CN113613307A - On-demand routing method based on local active routing assistance - Google Patents
On-demand routing method based on local active routing assistance Download PDFInfo
- Publication number
- CN113613307A CN113613307A CN202110801939.8A CN202110801939A CN113613307A CN 113613307 A CN113613307 A CN 113613307A CN 202110801939 A CN202110801939 A CN 202110801939A CN 113613307 A CN113613307 A CN 113613307A
- Authority
- CN
- China
- Prior art keywords
- node
- routing
- cluster
- cluster head
- route
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Images
Classifications
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W40/00—Communication routing or communication path finding
- H04W40/24—Connectivity information management, e.g. connectivity discovery or connectivity update
- H04W40/32—Connectivity information management, e.g. connectivity discovery or connectivity update for defining a routing cluster membership
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W40/00—Communication routing or communication path finding
- H04W40/24—Connectivity information management, e.g. connectivity discovery or connectivity update
- H04W40/246—Connectivity information discovery
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W40/00—Communication routing or communication path finding
- H04W40/24—Connectivity information management, e.g. connectivity discovery or connectivity update
- H04W40/248—Connectivity information update
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W84/00—Network topologies
- H04W84/18—Self-organising networks, e.g. ad-hoc networks or sensor networks
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02D—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN INFORMATION AND COMMUNICATION TECHNOLOGIES [ICT], I.E. INFORMATION AND COMMUNICATION TECHNOLOGIES AIMING AT THE REDUCTION OF THEIR OWN ENERGY USE
- Y02D30/00—Reducing energy consumption in communication networks
- Y02D30/70—Reducing energy consumption in communication networks in wireless communication networks
Landscapes
- Engineering & Computer Science (AREA)
- Computer Networks & Wireless Communication (AREA)
- Signal Processing (AREA)
- Data Exchanges In Wide-Area Networks (AREA)
- Mobile Radio Communication Systems (AREA)
Abstract
The invention relates to an on-demand routing method based on local active routing assistance, and belongs to the technical field of wireless communication. The method aims at a large-scale unmanned swarm heterogeneous cellular three-dimensional space networking architecture, and specifically comprises the following steps: constructing a local active route through periodic signaling between micro cells; initiation of on-demand routing: when the cluster head receives an inter-cluster communication data packet of a member node and finds that a target node is not in a locally maintained routing table, initiating an on-demand routing establishment process to find the cluster head where the target node is located; maintenance of the macro cellular route: after the macro-micro double-layer network topology is formed, the topology change requires the micro-cell to report the macro-cell network in time; when the link between cluster heads breaks in the macro cellular network formed by the cluster heads, and the macro cellular route is in an effective state and has data transmission, the maintenance of the macro cellular route is started. The invention improves the transmission rate of network data, reduces the communication time delay between the cross-region swarm nodes and effectively ensures the communication quality of the unmanned swarm.
Description
Technical Field
The invention belongs to the technical field of wireless communication, and particularly relates to an on-demand routing method based on local active routing assistance.
Background
It is a common application scenario that an unmanned swarm executes a specific task in a certain target area, and therefore it is the most basic requirement for task execution that the ad hoc network of the unmanned swarm can cover the target area. In order to effectively realize the coverage of a target area, the ad hoc network scene of the unmanned aerial vehicle is required to meet the condition that a communication range can completely cover the target area and a communication path exists between any two swarm nodes. The unmanned swarm generally has the characteristics of large node scale, large distribution density, high dynamic property, limited spectrum height of an execution task scene and the like, and the three-dimensional space swarm networking architecture based on the similar heterogeneous cellular network can effectively solve the problems of rapid networking, limited spectrum and the like of the unmanned swarm. However, the heterogeneous-cellular-like swarm networking architecture is essentially a hierarchical two-layer network structure, the lower-layer micro-cellular network structure can realize service interaction in the cluster without a routing protocol, but service data crossing micro-cells still needs to be forwarded by the upper-layer macro-cellular network through a proper routing strategy.
The upper layer macro cellular network can be regarded as a simple distributed mobile ad hoc network, and a plurality of mature routing protocols can be applied at present. The proactive routing protocol is also called as a table-driven routing protocol, and a node using the routing protocol locally maintains a routing table containing all destination nodes and updates the routing table in real time according to the change of the network topology, so that the information of the locally maintained routing table can accurately reflect the current situation of the network topology in real time, and once any node needs to send data, the optimal routing reaching the destination nodes can be obtained from the local routing table, such as classical DSDV, WRP and other routing protocols. The passive routing protocol is also called as an on-demand routing protocol, is a protocol for initiating a routing acquisition process when data needs to be sent, is commonly used by AODV, DSR and the like, and does not need to maintain routing information of the whole network in real time.
Although the active routing protocol can acquire the latest routing information in real time, the time delay is short, but the acquisition of the real-time information needs to consume a large amount of routing control messages, and the protocol overhead is large. The method is not suitable for large-scale unmanned bee colonies under the scene of highly limited frequency spectrum, and the passive routing has low cost, but has poor real-time performance and cannot meet the requirements of some timely services. Whether the route is an active route or a passive route or a mixed route combining the active route and the passive route, the specific networking scene is not fully considered, some signaling information in the networking and network topology maintenance process cannot be fully reused, and the network overhead and the real-time performance are increased to a certain extent.
Disclosure of Invention
The invention aims to provide an on-demand routing method based on local active routing assistance, so that the transmission rate of network data is improved, the communication delay between cross-regional swarm nodes is reduced, and the communication quality of an unmanned swarm is effectively guaranteed.
