CN112087766B - Unmanned system heterogeneous network communication channel access method and device - Google Patents
Unmanned system heterogeneous network communication channel access method and device Download PDFInfo
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- H04W74/08—Non-scheduled or contention based access, e.g. random access, ALOHA, CSMA [Carrier Sense Multiple Access]
- H04W74/0833—Non-scheduled or contention based access, e.g. random access, ALOHA, CSMA [Carrier Sense Multiple Access] using a random access procedure
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Abstract
The application provides an unmanned system heterogeneous network communication channel access method and device, wherein the heterogeneous network comprises the following steps: the system comprises a central access network and a subordinate ad hoc network, wherein the central access network consists of a base station and n cluster head nodes; the n cluster head nodes are cluster heads of the n ad hoc networks respectively; each ad hoc network consists of m nodes; wherein n and m are positive integers; the method comprises the following steps: the central access network is provided with a first data receiving and transmitting system for carrying out access network data transmission; each ad hoc network is respectively provided with a second data receiving and transmitting system for ad hoc network data transmission; the first data receiving and transmitting system respectively carries out data interaction with the plurality of second receiving and transmitting systems, and data cross-network transmission of nodes of each ad hoc network is achieved. Therefore, channel resources of the unmanned system are fully utilized, and reliable communication of the unmanned system heterogeneous network is achieved.
Description
Technical Field
The present application relates to the field of network communication technologies, and in particular, to a method and an apparatus for accessing a communication channel of an unmanned system heterogeneous network.
Background
In recent years, the technological innovation represented by artificial intelligence and chips enables the autonomous action capability of unmanned systems such as unmanned vehicles, unmanned planes and unmanned ships to be greatly improved, along with the massive popularization of sensors, the application of the unmanned systems in remote and restrictive environments presents obvious advantages, and the use of the unmanned systems can improve the task efficiency to the maximum extent and reduce the personnel risk. A large number of industrial robot unmanned systems are used for inspecting, collecting and carrying dangerous articles, and unmanned submergence vehicles, unmanned aerial vehicles and the like are used for detecting and monitoring in dangerous or complex environments such as underwater, land, space and the like; in military, various unmanned systems carry out real-time monitoring, situation perception and even cooperative attack in a large-scale space-time domain.
Many large scale unmanned systems complement each other in function or performance, and can perform tasks more efficiently. For example, the unmanned surface vehicle can perform collaborative information acquisition with a plurality of small unmanned aerial vehicles, provides a long-distance range for the small unmanned aerial vehicles, and simultaneously serves as a communication base station and an information collection terminal, and provides a long-distance and distributed communication support and an information storage space for a heterogeneous system. Unmanned aerial vehicle surveys and makes unmanned systems heterogeneous network possess quick, nimble information collection mode. The cooperative work needs the support of a communication network, and under the condition that no 4G \5G pre-arranged network exists in the field and the like, heterogeneous network scenes often exist in the large-scale unmanned systems.
One of the keys to the design of an unmanned system heterogeneous network is the problem of channel resource allocation. The communication channel access technology is intended to solve the problem of collision when multiple devices access a single channel, and is divided into a fixed channel access technology and a random channel access technology. The fixed channel access technology means that channel resources occupied by a device at a certain Time are determined, and includes Frequency Division Multiple Access (FDMA), Time Division Multiple Access (TDMA), and the like. The random channel access technology means that channel resources occupied by a device at a certain time are uncertain, and the device usually acquires the channel resources in a 'contention' manner. The random channel access technology may cause loss of key information, while the fixed channel access technology allocates resources for each device, and since not all devices need real-time networking, in a large-scale heterogeneous network, cost supply of an unmanned system or waste of channel resources may be caused.
Disclosure of Invention
The present application is directed to solving, at least to some extent, one of the technical problems in the related art.
Therefore, an object of the present invention is to provide a method and an apparatus for accessing a communication channel of an unmanned system heterogeneous network, which aim to fully utilize channel resources of the unmanned system and achieve reliable communication of the unmanned system heterogeneous network.
In order to achieve the above object, an embodiment of the present invention provides an unmanned system heterogeneous network communication channel access method, including the following steps:
the central access network is provided with a first data receiving and transmitting system for carrying out access network data transmission; each ad hoc network is respectively provided with a second data receiving and transmitting system for ad hoc network data transmission; the first data receiving and transmitting system respectively carries out data interaction with the plurality of second receiving and transmitting systems, and data cross-network transmission of nodes of each ad hoc network is achieved.
In addition, the unmanned system heterogeneous network communication channel access method according to the above embodiment of the present invention may further have the following additional technical features:
further, in an embodiment of the present invention, the unmanned system heterogeneous network communication channel access method further includes: the base station continuously broadcasts and sends t networking synchronous information frames, and the cluster head node of each ad hoc network continuously monitors the channel until the networking synchronous information frames are received; wherein t is a positive integer greater than 1; after the base station sends t networking synchronization information frames, n cluster head nodes send q time slot synchronization recovery frames in sequence; and q is a positive integer, and a central access network is generated.
Further, in an embodiment of the present invention, the central access network sets a first data transceiving system for performing access network data transmission, including that the cluster head node calculates the number of time slots and the priority corresponding to the service according to the number of currently transmitted data frames and the service type, encapsulates the time slots and the priority corresponding to the service in the packet header of the uplink data frame, and transmits the packet header to the base station; when each downlink time slot arrives, the base station judges that the current downlink time slot is at least distributed with a preset number of uplink time slots, and distributes the preset number of uplink time slots to the cluster head node with the highest priority for sending the service.
Further, in an embodiment of the present invention, the unmanned system heterogeneous network communication channel access method further includes: acquiring a new network access node, wherein the new network access node keeps monitoring a channel; when the new network access node receives that the downlink control packet sent by the base station contains the synchronization information, network access synchronization is carried out; the network access synchronization comprises time synchronization and time slot alignment; after the network access synchronization, the new network access node calculates the arrival time of the random access time slot.
