through the relay node. When the target neighbor unmanned aerial vehicle node transmits data, the first unmanned aerial vehicle node sends out the data, and the data arrives at the next (next hop) unmanned aerial vehicle node instead of the final destination node to which the data arrives. That is, starting from a source node generating a data packet to be transmitted, according to the method shown in fig. 1, a first-hop neighbor drone node of the source node is searched for as a next-hop drone node for data transmission, and a drone node receiving the data packet to be transmitted continues to search for a next-hop drone node for data transmission according to the method shown in fig. 1 until the next-hop drone node of a certain drone node is a final destination node.

Specifically, when each unmanned aerial vehicle node receives the attribute data packet of another unmanned aerial vehicle node, information in the packet is read and first-hop neighbor unmanned aerial vehicle node determination is performed, and step S102 may specifically include:

acquiring the position information of a first unmanned machine node;

determining unmanned aerial vehicle nodes with the distance from the first unmanned aerial vehicle node to the first unmanned aerial vehicle node smaller than a preset threshold value as first-hop neighbor unmanned aerial vehicle nodes;

and updating and recording the position information and the speed information of each first-hop neighbor unmanned aerial vehicle node.

In the embodiment of the invention, the first-hop neighbor unmanned aerial vehicle node needs to directly communicate with the first unmanned aerial vehicle node, so that the first-hop neighbor unmanned aerial vehicle node is positioned in the communication range of the first unmanned aerial vehicle node, and the distance between the first-hop neighbor unmanned aerial vehicle node and the first unmanned aerial vehicle nodeThe departure must be less than a preset threshold, and the preset threshold is a parameter representing the communication range of the first unmanned aerial vehicle node. The distance between the first unmanned aerial vehicle node and each unmanned aerial vehicle node can be calculated by position information in an attribute data packet positioned and received by the first unmanned aerial vehicle node. Taking the preset threshold as the omnidirectional communication radius of the first wireless man-machine node as an example, assume that the position of the first wireless man-machine node itself is (x)₁,y₁) The position of the unmanned plane node A broadcasting the attribute data packet is (x)₂,y₂) And the omnidirectional communication radius of the first unmanned aerial vehicle node is R, the distance between the first unmanned aerial vehicle node and the unmanned aerial vehicle node A is calculated, and when the distance is smaller than R, the distance between the first unmanned aerial vehicle node and the unmanned aerial vehicle node A meets the following formula:

(x₁-x₂)²+(y₁-y₂)²≤R²

at this time, the unmanned aerial vehicle node a is a first-hop neighbor unmanned aerial vehicle node of the first unmanned aerial vehicle node.

Particularly, when a data packet to be transmitted is sent, position prediction needs to be performed on each first-hop neighbor unmanned aerial vehicle node according to position information and speed information of each first-hop neighbor unmanned aerial vehicle node. The data in the data packet to be transmitted can be the data of the first unmanned aerial vehicle node, and can also be the data received from other unmanned aerial vehicle nodes, the data packet to be transmitted also comprises the information of the target node, and the second time T for sending the data packet to be transmitted₂With a first time T of the broadcast attribute data packet₁There is a delay between them, during which the drone node will move, so that when sending the data packet to be transmitted, the real-time position S of each first-hop neighbor drone node needs to be predicted₂Assume the location of the drone node B in the attribute packet is S₁At a velocity of V₁And the offset position of the node B of the unmanned aerial vehicle is V₁(T₂-T₁) According to position S₁And an offset position, a first predicted position S of the unmanned aerial vehicle node B can be obtained₂Comprises the following steps:

S＝S₁+V₁(T₂-T₁)

particularly, when the final destination node of data transmission is a first-hop neighbor unmanned aerial vehicle node of the first unmanned aerial vehicle node, the data to be transmitted can be directly sent to the destination node, otherwise, the data to be transmitted needs to be sent to the destination node through the relay node. In the embodiment of the invention, when the target neighbor unmanned aerial vehicle node for data transmission is searched in the relay process, 3 factors are considered: the distance between the target neighbor unmanned aerial vehicle node and the destination node, the link sustainable time between the first unmanned aerial vehicle node and the target neighbor unmanned aerial vehicle node, and the number of first-hop neighbor unmanned aerial vehicle nodes of the target neighbor unmanned aerial vehicle node.

Therefore, the attribute data packet further includes the number of first-hop neighbor unmanned aerial vehicle nodes of the unmanned aerial vehicle node broadcasting the attribute data packet; before determining a target neighbor unmanned aerial vehicle node from each first-hop neighbor unmanned aerial vehicle node based on first predicted position information of each first-hop neighbor unmanned aerial vehicle node and sending a data packet to be transmitted to the target neighbor unmanned aerial vehicle node, the method provided by the embodiment of the invention further comprises the following steps:

acquiring third time for sending a data packet to be transmitted, fourth time for broadcasting the attribute data packet last time by the first unmanned aerial vehicle node, and speed information and position information of the first unmanned aerial vehicle node when broadcasting the attribute data packet last time;

according to the third moment, the fourth moment, the speed information and the position information, position prediction is carried out on the first unmanned aerial vehicle node, and second predicted position information of the first unmanned aerial vehicle node is obtained;

for any first-hop neighbor unmanned aerial vehicle node, if a first predicted distance between the first-hop neighbor unmanned aerial vehicle node and the first unmanned aerial vehicle node is equal to a preset maximum directional transmission distance, calculating the link sustainable time of the first unmanned aerial vehicle node and the first-hop neighbor unmanned aerial vehicle node.

