CN112584348A - Unmanned aerial vehicle formation data transmission path switching method, system, medium and terminal - Google Patents
Unmanned aerial vehicle formation data transmission path switching method, system, medium and terminal Download PDFInfo
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- H—ELECTRICITY
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- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/30—Services specially adapted for particular environments, situations or purposes
- H04W4/40—Services specially adapted for particular environments, situations or purposes for vehicles, e.g. vehicle-to-pedestrians [V2P]
- H04W4/44—Services specially adapted for particular environments, situations or purposes for vehicles, e.g. vehicle-to-pedestrians [V2P] for communication between vehicles and infrastructures, e.g. vehicle-to-cloud [V2C] or vehicle-to-home [V2H]
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- H04W36/30—Reselection being triggered by specific parameters by measured or perceived connection quality data
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Abstract
The invention belongs to the technical field of wireless data transmission, and discloses a method, a system, a medium and a terminal for switching a formation data transmission path of an unmanned aerial vehicle, wherein the method for switching the formation data transmission path of the unmanned aerial vehicle in a collaborative heterogeneous fusion access network comprises the following steps: calculating the network traffic; establishing an available transmission path pool; and switching paths. The method for switching the wireless data transmission path in the unmanned aerial vehicle formation collaborative heterogeneous convergence access network is based on the unmanned aerial vehicle collaborative heterogeneous convergence access network and the densely deployed sensor network nodes, aims to improve the wireless data transmission continuity of the unmanned aerial vehicle, and ensures that the communication between the ground station and the unmanned aerial vehicle and the related nodes can be timely, accurately and reliably completed by utilizing the method for switching the transmission path in time after the current transmission path is blocked or interrupted.
Description
Technical Field
The invention belongs to the technical field of wireless data transmission, and particularly relates to a method, a system, a medium and a terminal for switching a formation data transmission path of an unmanned aerial vehicle.
Background
At present, along with the development of unmanned aerial vehicle technique, unmanned aerial vehicle real-time status monitoring and the technique to unmanned aerial vehicle remote control receive the attention in the aviation field more and more. The data interaction of the unmanned aerial vehicle and the ground station with high real-time performance is a very important requirement in the field of aviation. Unmanned aerial vehicle cluster operation develops very fast in recent years, no matter various commercial unmanned aerial vehicle formation performances, industrial-grade unmanned aerial vehicle cluster operation, war industry-grade unmanned aerial vehicle cluster task, unmanned aerial vehicle cluster operation all is becoming more and more popular in all fields. Similarly, the importance of data communication between the drone cluster and the ground station is self-evident. Because the background traffic of the networking network inside the formation of the unmanned aerial vehicles changes constantly, the performance of the same path at different periods of time is different, and the possibility of path blocking and interruption also exists.
Through the above analysis, the problems and defects of the prior art are as follows: because the background traffic of the networking network inside the formation of the unmanned aerial vehicles changes constantly, the performance of the same path at different periods of time is different, and the possibility of path blocking and interruption also exists.
The difficulty in solving the above problems and defects is: and judging a network path and switching the path.
The significance of solving the problems and the defects is as follows: after switching, the data transmission requirement is met, and road blockage and the condition of the middle section are reduced.
Disclosure of Invention
Aiming at the problems in the prior art, the invention provides a method, a system, a medium and a terminal for switching a formation data transmission path of an unmanned aerial vehicle.
The invention is realized in such a way that a switching method for unmanned aerial vehicle formation data transmission paths in a collaborative heterogeneous converged access network comprises the following steps:
step one, calculating network traffic;
step two, establishing an available transmission path pool;
and step three, switching paths.
Further, in the step one, the network traffic is calculated according to the following formula:
wherein TNNi(t) the time t is the data transmission delay between the ground station or unmanned aerial vehicle node and the whole network node, and the current path RNN in the ground station or unmanned aerial vehicle nodei(t) has a value of 0;
BWi(t) an estimated available bandwidth for path i at time t;
RTTi(t) the average round-trip delay measured for path i at time t;
RTi(t) is the retransmission ratio of the path i statistics at time t;
NSiand (t) is the health condition of the node where the path i is located at the time t, and the higher the health value is, the larger the health value is.
Multipliers alpha, beta, gamma, theta and lambda respectively represent the proportion of time delay, bandwidth, end-to-end time delay, retransmission rate and health degree among nodes in the calculation of the path weight; the smaller the value of the throughput TS, the better the path state.
Further, the health of the node comprises: the node power, whether the node performs other services.