Further, in an embodiment of the present invention, the unmanned system heterogeneous network communication channel access method further includes: the cluster head node of each ad hoc network broadcasts networking synchronous information, and all neighbor nodes which are one hop away from the cluster head node receive the synchronous information and complete synchronization with the cluster head node; forwarding networking synchronization information from the 1-hop node to the h-1-hop node according to the hop number, sequentially completing synchronization with the cluster head nodes, and completing network access synchronization of all nodes in each ad hoc network; wherein h is a positive integer greater than 1; the h-hop node to the 1-hop node return network access information to the cluster head according to the hop number, and the cluster head node acquires the number of current working nodes in each ad hoc network; broadcasting the number of online nodes by the cluster head node of each ad hoc network, and forwarding the online information of the nodes of the whole network from the cluster head node to the h-1 hop node according to the hop count; each node sends a signal for starting fast routing to a local routing layer and informs the routing layer of the number of on-line nodes, and each ad hoc network is generated.
Further, in an embodiment of the present invention, the respectively setting, by each ad hoc network, a second data transceiving system for performing ad hoc network data transmission includes: each node of the ad hoc network transmits data by taking a time frame as a period, wherein one time frame consists of a time slots with equal length; a time frame is divided into three stages, namely a notification stage, a routing and synchronization stage and a data transmission stage; the informing stage is composed of b time slots and is used for the node to obtain the traffic information of neighbors in the 2-hop range; the routing and synchronization stage is composed of c time slots and is used for alternately sending routing packets and synchronization packets; the data transmission phase is composed of j time slots and is used for transmitting data packets, wherein b + c + j equals to a.
Further, in an embodiment of the present invention, the ad hoc phase of the unmanned system heterogeneous network communication channel access method includes: declaring a sub-stage and a forwarding sub-stage, wherein each sub-stage comprises m time slots, b is 2 (m + r1), wherein m is the number of nodes, and r1 is the number of protection time slots reserved for data processing time delay; the time slot number of each sub-stage is designed to be consistent with the number of nodes, each time slot is allocated to a specific node, each node transmits a control frame through the allocated time slot, and the other time slots are required to keep a receiving state; in the declaration sub-stage, the node broadcasts the traffic information, including whether a data packet needs to be sent or not, and a preset number of time slots are used for sending the data packet; in the forwarding sub-stage, the node encapsulates the traffic information of the one-hop neighbor and the traffic information of the node into a control frame for broadcasting.
Further, in an embodiment of the present invention, in an ad hoc network phase of the unmanned system heterogeneous network communication channel access method, each node calculates a position of a time slot available for sending a data packet according to a time slot allocation algorithm; each node periodically generates a priority sequence number, wherein the priority sequence numbers of all the nodes at the same time are different; and the heavy service node compares the priority of the node with the priority of the neighbor within the 2-hop range, and if the priority of the node is the highest, the data packet is sent in the idle time slot of the node beyond the 2-hop range.
Further, in an embodiment of the present invention, the performing data interaction between the first data transceiver system and the plurality of second transceiver systems respectively to implement data cross-network transmission between nodes of each ad hoc network includes: sending the data packet to a source subnet cluster head node through a route, and splitting the data packet into basic packets by an MAC module of an ad hoc network of the source subnet cluster head node and sending the basic packets to an MAC module of a central access network; after receiving the basic packet, the MAC module of the central access network carries out address conversion and stores the address conversion into a corresponding sending queue; and the basic packet reaches the target subnet cluster head node, and after the target subnet cluster head node performs address conversion, the MAC module of the ad hoc network of the target subnet cluster head node is sent and then is routed to the target node in the ad hoc network.
In order to achieve the above object, a second embodiment of the present invention provides an unmanned system heterogeneous network communication channel access apparatus, including: the system comprises a first transmission module, a second transmission module and a third transmission module, wherein the first transmission module is used for setting a first data receiving and transmitting system for carrying out access network data transmission in a central access network; the second transmission module is used for setting a second data receiving and transmitting system for each ad hoc network for ad hoc network data transmission; and the third transmission module is used for the first data receiving and transmitting system to respectively perform data interaction with the plurality of second receiving and transmitting systems, so that the nodes of each ad hoc network perform data cross-network transmission.
The non-electric volatile combined memory device and the operation method thereof provided by the embodiment of the invention have the following beneficial effects:
according to the communication channel access method of the heterogeneous network of the unmanned system, the base station and the cluster head node are adopted to form the access network, and the cluster head node and the common node form the heterogeneous network architecture mode of the ad hoc network, so that the unmanned system node can carry out central scheduling and has a certain degree of freedom, and the networking is more flexible; the access network base station adopts a self-adaptive time slot allocation algorithm, preferentially ensures the application time slot of each node, realizes fair inquiry among the nodes, considers the load capacity and the current load degree of a channel according to the service priority, and realizes self-adaptive adjustment to fully utilize resources; the ad hoc network adopts a dynamic time slot allocation algorithm based on TDMA, the nodes perform time slot use statement in a mode of broadcasting node traffic information to neighbors within two hops, and idle time slots can realize space division multiplexing in a competitive mode, so that time slot resources are fully utilized, and high-throughput low-delay data transmission is realized; the access network is used as a relay for the cross-network transmission of the self-networking data, and the cross-network transmission of the self-networking data packet is realized.
Additional aspects and advantages of the invention will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the invention.
Drawings
The foregoing and/or additional aspects and advantages of the present invention will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which:
fig. 1 is a flowchart illustrating an access method for an unmanned system heterogeneous network communication channel according to an embodiment of the present invention;
FIG. 2 is a diagram illustrating a new node of an access network;
FIG. 3 is a schematic diagram of an ad hoc networking phase;
FIG. 4 is a schematic diagram of an ad hoc network time frame structure;
FIG. 5 is a schematic cross-network transport address translation flow diagram;
FIG. 6 is a flow chart of an access network adaptive slot allocation algorithm;
FIG. 7 is a schematic flow chart of a dynamic TDMA-based time slot allocation algorithm of the ad hoc network;
FIG. 8 is a schematic diagram of an unmanned system heterogeneous network;
FIG. 9 is a schematic diagram of an access network networking process;
FIG. 10 is a schematic diagram of an access network subframe structure;
fig. 11 is a schematic structural diagram of an unmanned system heterogeneous network communication channel access device according to an embodiment of the present invention.
Detailed Description
Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the drawings are illustrative and intended to be illustrative of the invention and are not to be construed as limiting the invention.
The following describes an unmanned system heterogeneous network communication channel access method and apparatus proposed according to an embodiment of the present invention with reference to the accompanying drawings.
