CN112367639B - Unmanned aerial vehicle cluster ad hoc network communication method and system based on Beidou satellite time service - Google Patents
Unmanned aerial vehicle cluster ad hoc network communication method and system based on Beidou satellite time service Download PDFInfo
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Abstract
The invention discloses an unmanned aerial vehicle cluster ad hoc network communication method and system based on Beidou satellite time service, which comprises the steps of adopting the Beidou satellite time service, obtaining rough positions of all unmanned aerial vehicle nodes, determining a topological structure of a network according to the rough positions, dividing the nodes, carrying out heterogeneous layered networking based on a gradient potential field, and obtaining real-time relatively high-precision positioning information by dividing the obtained cluster head nodes through exchanging data packets; according to different node types in the network, different communication modes are adopted for information exchange; for cluster head nodes, data transmission path prediction is carried out according to the relative position information of the nodes and the movement speed and movement direction information of the flight control system; channel access control is carried out through multi-channel high-efficiency concurrence, and data transmission is carried out by combining long distance and short distance. The invention can deal with the self-networking communication of a large-scale unmanned aerial vehicle cluster, can better deal with the problem of severe dynamic change of network topology, and has lower time delay and higher network throughput.
Description
Technical Field
The invention relates to the field of wireless ad hoc network communication, in particular to an unmanned aerial vehicle cluster ad hoc network communication method and system based on Beidou satellite time service.
Background
With the explosive development of internet technology, in recent years, ad hoc network communication without the aid of a central network infrastructure has been rapidly developed. Such networking mode can adapt to multiple application scenarios more in a flexible way, for example, carry out animal monitoring in wild forest, arrange the sensor in desert or deep sea and carry out the detection of weather and water resource, unmanned aerial vehicle cluster is listened and is battle etc.. Each node in the ad hoc network cluster can communicate with each other, and if the one-hop distance cannot be reached, other nodes are required to be used as relays for forwarding. In a flat network, the number of nodes is relatively limited, and when the general scale is larger than 20, the probability of data packet collision in the network is increased, and the average time delay of network transmission is also increased rapidly. The hierarchical network is beneficial to the expansion of the network and is more suitable for large and medium ad hoc networks, but because the communication among the clusters is carried out through the cluster head nodes, the load of the cluster head nodes is heavy, and the bottleneck influencing the network scale is also formed.
At present, in an ad hoc network cluster, two main problems are how to deal with the rapid and dynamic change of network topology, and how to reduce the network delay and improve the network throughput. When each node in the network moves rapidly, the network topology changes rapidly and dynamically, so that the link may be disconnected, and the data transmission path may change, resulting in data loss. As the network scale is enlarged, the load of the cluster head node is also increased sharply, and the delay of data transmission is increased sharply, thereby resulting in a decrease in the network throughput. Therefore, LeiLei et al propose a dynamic DT-MAC, dynamically adjust the time slot resources according to the number of nodes and the required service, and introduce the request time slot, so that the network access and the network exit of the nodes have no conflict. The Wangweijun designs an adaptive MAC protocol for the unmanned aerial vehicle ad hoc network cluster, judges the state of the unmanned aerial vehicle according to GPS information, and selects a corresponding CSMA or TDMA protocol by executing data collection or data transmission. DabinKime et al propose a two-way pipe TDMA for reliable transmission of data in an unmanned vehicle system, and simultaneously guarantee real-time performance and reliability of uplink and downlink two-way transmission information.
The inventor of the present application has found that the prior art method has at least the following problems:
the prior art method cannot deal with reliable information transmission of a large-scale ad hoc network cluster, and particularly cannot effectively solve the heavy load problem of a cluster head node;
in order to cope with the change of the dynamic network topology, control resources are added in control time slots, which further increases the load of the network;
when the network topology changes dynamically, the judgment is carried out through the control field, and the data transmission path cannot be predicted in advance.
Disclosure of Invention
The invention aims to provide an unmanned aerial vehicle cluster ad hoc network communication technical scheme based on Beidou satellite time service, so that the requirement of medium-scale and large-scale unmanned aerial vehicle cluster ad hoc network communication can be met.