Suppose that the third time for sending the data packet to be transmitted is T₃The last time the first unmanned computer node is wideThe fourth time for playing the attribute data packet is T₄The speed of the first unmanned aerial vehicle node when broadcasting the attribute data packet last time is V₂At the position S₃And then, the second prediction position of the first unmanned aerial vehicle node is as follows:

S₄＝S₃+V₂(T₂-T₁)

the link sustainable time represents the duration of continuous connection between the first unmanned aerial vehicle node and the target neighbor unmanned aerial vehicle node, when the link sustainable time reaches a limit, the link between the first unmanned aerial vehicle node and the target neighbor unmanned aerial vehicle node is disconnected, the distance between the first unmanned aerial vehicle node and the target neighbor unmanned aerial vehicle node reaches a transmission limit distance d of a directional antenna, directional transmission is that the unmanned aerial vehicle node directly transmits data to a specified position, and linear transmission is performed between the first unmanned aerial vehicle node and the target neighbor unmanned aerial vehicle node. Suppose the limiting time is T₅At T of the transmitted packet, the limit time being unknown₆The position of the first unmanned aerial vehicle node obtained by time prediction is S₅，T₆The position of the target neighbor unmanned aerial vehicle node obtained by time prediction is S₆And when the distance between the two reaches the transmission limit distance d of the directional antenna, the following expression is satisfied:

(S₅-S₆)²＝d²

the limit time T can be determined by calculation₅The link between the two can last for (T)₅-T₆) And the route is preferably constructed by selecting the link with long sustainable time, so that the stability of the route can be improved.

In the embodiment of the invention, the data transmission mode is directional transmission, and according to a free space propagation model:

wherein, P_rTo transmit power, P_tIs the received power, G_tIs the transmit antenna gain, G_rIs the receiving antenna gain, d is the distance between the two, L is the system loss factor independent of propagation, and λ is the wavelength, knowing the transmitted powerIn certain cases, the directional transmission distance is much longer than the omni-directional transmission distance because the transmitting and receiving gains of the directional antenna are both larger than that of the omni-directional antenna. The transmitting power of each unmanned aerial vehicle node is fixed, but the transmitting power among the unmanned aerial vehicle nodes is different, and when the value of the transmitting power of the unmanned aerial vehicle nodes is lower than the minimum value, other unmanned aerial vehicle nodes cannot receive the information sent by the unmanned aerial vehicle nodes, so that in the data packet transmission stage, as the position prediction is known, the method adopts a mode that the directional antenna transmits to the prediction position range instead of the omnidirectional transmission to transmit data, and the effective utilization rate of the radiation power can be improved.

Based on the foregoing method, an embodiment of the present invention provides another data transmission method for an ad hoc network of an unmanned aerial vehicle, with reference to fig. 2, where the method includes:

s201: and receiving attribute data packets periodically broadcast by other unmanned aerial vehicle nodes in the unmanned aerial vehicle self-organizing network, wherein the attribute data packets comprise position information and speed information of the unmanned aerial vehicle nodes broadcasting the attribute data packets, the first time of broadcasting the attribute data packets and the number of first-hop neighbor unmanned aerial vehicle nodes.

S202: according to the position information of each unmanned aerial vehicle node, updating and recording the position information and the first moment of a speed information broadcast attribute data packet of each first-hop neighbor unmanned aerial vehicle node, wherein the first-hop neighbor unmanned aerial vehicle node is a one-hop neighbor unmanned aerial vehicle node of the first unmanned aerial vehicle node.

S203: and when the data packet to be transmitted is transmitted, determining a second moment for transmitting the data packet to be transmitted.

S204: and calculating the offset position of each first-hop neighbor unmanned aerial vehicle node according to the first time and the second time of the broadcast attribute data packet of each first-hop neighbor unmanned aerial vehicle node and the speed information of each first-hop neighbor unmanned aerial vehicle node.

S205: and according to the position information and the offset position of each first-hop neighbor unmanned aerial vehicle node, performing position prediction on each first-hop neighbor unmanned aerial vehicle node to obtain first predicted position information of each first-hop neighbor unmanned aerial vehicle node.

S206: and acquiring second predicted position information of the first unmanned aerial vehicle node and position information of a target node of the data packet to be transmitted.