In the communication channel access method for the heterogeneous network of the unmanned system provided by the embodiment of the invention, the heterogeneous network consists of a central access network and a subordinate ad hoc network, and the channel access method comprises the following steps: (1) in the access network part, a base station and a cluster head node of an ad hoc network complete time slot synchronization in a synchronous broadcast-reply mode and obtain access network topology; the self-adaptive time slot allocation algorithm of the access network comprehensively considers the requirements of network throughput, time delay and node fairness, and ensures the load balance and real-time performance of data transmission in the network; the random access method arranges a new node to enter a network; (2) the ad hoc network part carries out time slot synchronization of the whole network in a multi-hop synchronization information forwarding mode; in the initial networking stage, each node quickly obtains the whole network topology by performing quick routing; the method comprises the steps of (1) reasonably utilizing Time slot resources, improving network throughput and reducing data packet transmission Time delay based on a dynamic Time slot allocation algorithm of Time Division Multiple Access (TDMA) ((3) using an access network as a relay to realize cross-network transmission of information among different ad hoc networks.
Fig. 1 is a flowchart illustrating an unmanned system heterogeneous network communication channel access method according to an embodiment of the present invention. As shown in fig. 1, the unmanned system heterogeneous network communication channel access method includes:
The central access network consists of a base station and n cluster head nodes; the first data transceiving system may be understood as a data transceiving system between the base station and the cluster head node. In addition, the data to be transmitted to the base station by the cluster head node is divided into different priorities in advance, and in the data transmission process of the access network, the transmitted data carries the time slot application information of the cluster head node and the priority of the data to be transmitted.
Specifically, after the base station and the n cluster head nodes in the central access network establish a communication relationship, the base station and the n cluster head nodes perform data transceiving.
The method for establishing communication between the base station and the n cluster head nodes includes that firstly, the base station continuously broadcasts and sends t networking synchronous information frames, meanwhile, each cluster head node of the ad hoc network continuously conducts channel monitoring until the cluster head node receives the networking synchronous information frames, then, after the base station sends the t networking synchronous information frames, the n cluster head nodes sequentially send synchronous reply frames of q time slots according to a preset sequence, and after the base station receives the reply frames of each cluster head node, the number and the serial number of online cluster heads are determined, and a central access network is generated. Wherein t is a positive integer greater than 1, and q is a positive integer.
In addition, the method for the base station to receive and transmit data with n cluster head nodes is that the cluster head nodes calculate the time slot number required by the cluster head nodes and the priority corresponding to the data of the service type according to the number of the current data frames to be transmitted and the service type of the data to be transmitted, and then the cluster head nodes and the priority are packaged in the packet headers of the uplink data frames and are transmitted to the base station; after receiving the packet header of the uplink data frame sent by the cluster head node, the base station judges that the current downlink time slot at least allocates a preset number of uplink time slots to the cluster head node when each downlink time slot arrives, and then allocates the preset number of uplink time slots to the cluster head node with the highest priority for sending the service type data.
It should be understood that, in some embodiments of the unmanned system using the present application, some specific new network access nodes may perform communication connection with the base station, and these new network access nodes may maintain a monitoring channel, and perform network access synchronization when the new network access nodes receive a downlink control packet sent by the base station and include synchronization information; the network access synchronization comprises time synchronization and time slot alignment; and after the new network access node completes the network access synchronization, the new network access node calculates the arrival time of the random access time slot.
In the embodiment of the invention, the cluster head node and the base station perform data transmission according to the time frame rule and the time frame period. The time frame consists of s time slots with equal length, and in one time frame, g time slots form a subframe, namely, one time frame comprises s/g subframes, wherein g < s, and s/g is an integer; designing u uplink time slots and d downlink time slots in each subframe design, wherein u + d is m, wherein m is the number of nodes in the ad hoc network, the uplink time slots refer to time slots for transmitting data frames or control frames to a base station by a cluster head node, and the downlink time slots refer to time slots for transmitting data or control frames to the cluster head node by the base station; each time frame also provides x random access time slots for new node network access application.
It should be noted that, considering the requirements of node fairness and network throughput and time delay, the algorithm divides the services into different priorities according to the real-time requirements, the cluster head node piggybacks the time slot application and the service priority information in the uplink data packet, and the base station piggybacks the allocation information of the uplink time slot in the control/data frame sent by all downlink time slots, and the specific process is as follows:
the cluster head node calculates the number of required time slots and the priority corresponding to the service according to the number of data frames which need to be sent and the service type, packages the time slots and the priority corresponding to the service in the packet head of the uplink data frame and sends the data frame to the base station; when each downlink time slot arrives, the base station allocates the minimum uplink time slot meeting the requirement, so that the time slot can be allocated in time when the service data packet with higher priority enters the queue.
The time slot allocation process of the base station is circulated by taking a subframe as a unit: each sub-frame is fixedly reserved with an uplink time slot, and is distributed to each online node in turn, so that the situation that all uplink time slots are occupied due to heavy traffic of one node is avoided. For the allocation of the rest uplink time slots, the base station firstly judges that the current downlink time slot needs to be allocated with at least several uplink time slots when the downlink time slot arrives, and then sequentially allocates the uplink time slots needing to be allocated to the cluster head nodes needing to send the highest priority of the service.
The design reserves x uplink time slots in the last sub-frame of each time frame as random access time slots, and the new node network access process is as shown in fig. 2:
and the new network access node keeps monitoring the channel, and performs network access synchronization including time synchronization, time slot alignment and other operations when receiving the synchronization information contained in the downlink control packet sent by the base station. After synchronization, the new access node can calculate the time of arrival of the random access slot. In order to avoid network access collision of a plurality of new network access nodes, the new network access nodes send network access application packets according to the probability p, and after receiving the network access application packets, the base station broadcasts the whole network node updating information in the next downlink time slot.
And 102, respectively setting a second data receiving and transmitting system for each ad hoc network for ad hoc network data transmission.
Each ad hoc network comprises a cluster head node and m nodes, and the second data receiving and transmitting system can be understood as a data receiving and transmitting system between the cluster head nodes and the nodes in the ad hoc network.