The technical solution for realizing the purpose of the invention is as follows: an on-demand routing method based on local active routing assistance is provided, and the method is specific to a large-scale unmanned swarm heterogeneous cellular three-dimensional space networking architecture and comprises the following steps:
step 1, constructing a local active route through periodic signaling between microcells;
step 3, maintenance of the macro cell route: after the macro-micro double-layer network topology is formed, the topology change requires the micro-cell to report the macro-cell network in time; when the link between cluster heads breaks in the macro cellular network formed by the cluster heads, and the macro cellular route is in an effective state and has data transmission, the maintenance of the macro cellular route is started.
Further, the large-scale unmanned aerial vehicle cluster heterogeneous cellular three-dimensional space networking architecture is constructed based on multi-level network architectures and technical characteristics of macro cells and micro cells of a mobile communication network, the architecture is based on the heterogeneity of the medium-large unmanned aerial vehicle platform, the small unmanned aerial vehicle platform, the load weight and the power, and a plurality of medium-large unmanned aerial vehicles are used for constructing an upper-level macro cell network as an inter-cluster communication network; constructing a lower-layer micro-cellular network by using medium-sized, large-sized and small-sized unmanned aerial vehicles as an intra-cluster communication network; the inter-cluster communication network and the plurality of intra-cluster communication networks jointly construct a double-layer three-dimensional network system architecture;
the medium-large unmanned aerial vehicle refers to an unmanned aerial vehicle with the takeoff weight of more than 15 kg, and the unmanned aerial vehicle node with the maximum load weight of more than 10 kg supports simultaneous operation of various communication links, can be used as a time synchronization reference of each node in the unmanned swarm subnet, and provides access service and remote data transmission relay; the system can also form an ad hoc network with other communication access nodes; at least two transmitting and receiving channels are provided; the unmanned aerial vehicle node with the takeoff weight of the small unmanned aerial vehicle aircraft not more than 15 kg and the maximum load weight not more than 10 kg is provided with a sending-receiving channel which is only used as a subnet node in the cluster;
the ad hoc network formed on the basis of each cluster head is used as a macro cell of the unmanned swarm, the cluster head is obtained by negotiation election of members in the cluster, and the cluster head completes coordination of frequency spectrum resources in/among clusters, resource planning of all members in the cluster and management of maintaining network topology transformation; the cluster member nodes are controlled by the cluster head nodes to finish the torsion and interaction of information among the swarms and realize a control link with a remote node;
the service data transmission of the whole cellular network is divided into two types, namely intra-cluster communication and inter-cluster communication; the communication between the nodes in the cluster is directly completed by forwarding by a local cluster head without routing; inter-cluster communication needs to be accomplished through the macro-cellular network between the cluster heads.
Further, in step 1, a local active route is constructed through periodic signaling between the microcells, which is specifically as follows:
step 101, aiming at the micro-cellular network, a cluster head locally maintains a routing table, wherein the routing table comprises member nodes in the micro-cellular and member nodes of neighbor micro-cellular:
102, aiming at a micro-cellular network and a cluster head, periodically reporting state information to the cluster head node by a member node, and maintaining a routing table containing node information in the micro-cellular by the cluster head; meanwhile, the cluster head periodically broadcasts the state information of the micro-cell through the macro-cell network, wherein the state information comprises the micro-cell ID and the member ID; after receiving the state information Macro _ hello sent by other micro cells, the neighbor micro cell cluster head adds the member information of the neighbor micro cells into a local routing table to form local routing information in one-hop neighbor micro cells;
and 103, maintaining cluster heads and member node information thereof in a one-hop range of the cluster head nodes through the state information periodically reported by the member nodes and the cluster heads, and providing routing query during communication between the micro-cell and the neighbor micro-cells.
Further, the initiation of the on-demand routing in step 2 is specifically as follows:
step 201, route request RouteReq sending
After the cluster head broadcasts the routing request RouteReq, only the nodes which are the same cluster head have the processing right of the routing request, and other common nodes except the cluster head receive the routing request message and then discard the routing request message;
the information format of RouteReq is as follows: an 8-bit message type field, an 8-bit hop field, two 16-bit reserved fields, a 32-bit routing request broadcast ID field, a 32-bit destination node address field, a 32-bit destination node sequence number field, a 32-bit source node address field and a 32-bit source node sequence number field; the sequence number is a monotonically increasing integer and indicates the freshness of the routing request, and the node adds 1 to the sequence number every time the node sends a routing request; the hop count is also a monotonically increasing integer indicating the distance traveled by the routing request; when a source cluster head node generates a new routing request message, adding 1 to a routing request broadcast ID; a source cluster head node, a destination node and a broadcast ID together uniquely determine a routing request message RouteReq; the source cluster head node broadcasts the message to all adjacent micro-cellular cluster head nodes in the communication range of the macro-cellular network, and the adjacent cluster head nodes continue to forward in the same way until finding out the micro-cellular where the target node is located; the routing request message is forwarded on the macro cellular network where all cluster head nodes are located, when the middle cluster head node receives a plurality of identical routing request messages, the middle cluster head node checks whether the identical routing request messages are received, and if the identical routing request messages are received, the messages are discarded;
after the cluster head node sends RouteReq, storing the sent request in a routing request list and setting a timer, if the timer in the request list is overtime and still does not receive a routing reply, resending the routing request and adding 1 to a sequence number; if the retransmission times exceed a preset value, discarding the data packet in the cache to the destination node;
step 202, route request RouteReq reception