S207: and calculating a first distance between the first unmanned aerial vehicle node and the destination node according to second predicted position information of the first unmanned aerial vehicle node and position information of the destination node, and calculating a second distance between each first-hop neighbor unmanned aerial vehicle node and the destination node according to the first predicted position information of each first-hop neighbor unmanned aerial vehicle node and the position information of the destination node.

S208: and determining each first neighbor unmanned aerial vehicle node of which the second distance is smaller than the first distance in each first-hop neighbor unmanned aerial vehicle node.

S209: and determining the unmanned aerial vehicle node with the minimum weight change in each first neighbor unmanned aerial vehicle node as a target neighbor unmanned aerial vehicle node according to the second distance, the link sustainable time and the number corresponding to each first neighbor unmanned aerial vehicle node, and sending the data packet to be transmitted to the target neighbor unmanned aerial vehicle node.

The embodiment of the invention is improved based on a routing protocol of greedy forwarding, in an improved greedy forwarding mode, a first unmanned aerial vehicle node can select a first hop neighbor node closer to a target node, namely the smaller the second distance is, the better the second distance is, and the second distance must be smaller than the first distance, so that the energy consumption during data transmission is saved, and at the moment, the target neighbor node is selected according to a preset selection formula:

wherein D is the second distance between the first-hop neighbor unmanned aerial vehicle node and the destination node, D_sThe first distance between the first unmanned aerial vehicle node and the destination node is T, the link sustainable time is T, and m is the number of first-hop neighbor unmanned aerial vehicle nodes of the unmanned aerial vehicle node; α, β, and γ are weights of distance, time, and number, respectively, α is 0.4, β is 0.3, and γ is 0.3, and the weight ratio is obtained by an experiment. The smaller the second distance is, the longer the link sustainable time is, and the more the number of the first-hop neighbor unmanned aerial vehicle nodes is, the smaller the calculated change weight mu is. The number of the first hop neighbor nodes represents the alternativeThe more the number of the selected target neighbor unmanned aerial vehicle nodes is, the more the selectable number is, the more selectivity can be realized, and therefore the more optimal and stable nodes can be selected.

In the embodiment of the invention, the first distance and the link sustainable time are calculated according to the real-time position, the unmanned aerial vehicle node with the minimum change weight in each first neighbor unmanned aerial vehicle node is selected as the target neighbor unmanned aerial vehicle node by utilizing a plurality of parameters, the change weight represents the stability of the node, the smaller the change weight is, the more stable the target neighbor unmanned aerial vehicle node is, so that the higher stability of a transmission link is kept, the change of the selected transmission path is smaller, the link is enabled during data transmission, and the data transmission efficiency is improved.

However, the improved greedy forwarding mode encounters a routing hole, where the routing hole is that a second distance between each first-hop neighbor unmanned aerial vehicle node and the destination node is greater than or equal to a first distance between the first unmanned aerial vehicle node and the destination node, and at this time, the greedy routing mode is switched to another routing mode, where an embodiment of the present invention provides another data transmission method for an unmanned aerial vehicle ad hoc network, and referring to fig. 3, the method includes:

s301: and receiving attribute data packets periodically broadcast by other unmanned aerial vehicle nodes in the unmanned aerial vehicle self-organizing network, wherein the attribute data packets comprise position information and speed information of the unmanned aerial vehicle nodes broadcasting the attribute data packets, the first time of broadcasting the attribute data packets and the number of first-hop neighbor unmanned aerial vehicle nodes.

S302: according to the position information of each unmanned aerial vehicle node, updating and recording the position information and the first moment of a speed information broadcast attribute data packet of each first-hop neighbor unmanned aerial vehicle node, wherein the first-hop neighbor unmanned aerial vehicle node is a one-hop neighbor unmanned aerial vehicle node of the first unmanned aerial vehicle node.

S303: and when the data packet to be transmitted is transmitted, determining a second moment for transmitting the data packet to be transmitted.

S304: and calculating the offset position of each first-hop neighbor unmanned aerial vehicle node according to the first time and the second time of each first-hop neighbor unmanned aerial vehicle node broadcasting the attribute data packet and the speed information of each first-hop neighbor unmanned aerial vehicle node.

S305: and according to the position information and the offset position of each first-hop neighbor unmanned aerial vehicle node, performing position prediction on each first-hop neighbor unmanned aerial vehicle node to obtain first predicted position information of each first-hop neighbor unmanned aerial vehicle node.

S306: and acquiring second predicted position information of the first unmanned aerial vehicle node and position information of a target node of the data packet to be transmitted.

S307: and calculating a first distance between the first unmanned aerial vehicle node and the destination node according to second predicted position information of the first unmanned aerial vehicle node and position information of the destination node, and calculating a second distance between each first-hop neighbor unmanned aerial vehicle node and the destination node according to the first predicted position information of each first-hop neighbor unmanned aerial vehicle node and the position information of the destination node.

S308: determining whether the second distance is smaller than the first distance, if so, performing step S309, otherwise, performing steps S310 to S315.