The ad hoc networking process includes four stages, such as the ad hoc networking stage schematic diagram shown in fig. 3, which is specifically as follows: (1) the first stage is that a cluster head node broadcasts networking synchronous information, the cluster head node sends a networking synchronous information frame, and therefore all neighbor nodes one hop away from the cluster head node can receive the synchronous information and complete synchronization with the cluster head; (2) the second stage is that the nodes from 1 hop to h-1 hop forward networking synchronization information according to the hop number, and sequentially complete synchronization with the cluster head, so that all nodes in the subnet complete network access synchronization; (3) the third stage is that the h-hop node to the 1-hop node return the network access information to the cluster head according to the hop count, and the cluster head can know the number of the existing working nodes in the subnet; (4) the fourth stage is that the cluster head node broadcasts the number of the on-line nodes, and the cluster head node forwards the on-line information of the nodes of the whole network to the h-1 hop node according to the hop count; (5) the fifth stage is the fast routing stage.
It should be noted that, after the fourth stage is finished, each node sends a signal for starting fast routing to the local routing layer and informs the routing layer of the number of online nodes. After each node routing layer receives a signal for starting the fast routing transmitted from the MAC layer, the routing packet transmission interval is adjusted, and the fast routing stage is entered. The routing protocol adopts an OLSR protocol, and the OLSR protocol can adjust the updating frequency of the routing information by controlling the sending intervals of sending the HELLO packets and the TC packets, so that the sending intervals of the HELLO packets and the TC packets are adjusted to be smaller in the fast routing stage, and the network topology can be obtained quickly.
Specifically, after the m nodes in the ad hoc network establish a communication relationship with the cluster head node, the cluster head node and the m nodes perform data transceiving. The second method for establishing communication between the cluster head node and the m nodes is that the cluster head node of each ad hoc network broadcasts a networking synchronization information, and all neighbor nodes which are 1 hop away from the cluster head node receive the synchronization information, namely, the synchronization is completed with the cluster head node; then forwarding networking synchronization information to subsequent hop count nodes according to the hop count from the 1-hop node to the h-1-hop node, and sequentially completing synchronization with the cluster head nodes, so that all nodes in the ad hoc network complete network access synchronization; wherein h is a positive integer greater than 1. Then, starting from the h-hop node, transmitting network access information back to the 1-hop node hop by hop according to the hop count, and acquiring the number of current working nodes in the ad hoc network after the cluster head node receives the network access information transmitted back by the 1-hop node; then, broadcasting the number of the online nodes by cluster head nodes of the ad hoc network, and forwarding the online information of the nodes of the whole network from the cluster head nodes to h-1 hop nodes according to the hop count; each node sends a signal for starting fast routing to a local routing layer and informs the routing layer of the number of online nodes, and an ad hoc network is generated.
In addition, the method for the cluster head node and the m nodes to receive and transmit data is that the nodes of the ad hoc network transmit data by taking a time frame as a period, and one time frame consists of a time slots with equal length; FIG. 4 is a schematic diagram of an ad hoc network time frame structure, wherein a time frame is divided into three phases, namely, an advertisement phase, a routing and synchronization phase, and a data transmission phase; the notification phase is further divided into a declaration sub-phase and a forwarding sub-phase, each sub-phase includes m slots, i.e., b is 2 × (m + r1), where m is the number of nodes and r1 is the number of guard slots reserved for data processing latency. The informing stage is used for the node to obtain the traffic information of the neighbor in the 2-hop range; the routing and synchronization stage is composed of c time slots and is used for alternately sending routing packets and synchronization packets; the data transmission phase is composed of j time slots and is used for transmitting data packets, wherein b + c + j equals to a.
Specifically, the node interacts with the neighbor through the control frame in the informing stage to obtain the traffic of the neighbor in the 2-hop range, so as to calculate the available time slot in the data transmission stage, and perform spatial multiplexing of the time slot and efficient transmission of data.
Specifically, a time frame is divided into three phases, namely an informing phase, a routing and synchronization phase and a data transmission phase, wherein the informing phase comprises the following steps: the notification phase is further divided into two sub-phases: a declaration sub-phase and a forwarding sub-phase, each sub-phase containing m slots, i.e. b 2 × (m + r1), where m is the number of nodes and r1 is the number of guard slots reserved for data processing latency. The number of time slots of each sub-stage is designed to be consistent with the number of nodes, so that each time slot is allocated to a specific node, each node can only transmit a control frame in the time slot allocated to the node, and the receiving state is kept in other time slots.
In the declaration sub-phase, the node broadcasts its traffic information, including whether there is a packet to send, and how many time slots of the data transmission phase are needed to send the packet. After the declaration sub-phase, each node acquires the traffic information of the 1-hop neighbor. In the forwarding sub-stage, the node encapsulates the traffic information of the one-hop neighbor and the traffic information of the node into a control frame for broadcasting. Therefore, through the forwarding sub-stage, each node can obtain the traffic information of the neighbors in the 2-hop range, that is, it can know which time slots are not occupied, and which time slots may be occupied for sending data packets.
At the beginning of the data transmission phase, each node calculates the position of its own available slot for transmitting data packets according to a slot allocation algorithm. Each node is fixedly allocated with e fixed time slots in the data transmission phase, namely a main time slot of the node, namely e, m, j. The node which has data packet to send is called active node, the active node will send data packet in its own main time slot preferentially. For some active nodes with heavy traffic, if their current traffic cannot be sent in all the primary timeslots of a time frame, we refer to them as heavy traffic nodes. The heavy service nodes except the own main time slot compete for the idle main time slots of other nodes to send own data packets. To achieve collision-free transmission of data packets, a node cannot transmit data packets simultaneously with neighbors in a 2-hop range, but can transmit data packets simultaneously with nodes other than 2-hop. The adopted time slot competition rule is as follows: each node periodically generates a priority sequence number, so that the priority sequence numbers of all nodes at the same time are different, and the nodes with large sequence numbers can be considered to have high priority; the heavy service node compares its own priority with the priority of the neighbor within the 2-hop range, if the priority of itself is the highest, the data packet can be sent in the idle time slot of the node beyond 2-hop
And 103, the first data receiving and transmitting system respectively performs data interaction with the plurality of second receiving and transmitting systems to realize data cross-network transmission of each ad hoc network node.
The source node may be understood as a node that sends information, the source subnet cluster head node may be understood as a cluster head node of a subnet where the source node is located, the destination node may be understood as a node that receives information, and the destination subnet cluster head node may be understood as a cluster head node of a subnet where the destination node is located.