After the RouteReq message is broadcasted, the cluster head node receiving the message compares the original address with the broadcast ID to judge whether the message is received by the cluster head node, if the message is received, the message is discarded, otherwise, the target node in the RouteReq message is compared with the self and the member node information in the information table and the local routing table in the cluster, if the target node is positioned in the cluster, the RouteRep is directly replied, and if the target node is positioned in the local routing table, the target node path information and the hop count in the local routing table are added into the RouteRep for replying; otherwise, recording corresponding information in the cluster node route recording table to form a reverse route, wherein the route table comprises an upstream node address field of 32 bits, a destination sequence number field of 32 bits, a source node address field of 32 bits, a source sequence number field of 32 bits, a broadcast ID field of 32 bits and a reverse route timeout duration field of 32 bits;
after the reverse routing record is completed, adding 1 to the hop count in the RouteReq, and then forwarding the routing request message to the downstream;
recording a source sequence number and a destination sequence number, wherein the sequence numbers are monotonically increased, the source sequence number is used for ensuring the validity of a reverse route in the broadcasting process of a route request, and the destination sequence number is used for maintaining the validity of a forward route;
the RouteReq reaches a cluster head where a target node is located, the cluster head of the target node generates RouteRep and sends the RouteRep to a source node along a reverse routing path stored by an intermediate node; if the RouteReq does not reach the cluster head where the destination node is located, the route of the destination node is obtained through a local routing table of an intermediate cluster head, the route information and the hop count of the destination node stored by the intermediate cluster head node are put into RouteRep for reverse reply, and the node receiving RouteRep adds a forward route to the destination node in each routing table for sending subsequent data packets;
when a source cluster head node sending the RouteReq receives the RouteRep, the router discovery process is completed, the cluster head sends data stored in a buffer area according to a forward routing path, and the RouteReq comprises an 8-bit message type field, an 8-bit hop number field, two 16-bit reserved fields, a 32-bit destination node address field, a 32-bit destination node sequence number field, a 32-bit source node address field and a 32-bit survival time field.
Further, the maintenance of the macro cellular route in step 3 is specifically as follows:
step 301, when topology change caused by node access, node exit, mobility switching and splitting and merging of microcells occurs in a macro-micro double-layer network topology, reporting the topology change to a macro-cellular network by the microcells; when a macro cellular network formed by cluster heads has a broken link between the cluster heads to form a broken link cluster head node, and a macro cellular route is in an effective state and has data transmission, starting a macro cellular route maintenance process;
step 302, assuming that the network layer can discover the link status of the neighbor node by using the feedback mechanism of the MAC layer, when the upstream node located at the delinking node discovers that the delinking node is not within its own communication range by using the feedback mechanism of the MAC layer, the upstream node creates a route error message routerer and transmits the route error message routerer to the source node according to the reverse routing information recorded in the routing table, the cluster head node receiving the routerer message deletes the original route, the source cluster head node re-initiates the route establishment process after receiving the route error message routerer, the error message routerer includes an 8-bit message type field, three 16-bit reserved fields, a 32-bit source node address field, a 32-bit source node sequence number field, a 32-bit delinking node address field, a 32-bit destination node address field, and a 32-bit destination node sequence number field.
Compared with the prior art, the invention has the following remarkable advantages: (1) the on-demand routing strategy based on local active routing assistance can ensure the completeness and accuracy of routing paths in a local area on the premise of not increasing signaling overhead, improve the transmission rate of network data, reduce the communication delay between cross-area swarm nodes and effectively ensure the communication quality of an unmanned swarm; (2) the method reduces the extra time delay caused by passive routing, can ensure the communication connectivity among remote nodes, weakens the capacity bottleneck caused by an upper-layer distributed network, and has better adaptability and stability for a network scene that a swarm system covers a target area in a cellular structure mode.
Drawings
Fig. 1 is a schematic perspective view of an unmanned-community-class heterogeneous cellular three-dimensional space networking architecture.
Fig. 2 is a top view of an unmanned bee colony-like heterogeneous cellular geospatial networking architecture.
Fig. 3 is a flow chart of an intermediate node processing RouteReq.
Fig. 4 is a flow chart of an intermediate node processing RouteRep.
Fig. 5 is a network structure diagram after the micro cells and the macro cells are established.
Figure 6 is a macrocell route establishment flow diagram.
Fig. 7 is a route maintenance flow diagram.
Detailed Description
The on-demand routing method based on local active routing assistance is provided for solving the problem that cross-regional service transmission efficiency of swarm nodes is low after a large-scale unmanned swarm forms a three-dimensional heterogeneous layered network architecture. The heterogeneous cellular three-dimensional space networking architecture is provided based on multi-level network architectures and technical characteristics of macro cells and micro cells of a mobile communication network, and an upper-layer macro cellular network, namely an inter-cluster communication network, is established by using multiple large and medium unmanned aerial vehicles on the basis of the heterogeneity of the performances such as the size, load weight, power and the like of platforms of the large and medium unmanned aerial vehicles; constructing a lower-layer micro cellular network, namely an intra-cluster communication network, by using medium and small unmanned aerial vehicles; fig. 1 to 2 show a two-layer three-dimensional network architecture constructed by combining an inter-cluster communication network and a plurality of intra-cluster communication networks.
The ad hoc network formed on the basis of each cluster head is used as a macro cell of the unmanned bee colony, the cluster head is obtained through negotiation election of members in the cluster, and the cluster head is used for completing coordination of frequency spectrum resources in/among the clusters, resource planning of all members in the cluster, network access and network quit management of maintenance nodes and management of topology transformation. The cluster member nodes are controlled by the cluster head nodes to complete the torsion and interaction of information among the swarms and realize a control link with a remote node.