Further, in step two, the establishing the pool of available transmission paths includes:
(1) recording available data transmission paths in different systems in the node;
(2) networking surrounding nodes through wifi or other wireless links, and detecting available transmission paths in the same system and different systems;
(3) weighting all the detected available transmission paths, establishing an available transmission path pool, and sequencing according to the throughput;
(4) and the single thread updates and maintains the path pool.
Further, the sorting according to popularity includes:
dividing the paths in the path pool into A, B, C sets according to preset thresholds T and L, wherein A represents the path pool with the highest communication degree, B times, C is the worst, and the sets have the possibility of being empty.
Further, the A, B, C numbers of elements in the three sets are respectively expressed by m, n and q, and the following limitation conditions are met:
further, in step three, the formula for performing the path switching is as follows:
another object of the present invention is to provide a system for switching formation data transmission paths of unmanned aerial vehicles in a collaborative heterogeneous converged access network, where the system for switching formation data transmission paths of unmanned aerial vehicles in a collaborative heterogeneous converged access network includes:
the network traffic calculation module is used for calculating the network traffic based on the unmanned aerial vehicle cooperative heterogeneous convergence access network and the densely deployed sensor network nodes;
the path pool building module is used for building an available transmission path pool and improving the continuity of wireless data transmission of the unmanned aerial vehicle;
and the transmission path switching module is used for switching the transmission path in time after the current transmission path is blocked or interrupted so as to complete the communication between the ground station and the unmanned aerial vehicle as well as the communication between the ground station and the relevant nodes.
The invention also aims to provide the unmanned aerial vehicle, and the unmanned aerial vehicle is used for realizing the unmanned aerial vehicle formation data transmission path switching method in the collaborative heterogeneous convergence access network.
It is a further object of the invention to provide a computer device comprising a memory and a processor, the memory storing a computer program which, when executed by the processor, causes the processor to perform the steps of:
based on the unmanned aerial vehicle collaborative heterogeneous convergence access network and the densely deployed sensor network nodes, the network throughput is calculated, an available transmission path pool is established, and the wireless data transmission continuity of the unmanned aerial vehicle is improved;
and switching the transmission path in time after the current transmission path is blocked or interrupted to complete the communication between the ground station and the unmanned aerial vehicle and the related nodes.
Another object of the present invention is to provide a computer-readable storage medium, which stores a computer program, and when the computer program is executed by a processor, the processor is enabled to execute the method for switching the formation data transmission path of the unmanned aerial vehicles in the collaborative heterogeneous converged access network.
By combining all the technical schemes, the invention has the advantages and positive effects that: the method for switching the wireless data transmission path in the unmanned aerial vehicle formation collaborative heterogeneous convergence access network is based on the unmanned aerial vehicle collaborative heterogeneous convergence access network and the densely deployed sensor network nodes, aims to improve the wireless data transmission continuity of the unmanned aerial vehicle, and ensures that the communication between the ground station and the unmanned aerial vehicle and the related nodes can be timely, accurately and reliably completed by utilizing the method for switching the transmission path in time after the current transmission path is blocked or interrupted.
The invention aims to ensure that data such as a ground station, an unmanned aerial vehicle and the like can timely, accurately and reliably reach a target node. Therefore, the transmission speed of the paths of the ground stations and the formation unmanned aerial vehicles and the health degree of the paths are the measurement standards. The invention provides a concept of network traffic of the formation unmanned aerial vehicle ad hoc network, and the network traffic is formulated.
The invention provides a concept of a path pool, updates the related path pool by monitoring networking network changes of the formation unmanned aerial vehicles in real time, and provides a path pool maintenance algorithm.
In order to ensure timely and effective switching of paths and avoid the problem of reduced robustness caused by frequent switching, the invention establishes a switching threshold of the networking network and realizes compromise between optimal transmission path selection and switching frequency.
Technical effect or experimental effect of comparison. The algorithm is used for testing, the success rate of the unmanned aerial vehicle ad hoc network access and data transmission is obviously enhanced on the premise of meeting the formula, and the switching times are obviously reduced.
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In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings needed to be used in the embodiments of the present application will be briefly described below, and it is obvious that the drawings described below are only some embodiments of the present application, and it is obvious for those skilled in the art that other drawings can be obtained from the drawings without creative efforts.
Fig. 1 is a flowchart of a method for switching a formation data transmission path of an unmanned aerial vehicle in a collaborative heterogeneous converged access network according to an embodiment of the present invention.
Fig. 2 is a flowchart of establishing a pool of available transmission paths according to an embodiment of the present invention.
Fig. 3 is a diagram of data analysis performed according to the present invention using both an algorithm and a conventional approach, provided by an embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is further described in detail with reference to the following embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
Aiming at the problems in the prior art, the invention provides a method, a system, a medium and a terminal for switching a formation data transmission path of an unmanned aerial vehicle, and the invention is described in detail with reference to the accompanying drawings.
As shown in fig. 1, the method for switching the formation data transmission path of the unmanned aerial vehicle in the collaborative heterogeneous converged access network according to the embodiment of the present invention includes the following steps:
s101, calculating network traffic;
s102, establishing an available transmission path pool;
and S103, switching paths.
In step S101, the network traffic is calculated according to the following formula:
wherein TNNi(t) the time t is the data transmission delay between the ground station or unmanned aerial vehicle node and the whole network node, and the current path RNN in the ground station or unmanned aerial vehicle nodei(t) has a value of 0;
BWi(t) an estimated available bandwidth for path i at time t;
RTTi(t) the average round-trip delay measured for path i at time t;
RTi(t) is the retransmission ratio of the path i statistics at time t;
NSiand (t) is the health condition of the node where the path i is located at the time t, and the higher the health value is, the larger the health value is.
Multipliers alpha, beta, gamma, theta and lambda respectively represent the proportion of time delay, bandwidth, end-to-end time delay, retransmission rate and health degree among nodes in the calculation of the path weight; the smaller the value of the throughput TS, the better the path state.
The health condition of the node provided by the embodiment of the invention comprises the following steps: the node power, whether the node performs other services.
As shown in fig. 2, in step S102, the establishing of the pool of available transmission paths provided by the embodiment of the present invention includes:
s201, recording available data transmission paths in different systems in the node;
s202, networking surrounding nodes through wifi or other wireless links, and detecting available transmission paths in the same system and different systems;
s203, weighting all the detected available transmission paths, establishing an available transmission path pool, and sequencing according to the throughput;
and S204, updating and maintaining the path pool by the single thread.
The sorting according to the popularity provided by the embodiment of the invention comprises the following steps:
dividing the paths in the path pool into A, B, C sets according to preset thresholds T and L, wherein A represents the path pool with the highest communication degree, B times, C is the worst, and the sets have the possibility of being empty.
The number of elements in A, B, C three sets provided by the embodiment of the invention is respectively expressed by m, n and q, and the following restriction conditions are followed:
in step S103, the formula adopted for performing the path switching according to the embodiment of the present invention is:
the present invention will be further described with reference to the following examples.
Example (b):
1. network traffic
The throughput TS:
wherein TNNi(t) the time t is the data transmission delay between the ground station or unmanned aerial vehicle node and the whole network node, and the current path RNN in the ground station or unmanned aerial vehicle nodei(t) has a value of 0;
BWi(t) an estimated available bandwidth for path i at time t;
RTTi(t) the average round-trip delay measured for path i at time t;
RTi(t) is the retransmission ratio of the path i statistics at time t;
NSiand (t) is the health condition of the node where the path i is located at the time t (the health value comprises the electric quantity of the node and whether the node carries out other services), and the higher the health value is, the larger the health value is.
Multipliers alpha, beta, gamma, theta and lambda respectively represent the proportion of time delay, bandwidth, end-to-end time delay, retransmission rate and health degree among nodes in the calculation of the path weight; these 5 parameters can be configured and modified according to the user's needs. It can be seen from the formula that the smaller the value of TS, the better the path state.
2. Path pool
The thresholds T and L may be configured and modified according to user requirements.
To reduce the amount of computation and the amount of path probe network data, the number of elements in set A, B, C is denoted by m, n, and q, respectively, and the following constraints are followed.
(1) Recording available data transmission paths in different systems in the node;
(2) networking surrounding nodes through wifi or other wireless links, and detecting available transmission paths in the same system and different systems;
(3) weighting all the detected available transmission paths, establishing an available transmission path pool, and sequencing according to the throughput; dividing paths in the path pool into A, B, C sets according to preset thresholds T and L, wherein A represents the path pool with the highest communication degree, B times, C is the worst, and the sets have the possibility of being empty;
(4) and the single thread updates and maintains the path pool.
3. Path switching method
The technical solution of the present invention is further described below with reference to specific experimental analysis.
Data analysis was performed according to the present invention using both algorithmic and conventional approaches, resulting in fig. 3. The abscissa axis is networking time, and the ordinate axis is network access percentage.
Through data, it can be seen that the problem of network access can be solved to a great extent by using the algorithm.
The above description is only for the purpose of illustrating the present invention and the appended claims are not to be construed as limiting the scope of the invention, which is intended to cover all modifications, equivalents and improvements that are within the spirit and scope of the invention as defined by the appended claims.