Specifically, a source node sends a data packet to a source subnet cluster head node through a route, and an MAC module of an ad hoc network of the source subnet cluster head node splits the data packet into basic packets and sends the basic packets to an MAC module of a central access network; after receiving the basic packet, the MAC module of the central access network carries out address conversion and stores the address conversion into a corresponding sending queue; and the basic packet reaches a target subnet cluster head node, and the target subnet cluster head node is routed to the target node in the ad hoc network after address conversion.
When the node of the ad hoc network generates data to be sent to another ad hoc network, the data needs to be transmitted to a target ad hoc network through the relay of the access network, and the specific process is as follows:
specifically, the node numbering rule: the access network base station is node number 0. And the number of the access network common node, namely the ad hoc network cluster head node, is from 1 to m. The node number of the access network is the number of the ad hoc network subnet. Since a common node of an access network is in both the access network and the ad hoc network, it has two node numbers. The number of the access network node is defined in the foregoing, and each node is also a cluster head of the ad hoc network subnet where it is located, so that it is a cluster head node No. 0 in the ad hoc network subnet. The ad hoc network node determines the own subnet number according to the subnet number broadcast by the cluster head node during networking, and also has the node number distributed by the ad hoc network node.
Specifically, data internetwork transmission: the ad hoc network will generate cross-network transmission service, and the access network is required to be used as a relay to help transmission. First, the data packet will be routed to the source subnet cluster head node. And then the self-networking MAC module of the source subnet cluster head node divides the data packet into basic packets and sends the basic packets to the access network MAC module. After receiving the cross-network basic packet, the access network MAC module needs to perform address conversion and stores the address conversion into a corresponding sending queue. And then the cross-network basic packet is forwarded in the access network to reach the cluster head node of the target subnet. After address conversion is carried out on the target subnet cluster head node, the target subnet cluster head node is sent to the access network MAC module from the access network MAC module and then is routed to the target node in the ad hoc network.
The specific process of address translation is shown in fig. 5: firstly, defining and explaining various address fields of a packet header: the self-networking node address: the address of the node generating the data frame in the ad hoc network; source net number: generating an ad hoc network number where a data frame node is located; source access network node address: a node address in the access network from the networking cluster head node; destination ad hoc network node address: the address of a node which the data frame finally needs to reach in the ad hoc network; mesh subnet number: the ad hoc network number where the node where the data frame finally needs to arrive is located; destination access network node address: the node address of a target ad hoc network cluster head node in an access network; when the data frame is transmitted in the self-networking, the packet header only comprises the address of the self-networking node, the source subnet number, the address of the target self-networking node and the target subnet number, and the node on the forwarding path during the transmission in the network can determine that the data frame needs to be forwarded to the cluster head node according to the type of the data frame; when the data frame reaches the self-networking cluster head node, the self-networking module of the cluster head node forwards the data frame to the access network module; in the access network module, a node table is looked up to obtain a destination access network node address corresponding to a destination sub-network number, and in the forwarding process of the access network, a packet header only contains a self-networking node address, a source access network node address, a destination ad hoc network node address and a destination access network node address; after the data frame reaches the destination access network node, the access network module firstly converts the address of the source access network node and the address of the destination access network node back to the source sub-network number and the destination sub-network number, and then forwards the data frame to the ad hoc network module, and the ad hoc network module forwards the data packet in the destination ad hoc network.
In an embodiment of the present invention, as shown in fig. 6, first, in each subframe, an uplink time slot is reserved and allocated to each online node in turn, so as to poll whether all nodes have data to send, and ensure fairness of channel access of nodes in the whole network. Second, nodes that have requested for a slot in the previous sub-frame but not allocated enough slots have a higher priority than nodes that have requested for a slot in the current sub-frame. And when a plurality of nodes which do not meet the time slot application exist, distributing the time slots according to the order of the application service priority. The service priority is sequentially as follows: and forwarding the audio and video service across the network, forwarding the file service across the network, forwarding the common uplink audio and video service, and forwarding the common uplink file service. The cross-network forwarding service refers to a service that needs a base station to perform relaying, and the common uplink service refers to a service that a target node sent by a cluster head node is the base station. And under the condition that the priorities of the nodes are the same, preferentially allocating time slots for the nodes with higher priority of sending the service, and randomly allocating the time slots if the priorities of the service are also the same.
In the embodiment of the present application, in the TDMA-based dynamic timeslot allocation algorithm, at the beginning of the data transmission phase, each node calculates the location of its own timeslot available for transmitting a data packet according to the timeslot allocation algorithm. Each node is fixedly allocated with e fixed time slots in the data transmission phase, namely a main time slot of the node, namely e, m, j. The node which has data packet to send is called active node, the active node will send data packet in its own main time slot preferentially. For some active nodes with heavier traffic, if the current traffic cannot be sent in all the main timeslots of a time frame, as shown in fig. 7, the traffic information of the nodes is transmitted to the 2-hop neighbor range in a two-round traffic information broadcasting manner, so that the nodes outside the 2-hop range can perform space division multiplexing of the timeslots, and the problem of hiding the terminal is avoided; the algorithm adopts a mode of combining fixed time slot allocation with dynamic time slot allocation, so that the nodes can obtain the use right of idle time slots by a priority competition method, the utilization rate of the time slots is improved, the access network is used as a relay to assist the service of the ad hoc network to realize cross-network transmission, and address mapping is carried out to reduce the overhead of packet header address fields.
In conclusion, the heterogeneous network architecture mode that the base station and the cluster head node form the access network and the cluster head node and the common node form the ad hoc network is adopted, so that the unmanned system node can perform central scheduling and has a certain degree of freedom, and the networking is more flexible; the access network base station adopts a self-adaptive time slot allocation algorithm, preferentially ensures the application time slot of each node, realizes fair inquiry among the nodes, considers the load capacity and the current load degree of a channel according to the service priority, and realizes self-adaptive adjustment to fully utilize resources; the ad hoc network adopts a dynamic time slot allocation algorithm based on TDMA, the nodes perform time slot use statement in a mode of broadcasting node traffic information to neighbors within two hops, and idle time slots can realize space division multiplexing in a competitive mode, so that time slot resources are fully utilized, and high-throughput low-delay data transmission is realized; the access network is used as a relay for the cross-network transmission of the self-networking data, and the cross-network transmission of the self-networking data packet is realized.