S309: and determining the unmanned aerial vehicle node with the minimum weight change in the first-hop neighbor unmanned aerial vehicle nodes as a target neighbor unmanned aerial vehicle node according to the second distance, the link sustainable time and the number corresponding to each first-hop neighbor unmanned aerial vehicle node, and sending the data packet to be transmitted to the target neighbor unmanned aerial vehicle node.

S310: position information and speed information of a plurality of second-hop neighbor unmanned aerial vehicle nodes are obtained, and the second-hop neighbor unmanned aerial vehicle nodes are one-hop neighbor unmanned aerial vehicle nodes of the first-hop neighbor unmanned aerial vehicle nodes.

S311: and according to the position information and the speed information of each second-hop neighbor unmanned aerial vehicle node, performing position prediction on each second-hop neighbor unmanned aerial vehicle node to obtain third predicted position information of each second-hop neighbor unmanned aerial vehicle node.

S312: and calculating a third distance between each second-hop neighbor unmanned aerial vehicle node and the destination node according to the third predicted position information of each second-hop neighbor unmanned aerial vehicle node and the position information of the destination node.

S313: and determining each second neighbor unmanned aerial vehicle node of which the third distance is smaller than the first distance in each second-hop neighbor unmanned aerial vehicle node.

S314: and calculating a second prediction distance between each second neighbor unmanned aerial vehicle node and the first unmanned aerial vehicle node according to the second prediction position information and third prediction position information of each second neighbor unmanned aerial vehicle node.

S315: and judging whether the second predicted distance is smaller than a preset maximum directional transmission distance, if so, executing step S316, and otherwise, executing step S317.

S316: and selecting a second neighbor unmanned aerial vehicle node with the minimum third distance as a target neighbor unmanned aerial vehicle node, and sending the data packet to be transmitted to the target neighbor unmanned aerial vehicle node.

S317: and selecting a first hop neighbor unmanned aerial vehicle node corresponding to the second neighbor unmanned aerial vehicle node with the minimum third distance as a target neighbor unmanned aerial vehicle node, and sending the data packet to be transmitted to the target neighbor unmanned aerial vehicle node.

In the embodiment of the invention, when the first-hop neighbor unmanned aerial vehicle node does not meet the greedy forwarding condition, the mode is switched to a two-hop neighbor node to select a forwarding mode. When a first-hop neighbor unmanned aerial vehicle node receives the request packet, a new data packet is replied, and the data packet not only contains the current speed, position and time information of the first-hop neighbor unmanned aerial vehicle node, but also contains the position and speed information of the first-hop neighbor unmanned aerial vehicle node at the last periodic update time. At this time, the new data packet includes the second-hop neighbor node (i.e., the one-hop neighbor drone node of the first-hop neighbor drone node) at the time T of the last cycle₇Velocity V of₃And position S₇When the first unmanned aerial vehicle node receives a new data packet replied by the first-hop neighbor unmanned aerial vehicle node, the time T of sending the data packet by all the second-hop nodes can be obtained according to the information₈Third predicted position information S₈：

S₈＝S₇+V₃(T₈-T₇)

And calculating a third distance between each second-hop neighbor unmanned aerial vehicle node and the destination node according to the third predicted position information and the position information of the destination node, and when the third distance is smaller than the first distance, calculating a second predicted distance between each second neighbor unmanned aerial vehicle node and the first unmanned aerial vehicle node, wherein the second predicted distance is smaller than a preset maximum directional transmission distance, and the second predicted distance is larger than or equal to the preset maximum directional transmission distance.

When the second predicted distance is smaller than the preset maximum directional transmission distance, the first unmanned aerial vehicle node can directly send a data packet to the second neighbor unmanned aerial vehicle node, the data packet is regarded as an antenna neighbor node of the first unmanned aerial vehicle node, and an unmanned aerial vehicle node with the minimum third distance (closest to the target node) is selected from all the antenna neighbor nodes of the first unmanned aerial vehicle node as a target neighbor unmanned aerial vehicle node. When the second prediction distance is larger than or equal to the preset maximum directional transmission distance, the first unmanned aerial vehicle node cannot directly send a data packet to the second neighbor unmanned aerial vehicle node, at the moment, the first unmanned aerial vehicle node directly selects a first hop neighbor unmanned aerial vehicle node corresponding to an unmanned aerial vehicle node with the minimum third distance in the second neighbor unmanned aerial vehicle node as a target neighbor unmanned aerial vehicle node, the first unmanned aerial vehicle node needs to send the data packet to the second neighbor unmanned aerial vehicle node through the first hop neighbor unmanned aerial vehicle node, and the corresponding first hop neighbor unmanned aerial vehicle node transmits the data packet to the second neighbor unmanned aerial vehicle node with the minimum third distance.