The service data transmission of the whole swarm network is divided into two types, namely intra-cluster communication and inter-cluster communication. The communication between the nodes in the cluster is completed by directly forwarding by the local cluster head without routing. Inter-cluster communication needs to be accomplished through the macro-cellular network between the cluster heads. The macro cellular network is a distributed ad hoc network, and the quality of inter-cluster communication is influenced by the selection of a routing protocol. As shown in fig. 2, as can be seen from the overhead architecture diagram, for a swarm covering a specific target area, when a cellular three-dimensional spatial networking architecture is used, neighboring micro cells exist in micro cells distributed geographically, and then periodic mutual signaling is necessarily required between neighboring micro cells in the process of network architecture formation and maintenance, so that we can repeatedly use existing signaling information to carry member information, thereby forming routing information of members in the range of one-hop neighboring micro cells locally, i.e., we use active routing to form local routing table information in the local range of the neighboring micro cells, but no additional signaling overhead is consumed. For example, as shown in the overhead configuration diagram of fig. 2, when a member a in a microcell a wants to send data to a member B in a microcell B, since the cluster head of the microcell a locally stores the member information of the microcell B, the routing information from the member a to the member B can be directly obtained; when the member a in the micro cell a wants to send data to the member C in the micro cell C, since the cluster head of the micro cell a does not have the member information of the micro cell C locally, the routing information from the member a to the member C cannot be directly acquired, and at this time, the cluster head a needs to initiate a passive route to search for the path of the member C. The following are the detailed steps of the on-demand routing method based on the local active routing assistance of the invention:
step 1: local active routing via periodic signaling between microcells
After the micro-cellular network is formed, the cluster head locally maintains a routing table, and the routing table comprises member nodes in the micro-cellular network and member nodes of neighbor micro-cells.
Because the member nodes report the state information to the cluster head node periodically, the nodes in the cluster are periodically maintained in the routing table. After the micro-cellular network is formed, namely the cluster head is determined, the member nodes report state information to the cluster head nodes periodically, so that the cluster head maintains a routing table containing node information in the micro-cellular network; meanwhile, the cluster head periodically broadcasts the state information of the micro-cell through the macro-cell network, wherein the state information comprises the micro-cell ID and the member ID; after receiving the state information Macro _ hello sent by other micro cells, the neighbor micro cell cluster head adds the member information of the neighbor micro cells into a local routing table, and thus, local routing information in one-hop neighbor micro cells is formed;
the cluster head and the member node information thereof in a one-hop range of the cluster head node can be only maintained through the member node and the state information periodically reported by the cluster head, and the routing query during the communication between the micro-cell and the neighbor micro-cell can be provided;
table 1 routing query during communication between the own and neighboring microcells
Step 2: initiation of on-demand routing
When the cluster head receives the inter-cluster communication data packet of the member node and finds that the target node is not in the locally maintained routing table, the on-demand routing establishment process needs to be initiated to find the cluster head where the target node is located. This step uses the classic AODV protocol.
(1) Route request RouteReq Send
And after the cluster head broadcasts the routing request RouteReq, only the nodes which are the same cluster head have the processing right of the routing request, and other common nodes except the cluster head discard the routing request message after receiving the routing request message. The information format of RouteReq is as follows:
table 2 information format of RouteReq
Wherein the sequence number is a monotonically increasing integer indicating the recency of the routing request. The node adds 1 to the sequence number every time it sends a route request. The hop count is also a monotonically increasing integer that indicates the distance traveled by the routing request. When a source cluster head node generates a new routing request message, the broadcast ID is added with 1, and the source cluster head node, the destination node and the broadcast ID together uniquely determine a routing request message RouteReq. The source cluster head node broadcasts the message to all the adjacent micro-cell cluster head nodes in the communication range of the macro-cell network, and the adjacent cluster head nodes continue to forward in the same mode until finding the micro-cell where the target node is located. Since the routing request message is forwarded on the macro cellular network where all cluster head nodes are located, the intermediate cluster head node may receive a plurality of identical routing request messages, and at this time, the intermediate node may check whether the identical routing request messages have been received, and if so, discards the messages.
After the cluster head node sends the RouteReq, the sent request is stored in a request list and a timer is set. If the timer in the request list times out and no route reply is received, the route request is resent and the sequence number is incremented by 1. If the retransmission times exceed a preset value, the data packet in the buffer to the destination node is discarded.
Table 3 route request list
(2) Route request RouteReq reception
Fig. 3 is a flow chart of processing RouteReq by an intermediate node, after a RouteReq message is broadcasted, a cluster head node receiving the message first compares < original address, broadcast ID > to judge whether the message has been received by itself, if the message has been received, the message is discarded, otherwise, a destination node in the RouteReq message is compared with itself and member node information in an information table and a local routing table in the cluster, if the destination node is located in the cluster, the RouteRep is directly replied, and if the destination node is located in the local routing table, destination node path information and hop count in the local routing table are added to the RouteRep for replying; otherwise, recording corresponding information in the routing record table of the cluster node to form a reverse routing, wherein the recorded information is as the following table 4:
TABLE 4 record information
And after the reverse route recording is completed, adding 1 to the hop count in the RouteReq, and then forwarding the route request message to the downstream.
Here, the source sequence number and the destination sequence number are recorded, and the sequence numbers are monotonically increasing and are mainly used for avoiding negative influence on the system caused by missed buffer routing. The source sequence number is used to ensure the validity of the reverse route in the process of broadcasting the route request, and the destination sequence number is used to maintain the validity of the forward route.