For example, the embodiment of the present invention may be an unmanned system heterogeneous network scenario, where the unmanned system includes, as shown in fig. 8, 1 base station, 5 cluster head nodes, that is, 5 ad hoc network subnets, each ad hoc network has 15 common nodes except for a cluster head, and the ad hoc network has a maximum hop count of 4 hops.
In the first step, the central access network completes the communication establishment between the base station and 5 cluster head nodes.
5 cluster head nodes keep continuous channel monitoring, a base station in a central access network continuously broadcasts a networking synchronous information frame with 10 time slots, 1 time slot is waited after stopping, the synchronous recovery frame of the cluster head nodes starts to be received, and after the synchronous information frame of the base station is received by the 5 ad hoc network cluster head nodes, after the 1 time slot is stopped, the synchronous recovery frames with 2 time slots are sequentially sent according to the numbering sequence of the 5 ad hoc network cluster heads given by the base station. Therefore, the base station can determine the online states of 5 ad hoc network cluster head nodes, determine the topological relation of the central access network, and complete the communication establishment between the base station and the central access network of the cluster head nodes.
And secondly, the ad hoc network completes the communication establishment of the cluster head node and the 15 nodes.
The method comprises the steps that 15 nodes keep continuous channel monitoring, a cluster head node of an ad hoc network sends a networking synchronous information frame with 8 time slots, a 1-hop node forwards the networking synchronous information frame to a 2-hop node after receiving the networking synchronous information frame of the cluster head node of the ad hoc network, the 2-hop node forwards the networking synchronous information frame to a 3-hop node after receiving the networking synchronous information frame of the cluster head node of the ad hoc network, and the 3-hop node forwards the networking synchronous information frame to the 4-hop node after receiving the networking synchronous information frame of the cluster head node of the ad hoc network, so that synchronization of all nodes and the cluster head node is completed.
Then, the 4-hop node starts to transmit network access information back to the 3-hop node, the 3-hop node generates network access information of the 3-hop node according to the network access information of the 4-hop node and transmits the network access information back to the 2-hop node, the 2-hop node generates network access information of the 2-hop node according to the network access information of the 3-hop node and transmits the network access information back to the 1-hop node, and the 1-hop node generates network access information of the 1-hop node according to the network access information of the 2-hop node and transmits the network access information back to the cluster head node, so that the cluster head node can determine the online states of 15 nodes, determine the topological relation of the ad hoc network, and complete the establishment of the communication between the cluster head node and the ad hoc network of the nodes.
Then, the cluster head node forwards the whole network node online information to the 1-hop node, the 1-hop node forwards the whole network node online information to the 2-hop node after receiving the whole network node online information, the 2-hop node forwards the whole network node online information to the 3-hop node after receiving the whole network node online information, and the 3-hop node forwards the whole network node online information to the 4-hop node after receiving the whole network node online information, so that the self-networking whole network node obtains the self-networking network topology.
Meanwhile, after the communication between the cluster head node and the ad hoc network of the nodes is established, each node is controlled to send a signal for starting fast routing to the local routing layer and inform the routing layer of the number of the on-line nodes. After each node routing layer receives a signal for starting the fast routing transmitted from the MAC layer, the routing packet transmission interval is adjusted, and the fast routing stage is entered. The routing protocol adopts an OLSR protocol, the transmission interval of the HELLO packet is set to be 0.3s, and the transmission interval of the TC packet is set to be 0.8s, so that the network topology is quickly obtained. After networking is completed, the transmission interval of the HELLO packet is adjusted to 3s, and the transmission interval of the TC packet is adjusted to 8 s.
And thirdly, realizing data receiving and transmitting in the ad hoc network.
A time frame strategy is designed for data transceiving in an ad hoc network, each time frame comprises 200 time slots, each time slot is 1ms, and as shown in fig. 9, an ad hoc network time frame is composed of an informing stage (36 time slots), a routing and synchronization stage (18 time slots), and a data transmission stage (146 time slots). The announcement phase contains two sub-phases, each of which contains 18 slots, with 2 guard slots per phase. Each node is fixedly allocated with 9 time slots in the data transmission phase, and 2 protection time slots are reserved at the end of the data transmission phase.
And fourthly, realizing data receiving and sending in the central access network.
A time frame strategy is designed for data transceiving in a central access network, each time frame comprises 1000 time slots, each time slot is 1ms, and each time frame needs to provide 3 random access time slots for new node network access. In addition, as shown in fig. 10, each 10 slots constitute a subframe, and each subframe is designed with 4 downlink slots (B slot and D slot in the figure) and 6 uplink slots (U slot in the figure). The base station adaptively allocates uplink time slots according to the number of the node application time slots, the B time slot can be allocated with 6 uplink time slots in one subframe at most, when the number of the node application time slots is less, the B time slot can be allocated with only the nearest 2 uplink time slots at least, and the subsequent uplink time slots can be further allocated by the D time slot. The access network self-adaptive time slot allocation algorithm allocates information to all downlink time slots incidentally by the base station, and the content comprises that some uplink time slots in the subframe are used by a certain cluster head node. At most 6 uplink time slots are allocated each time, and at least 2 uplink time slots are allocated. Each subframe is fixedly reserved with an uplink time slot, the time slot reservation No. 6 in the design chart 10 is designed and distributed to 5 cluster head nodes in turn, and the condition that all uplink time slots are occupied due to heavy traffic of one node is guaranteed not to occur. For the allocation of the rest uplink time slots, the base station firstly judges that the current downlink time slot needs to be allocated with at least several uplink time slots when the downlink time slot arrives, and then sequentially allocates the uplink time slots needing to be allocated to the cluster head nodes needing to send the highest priority of the service.
The random access method of the access network node reserves 3 uplink time slots in the last subframe of each time frame as random access time slots corresponding to time slots 1, 6 and 7 in fig. 10(a) for design, and the network access process of the new node comprises the following steps: and the new network access node keeps monitoring the channel, and when a downlink control frame sent by the base station in the time slot B is received, network access synchronization including time synchronization, time slot alignment and the like is performed according to the synchronization information in the frame. After synchronization, the new access node can calculate the time of arrival of the random access slot. In order to avoid network access collision of a plurality of new network access nodes, the new network access nodes send network access application packets with the probability of 50%.