Particularly, when the second distance between each first-hop neighbor unmanned aerial vehicle node and the destination node is greater than or equal to the first distance between the first unmanned aerial vehicle node and the destination node, and the third distance between each second-hop neighbor unmanned aerial vehicle node and the destination node is also greater than or equal to the first distance between the first unmanned aerial vehicle node and the destination node, the above condition cannot satisfy the calculation, and then a minimum angle forwarding routing mode is adopted, an embodiment of the present invention provides another data transmission method for an unmanned aerial vehicle self-organizing network, see fig. 4, and the method includes:

s401: and receiving attribute data packets periodically broadcast by other unmanned aerial vehicle nodes in the unmanned aerial vehicle self-organizing network, wherein the attribute data packets comprise position information and speed information of the unmanned aerial vehicle nodes broadcasting the attribute data packets and the first moment of broadcasting the attribute data packets.

S402: and updating and recording the position information, the speed information and the first moment of broadcasting the attribute data packet of each first-hop neighbor unmanned aerial vehicle node according to the position information of each unmanned aerial vehicle node, wherein the first-hop neighbor unmanned aerial vehicle node is a one-hop neighbor unmanned aerial vehicle node of the first unmanned aerial vehicle node.

S403: and when the data packet to be transmitted is transmitted, determining a second moment for transmitting the data packet to be transmitted.

S404: and calculating the offset position of each first-hop neighbor unmanned aerial vehicle node according to the first time and the second time of each first-hop neighbor unmanned aerial vehicle node broadcasting the attribute data packet and the speed information of each first-hop neighbor unmanned aerial vehicle node.

S405: and according to the position information and the offset position of each first-hop neighbor unmanned aerial vehicle node, performing position prediction on each first-hop neighbor unmanned aerial vehicle node to obtain first predicted position information of each first-hop neighbor unmanned aerial vehicle node.

S406: and acquiring the fifth time of sending the data packet to be transmitted, the sixth time of last broadcasting the attribute data packet by the first unmanned aerial vehicle node, the speed information and the position information of the last broadcasting of the attribute data packet by the first unmanned aerial vehicle node, and the position information of the destination node of the data packet to be transmitted.

S407: and according to the fifth time, the sixth time, the speed information and the position information, performing position prediction on the first unmanned aerial vehicle node to obtain second predicted position information of the first unmanned aerial vehicle node.

S408: and calculating an included angle between a virtual straight line from each first-hop neighbor unmanned aerial vehicle node to the first unmanned aerial vehicle node and a virtual straight line from the target node to the first unmanned aerial vehicle node according to the first predicted position information, the second predicted position information and the position information of the target node of each first-hop neighbor unmanned aerial vehicle node.

S409: and selecting the first-hop neighbor unmanned aerial vehicle node with the smallest included angle as a target neighbor unmanned aerial vehicle node, and sending the data packet to be transmitted to the target neighbor unmanned aerial vehicle node.

In the embodiment of the invention, a virtual triangle is formed among a first-hop neighbor unmanned aerial vehicle node B, a first unmanned aerial vehicle node A and a target node C, as shown in fig. 5, an included angle between a virtual straight line from the first-hop neighbor unmanned aerial vehicle node to the first unmanned aerial vehicle node and a virtual straight line from the target node to the first unmanned aerial vehicle node is & lt BAC, and the first-hop neighbor unmanned aerial vehicle node with the smallest & lt BAC is selected as the target neighbor unmanned aerial vehicle node. At this time, if no neighbor node is available, the routing fails and data transmission cannot be performed.

In summary, the embodiment of the present invention uses an omnidirectional mode to broadcast a data packet, uses a directional mode to transmit data, and uses a scheme combining omnidirectional and directional transmission, which can effectively improve an information transmission distance, prolong a link lifetime, and enable a network to have better stability.

In a second aspect, an embodiment of the present invention provides a data transmission apparatus for an ad hoc network of an unmanned aerial vehicle, which is applied to a first unmanned aerial vehicle node, where the first unmanned aerial vehicle node is any unmanned aerial vehicle node in the ad hoc network of the unmanned aerial vehicle, as shown in fig. 6, the apparatus includes a receiving module 610, an updating module 620, a determining module 630, a calculating module 640, a predicting module 650, and a sending module 660, where:

the receiving module 610 is configured to receive an attribute data packet periodically broadcast by each other unmanned aerial vehicle node in the unmanned aerial vehicle ad hoc network, where the attribute data packet includes location information and speed information of the unmanned aerial vehicle node broadcasting the attribute data packet, and a first time of broadcasting the attribute data packet.

An updating module 620, configured to update and record, according to the position information of each unmanned aerial vehicle node, the position information, the speed information, and a first time of the broadcast attribute data packet of each first-hop neighbor unmanned aerial vehicle node, where the first-hop neighbor unmanned aerial vehicle node is a one-hop neighbor unmanned aerial vehicle node of the first unmanned aerial vehicle node.

The determining module 630 is configured to determine a second time for sending the data packet to be transmitted when the data packet to be transmitted is sent.

The calculating module 640 is configured to calculate an offset position of each first-hop neighbor drone node according to the first time and the second time at which each first-hop neighbor drone node broadcasts the attribute data packet, and speed information of each first-hop neighbor drone node.