Fig. 4 is a flow chart of processing RouteRep by the intermediate node, and when the source cluster head node that sends RouteReq receives the RouteRep, it indicates that the route discovery process is completed, and the cluster head sends the data stored in the buffer area according to the forward routing path. If there is a valid reverse route in the intermediate node, route reply RouteRep will be performed under two conditions:
the first is that the RouteReq reaches a cluster head where a destination node is located, an effective reverse route from the node to a source node exists, and the effective reverse route is generated by the cluster head of the destination node and is sent to the source node along a reverse route path stored by an upstream node;
the second is that the RouteReq has not reached the cluster head where the destination node is located, and has already obtained the path of the destination node through the local routing table of the intermediate cluster head, at this time, the path information and hop count of the destination node stored by the intermediate cluster head node are put into RouteRep for reverse reply, and the node receiving RouteRep adds a forward route to the destination node in its own routing table for the transmission of subsequent data packets.
Otherwise, the intermediate node discards the RouteRep message.
When the source cluster head node sending the RouteReq receives the RouteRep, the route discovery process is completed, and the cluster head sends the data stored in the buffer area according to the forward routing path.
The format of RouteReq is as follows:
table 5 format of RouteReq
So far, route establishment (i.e. macro-cellular network establishment) between cluster heads is completed, the whole network forms an upper macro-micro network structure and a lower macro-micro network structure, fig. 5 is a network structure diagram after micro-cellular and macro-cellular are both completed, fig. 6 is a macro-cellular route establishment flow diagram, a cluster head node queries a route table after receiving a member node data packet, and if a destination node path exists in the route table, the cluster head node sends data according to a next hop address in the route table; otherwise, caching the data packet to the local and sending a RouteReq, if the cluster head node receives a RouteRep reply, sending the data according to the information in the RouteRep and the obtained next hop address; and if the cluster head node receives the RouteErr reply or the route request timer is overtime, the cluster head node resends the RouteReq, otherwise, the cluster head node continues to wait for the RouteRep reply.
And step 3: macro cellular route maintenance
After the macro-micro double-layer network topology is formed, topology changes caused by node network access, node network exit, mobility switching, splitting and merging of micro cells and the like exist, and the topology changes need the micro cells to report the macro cellular network in time so as to keep the effectiveness of macro cellular routing. Moreover, when the inter-cluster-head link is broken due to the emergency situations that the macro cellular network formed by the cluster heads moves or is damaged and the frequency is unavailable, and the like, and the macro cellular route is in an effective state and has data transmission, the macro cellular route maintenance process is started.
With reference to fig. 7, when a certain macro cell route has timed out, the cluster head node directly deletes the route; otherwise, the route is not overtime, is still in the life cycle, and has data to send, at this time, a certain cluster head node on the route is broken due to a fault or the like, an upstream node located at the broken link node can find that the broken link node is not in the communication range of the upstream node through a feedback mechanism of an MAC layer, then the upstream node creates a route error message RouteErr and transmits the route error message RouteErr to the upstream node according to the reverse routing information recorded in the routing table, the cluster head node receiving the RouteErr message deletes the original route, and the source cluster head node re-initiates the route establishment process after receiving the route error message RouteErr. The format of the routing error message routerer is shown in table 6:
TABLE 6 RouteErr error message RouteeErr Format
In summary, the invention is directed to an upper layer macro cellular network after an unmanned swarm forms a layered network architecture, focuses on and efficiently utilizes existing signaling in the network establishment and maintenance process, and expands local routing information to the range of one-hop neighbor micro cells. Compared with the existing active routing or passive routing strategy, the on-demand routing strategy based on local active routing assistance provided by the invention can expand the storage path of the local active routing on the premise of not increasing signaling overhead, ensure the completeness and the accuracy of the routing path in a local area, reduce the extra time delay caused by the passive routing, ensure the communication connectivity among remote nodes, weaken the capacity bottleneck caused by an upper-layer distributed network, and have better adaptability and stability for a network scene that a swarm system covers a target area in a cellular structure mode.
Claims (5)
1. An on-demand routing method based on local active routing assistance is characterized in that the method is specific to a large-scale unmanned swarm heterogeneous cellular three-dimensional space networking architecture and comprises the following steps:
step 1, constructing a local active route through periodic signaling between microcells;
step 2, initiating routing according to needs: when the cluster head receives an inter-cluster communication data packet of a member node and finds that a target node is not in a locally maintained routing table, initiating an on-demand routing establishment process and searching the cluster head where the target node is located;
step 3, maintenance of the macro cell route: after the macro-micro double-layer network topology is formed, the topology change requires the micro-cell to report the macro-cell network in time; when the link between cluster heads breaks in the macro cellular network formed by the cluster heads, and the macro cellular route is in an effective state and has data transmission, the maintenance of the macro cellular route is started.