The technical scheme provided by the invention provides an unmanned aerial vehicle cluster ad hoc network communication method based on Beidou satellite time service,
the method comprises the steps that Beidou satellites are used for time service, rough positions of all unmanned aerial vehicle nodes are obtained, a topological structure of a network is determined according to the rough positions, the nodes are divided, heterogeneous layered networking is conducted on the basis of a gradient potential field, and real-time high-precision positioning information is obtained by dividing cluster head nodes through exchanging data packets; according to different node types in the network, different communication modes are adopted for information exchange;
for the cluster head nodes, the data transmission path is predicted according to the relative position information of the nodes and the movement speed and movement direction information of the flight control system, so that the cluster head nodes are better suitable for the change of the dynamic network topology;
channel access control is carried out through multi-channel high-efficiency concurrence, data transmission is carried out in a long-distance and short-distance combination mode, channel competition conditions are improved, and energy consumption is reduced.
Moreover, when the Beidou satellite time service is adopted to realize high-precision clock synchronization, a satellite time service channel is obtained through serial port interruption, and simultaneously the nodes are subjected to gradient division to realize the following,
firstly, dividing cluster member nodes, primary cluster head nodes and secondary cluster head nodes according to a network topological structure, and setting the gradient of the cluster member nodes as 0, the gradient of the primary cluster head nodes as 1 and the gradient of the secondary cluster head nodes as 2;
or firstly dividing cluster member nodes and first-stage cluster head nodes according to a network topological structure, and setting the gradient of the cluster member nodes as 0 and the gradient of the first-stage cluster head nodes as 1.
After heterogeneous layered networking is carried out based on the gradient potential field, the following steps are realized,
the cluster member nodes and the cluster head nodes adopt different channels for information transmission, and the same channel is adopted when information interaction is carried out between the nodes with the same gradient.
The data transmission path is predicted, and the following is achieved,
after the cluster head nodes obtain high-precision relative positions in real time through exchanging data packets, judging whether the change of the relative position relationship among the cluster head nodes exceeds a communication range or not, so that the change of a data transmission path is caused, if so, predicting the data transmission path in advance, and if not, predicting in advance;
and the network topology predicts and selects a proper path in advance to transmit data according to the flight speed and the flight direction of the network topology, the flight speed and the flight direction of the destination node and the relative position relationship.
Moreover, the data transmission is carried out by adopting a long-distance and short-distance combined mode, and the following purposes are achieved,
for unmanned aerial vehicle nodes in the same cluster, communication is carried out in an ad hoc network mode formed by wireless network cards, and data are transmitted rapidly;
when information is exchanged between different clusters, the LoRa modules are adopted for communication, and the requirements of long-distance and low-power transmission are met.
Moreover, when the same cluster adopts the wireless network card to form the ad hoc network for information exchange, the access of the channel is carried out by adopting the time division multiplexing mode, the following realization is realized,
each node among clusters realizes clock synchronization through satellite time service, time slot resources are distributed among the same cluster in a centralized network mode, and cluster head nodes serve as main nodes to distribute time slots; and each cluster member node in the same cluster supports the main node to distribute time slot resources according to the requirement of the data volume to be transmitted and the priority of the data to be transmitted.
In addition, in the same cluster, every 1/3 nodes, a retransmission time slot is added for retransmitting data when the previous node fails to transmit data, and the retransmission can not be performed until the next time frame period.
Moreover, the wireless network card supports an ad hoc network mode and supports a channel access mode changed into time division multiplexing.
The invention also provides an unmanned aerial vehicle cluster ad hoc network communication system based on Beidou satellite time service, which is used for realizing the unmanned aerial vehicle cluster ad hoc network communication method based on Beidou satellite time service.
The unmanned aerial vehicle cluster ad hoc network communication method based on Beidou satellite time service can better solve the problem of communication among nodes of the unmanned aerial vehicle cluster ad hoc network with large-scale dynamic change, reduce the average time delay of the network and improve the throughput of the network. The method comprises the steps of carrying out heterogeneous hierarchical networking according to different potential fields in a network, and distinguishing the potential fields according to cluster head nodes and cluster member nodes; clock synchronization is carried out through Beidou satellite time service, and high-precision relative positioning is further realized through data packet exchange; and dynamically predicting a data transmission path according to the position of the node, the movement speed and the movement direction of the node, so that the end-to-end transmission delay of the network is reduced. The method can deal with the situation that a larger-scale unmanned aerial vehicle cluster carries out ad hoc network communication, can better deal with the problem that the network topology has severe dynamic changes, and has lower time delay and higher network throughput.