And after receiving the network access application packet, the base station broadcasts the node updating information of the whole network in the next downlink B time slot. And the new network access node checks whether the new network access node successfully accesses the network after receiving the updating information of the whole network node. If the network access is successful, giving up to apply for network access again, and waiting for the base station to allocate time slot for communication with the base station; if the network access fails, a value is randomly selected from 1, 6 and 7 to be used as a backoff time slot, and after 1 big frame is waited, new network access application is sent again in the random access time slot. The above process continues until a new network entry node is accessed into the network.
Thus, an unmanned system heterogeneous network is established through the OPNET simulation tool. The unmanned system heterogeneous network can realize the intra-network data transmission of the access network and the ad hoc network and the inter-ad hoc network data transmission with the access network as a relay, thereby meeting the communication requirement of the unmanned system heterogeneous network, avoiding the data loss problem caused by competition from the channel access scheme, conforming to the fairness principle of channel access and ensuring that various time delays and throughputs are within an acceptable range.
In order to implement the foregoing embodiment, the present application further provides an access device for an unmanned system heterogeneous network communication channel.
Fig. 11 is a schematic structural diagram of an unmanned system heterogeneous network communication channel access device according to an embodiment of the present invention.
As shown in fig. 11, the apparatus includes: a first transmission module 201, a second transmission module 202, and a third transmission module 203.
A first transmission module 201, configured to set, by the central access network, a first data transceiver system for performing access network data transmission.
A second transmission module 202, configured to set a second data transceiver system for each ad hoc network to perform ad hoc network data transmission.
And the third transmission module 203 is configured to enable the first data transceiver system to perform data interaction with the plurality of second transceiver systems, so as to implement cross-network data transmission for nodes of each ad hoc network.
It should be noted that the foregoing explanation of the method embodiment is also applicable to the apparatus of this embodiment, and is not repeated herein.
In the communication channel access device of the heterogeneous network of the unmanned system, the first transmission module controls the central access network to arrange the first data receiving and transmitting system for carrying out access network data transmission; the second transmission module controls each ad hoc network to be respectively provided with a second data receiving and transmitting system for ad hoc network data transmission; and the third transmission module controls the first data receiving and transmitting system to respectively perform data interaction with the plurality of second receiving and transmitting systems, so that the nodes of each ad hoc network perform data cross-network transmission. Therefore, channel resources of the unmanned system are fully utilized, and reliable communication of the unmanned system heterogeneous network is achieved.
In the description herein, reference to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the application. In this specification, the schematic representations of the terms used above are not necessarily intended to refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, various embodiments or examples and features of different embodiments or examples described in this specification can be combined and combined by one skilled in the art without contradiction.
Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In the description of the present application, "plurality" means at least two, e.g., two, three, etc., unless specifically limited otherwise.
Any process or method descriptions in flow charts or otherwise described herein may be understood as representing modules, segments, or portions of code which include one or more executable instructions for implementing steps of a custom logic function or process, and alternate implementations are included within the scope of the preferred embodiment of the present application in which functions may be executed out of order from that shown or discussed, including substantially concurrently or in reverse order, depending on the functionality involved, as would be understood by those reasonably skilled in the art of the present application.
The logic and/or steps represented in the flowcharts or otherwise described herein, e.g., an ordered listing of executable instructions that can be considered to implement logical functions, can be embodied in any computer-readable medium for use by or in connection with an instruction execution system, apparatus, or device, such as a computer-based system, processor-containing system, or other system that can fetch the instructions from the instruction execution system, apparatus, or device and execute the instructions. For the purposes of this description, a "computer-readable medium" can be any means that can contain, store, communicate, propagate, or transport the program for use by or in connection with the instruction execution system, apparatus, or device. More specific examples (a non-exhaustive list) of the computer-readable medium would include the following: an electrical connection (electronic device) having one or more wires, a portable computer diskette (magnetic device), a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber device, and a portable compact disc read-only memory (CDROM). Additionally, the computer-readable medium could even be paper or another suitable medium upon which the program is printed, as the program can be electronically captured, via for instance optical scanning of the paper or other medium, then compiled, interpreted or otherwise processed in a suitable manner if necessary, and then stored in a computer memory.
It should be understood that portions of the present application may be implemented in hardware, software, firmware, or a combination thereof. In the above embodiments, the various steps or methods may be implemented in software or firmware stored in memory and executed by a suitable instruction execution system. If implemented in hardware, as in another embodiment, any one or combination of the following techniques, which are known in the art, may be used: a discrete logic circuit having a logic gate circuit for implementing a logic function on a data signal, an application specific integrated circuit having an appropriate combinational logic gate circuit, a Programmable Gate Array (PGA), a Field Programmable Gate Array (FPGA), or the like.
It will be understood by those skilled in the art that all or part of the steps carried by the method for implementing the above embodiments may be implemented by hardware that is related to instructions of a program, and the program may be stored in a computer-readable storage medium, and when executed, the program includes one or a combination of the steps of the method embodiments.
In addition, functional units in the embodiments of the present application may be integrated into one processing module, or each unit may exist alone physically, or two or more units are integrated into one module. The integrated module can be realized in a hardware mode, and can also be realized in a software functional module mode. The integrated module, if implemented in the form of a software functional module and sold or used as a separate product, may also be stored in a computer readable storage medium.
The storage medium mentioned above may be a read-only memory, a magnetic or optical disk, etc. Although embodiments of the present application have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present application, and that variations, modifications, substitutions and alterations may be made to the above embodiments by those of ordinary skill in the art within the scope of the present application.
Claims (10)
1. An unmanned system heterogeneous network communication channel access method is characterized in that the unmanned system heterogeneous network is composed of a central access network and a subordinate ad hoc network; the central access network consists of a base station and n cluster head nodes; the n cluster head nodes are cluster heads of n ad hoc networks respectively; each ad hoc network consists of m nodes; wherein n and m are positive integers; the method comprises the following steps:
the central access network is provided with a first data receiving and transmitting system for carrying out access network data transmission;
each ad hoc network is respectively provided with a second data receiving and transmitting system for ad hoc network data transmission;
and the first data receiving and transmitting system respectively performs data interaction with the plurality of second data receiving and transmitting systems, so that the nodes of each ad hoc network perform data cross-network transmission.
2. The unmanned-system heterogeneous network communication channel access method of claim 1, further comprising:
the base station continuously broadcasts and sends t networking synchronization information frames, and the cluster head node of each ad hoc network continuously monitors channels until the networking synchronization information frames are received; wherein t is a positive integer greater than 1;
after the base station sends the t networking synchronization information frames, the n cluster head nodes send synchronization reply frames of q time slots in sequence; and q is a positive integer, and the central access network is generated.
3. The unmanned system heterogeneous network communication channel access method of claim 2, wherein the central access network is configured with a first data transceiver system for access network data transmission, comprising:
the cluster head node calculates the time slot number and the priority corresponding to the service according to the number of the current data frames to be sent and the service type, packages the time slot number and the priority corresponding to the service in a packet head of an uplink data frame and sends the packet head to the base station;
and when each downlink time slot arrives, the base station judges that the current downlink time slot is at least distributed with a preset number of uplink time slots, and distributes the preset number of uplink time slots to the cluster head node with the highest priority for sending the service.
4. The unmanned-system heterogeneous network communication channel access method of claim 2, further comprising:
acquiring a new network access node, wherein the new network access node keeps monitoring a channel;
when the new network access node receives that the downlink control packet sent by the base station contains the synchronization information, network access synchronization is carried out; the network access synchronization comprises time synchronization and time slot alignment;
and after the network access synchronization, the new network access node calculates the arrival time of the random access time slot.
5. The unmanned-system heterogeneous network communication channel access method of claim 1, further comprising:
the cluster head node of each ad hoc network broadcasts networking synchronous information, and all neighbor nodes which are one hop away from the cluster head node receive the synchronous information and complete synchronization with the cluster head node;
forwarding networking synchronization information from the 1-hop node to the h-1-hop node according to the hop number, sequentially completing synchronization with the cluster head nodes, and completing network access synchronization of all nodes in each ad hoc network; wherein h is a positive integer greater than 1;
the h-hop node to the 1-hop node returns network access information to the cluster head according to the hop number, and the cluster head node acquires the number of current working nodes in each ad hoc network;
the cluster head node of each ad hoc network broadcasts the number of online nodes, and the cluster head node forwards the online information of the nodes of the whole network to the h-1 hop node according to the hop count;
each node sends a signal for starting fast routing to a local routing layer and informs the routing layer of the number of on-line nodes, and each ad hoc network is generated.
6. The unmanned system heterogeneous network communication channel access method of any one of claims 1-5, wherein each ad hoc network is respectively provided with a second data transceiver system for ad hoc network data transmission, comprising:
the nodes of each ad hoc network transmit data by taking a time frame as a period, wherein one time frame consists of a time slots with equal length; a time frame is divided into three stages, namely a notification stage, a routing and synchronization stage and a data transmission stage;
the informing stage is composed of b time slots and is used for the node to obtain the traffic information of neighbors in a 2-hop range;
the routing and synchronization stage is composed of c time slots and is used for alternately sending routing packets and synchronization packets;
the data transmission phase is composed of j time slots and is used for transmitting data packets, wherein b + c + j equals to a.
7. The unmanned-system heterogeneous network communication channel access method of claim 6, wherein the notification phase comprises: declaring a sub-stage and a forwarding sub-stage, wherein each sub-stage comprises m time slots, b is 2 (m + r1), wherein m is the number of nodes, and r1 is the number of protection time slots reserved for data processing time delay; the time slot number of each sub-stage is designed to be consistent with the number of nodes, each time slot is allocated to a specific node, each node transmits a control frame through the allocated time slot, and the other time slots are required to keep a receiving state;
in the sub-stage of declaration, the node broadcasts the traffic information, including whether there is a data packet to be sent or not, and a preset number of time slots are used for sending the data packet;
and in the forwarding sub-stage, the node encapsulates the traffic information of the one-hop neighbor and the traffic information of the node into a control frame for broadcasting.
8. The unmanned-system heterogeneous network communication channel access method of claim 5,
each node calculates the position of a time slot which can be used for sending a data packet according to a time slot allocation algorithm;
each node periodically generates a priority sequence number, wherein the priority sequence numbers of all the nodes at the same time are different;
and the heavy service node compares the priority of the node with the priority of the neighbor within the 2-hop range, and if the priority of the node is the highest, the data packet is sent in the idle time slot of the node beyond the 2-hop range.
9. The method for accessing communication channels of heterogeneous networks of unmanned aerial vehicles according to claim 1, wherein the first data transceiver system performs data interaction with the plurality of second data transceiver systems, respectively, to implement data cross-network transmission by nodes of each ad hoc network, and the method comprises:
a source node sends a data packet to a source subnet cluster head node through a route, and an MAC module of an ad hoc network of the source subnet cluster head node divides the data packet into basic packets and sends the basic packets to an MAC module of the central access network;
after receiving the basic packet, the MAC module of the central access network carries out address conversion and stores the address conversion into a corresponding sending queue;
and the basic packet reaches a target subnet cluster head node, and after the target subnet cluster head node performs address conversion, the MAC module of the ad hoc network of the target subnet cluster head node is sent and then is routed to the target node in the ad hoc network.
10. An unmanned system heterogeneous network communication channel access device is characterized in that the unmanned system heterogeneous network is composed of a central access network and a subordinate ad hoc network; the central access network consists of a base station and n cluster head nodes; the n cluster head nodes are cluster heads of n ad hoc networks respectively; each ad hoc network consists of m nodes; wherein n and m are positive integers; the method comprises the following steps:
the first transmission module is used for the central access network to set a first data receiving and transmitting system for carrying out access network data transmission;
the second transmission module is used for setting a second data receiving and transmitting system for each ad hoc network for ad hoc network data transmission;
and the third transmission module is used for performing data interaction between the first data receiving and transmitting system and the plurality of second data receiving and transmitting systems respectively to realize the cross-network transmission of data by the nodes of each ad hoc network.
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| CN110572797A (en) * | 2019-10-28 | 2019-12-13 | 西安电子科技大学 | Route-finding network topology structure for emergency communication and routing method thereof |
| CN111126618A (en) * | 2019-12-05 | 2020-05-08 | 深圳前海微众银行股份有限公司 | Multi-source heterogeneous system-based federal learning method and device |
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