2. The local active routing assistance-based on-demand routing method according to claim 1, wherein the massive unmanned cellular heterogeneous three-dimensional space networking architecture is constructed based on multi-level network architectures and technical characteristics of macro cells and micro cells of a mobile communication network, and the architecture is based on the heterogeneity of the performances of medium-large sized and small-sized unmanned aerial vehicle platform size, load weight and power, and a plurality of medium-large sized unmanned aerial vehicles construct an upper-level macro cell network as an inter-cluster communication network; constructing a lower-layer micro-cellular network by using medium-sized, large-sized and small-sized unmanned aerial vehicles as an intra-cluster communication network; the inter-cluster communication network and the plurality of intra-cluster communication networks jointly construct a double-layer three-dimensional network system architecture;
the medium-large unmanned aerial vehicle refers to an unmanned aerial vehicle with the takeoff weight of more than 15 kg, and the unmanned aerial vehicle node with the maximum load weight of more than 10 kg supports simultaneous operation of various communication links, can be used as a time synchronization reference of each node in the unmanned swarm subnet, and provides access service and remote data transmission relay; the system can also form an ad hoc network with other communication access nodes; at least two transmitting and receiving channels are provided; the unmanned aerial vehicle node with the takeoff weight of the small unmanned aerial vehicle aircraft not more than 15 kg and the maximum load weight not more than 10 kg is provided with a sending-receiving channel which is only used as a subnet node in the cluster;
the ad hoc network formed on the basis of each cluster head is used as a macro cell of the unmanned swarm, the cluster head is obtained by negotiation election of members in the cluster, and the cluster head completes coordination of frequency spectrum resources in/among clusters, resource planning of all members in the cluster and management of maintaining network topology transformation; the cluster member nodes are controlled by the cluster head nodes to finish the torsion and interaction of information among the swarms and realize a control link with a remote node;
the service data transmission of the whole cellular network is divided into two types, namely intra-cluster communication and inter-cluster communication; the communication between the nodes in the cluster is directly completed by forwarding by a local cluster head without routing; inter-cluster communication needs to be accomplished through the macro-cellular network between the cluster heads.
3. The on-demand routing method based on local active routing assistance according to claim 1, wherein the local active routing is constructed through periodic signaling between micro cells in step 1, specifically as follows:
step 101, aiming at the micro-cellular network, a cluster head locally maintains a routing table, wherein the routing table comprises member nodes in the micro-cellular and member nodes of neighbor micro-cellular:
102, aiming at a micro-cellular network and a cluster head, periodically reporting state information to the cluster head node by a member node, and maintaining a routing table containing node information in the micro-cellular by the cluster head; meanwhile, the cluster head periodically broadcasts the state information of the micro-cell through the macro-cell network, wherein the state information comprises the micro-cell ID and the member ID; after receiving the state information Macro _ hello sent by other micro cells, the neighbor micro cell cluster head adds the member information of the neighbor micro cells into a local routing table to form local routing information in one-hop neighbor micro cells;
and 103, maintaining cluster heads and member node information thereof in a one-hop range of the cluster head nodes through the state information periodically reported by the member nodes and the cluster heads, and providing routing query during communication between the micro-cell and the neighbor micro-cells.
4. The method for on-demand routing based on local active routing assistance according to claim 1, wherein the initiation of on-demand routing in step 2 is as follows:
step 201, route request RouteReq sending
After the cluster head broadcasts the routing request RouteReq, only the nodes which are the same cluster head have the processing right of the routing request, and other common nodes except the cluster head receive the routing request message and then discard the routing request message;
the information format of RouteReq is as follows: an 8-bit message type field, an 8-bit hop field, two 16-bit reserved fields, a 32-bit routing request broadcast ID field, a 32-bit destination node address field, a 32-bit destination node sequence number field, a 32-bit source node address field and a 32-bit source node sequence number field; the sequence number is a monotonically increasing integer and indicates the freshness of the routing request, and the node adds 1 to the sequence number every time the node sends a routing request; the hop count is also a monotonically increasing integer indicating the distance traveled by the routing request; when a source cluster head node generates a new routing request message, adding 1 to a routing request broadcast ID; a source cluster head node, a destination node and a broadcast ID together uniquely determine a routing request message RouteReq; the source cluster head node broadcasts the message to all adjacent micro-cellular cluster head nodes in the communication range of the macro-cellular network, and the adjacent cluster head nodes continue to forward in the same way until finding out the micro-cellular where the target node is located; the routing request message is forwarded on the macro cellular network where all cluster head nodes are located, when the middle cluster head node receives a plurality of identical routing request messages, the middle cluster head node checks whether the identical routing request messages are received, and if the identical routing request messages are received, the messages are discarded;
after the cluster head node sends RouteReq, storing the sent request in a routing request list and setting a timer, if the timer in the request list is overtime and still does not receive a routing reply, resending the routing request and adding 1 to a sequence number; if the retransmission times exceed a preset value, discarding the data packet in the cache to the destination node;
step 202, route request RouteReq reception
After the RouteReq message is broadcasted, the cluster head node receiving the message compares the original address with the broadcast ID to judge whether the message is received by the cluster head node, if the message is received, the message is discarded, otherwise, the target node in the RouteReq message is compared with the self and the member node information in the information table and the local routing table in the cluster, if the target node is positioned in the cluster, the RouteRep is directly replied, and if the target node is positioned in the local routing table, the target node path information and the hop count in the local routing table are added into the RouteRep for replying; otherwise, recording corresponding information in the cluster node route recording table to form a reverse route, wherein the route table comprises an upstream node address field of 32 bits, a destination sequence number field of 32 bits, a source node address field of 32 bits, a source sequence number field of 32 bits, a broadcast ID field of 32 bits and a reverse route timeout duration field of 32 bits;
after the reverse routing record is completed, adding 1 to the hop count in the RouteReq, and then forwarding the routing request message to the downstream;
recording a source sequence number and a destination sequence number, wherein the sequence numbers are monotonically increased, the source sequence number is used for ensuring the validity of a reverse route in the broadcasting process of a route request, and the destination sequence number is used for maintaining the validity of a forward route;
the RouteReq reaches a cluster head where a target node is located, the cluster head of the target node generates RouteRep and sends the RouteRep to a source node along a reverse routing path stored by an intermediate node; if the RouteReq does not reach the cluster head where the destination node is located, the route of the destination node is obtained through a local routing table of an intermediate cluster head, the route information and the hop count of the destination node stored by the intermediate cluster head node are put into RouteRep for reverse reply, and the node receiving RouteRep adds a forward route to the destination node in each routing table for sending subsequent data packets;
when a source cluster head node sending the RouteReq receives the RouteRep, the router discovery process is completed, the cluster head sends data stored in a buffer area according to a forward routing path, and the RouteReq comprises an 8-bit message type field, an 8-bit hop number field, two 16-bit reserved fields, a 32-bit destination node address field, a 32-bit destination node sequence number field, a 32-bit source node address field and a 32-bit survival time field.