Claims (10)
1. A method for switching unmanned aerial vehicle formation data transmission paths in a collaborative heterogeneous converged access network is characterized by comprising the following steps:
based on the unmanned aerial vehicle collaborative heterogeneous convergence access network and the densely deployed sensor network nodes, the network throughput is calculated, an available transmission path pool is established, and the wireless data transmission continuity of the unmanned aerial vehicle is improved;
and switching the transmission path in time after the current transmission path is blocked or interrupted to complete the communication between the ground station and the unmanned aerial vehicle and the related nodes.
2. The method for switching the unmanned aerial vehicle formation data transmission path in the collaborative heterogeneous convergence access network according to claim 1, wherein the network traffic is calculated according to a formula:
wherein TNNi(t) the time t is the data transmission delay between the ground station or unmanned aerial vehicle node and the whole network node, and the current path RNN in the ground station or unmanned aerial vehicle nodei(t) has a value of 0;
BWi(t) an estimated available bandwidth for path i at time t;
RTTi(t) the average round-trip delay measured for path i at time t;
RTi(t) is the retransmission ratio of the path i statistics at time t;
NSiand (t) is the health condition of the node where the path i is located at the time t, and the higher the health value is, the larger the health value is.
Multipliers alpha, beta, gamma, theta and lambda respectively represent the proportion of node-node time delay, bandwidth, end-to-end time delay, retransmission rate and health degree in the calculation of the path weight; the smaller the value of the throughput TS, the better the path state.
3. The method for switching the unmanned aerial vehicle formation data transmission path in the collaborative heterogeneous converged access network according to claim 2, wherein the health condition of the node includes: the node power, whether the node performs other services.
4. The method for switching the unmanned aerial vehicle formation data transmission path in the collaborative heterogeneous converged access network according to claim 1, wherein the establishing the pool of available transmission paths includes:
(1) recording available data transmission paths in different systems in the node;
(2) networking surrounding nodes through wifi or other wireless links, and detecting available transmission paths in the same system and different systems;
(3) weighting all the detected available transmission paths, establishing an available transmission path pool, and sequencing according to the throughput;
(4) the single thread updates and maintains the path pool;
the sorting according to the popularity comprises the following steps:
dividing the paths in the path pool into A, B, C sets according to preset thresholds T and L, wherein A represents the path pool with the highest communication degree, B times, C is the worst, and the sets have the possibility of being empty.
5. The method for switching the unmanned aerial vehicle formation data transmission path in the collaborative heterogeneous convergence access network according to claim 4, wherein the A, B, C numbers of elements in the three sets are respectively expressed by m, n and q, and the following restrictions are followed:
6. the method for switching the unmanned aerial vehicle formation data transmission path in the collaborative heterogeneous converged access network according to claim 1, wherein the formula for switching the path is as follows:
7. the utility model provides a system for switching unmanned aerial vehicle formation data transmission path in collaborative heterogeneous converged access network, which is characterized in that, system for switching unmanned aerial vehicle formation data transmission path in collaborative heterogeneous converged access network includes:
the network traffic calculation module is used for calculating the network traffic based on the unmanned aerial vehicle cooperative heterogeneous convergence access network and the densely deployed sensor network nodes;
the path pool building module is used for building an available transmission path pool and improving the continuity of wireless data transmission of the unmanned aerial vehicle;
and the transmission path switching module is used for switching the transmission path in time after the current transmission path is blocked or interrupted so as to complete the communication between the ground station and the unmanned aerial vehicle as well as the communication between the ground station and the relevant nodes.
8. An unmanned aerial vehicle, characterized in that the unmanned aerial vehicle is used for implementing the unmanned aerial vehicle formation data transmission path switching method in the collaborative heterogeneous converged access network according to any one of claims 1 to 5.
9. A computer device, characterized in that the computer device comprises a memory and a processor, the memory storing a computer program which, when executed by the processor, causes the processor to carry out the steps of:
based on the unmanned aerial vehicle collaborative heterogeneous convergence access network and the densely deployed sensor network nodes, the network throughput is calculated, an available transmission path pool is established, and the wireless data transmission continuity of the unmanned aerial vehicle is improved;
and switching the transmission path in time after the current transmission path is blocked or interrupted to complete the communication between the ground station and the unmanned aerial vehicle and the related nodes.
10. A computer-readable storage medium storing a computer program, which when executed by a processor, causes the processor to execute the unmanned aerial vehicle formation data transmission path switching method in the collaborative heterogeneous convergence access network according to any one of claims 1 to 5.
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