Drawings
Fig. 1 is a flowchart of an unmanned aerial vehicle cluster ad hoc network communication method based on Beidou satellite time service provided by an embodiment of the invention;
FIG. 2 is a schematic diagram of hierarchical networking in a network topology according to an embodiment of the present invention;
fig. 3 is a schematic diagram illustrating prediction of a data transmission path of a cluster head node according to an embodiment of the present invention.
Detailed Description
The technical solution of the present invention is specifically described below with reference to the accompanying drawings and examples.
Considering that the fast dynamic change of the network topology cannot be coped with when the unmanned aerial vehicle ad hoc network cluster carries out cooperative detection or battles at present, and the network delay and the throughput performance of the network are poor. When each node in the network moves rapidly, the network topology changes rapidly and dynamically, so that the link may be disconnected, and the data transmission path may change, resulting in data loss. As the network scale is enlarged, the load of the cluster head node is also increased sharply, and the delay of data transmission is increased sharply, thereby resulting in a decrease in the network throughput. The unmanned aerial vehicle cluster ad hoc network communication method based on Beidou satellite time service is provided and realized, the communication problem among nodes of the unmanned aerial vehicle cluster ad hoc network with large-scale dynamic change can be well solved, the average time delay of the network is reduced, and the throughput of the network is improved. The method comprises the steps of carrying out heterogeneous hierarchical networking according to different potential fields in a network, and distinguishing the potential fields according to cluster head nodes and cluster member nodes; clock synchronization is carried out through Beidou satellite time service, and high-precision relative positioning is further realized through data packet exchange; and dynamically predicting a data transmission path according to the position of the node, the movement speed and the movement direction of the node, so that the end-to-end transmission delay of the network is reduced. The method can deal with the situation that a larger-scale unmanned aerial vehicle cluster carries out ad hoc network communication, can better deal with the problem that the network topology has severe dynamic changes, and has lower time delay and higher network throughput.
Referring to fig. 1, the unmanned aerial vehicle cluster ad hoc network communication method based on Beidou satellite time service provided by this embodiment specifically includes the following contents:
s1, carrying out time service by adopting a Beidou satellite, acquiring rough positions of nodes of each unmanned aerial vehicle, determining a topological structure of a network according to the rough positions, dividing the nodes, carrying out heterogeneous layered networking based on a gradient potential field, and acquiring real-time relatively high-precision positioning information by cluster head nodes through exchanging data packets; according to different node types in the network, different communication modes are adopted for information exchange;
the embodiment provides a method for clock synchronization and determining a relative position with relatively high precision by a cluster head node, which comprises the following steps:
the Beidou satellite time service is performed for clock synchronization, a serial port is interrupted to obtain a satellite time service signal, and the time service precision can reach 10us at an equipment terminal;
the Beidou positioning module determines the rough position of each node, and determines the topological structure of the network according to the rough position;
carrying out gradient division on unmanned aerial vehicle nodes according to a network topological structure, and determining whether each unmanned aerial vehicle node is a cluster member node or a cluster head node, wherein the cluster head node can be further divided into a first-stage cluster head node, a second-stage cluster head node and the like; the specific implementation mode is as follows:
according to the network topology, nodes with relative aggregation positions are divided into a cluster. And the node positioned in the center of the cluster is used as a cluster head node. And when the volume of the cluster is too large, performing recursion processing on the cluster to generate a smaller cluster, selecting a new cluster head node, and increasing the gradient of the original cluster head node to form a secondary cluster head node until the volume of the cluster meets the requirement.
The gradients of the cluster member nodes are sequentially increased, namely the gradient of the cluster member nodes is 0, the gradient of the first-stage cluster head node is 1, the gradient of the second-stage cluster head node is 2, and … are sequentially accumulated
In specific implementation, the network topology can be divided according to specific network topology conditions:
the small network can be divided into cluster member nodes and first-level cluster head nodes, the gradient of the cluster member nodes is set to be 0, and the gradient of the first-level cluster head nodes is set to be 1.
The general medium-large network can be divided into cluster member nodes, first-level cluster head nodes and second-level cluster head nodes, wherein the gradient of the cluster member nodes is set to be 0, the gradient of the first-level cluster head nodes is set to be 1, and the gradient of the second-level cluster head nodes is set to be 2.
If the node is a cluster head node, the information exchange in the large-scale hierarchical network is carried out through the cluster head node, the load of the cluster head node is heavy, special processing is needed, and real-time and relatively high-precision positioning information needs to be obtained through exchanging data packets.
After heterogeneous layered networking is performed based on the gradient potential field, information exchange can be performed in different communication modes according to different node types in the network;
the number of the cluster member nodes is large, but the load of the cluster head nodes is heavy, and the information exchange among different clusters is performed through the cluster head nodes, so that the cluster member nodes and the cluster head nodes adopt different channels to transmit the information. Therefore, the problem of channel competition can not occur, the throughput of the network can be effectively improved, and the average time delay of network transmission is reduced;
the channel switching method of the physical layer is distinguished according to the potential field of the nodes, and the same channel is adopted when information interaction is carried out among the nodes with the same gradient, so that the information interaction of the nodes with different gradients can be carried out concurrently without mutual interference, and the utilization rate of channel resources is improved.
S2, predicting a data transmission path of the cluster head node according to the relative position information of the node and the movement speed and movement direction information of the flight control system, so that the cluster head node is better suitable for the change of the dynamic network topology;
the invention provides a method for determining a data transmission path for cluster head nodes with heavy loads by utilizing the high-precision relative positioning relation of the cluster head nodes and the flight speed and the flight direction of a flight control system of the cluster head nodes.
And the cluster head node determines the real-time high-precision relative position of the same potential field node in a one-hop range by exchanging data packets. When data is transmitted, an appropriate path is predicted and selected in advance to transmit the data according to the flight speed and the flight direction of the data, the flight speed and the flight direction of the destination node and the relative position relationship.
The concrete implementation is as follows:
after the cluster head nodes obtain high-precision relative positions in real time through exchanging data packets, judging whether the change of the relative position relationship among the cluster head nodes exceeds a communication range or not, so that the change of a data transmission path is caused, if so, predicting the data transmission path in advance, and if not, predicting in advance;
and the network topology predicts and selects a proper path in advance to transmit data according to the flight speed and the flight direction of the network topology, the flight speed and the flight direction of the destination node and the relative position relationship.
When data path transmission judgment is carried out specifically, a node is used as a center, a communication range is used as a radius, then, each node from a source node to a destination node uses the node as a circle center to draw a circle of the communication range, and a proper transmission path can be selected by selecting the intersection of the circles.
The prediction of the data transmission path is not always carried out, so that the network load is increased, and the judgment and the prediction of the data transmission path are carried out once only when the one-hop node which forwards the data last time by the cluster head node exceeds the communication range.
And S3, channel access control is carried out through multi-channel high-efficiency concurrence, and long-distance and short-distance heterogeneous radio frequency technologies are combined, so that the channel competition condition is improved, and the energy consumption is reduced.
The embodiment of the invention adopts the long and short distance heterogeneous radio frequency technology to combine, can improve the channel competition condition and reduce the energy consumption, and adopts a long and short distance combining mode to transmit data in a large-scale unmanned aerial vehicle ad hoc network communication cluster, comprising the following steps:
A. the communication distance of the nodes of the unmanned aerial vehicle in the same cluster is not very far, the communication is frequent, the communication is carried out in a self-networking mode through the wireless network card, and the data can be rapidly transmitted.
Further, when the same cluster uses the wireless network card to form the ad hoc network for information exchange, the channel access is performed in a time division multiplexing mode, which includes:
clock synchronization is realized by all nodes among clusters through satellite time service, time slot resources are distributed among the same cluster in a centralized network mode, and cluster head nodes serve as main nodes to distribute time slots. And each cluster member node in the same cluster supports the main node to distribute time slot resources according to the requirement of the data volume to be transmitted and the priority of the data to be transmitted.
In order to improve the overall throughput of the network and reduce the average end-to-end time delay, the success rate of data transmission of each node is also important, so that in the same cluster, every 1/3 nodes are added with a retransmission time slot for retransmitting data when the previous node fails to transmit data, and the retransmission does not need to be carried out until the next time frame period.
In order to realize the above requirements, the connected wireless network card needs to support an Ad-hoc mode, and meanwhile, the wireless driver is open-source and can be modified to be a time division multiplexing channel access mode.
B. The information exchange between different clusters needs to be carried out through the cluster head nodes, the distance is long, the frequency of the information exchange between the clusters is not so frequent relative to the cluster member nodes, and therefore the information exchange between the clusters adopts the LoRa module to carry out communication, and the requirements of long-distance and low-power transmission can be met.
In specific implementation, a person skilled in the art can implement the automatic operation process by using a computer software technology, and a system device for implementing the method, such as a computer-readable storage medium storing a corresponding computer program according to the technical solution of the present invention and a computer device including a corresponding computer program for operating the computer program, should also be within the scope of the present invention.
For reference purposes, specific implementations of the methods provided by embodiments of the present invention are provided as follows:
1) firstly, in an initial networking stage, heterogeneous hierarchical networking is carried out, and cluster member nodes, first-level cluster head nodes, second-level cluster head nodes and the like are divided according to a network topological structure. The number of the member nodes of the general cluster is more, and the number of the second-level cluster head nodes is less. The gradients of the three nodes are sequentially increased, namely the gradient of the cluster member node is 0, the gradient of the first-level cluster head node is 1, and the common medium-large network is sequentially accumulated … and only has the second-level cluster head node. In the embodiment, the number ratio of the three types of nodes is designed according to 10:2: 1.
The number of the cluster member nodes is large, but the load of the cluster head nodes is heavy, and the information exchange among different clusters is performed through the cluster head nodes, so that the cluster member nodes and the cluster head nodes adopt different channels to transmit the information. Therefore, the problem of channel competition can not occur, the throughput of the network can be effectively improved, and the average time delay of network transmission can be reduced.
Because the network topology is not fixed and unchangeable, can be along with unmanned aerial vehicle's removal dynamic change, so the cluster head node also can change. The invention provides a method for determining a node nearest to a current cluster head node as a new cluster head node when the current cluster head node fails because the position information of the cluster head node is known and a new cluster head node is required to be elected when the new cluster head node is elected.
2) And after the network topology networking is finished, carrying out clock synchronization of each node by adopting Beidou satellite time service. And further, the time slot resources can be distributed, and a distributed channel access mode rather than a competitive channel access mode is adopted, so that the network delay can be effectively reduced.
3) And judging whether the node type is a cluster head node or not.
A. Specifically, if the cluster nodes are cluster head nodes, the distance between the cluster head nodes is relatively long, so the LoRa module is adopted for communication. Meanwhile, in order to obtain a real-time high-precision position relationship, each cluster head node needs to exchange a data packet. Thus, the accurate relative position relationship can be obtained by resolving the data packets transmitted by each other without the help of a ground workstation.
And the cluster head node determines the real-time high-precision relative position of the same potential field node in a one-hop range by exchanging data packets. When data is transmitted, an appropriate path is predicted and selected in advance to transmit the data according to the flight speed and the flight direction of the data, the flight speed and the flight direction of the destination node and the relative position relationship. In the aspect of dynamic accurate positioning, a multi-target self-adaptive networking strategy and a recursion Kalman filtering algorithm based on the MEMS position change rate are adopted to quickly and accurately determine the relative position between dynamic targets. The mode has high networking efficiency and low calculation pressure; the ambiguity convergence is fast, and the success rate and the reliability are high.
Each linkage target is a node taking the self as the center, and a plurality of linkage targets form a distributed network. And each linkage target acquires data of sensors such as the Beidou III, the MEMS and the like, carries out multi-sensor tight combination absolute position calculation, and broadcasts the Beidou III observed value and coordinates. And simultaneously receiving Beidou three observed values and coordinates of other linkage targets, then carrying out relative accurate position calculation and integrity monitoring on a plurality of linkage targets, and finally broadcasting or inputting accurate relative position, time and integrity information of the linkage targets into unmanned aerial vehicle equipment.
When data path transmission judgment is carried out specifically, a node is used as a center, a communication range is used as a radius, then, each node from a source node to a destination node uses the node as a circle center to draw a circle of the communication range, and a proper transmission path can be selected by selecting the intersection of the circles.
The prediction of the data transmission path is not always carried out, so that the network load is increased, and the judgment and the prediction of the data transmission path are carried out once only when the one-hop node which forwards the data last time by the cluster head node exceeds the communication range.
B. In the method provided by the embodiment of the invention, the inter-cluster node communication adopts the wireless network card, and the gain antenna is added to increase the transmission distance.
Clock synchronization is realized by all nodes among clusters through satellite time service, time slot resources are distributed among the same cluster in a centralized network mode, and cluster head nodes serve as main nodes to distribute time slots. And each cluster member node in the same cluster distributes time slot resources to the main node according to the requirement of the data volume to be transmitted and the priority of the data to be transmitted.
For example, there are No. 1 to No. 9 unmanned aerial vehicle nodes in the same cluster that need to transmit data, then divide these 9 nodes into 3 equal shares, namely 1-3, 4-6, 7-9 shares, all have three nodes in each share, when some node needs more data transmitted, namely the time slot resource that needs to apply for is more, if there is no data to transmit temporarily in the corresponding position in other two shares, then can occupy these idle time slots. That is, when no data is transmitted for the nodes 4 and 7, and the data resource required to be transmitted by the node 1 is more, the node 1 can occupy the idle time slots of both of them.
In order to improve the overall throughput of the network and reduce the average end-to-end time delay, the success rate of data transmission of each node is also important, so that in the same cluster, every 1/3 nodes are added with a retransmission time slot for retransmitting data when the previous node fails to transmit data, and the retransmission does not need to be carried out until the next time frame period.
For example, as shown in fig. 2, there are nodes 1-17:
and setting nodes 9-14 and 17 as the same cluster (cluster member node), and setting the node 17 as a cluster head node (first-level cluster head node). When the 9-14 nodes need to send data, time slot application information needs to be sent to the node No. 17, and then the node No. 17 carries out time slot resource allocation according to the time slot application information. Each cluster dynamically allocates time slot resources by a main node, namely a cluster head node according to the number of nodes and service requirements.
4) The embodiment of the invention adopts different physical layer transmission channels aiming at nodes with different potential field gradients. The same channel is adopted when information interaction is carried out among the nodes with the same gradient, so that the information interaction of the nodes with different gradients can be carried out concurrently without mutual interference.
When the cluster head node transmits data, the transmission path can be predicted in advance according to the relative position, the movement speed and the movement direction of the node. As shown in fig. 3, there are nodes 1-9:
when the node 6 is at the position P1, the node 6 is used as a transit node, that is, the transmission path is 3 → 6 → 8, and since the node 3 knows the relative position of the node 6, the movement speed and the movement direction of the node 6, it can be predicted in advance that the node will move from the position P1 to the position P2 after the next second 6, and the node 6 and the node 8 cannot directly communicate with each other. According to this case, the transmission path may be determined as 3 → 5 → 8 in advance when the next time node No. 3 has data to node No. 8.
The specific embodiments described herein are merely illustrative of the spirit of the invention. Various modifications or additions may be made to the described embodiments or alternatives may be employed by those skilled in the art without departing from the spirit or ambit of the invention as defined in the appended claims.
Claims (7)
1. An unmanned aerial vehicle cluster ad hoc network communication method based on Beidou satellite time service is characterized by comprising the following steps:
the method comprises the steps that Beidou satellites are used for time service, rough positions of all unmanned aerial vehicle nodes are obtained, a topological structure of a network is determined according to the rough positions, the nodes are divided, heterogeneous layered networking is conducted on the basis of a gradient potential field, and real-time high-precision positioning information is obtained by dividing cluster head nodes through exchanging data packets; according to different node types in the network, different communication modes are adopted for information exchange;
the topological structure of the network is determined according to the rough position, the nodes are divided, heterogeneous layered networking is carried out based on the gradient potential field, the realization mode is as follows,
carrying out gradient division on nodes of the unmanned aerial vehicle according to a network topological structure, and dividing nodes with relatively gathered positions into a cluster; the node positioned in the center of the cluster is used as a cluster head node, when the volume of the cluster is too large, the cluster is subjected to recursion treatment to generate a smaller cluster, a new cluster head node is selected, the gradient of the original cluster head node is increased to become a secondary cluster head node until the volume of the cluster meets the requirement;
the gradients of the cluster member nodes are sequentially increased, namely the gradient of the cluster member nodes is 0, the gradient of the first-stage cluster head node is 1, the gradient of the second-stage cluster head node is 2, and … are sequentially accumulated
For the cluster head nodes, the data transmission path is predicted according to the relative position information of the nodes and the movement speed and movement direction information of the flight control system, so that the cluster head nodes are better suitable for the change of the dynamic network topology; the realization is as follows,
after the cluster head nodes obtain high-precision relative positions in real time through exchanging data packets, judging whether the change of the relative position relationship among the cluster head nodes exceeds a communication range or not, so that the change of a data transmission path is caused, if so, predicting the data transmission path in advance, and if not, predicting in advance;
the network topology predicts and selects a proper path in advance to transmit data according to the flight speed and the flight direction of the network topology, the flight speed and the flight direction of the destination node and the relative position relationship;
channel access control is carried out through multi-channel high-efficiency concurrence, data transmission is carried out in a long-distance and short-distance combination mode, channel competition conditions are improved, energy consumption is reduced, the following steps are realized,
the same cluster adopts a wireless network card to form an ad hoc network for information exchange, and adopts a time division multiplexing mode to access channels;
and the information exchange among different clusters is carried out through the cluster head nodes, and the information exchange among the clusters adopts the LoRa module to carry out communication.
2. The unmanned aerial vehicle cluster ad hoc network communication method based on Beidou satellite time service according to claim 1, characterized in that: when the Beidou satellite time service is adopted to realize high-precision clock synchronization, a satellite time service channel is obtained through serial port interruption, and simultaneously, the nodes are subjected to gradient division to realize the following,
firstly, dividing cluster member nodes, primary cluster head nodes and secondary cluster head nodes according to a network topological structure, and setting the gradient of the cluster member nodes as 0, the gradient of the primary cluster head nodes as 1 and the gradient of the secondary cluster head nodes as 2;
or firstly dividing cluster member nodes and first-stage cluster head nodes according to a network topological structure, and setting the gradient of the cluster member nodes as 0 and the gradient of the first-stage cluster head nodes as 1.
3. The unmanned aerial vehicle cluster ad hoc network communication method based on Beidou satellite time service according to claim 1, characterized in that: after heterogeneous layered networking is performed based on the potential field, the following is realized,
the cluster member nodes and the cluster head nodes adopt different channels for information transmission, and the same channel is adopted when information interaction is carried out between the nodes with the same gradient.
4. The unmanned aerial vehicle cluster ad hoc network communication method based on Beidou satellite time service according to claim 1, characterized in that: when the same cluster adopts the wireless network card to form the ad hoc network for information exchange, the access of the channel is carried out by adopting a time division multiplexing mode, the following realization is realized,
each node among clusters realizes clock synchronization through satellite time service, time slot resources are distributed among the same cluster in a centralized network mode, and cluster head nodes serve as main nodes to distribute time slots; and each cluster member node in the same cluster supports the main node to distribute time slot resources according to the requirement of the data volume to be transmitted and the priority of the data to be transmitted.
5. The unmanned aerial vehicle cluster ad hoc network communication method based on Beidou satellite time service according to claim 4, characterized in that: in the same cluster, every 1/3 nodes are added with a retransmission time slot for retransmitting data when the previous node fails to transmit data, and the retransmission can not be carried out until the next time frame period.
6. The unmanned aerial vehicle cluster ad hoc network communication method based on Beidou satellite time service according to claim 1, 2, 3, 4 or 5, characterized in that: the wireless network card supports an ad hoc network mode and supports a channel access mode changed into time division multiplexing.
7. The utility model provides an unmanned aerial vehicle cluster is from network deployment communication system based on big dipper satellite time service which characterized in that: the unmanned aerial vehicle cluster ad hoc network communication method based on Beidou satellite time service is used for achieving any one of claims 1-6.
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