5. The method for on-demand routing based on local active routing assistance according to claim 1, wherein the maintenance of the macro cellular routing in step 3 is as follows:
step 301, when topology change caused by node access, node exit, mobility switching and splitting and merging of microcells occurs in a macro-micro double-layer network topology, reporting the topology change to a macro-cellular network by the microcells; when a macro cellular network formed by cluster heads has a broken link between the cluster heads to form a broken link cluster head node, and a macro cellular route is in an effective state and has data transmission, starting a macro cellular route maintenance process;
step 302, assuming that the network layer can discover the link status of the neighbor node by using the feedback mechanism of the MAC layer, when the upstream node located at the delinking node discovers that the delinking node is not within its own communication range by using the feedback mechanism of the MAC layer, the upstream node creates a route error message routerer and transmits the route error message routerer to the source node according to the reverse routing information recorded in the routing table, the cluster head node receiving the routerer message deletes the original route, the source cluster head node re-initiates the route establishment process after receiving the route error message routerer, the error message routerer includes an 8-bit message type field, three 16-bit reserved fields, a 32-bit source node address field, a 32-bit source node sequence number field, a 32-bit delinking node address field, a 32-bit destination node address field, and a 32-bit destination node sequence number field.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110801939.8A CN113613307B (en) | 2021-07-15 | 2021-07-15 | On-demand routing method based on local active routing assistance |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110801939.8A CN113613307B (en) | 2021-07-15 | 2021-07-15 | On-demand routing method based on local active routing assistance |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN113613307A true CN113613307A (en) | 2021-11-05 |
| CN113613307B CN113613307B (en) | 2023-08-04 |
Family
ID=78337648
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110801939.8A Active CN113613307B (en) | 2021-07-15 | 2021-07-15 | On-demand routing method based on local active routing assistance |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN113613307B (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115225213A (en) * | 2022-03-08 | 2022-10-21 | 中国科学院上海微系统与信息技术研究所 | Super multi-hop ad hoc network data retransmission method based on feedback signaling convergence |
| CN115720357A (en) * | 2022-11-02 | 2023-02-28 | 航天行云科技有限公司 | Clustering mobility management method and system for wireless ad hoc network |
| CN116170860A (en) * | 2023-04-20 | 2023-05-26 | 成都泰格微波技术股份有限公司 | Ad hoc network method for antenna ad hoc network system |
Citations (14)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20050073992A1 (en) * | 2003-10-07 | 2005-04-07 | Samsung Electronics Co., Ltd. | Method for setting up route path through route discovery in a mobile ad hoc network using partial route discovery |
| KR20080058565A (en) * | 2006-12-22 | 2008-06-26 | 강원대학교산학협력단 | Zigbee mesh routing protocol based on cluster label |
| CN102892113A (en) * | 2012-09-20 | 2013-01-23 | 苏州两江科技有限公司 | Method for safety transmission of data between nodes in hierarchical wireless sensor network |
| CN105992300A (en) * | 2015-02-12 | 2016-10-05 | 北京信威通信技术股份有限公司 | Clustering routing method and system based on static formation in ad hoc network |
| CN106034342A (en) * | 2015-03-12 | 2016-10-19 | 北京信威通信技术股份有限公司 | Processing method for cluster-separating route abnormity in wireless ad hoc network |
| CN106658640A (en) * | 2016-12-26 | 2017-05-10 | 上海大学 | Clustering Ad hoc network routing establishment method for three-meter wireless centralized reading |
| CN107318142A (en) * | 2017-06-30 | 2017-11-03 | 安徽农业大学 | Distributed routing method between a kind of wireless sense network cluster |
| CN110049530A (en) * | 2019-05-24 | 2019-07-23 | 西安电子科技大学 | Method for routing based on Q study and trust model in vehicular ad hoc network |
| CN110995333A (en) * | 2019-11-29 | 2020-04-10 | 北京航空航天大学 | Cluster QoS route design method |
| CN211151990U (en) * | 2019-10-09 | 2020-07-31 | 中铁第四勘察设计院集团有限公司 | Emergency communication system based on air-to-air vehicle-ground communication network |
| CN111510956A (en) * | 2020-03-14 | 2020-08-07 | 大连昊洋科技发展有限公司 | Hybrid routing method based on clustering and reinforcement learning and ocean communication system |
| CN111556550A (en) * | 2020-03-17 | 2020-08-18 | 西安电子科技大学 | Routing method for unmanned aerial vehicle network communication |
| CN111954281A (en) * | 2020-07-28 | 2020-11-17 | 西安理工大学 | Swarm unmanned aerial vehicle formation clustering routing method based on wireless ultraviolet light communication |
| US20200412635A1 (en) * | 2019-06-27 | 2020-12-31 | Intel Corporation | Routing updates in icn based networks |
-
2021
- 2021-07-15 CN CN202110801939.8A patent/CN113613307B/en active Active
Patent Citations (14)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20050073992A1 (en) * | 2003-10-07 | 2005-04-07 | Samsung Electronics Co., Ltd. | Method for setting up route path through route discovery in a mobile ad hoc network using partial route discovery |