The prediction module 650 is configured to, when a data packet to be transmitted is sent, perform position prediction on each first-hop neighbor drone node according to the position information and the speed information of each first-hop neighbor drone node, to obtain first predicted position information of each first-hop neighbor drone node.

A sending module 660, configured to determine a target neighbor drone node from each first-hop neighbor drone node based on the first predicted position information of each first-hop neighbor drone node, and send the data packet to be transmitted to the target neighbor drone node.

In particular, the update module 620 may be specifically configured to:

acquiring the position information of a first unmanned machine node;

Particularly, the attribute data packet further includes the number of one-hop neighbor unmanned aerial vehicle nodes of the unmanned aerial vehicle node broadcasting the attribute data packet; the device provided by the embodiment of the invention also comprises:

the first acquisition module is used for acquiring the third time of sending the data packet to be transmitted, the fourth time of the last broadcast of the attribute data packet by the first unmanned aerial vehicle node, and the speed information and the position information of the last broadcast of the attribute data packet by the first unmanned aerial vehicle node;

the first prediction module is used for performing position prediction on the first unmanned aerial vehicle node according to the third moment, the fourth moment, the speed information and the position information to obtain second predicted position information of the first unmanned aerial vehicle node;

the first calculation module is used for calculating a first prediction distance between each first-hop neighbor unmanned aerial vehicle node and the first unmanned aerial vehicle node according to the first prediction position information and the second prediction position information;

the second calculation module is used for calculating the link sustainable time of the first unmanned aerial vehicle node and any first-hop neighbor unmanned aerial vehicle node if the first predicted distance between the first-hop neighbor unmanned aerial vehicle node and the first unmanned aerial vehicle node is equal to the preset maximum directional transmission distance;

the sending module 660 may specifically be configured to:

acquiring second predicted position information of the first unmanned aerial vehicle node and position information of a target node of a data packet to be transmitted;

calculating a first distance between the first unmanned aerial vehicle node and the destination node according to second predicted position information of the first unmanned aerial vehicle node and position information of the destination node, and calculating a second distance between each first-hop neighbor unmanned aerial vehicle node and the destination node according to first predicted position information of each first-hop neighbor unmanned aerial vehicle node and position information of the destination node;

determining each first neighbor unmanned aerial vehicle node of which the second distance is smaller than the first distance in each first-hop neighbor unmanned aerial vehicle node;

In particular, the sending module 660 may be further configured to:

if the second distance between each first-hop neighbor unmanned aerial vehicle node and the destination node is greater than or equal to the first distance, acquiring position information and speed information of a plurality of second-hop neighbor unmanned aerial vehicle nodes, wherein the second-hop neighbor unmanned aerial vehicle nodes are first-hop neighbor unmanned aerial vehicle nodes of the first-hop neighbor unmanned aerial vehicle nodes;

according to the position information and the speed information of each second-hop neighbor unmanned aerial vehicle node, position prediction is carried out on each second-hop neighbor unmanned aerial vehicle node to obtain third predicted position information of each second-hop neighbor unmanned aerial vehicle node;

calculating a third distance between each second-hop neighbor unmanned aerial vehicle node and the destination node according to third predicted position information of each second-hop neighbor unmanned aerial vehicle node and position information of the destination node;

determining each second-hop neighboring unmanned aerial vehicle node of which the third distance is smaller than the first distance;

and selecting a second neighbor unmanned aerial vehicle node with the minimum third distance as a target neighbor unmanned aerial vehicle node from second neighbor unmanned aerial vehicle nodes with the second predicted distance smaller than the preset maximum directional transmission distance.

In particular, the sending module 660 may be further configured to:

and when the second predicted distance between each second neighbor unmanned aerial vehicle node and the first unmanned aerial vehicle node is greater than or equal to the preset maximum directional transmission distance, selecting the first hop neighbor unmanned aerial vehicle node corresponding to the second neighbor unmanned aerial vehicle node with the minimum third distance as the target neighbor unmanned aerial vehicle node.

In particular, the sending module 660 may be further configured to:

acquiring a fifth time of sending a data packet to be transmitted, a sixth time of last broadcasting of the attribute data packet by the first unmanned aerial vehicle node, speed information and position information of the last broadcasting of the attribute data packet by the first unmanned aerial vehicle node, and position information of a target node of the data packet to be transmitted;

In a third aspect, an embodiment of the present invention provides an unmanned aerial vehicle, as shown in fig. 7, including a processor 701, a communication interface 702, a memory 703 and a communication bus 704, where the processor 701, the communication interface 702, and the memory 703 complete mutual communication through the communication bus 704;

a memory 703 for storing a computer program;

the processor 701 is configured to implement the following steps when executing the computer program stored in the memory:

receiving attribute data packets periodically broadcast by other unmanned aerial vehicle nodes in the unmanned aerial vehicle self-organizing network, wherein the attribute data packets comprise position information and speed information of the unmanned aerial vehicle nodes broadcasting the attribute data packets and first time of broadcasting the attribute data packets;

updating and recording the position information, the speed information and the first moment of broadcasting the attribute data packet of each first-hop neighbor unmanned aerial vehicle node according to the position information of each unmanned aerial vehicle node, wherein the first-hop neighbor unmanned aerial vehicle node is a one-hop neighbor unmanned aerial vehicle node of the first unmanned aerial vehicle node;

when the data packet to be transmitted is sent, determining a second moment for sending the data packet to be transmitted;

according to the position information and the offset position of each first-hop neighbor unmanned aerial vehicle node, performing position prediction on each first-hop neighbor unmanned aerial vehicle node to obtain first predicted position information of each first-hop neighbor unmanned aerial vehicle node;

and determining a target neighbor unmanned aerial vehicle node from each first-hop neighbor unmanned aerial vehicle node based on the first predicted position information of each first-hop neighbor unmanned aerial vehicle node, and sending the data packet to be transmitted to the target neighbor unmanned aerial vehicle node.

The above-mentioned communication bus may be a PCI (Peripheral Component Interconnect) bus, an EISA (Extended Industry Standard Architecture) bus, or the like. The communication bus may be divided into an address bus, a data bus, a control bus, etc. For ease of illustration, only one thick line is shown, but this does not mean that there is only one bus or one type of bus.

The communication interface is used for communication between the electronic equipment and other equipment.

The Memory may include a RAM (Random Access Memory) or an NVM (Non-Volatile Memory), such as at least one disk Memory. Optionally, the memory may also be at least one memory device located remotely from the processor.

The Processor may be a general-purpose Processor, including a Central Processing Unit (CPU), a Network Processor (NP), and the like; but also a DSP (Digital Signal Processor), an ASIC (Application Specific Integrated Circuit), an FPGA (Field-Programmable Gate Array) or other Programmable logic device, discrete Gate or transistor logic device, discrete hardware component.

In this embodiment, the processor 701 is caused by machine executable instructions to implement, by reading the machine executable instructions stored in the memory 703: receiving attribute data packets periodically broadcast by other unmanned aerial vehicle nodes in the unmanned aerial vehicle self-organizing network, wherein the attribute data packets comprise position information and speed information of the unmanned aerial vehicle nodes broadcasting the attribute data packets and first time of broadcasting the attribute data packets; updating and recording the position information, the speed information and the first moment of broadcasting the attribute data packet of each first-hop neighbor unmanned aerial vehicle node according to the position information of each unmanned aerial vehicle node, wherein the first-hop neighbor unmanned aerial vehicle node is a one-hop neighbor unmanned aerial vehicle node of the first unmanned aerial vehicle node; when the data packet to be transmitted is sent, determining a second moment for sending the data packet to be transmitted; calculating the offset position of each first-hop neighbor unmanned aerial vehicle node according to the first time and the second time of each first-hop neighbor unmanned aerial vehicle node broadcasting the attribute data packet and the speed information of each first-hop neighbor unmanned aerial vehicle node; according to the position information and the speed information of each first-hop neighbor unmanned aerial vehicle node, position prediction is carried out on each first-hop neighbor unmanned aerial vehicle node to obtain first predicted position information of each first-hop neighbor unmanned aerial vehicle node; and determining a target neighbor unmanned aerial vehicle node from each first-hop neighbor unmanned aerial vehicle node based on the first predicted position information of each first-hop neighbor unmanned aerial vehicle node, and sending the data packet to be transmitted to the target neighbor unmanned aerial vehicle node. According to the embodiment of the invention, based on the characteristic of relative movement between unmanned aerial vehicle nodes, geographic position information and speed information are introduced and information is periodically updated, so that during data transmission, a first unmanned aerial vehicle node can quickly acquire the position information and the speed information of each first-hop neighbor unmanned aerial vehicle node, the real-time position of each first-hop neighbor unmanned aerial vehicle node is predicted according to the acquired information, and a target neighbor unmanned aerial vehicle node is selected according to the real-time position, so that the situation that the selected path is unavailable due to movement of the unmanned aerial vehicle is avoided, and the data transmission efficiency is improved.

An embodiment of the present invention further provides a computer-readable storage medium, where a computer program is stored in the computer-readable storage medium, and when executed by a processor, the computer program at least implements the following steps:

In this embodiment, the machine-readable storage medium executes the computer program of the method provided in the embodiment of the present invention when running, so that the method can realize: receiving attribute data packets periodically broadcast by other unmanned aerial vehicle nodes in the unmanned aerial vehicle self-organizing network, wherein the attribute data packets comprise position information and speed information of the unmanned aerial vehicle nodes broadcasting the attribute data packets and first time of broadcasting the attribute data packets; updating and recording the position information, the speed information and the first moment of broadcasting the attribute data packet of each first-hop neighbor unmanned aerial vehicle node according to the position information of each unmanned aerial vehicle node, wherein the first-hop neighbor unmanned aerial vehicle node is a one-hop neighbor unmanned aerial vehicle node of the first unmanned aerial vehicle node; when the data packet to be transmitted is sent, determining a second moment for sending the data packet to be transmitted; calculating the offset position of each first-hop neighbor unmanned aerial vehicle node according to the first time and the second time of each first-hop neighbor unmanned aerial vehicle node broadcasting the attribute data packet and the speed information of each first-hop neighbor unmanned aerial vehicle node; according to the position information and the speed information of each first-hop neighbor unmanned aerial vehicle node, position prediction is carried out on each first-hop neighbor unmanned aerial vehicle node to obtain first predicted position information of each first-hop neighbor unmanned aerial vehicle node; and determining a target neighbor unmanned aerial vehicle node from each first-hop neighbor unmanned aerial vehicle node based on the first predicted position information of each first-hop neighbor unmanned aerial vehicle node, and sending the data packet to be transmitted to the target neighbor unmanned aerial vehicle node. According to the embodiment of the invention, based on the characteristic of relative movement between unmanned aerial vehicle nodes, geographic position information and speed information are introduced and information is periodically updated, so that during data transmission, a first unmanned aerial vehicle node can quickly acquire the position information and the speed information of each first-hop neighbor unmanned aerial vehicle node, the real-time position of each first-hop neighbor unmanned aerial vehicle node is predicted according to the acquired information, and a target neighbor unmanned aerial vehicle node is selected according to the real-time position, so that the situation that the selected path is unavailable due to movement of the unmanned aerial vehicle is avoided, and the data transmission efficiency is improved.

It is noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus 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 apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.

All the embodiments in the present specification are described in a related manner, and the same and similar parts among the embodiments may be referred to each other, and each embodiment focuses on the differences from the other embodiments. In particular, for the device, the drone and the computer-readable storage medium embodiments, since they are substantially similar to the method embodiments, the description is relatively simple, and in relation to the description of the method embodiments, reference may be made to some of the description of the method embodiments.

The above description is only for the preferred embodiment of the present invention, and is not intended to limit the scope of the present invention. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention shall fall within the protection scope of the present invention.

Claims

1. A data transmission method facing an unmanned aerial vehicle self-organizing network is applied to a first unmanned aerial vehicle node, wherein the first unmanned aerial vehicle node is any unmanned aerial vehicle node in the unmanned aerial vehicle self-organizing network, and the method comprises the following steps:

determining a target neighbor unmanned aerial vehicle node from each first-hop neighbor unmanned aerial vehicle node based on first predicted position information of each first-hop neighbor unmanned aerial vehicle node, and sending the data packet to be transmitted to the target neighbor unmanned aerial vehicle node;

the attribute data packet also comprises the number of one-hop neighbor unmanned aerial vehicle nodes which broadcast the attribute data packet;

2. The method of claim 1, wherein the updating and recording the location information, the speed information, and the first time of broadcasting the attribute data packet of each first-hop neighbor drone node according to the location information of each drone node comprises:

acquiring the position information of the first unmanned aerial vehicle node;

3. The method according to claim 1, wherein after the calculating a first distance between the first drone node and the destination node according to the second predicted location information of the first drone node itself and the location information of the destination node, and calculating a second distance between each first-hop neighbor drone node and the destination node according to the first predicted location information of each first-hop neighbor drone node and the location information of the destination node, the method further comprises:

4. The method of claim 3, wherein after the calculating a second predicted distance between the second neighboring drone node and the first drone node based on the second predicted location information and third predicted location information for the second neighboring drone node, the method further comprises:

5. The method of claim 1, wherein determining a target neighbor drone node from the first-hop neighbor drone nodes based on the first predicted location information of the first-hop neighbor drone nodes and sending the data packet to be transmitted to the target neighbor drone node comprises:

6. The utility model provides a data transmission device towards unmanned aerial vehicle self-organizing network which characterized in that is applied to first unmanned aerial vehicle node, first unmanned aerial vehicle node is arbitrary unmanned aerial vehicle node in the unmanned aerial vehicle self-organizing network, the device includes:

a sending module, configured to determine a target neighbor drone node from the first-hop neighbor drone nodes based on the first predicted position information of the first-hop neighbor drone nodes, and send the data packet to be transmitted to the target neighbor drone node;

the attribute data packet also comprises the number of one-hop neighbor unmanned aerial vehicle nodes broadcasting the attribute data packet;

the device further comprises:

the sending module is specifically configured to:

7. An unmanned aerial vehicle is characterized by comprising a processor, a communication interface, a memory and a communication bus, wherein the processor, the communication interface and the memory are communicated with each other through the communication bus;

the memory is used for storing a computer program;

the processor, when executing the computer program stored in the memory, implementing the method of any of claims 1-5.

8. A computer-readable storage medium, in which a computer program is stored which, when being executed by a processor, carries out the method of any one of claims 1 to 5.