| KR20080058565A (en) * | 2006-12-22 | 2008-06-26 | 강원대학교산학협력단 | Zigbee mesh routing protocol based on cluster label |
| CN102892113A (en) * | 2012-09-20 | 2013-01-23 | 苏州两江科技有限公司 | Method for safety transmission of data between nodes in hierarchical wireless sensor network |
| CN105992300A (en) * | 2015-02-12 | 2016-10-05 | 北京信威通信技术股份有限公司 | Clustering routing method and system based on static formation in ad hoc network |
| CN106034342A (en) * | 2015-03-12 | 2016-10-19 | 北京信威通信技术股份有限公司 | Processing method for cluster-separating route abnormity in wireless ad hoc network |
| CN106658640A (en) * | 2016-12-26 | 2017-05-10 | 上海大学 | Clustering Ad hoc network routing establishment method for three-meter wireless centralized reading |
| CN107318142A (en) * | 2017-06-30 | 2017-11-03 | 安徽农业大学 | Distributed routing method between a kind of wireless sense network cluster |
| CN110049530A (en) * | 2019-05-24 | 2019-07-23 | 西安电子科技大学 | Method for routing based on Q study and trust model in vehicular ad hoc network |
| US20200412635A1 (en) * | 2019-06-27 | 2020-12-31 | Intel Corporation | Routing updates in icn based networks |
| CN211151990U (en) * | 2019-10-09 | 2020-07-31 | 中铁第四勘察设计院集团有限公司 | Emergency communication system based on air-to-air vehicle-ground communication network |
| CN110995333A (en) * | 2019-11-29 | 2020-04-10 | 北京航空航天大学 | Cluster QoS route design method |
| CN111510956A (en) * | 2020-03-14 | 2020-08-07 | 大连昊洋科技发展有限公司 | Hybrid routing method based on clustering and reinforcement learning and ocean communication system |
| CN111556550A (en) * | 2020-03-17 | 2020-08-18 | 西安电子科技大学 | Routing method for unmanned aerial vehicle network communication |
| CN111954281A (en) * | 2020-07-28 | 2020-11-17 | 西安理工大学 | Swarm unmanned aerial vehicle formation clustering routing method based on wireless ultraviolet light communication |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115225213A (en) * | 2022-03-08 | 2022-10-21 | 中国科学院上海微系统与信息技术研究所 | Super multi-hop ad hoc network data retransmission method based on feedback signaling convergence |
| CN115225213B (en) * | 2022-03-08 | 2023-12-05 | 中国科学院上海微系统与信息技术研究所 | Feedback signaling convergence-based ultra-multi-hop ad hoc network data retransmission method |
| CN115720357A (en) * | 2022-11-02 | 2023-02-28 | 航天行云科技有限公司 | Clustering mobility management method and system for wireless ad hoc network |
| CN116170860A (en) * | 2023-04-20 | 2023-05-26 | 成都泰格微波技术股份有限公司 | Ad hoc network method for antenna ad hoc network system |
| CN116170860B (en) * | 2023-04-20 | 2023-07-07 | 成都泰格微波技术股份有限公司 | Ad hoc network method for antenna ad hoc network system |
Also Published As
| Publication number | Publication date |
|---|---|
| CN113613307B (en) | 2023-08-04 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN113613307B (en) | On-demand routing method based on local active routing assistance | |
| CN113630838B (en) | Method for constructing three-dimensional space bee colony networking architecture based on similar heterogeneous cellular network | |
| US7606187B2 (en) | System and method to support multicast routing in large scale wireless mesh networks | |
| CN102148756B (en) | IPv6 over low power wireless personal area network (6LoWPAN) neighbor discovery-based tree routing method | |
| WO2016002404A1 (en) | Communication control method and mobile terminal | |
| CN101197748A (en) | Multi-jump wireless self-organizing network construction method based on partition tree | |
| CN111757414B (en) | SDMANET network networking method based on multimode radio station | |
| CN114374721A (en) | Power line and wireless communication fusion method and system for power internet of things | |
| Shaikh et al. | Centralized adaptive routing in multihop cellular D2D communications | |
| Zhao et al. | A hybrid routing protocol for hierarchy wireless mesh networks | |
| Imani et al. | DSDV-Het: a new scalable routing protocol for large heterogeneous ad hoc networks | |
| Jemili et al. | A layered cluster based routing for an ad hoc environment | |
| CN114785726B (en) | Clustering OLSR routing method based on management message merging | |
| Mirza et al. | Reliable multipath multi-channel route migration over multi link-failure in wireless ad hoc networks | |
| Srijeevitha et al. | An Efficient Data Transmission using Relay Node Based Opportunistic Routing | |
| Li et al. | Improved MAODV link repair technique for group team communication in MANET | |
| Thaalbi et al. | An Enhanced Geographical Routing protocol for Wireless Mesh Networks, 802. 11s | |
| Hui et al. | Wireless Mesh Architecture for IP-Based Base Stations | |
| Kumar et al. | A design and classification framework for routing protocols in MANETs | |
| Hu et al. | A Dynamic TDMA Scheduling Based Clustering Algorithm for MANETs | |
| Sempere-Payá | Teresa Albero-Albero | |
| Randhawa et al. | Selecting Appropriate Multipath Routing in Wireless Sensor Networks for Improvisation of System’s Efficiency | |
| David et al. | Efficient channel assignment and routing in wireless mesh network | |
| Purtoosi et al. | Improving broadcast performance by traffic isolation in wireless ad hoc networks | |
| Muchintala et al. | Routing Protocols for MANETs |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |