CN113630838A - Method for constructing three-dimensional space bee colony networking architecture based on similar heterogeneous cellular network - Google Patents
Method for constructing three-dimensional space bee colony networking architecture based on similar heterogeneous cellular network Download PDFInfo
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Abstract
The invention discloses a three-dimensional space swarm networking architecture construction method based on a similar heterogeneous cellular network, which is oriented to the heterogeneous characteristics of medium-large unmanned aerial vehicles and small unmanned aerial vehicles, supports the construction of an upper layer macro cellular network by the medium-large unmanned aerial vehicle and the construction of a lower layer micro cellular network by the small unmanned aerial vehicle, and comprises the steps of micro cellular initial networking, macro cellular network construction and network topology maintenance; the cooperative spectrum sensing and distributed resource management of macro-micro cellular two levels and an efficient information sharing processing mechanism are supported, the timeliness of accurate identification and efficient sharing of the swarm spectrum is improved, and efficient utilization of limited resources and flexible construction of a network are highlighted. The invention focuses on improving the frequency spectrum utilization efficiency and the unmanned aerial vehicle energy efficiency of the swarm network, can realize the rapid networking and dynamic topology management of large-scale unmanned aerial vehicle swarm, and the dynamic management and the efficient utilization of wireless resources, improves the efficiency of the unmanned swarm, and deals with the complex and changeable networking environment.
Description
Technical Field
The invention belongs to the technical field of wireless communication, and particularly relates to a method for constructing a three-dimensional space swarm network architecture based on a similar heterogeneous cellular network.
Background
The idea of the unmanned plane swarm technology is to simulate honey and ant colonies in nature, and the system has the functions of commanding, communication, defense and the like. Unmanned bee colony comprises a plurality of low-cost small-size unmanned aerial vehicle who is equipped with multiple task load, there is certain difference in equipment such as communication that unmanned aerial vehicle in the bee colony carried, compare the people, unmanned bee colony system has contained abundant heterogeneous main part, its individual dispersibility is stronger, unmanned aerial vehicle bee colony can carry out the specialization and divide the labour during executive task, every unmanned aerial vehicle function is different, therefore can be according to the task needs, rapid deployment and configuration, this proposes very high requirement to the network. The unmanned swarm ad hoc network is the basis and the premise of swarm cooperative operation, and the performance of the unmanned swarm ad hoc network directly determines whether a cooperative task target can be realized.
At present, a mobile ad hoc network strategy is mostly adopted by an unmanned swarm, and the advantages of flexibility and rapidness in networking and no need of special infrastructure are utilized to solve data communication between mobile targets. The mobile ad hoc network structure is divided into a planar structure and a hierarchical structure. All unmanned aerial vehicle nodes in the plane structure are positioned on the same level, a multi-hop communication link exists between any two nodes to be communicated, and the communication between the nodes is completed through a routing algorithm, the method has the advantages that the structure is simple, the traffic can be evenly distributed to each path to realize the load balance, but the plane network structure is easily influenced by the communication range, the network scale and the environment, the method can only be applied to a network with smaller scale and simple topological structure, particularly, the network overhead and the time delay can be increased along with the increase of the number of the nodes, and the effective maintenance of dynamic topology and the real-time transmission of services can not be ensured; the hierarchical structure divides all nodes in the network into clusters, each cluster network comprises a network manager (cluster head) and a plurality of member nodes, the cluster head is responsible for topology maintenance and resource management of the whole cluster sub-network, and the member nodes are only responsible for network basic services such as data transmission and the like. Compared with a planar structure, the hierarchical structure supports larger-scale network nodes, and is easy to maintain a more complex dynamic topological structure.
The multi-unmanned aerial vehicle formed into the swarm to execute specific tasks can be faster and more accurate, and the premise is that information interaction and control among the unmanned aerial vehicle swarm need to be realized. The unmanned bee colony is large in scale and high in density, and the frequency spectrum congestion is caused, so that the unmanned platform is more dependent on frequency spectrum resources. A large amount of cooperative control instructions and sensor detection data exist in the unmanned swarm, wherein the control instructions have high requirements on the performances such as reliability and time delay, the detection data volume of the sensor is large, and the accuracy is in direct proportion to the frequency and the data volume of the returned detection data; moreover, the unmanned swarm usually performs specific tasks in a complex electromagnetic environment, and therefore, how to make full use of limited spectrum resources to quickly establish reliable communication links to match different business application requirements and effectively complete dynamic topology maintenance of dense nodes is a place of important consideration for the unmanned swarm network.
The hierarchical structure can meet the requirement of large-scale networking of the unmanned aerial vehicle swarm, but the traditional hierarchical structure does not consider how to utilize the hierarchical structure to efficiently utilize the frequency spectrum under the condition of limited frequency spectrum resources, and is not enough in design on the aspect of flexible networking of dynamic topology, so that the high-efficiency collaboration among heterogeneous platforms under a specific task scene cannot be met, and the support of a plurality of mature and efficient intelligent algorithms is ignored.
Disclosure of Invention
The invention aims to provide a method for constructing a three-dimensional space swarm networking architecture based on a similar heterogeneous cellular network, which realizes the rapid networking and dynamic topology management of a large-scale unmanned aerial vehicle swarm and the dynamic management and efficient utilization of wireless resources, solves the problems of spectrum resource shortage and the like in an antagonistic environment, improves the efficiency of the unmanned swarm and deals with a complex and changeable networking environment.
The technical solution for realizing the purpose of the invention is as follows: a kind of stereoscopic space bee colony network structure construction method based on heterogeneous cellular network, divide the node into two kinds of node of medium-and-large-scale unmanned aerial vehicle, small-scale unmanned aerial vehicle node according to the unmanned aerial vehicle ability difference, the node of medium-and-large-scale unmanned aerial vehicle means the unmanned aerial vehicle node that the aircraft takes off the weight and is greater than 15 kilograms, the maximum load weight is greater than 10 kilograms; the small unmanned aerial vehicle node refers to an unmanned aerial vehicle node with the takeoff weight of the unmanned aerial vehicle being not more than 15 kg and the maximum load weight being not more than 10 kg;
the medium-large unmanned aerial vehicle is used as a cluster head node, the small unmanned aerial vehicle is used as a cluster sub-node to construct a lower-layer micro-cellular network, and the medium-large unmanned aerial vehicle used as a micro-cellular cluster head node constructs an upper-layer macro-cellular network; the method comprises the following steps that a double-layer network system architecture is jointly constructed by an inter-cluster communication network based on a macro cell and an intra-cluster communication network based on a micro cell, and the specific construction process comprises micro cell initial network construction, macro cell network construction and network topology maintenance;
the initial network establishment process of the microcells is as follows: starting up an unmanned aerial vehicle node in a swarm to perform channel sensing, synchronization and neighbor discovery; carrying out cluster head election by negotiating unmanned planes in the neighbor range, and electing a cluster head representing a base station in a local microcell; the unmanned aerial vehicle in the negotiation neighbor range is accessed into the cluster head by the member identity to construct a micro-cellular network;
the micro-cellular network takes a cluster head as a center, the cluster head executes network management functions, and the functions comprise providing time reference for each node in the micro-cellular, realizing cross-network information forwarding among member nodes, being responsible for network entry and exit management and resource planning and scheduling of all members in the cluster, and adjusting the communication coverage of the micro-cellular according to the application requirements of combat tasks of each node platform of a sub-network in the cluster;
the initial network establishment process of the macro cell is as follows: after the micro-cellular network is formed, further performing channel sensing and synchronization on the basis of each cluster head node, and then forming a macro-cellular network through an OLSR routing protocol;
the network topology maintenance and management process is as follows: the cluster head node in the micro-cellular network periodically sends a reference frame to the member nodes of the cluster head node, receives state information reported by the members to confirm whether the network has network topology structure change caused by node movement and available frequency spectrum range change in the network or node entering and exiting due to security performance receiving threat, and if the network topology change is found, the cluster head node updates the member information maintained by the cluster head node and sends the network topology change condition to other cluster head nodes through the macro-cellular.
Furthermore, the medium-large unmanned aerial vehicle node supports simultaneous operation of various communication links, can serve 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 small unmanned aerial vehicle node is provided with a transmitting channel and a receiving channel.
Further, the initial network establishment of the microcells is as follows:
step 11, channel synchronization
The method comprises the steps that a minimum channel labeling method is adopted for channel synchronization, nodes are started to sense channels and form an available channel set, and all the nodes select a channel with the minimum label in the channel set as a working channel;
step 12, cluster election and initial microcell formation
Sending a hello packet on a selected working channel to carry out a neighbor discovery process, and finishing cluster head election and micro-cell establishment on the basis, wherein the specific flow is as follows:
step 121, the unmanned aerial vehicle node receives and transmits hello packets on the selected working channel, if hello packets of other nodes are received, the node is used as a neighbor node, and an information table and a neighbor information table maintained by the node are updated;
step 122, the node receives the new neighbor node information, synchronously calculates the weight and updates the hello packet;
step 123, if the steps 121-122 continue for N superframes, entering step 124, otherwise, returning to step 121, wherein N is a natural number set according to actual network requirements;
step 124, the node queries the neighbor node information table of the local record:
if the node has no neighbor information, the node is an isolated node and is defaulted as a cluster head node, and then the step 125 is carried out;
if the node has neighbor information, comparing whether the weight of the node per se is the minimum value of all neighbor nodes: if the value is the only minimum value in all the neighbor nodes, the node is elected as a cluster head node and then the step 125 is carried out; if the weight of the node and the weight of the neighbor node are the same as the minimum value, judging through the minimum ID criterion, wherein the ID refers to the node number, if the ID value of the node is small, the node is continuously selected as a cluster head, then the step 125 is carried out, otherwise, the node is converted into a cluster sub-node, and then the step 126 is carried out; if not, entering a member node state, and then entering step 126;
step 125, periodically broadcasting a reference frame by the cluster head node;
step 126, the cluster child node waits for receiving the reference frame, and the node receiving the reference frame broadcasted by the cluster head sends a cluster entering request message to the cluster head, and the step 127 is carried out;
and 127, if the cluster child node replies a network access confirmation message after receiving the approval from the cluster head node, completing network access, and completing the local information table by the node, otherwise, entering 126.
Further, the macro cellular network is established as follows:
step 21, a minimum label channel method is selected for channel synchronization of macro cellular network nodes, and a cluster head node selects a channel with a minimum label in an available channel set as a working channel;
and step 22, after the macro cell working channel is determined, adopting routing protocols such as OLSR, AODV and DSR to construct the route of the macro cell network.
Further, the network topology maintenance specifically includes, for various change behaviors of the network topology under different conditions, the following corresponding maintenance processes:
step 31, the node accesses the network late
After the network topology is stable, if a node is started and wants to join the network, the node performs channel sensing after being started, if the node receives a reference frame periodically broadcast by a micro-cell cluster head in the sensing process, the node sends a network-entering application message requesting for joining to the cluster head node, the cluster head node replies a network-entering confirmation message after approval, the new node becomes a member node of the micro-cell after receiving the confirmation message from the cluster head, the cluster head node updates the local member information of the micro-cell, and the newly-accessed node updates a local information table; otherwise, the node continues to keep the interception mode and waits for receiving the reference frame from the cluster head;
step 32, the member node normally quits the network
When the member nodes need to quit the current micro-cellular network, the nodes send network quitting requests to the cluster head nodes, if the network quitting confirmation message of the cluster head can be received in an instruction period, the network quitting is performed normally, and the cluster head updates the member information table in the cluster; re-requesting and requesting at most 3 times if no acknowledgement is received within one instruction cycle; if the confirmation message of the cluster head is not received, the member node defaults that the member node is not in the network, network quitting operation is carried out by self compulsorily, and meanwhile, the cluster head does not receive state information reported by the member node within the abnormal network quitting threshold, the member is defaulted to quit the network, and a local information table is updated;
step 33, abnormal exit of member node
The cluster head sets an abnormal quit network threshold period m, counts the node information in the network, if the cluster head does not receive the state information reported by the member node in the cluster in the period exceeding m, the cluster head updates the micro-cellular topology information and recovers the resource of the member node if the member is abnormal quit network, perfects the local information table of the cluster head and informs the whole network of topology updating;
step 34, the cluster head normally quits the network
Before the cluster head normally exits the network, selecting a new cluster head in member nodes maintained locally through weight comparison, negotiating with the new cluster head, and handing over self cluster head information and the new cluster head, so that the new cluster head information is issued to the microcellular members twice, wherein the interval time of the two times is m, indicating the members to initiate network entry to the replacement cluster head, deleting local original cluster head information after the members receive a re-network entry message issued by the cluster head, and initiating network entry application to the new cluster head, and informing the whole network to perform topology updating after the new cluster head agrees with the network entry application of the member nodes;
step 35, quitting the network when the cluster head is abnormal
The cluster head node quits the network abnormally when encountering abnormal conditions, a cluster head node abnormal network quitting period threshold value n is arranged in the member node, if the member node does not receive a reference frame periodically broadcasted from the cluster head within n periods, the member defaults that the cluster head is abnormally quitted, cluster head information maintained by the member node is deleted, if other network-accessible cluster heads are found, a new microcell is applied to join, otherwise, a network reestablishing process is initiated, the member node broadcasts a cluster head reselection message, the cluster head is reselected, and the cluster head informs the whole network to carry out topology updating after the network updating is finished;
step 36 capacity-based microcell splitting and merging
The splitting and merging of the micro cells are initiated by a cluster head, a micro cell capacity check timer and the upper limit and the lower limit of the number of nodes in the micro cells are arranged at the cluster head, the cluster head periodically checks the number of members according to the timer, and if the number of the members is found to be larger than the upper limit threshold value, the splitting of the micro cells is triggered; if the number of the members is continuously smaller than the lower limit threshold value and the neighbor micro cells have micro cells meeting the merging requirement, the merging operation with the neighbor micro cells is initiated;
the splitting of the micro-honeycomb is realized by that a cluster head designates a new cluster head and split member splitting through weight comparison according to node position information in the micro-honeycomb, a splitting scheme and a re-network access message are broadcasted to the members, and after receiving the message, each node is converted into a cluster head node to work according to the splitting scheme or sends a re-network access application to the new cluster head; the merging is determined by two cluster heads according to the negotiation of the relative position of the nodes in the newly merged microcellular, wherein the two cluster heads are one of the two cluster heads or the other node in the network meeting the conditions of the cluster heads;
step 37 inter-microcell mobility handover
When the unmanned aerial vehicle node is in the coverage range of a micro-cell or moves to the transmission range of the micro-cell, the unmanned aerial vehicle node periodically scans broadcast reference frame signals sent by adjacent cluster heads, measures the average strength of the signals, and triggers the switching of sub-networks among the micro-cells according to a preset micro-cell switching strategy by combining energy detection results, the number of node users in different micro-cells and load conditions;
the switching judgment condition of the unmanned plane node from one micro cell to another micro cell is as follows: the micro-honeycomb cluster headC s Signal strengthRSSI(C s ) Is less than a set first threshold value and is adjacent to the micro-cell cluster headC n Signal strengthRSSI(C n ) Greater than a set second threshold value.
Compared with the prior art, the invention has the following remarkable advantages: (1) the three-dimensional space swarm networking architecture based on the heterogeneous cellular network not only supports large-scale unmanned aerial vehicle dense networking, but also is suitable for the requirements of large-scale unmanned swarm connection, random linkage target information interaction and the like under the condition of strong confrontation environment spectrum limitation; (2) the efficient utilization of limited resources and the flexible construction of a network are highlighted, and the framework support is provided for distributed cooperative spectrum sensing, same-frequency networking, efficient resource allocation and machine learning-based related algorithms; (3) the frequency spectrum utilization efficiency and unmanned aerial vehicle energy efficiency of the swarm network are improved, the rapid networking and dynamic topology management of large-scale unmanned aerial vehicle swarm can be realized, the dynamic management and the efficient utilization of wireless resources can be realized, the problems of frequency spectrum resource shortage and the like in the confrontation environment are solved, the efficiency of the unmanned swarm is further improved, and the complex and variable networking environment is responded.
Drawings
Fig. 1 is a schematic diagram of an unmanned swarm network architecture.
Fig. 2 is a schematic diagram of cluster head election and cluster, i.e., microcell formation.
FIG. 3 is a flow diagram of a new node late-entry process.
FIG. 4 is a flow chart of normal network exit of a member node.
FIG. 5 is a flow diagram of a member node exception logout.
Fig. 6 is a flow chart of normal network exit of the cluster head.
Fig. 7 is a flow chart of abnormal network exit of cluster head.
Fig. 8 is a flow chart of capacity-based microcell splitting and merging.
Fig. 9 is an inter-microcell mobility handoff flow diagram.
Detailed Description
The invention provides a three-dimensional space swarm networking architecture design based on a similar heterogeneous cellular network aiming at the requirements of large-scale connection of unmanned swarm, random interaction of linkage target information and the like under the condition of strong confrontation environment frequency spectrum limitation, the architecture is oriented to the heterogeneous characteristics of medium-large and small unmanned aerial vehicles, the medium-large unmanned aerial vehicle is used as a cluster head node, the small unmanned aerial vehicle is used as a cluster sub-node to construct a lower-layer micro-cellular network, the medium-large unmanned aerial vehicle used as a micro-cellular cluster head node constructs an upper-layer macro-cellular network, and an inter-cluster communication network based on macro-cells and an intra-cluster communication network based on micro-cells are combined to construct an unmanned aerial group dynamic networking of a double-layer network system architecture; the cooperative spectrum sensing and distributed resource management and an efficient information sharing processing mechanism of two levels of macro cells and micro cells are supported, the timeliness of accurate identification and efficient sharing of the swarm spectrum is improved, and efficient utilization of limited resources and flexible construction of a network are highlighted. For convenience of description, the network architecture model shown in fig. 1 is given as follows:
considering a 10km x 10km network coverage scene, 100 unmanned bee colonies formed by unmanned aerial vehicles are randomly distributed in the scene. Because unmanned aerial vehicle platform load capacity limits, the communication load that can carry on slightly differs in volume, consumption, weight. Dividing the nodes into a medium-large node and a small node according to the capability difference of the unmanned aerial vehicle:
1) medium and large scale nodes: the unmanned aerial vehicle with the takeoff weight of the aircraft exceeding 15 kilograms and the maximum load weight being more than 10 kilograms has stronger load capacity, supports simultaneous work 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;
2) and (3) small-sized nodes: the takeoff weight of the aircraft is not more than 15 kg, the maximum load weight is not more than 10 kg, and the unmanned aerial vehicle node with small load capacity adopts a single-sending-receiving channel, can only be used as a subnet node in a cluster, and cannot be used as a cluster head.
Based on multi-level network architecture and technical characteristics of macro cells and micro cells of a mobile communication network, a lower-layer micro cellular network with a medium-large unmanned aerial vehicle as a cluster head and a small unmanned aerial vehicle as a cluster child node is established on the basis of the heterogeneity of performances such as the size, load weight and power of medium-large and small unmanned aerial vehicle platforms, and a plurality of subnets are formed; and the cluster heads of each subnet, namely the cluster head 1, the cluster head 2, the cluster head 3 and the cluster head n, are used for constructing an upper-layer macro cellular network; a two-layer network architecture is formed as shown in fig. 1.
The microcellular network is established prior to the macrocellular network. After the swarm nodes are started, cluster head election is carried out by negotiating the unmanned aerial vehicle in the neighbor range, the generation of the cluster head represents the appearance of a base station in the local micro-cell, the unmanned aerial vehicle in the range is accessed to the base station by the membership, and then the micro-cell network is formed. The micro-cellular network takes a cluster head as a center, and the cluster head executes all network management functions, such as providing a time reference for each node in the micro-cellular, realizing the cross-network information forwarding among member nodes, being responsible for the network access and exit management and resource planning and scheduling of all members in the cluster, changing the communication coverage range of the micro-cellular by adjusting the position height, the transmitting power and the like according to task needs so as to meet the application needs of combat tasks of each node platform of a sub-network in the cluster, and the like.
After the micro-cellular network is formed, a macro-cellular network is further formed on the basis of each cluster head node, and the macro-cellular network is an ad hoc network without a centralized control center and is used for finishing functions of inter-cluster information interaction, intra-cluster/inter-cluster spectrum resource coordination, network topology maintenance and management and the like.
The macro and micro double-layer network architecture designed by the invention has good network expansibility and unlimited network scale, and when a node is added or quitted, the topology change can be transmitted to other nodes of the whole network through the cluster head to update the local topology structure. Most importantly, the double-layer network architecture supports the same-frequency networking and the management of wireless resources among the lower-layer micro cells, and can be used for improving the swarm capacity, the overall system throughput and the communication load adaptation performance of the system. The network architecture is specifically realized by the following steps:
step 1: initial network establishment of microcells
Step 11, channel synchronization
Because the invention considers that the environment with limited frequency spectrum is strongly resisted, the establishment of the network architecture needs to be carried out on the premise that the frequency spectrum sensing acquires available frequency resources. Each node independently senses available channels locally, so that the same channel is selected on the available channel set obtained by local sensing by each node to complete interaction between the nodes and subsequent network establishment.
The present invention considers a symmetric channel network scenario. That is, the available channel sets perceived by each node in the network area are the same, and all nodes use the same numbering mode to number the available channels. Therefore, a minimum channel labeling method is adopted for channel synchronization, namely after the nodes are started to finish channel sensing to form an available channel set, all the nodes select the channel with the minimum label in the channel set as a working channel.
Step 12, cluster election and initial microcell formation
After the unmanned aerial vehicle node is started up to complete channel sensing and working channel confirmation, a hello packet is sent on the selected working channel to conduct a neighbor discovery process, and cluster head election and micro-cell establishment are completed on the basis. With reference to fig. 2, the specific process is as follows:
step 121, the unmanned aerial vehicle node receives and transmits hello packets on the selected working channel, if hello packets of other nodes are received, the node is used as a neighbor node, and an information table and a neighbor information table maintained by the node are updated;
step 122, the node receives the new neighbor node information, synchronously calculates the weight and updates the hello packet;
step 123, if the steps 121-122 continue for N superframes, entering step 124, otherwise, returning to step 121, wherein N is a natural number set according to actual network requirements;
step 124, the node queries the neighbor node information table of the local record:
if the node has no neighbor information, the node is an isolated node and is defaulted as a cluster head node, and then the step 125 is carried out;
if the node has neighbor information, comparing whether the weight of the node per se is the minimum value of all neighbor nodes: if the value is the only minimum value in all the neighbor nodes, the node is elected as a cluster head node and then the step 125 is carried out; if the weight of the node and the weight of the neighbor node are the same as the minimum value, judging through the minimum ID criterion, wherein the ID refers to the node number, if the ID value of the node is small, the node is continuously selected as a cluster head, then the step 125 is carried out, otherwise, the node is converted into a cluster sub-node, and then the step 126 is carried out; if not, entering a member node state, and then entering step 126;
step 125, periodically broadcasting a reference frame by the cluster head node;
step 126, the cluster child node waits for receiving the reference frame, and the node receiving the reference frame broadcasted by the cluster head sends a cluster entering request message to the cluster head, and the step 127 is carried out;
and 127, if the cluster child node replies a network access confirmation message after receiving the approval from the cluster head node, completing network access, and completing the local information table by the node, otherwise, entering 126.
Step 2: macro cellular network establishment
Step 21, channel synchronization
Once the identity of the cluster head of the microcellular network is determined, the cluster head attempts to find or establish a macrocellular network. The premise for finding or establishing a macro cellular network is still to operate on the same channel as the other clusterhead nodes. The scheme assumes that the network under the coverage of the macro cell is a symmetric network, i.e. the set of macro cell available channels perceived by all nodes is the same. Therefore, the channel synchronization of the macro cellular network node still selects the minimum label channel method, that is, the cluster head node selects the channel with the minimum label of the available channel set as the working channel when searching or establishing the macro cellular network.
Step 22, route establishment
Once the macro cellular working channel is determined, the establishment of the route between the cluster heads is the same as the establishment of the route of the distributed network, and the route of the macro cellular network can be established by using mature routing protocols such as OLSR, AODV, DSR and the like.
And step 3: network topology maintenance
After the network basically forms a whole network hierarchical structure through a clustering algorithm, the network structure is not invariable. Due to the mutual motion of each node, the continuous change of available frequency spectrum, the threat of security performance or the requirement of the node for entering or exiting the network, the network structure will have various dynamic change behaviors, and at this time, the network structure dynamic maintenance rule is required to support the change or reconstruction behavior of the network structure.
In the following, various change behaviors of the network topology under different conditions are analyzed, and a maintenance process corresponding to the various change behaviors is given.
1) Node late network entry
After the network topology is stable, if a node is started and wants to join the network, the node performs channel sensing after being started, if the node receives a reference frame periodically broadcast by a micro-cell cluster head in the sensing process, a network access application message of 'request for joining' is sent to the cluster head node, a network access confirmation message is replied after the current cluster head node is approved, and the new node becomes a member node of the micro-cell after receiving the confirmation message from the cluster head. At this time, the cluster head node needs to update the local member information of the microcell, the newly accessed node sets the role state of the node as a member, and updates the local information table, and the specific flow is shown in fig. 3;
2) member node normal network quit
When the member node needs to quit the current micro-cellular network, the node automatically sends a network quitting request to the cluster head node, and if a network quitting confirmation message of the cluster head can be received in an instruction period, the network quitting is performed normally; if no acknowledgement is received within one instruction cycle, then re-request (up to 3 times); if the confirmation message of the cluster head is not received, the member node defaults that the member node is not in the network, and the network quitting operation is carried out by self in a forced manner, and the specific flow is shown in fig. 4;
3) abnormal exit of member node
Due to the fact that the member nodes are quitted from the network due to the abnormal condition, the members cannot complete the application flow to the cluster head, and therefore the application flow can be completed only through the passive sensing of the cluster head. Aiming at the condition that the member quits the network abnormally, a threshold period for quitting the network abnormally is set at the cluster head, when the threshold period is exceeded and the member does not report the state information to the cluster head, the cluster head is regarded as the abnormal quitting of the network, at the moment, the cluster head updates the micro-cellular topology information and recovers the resource of the member node, and the specific flow is shown in fig. 5;
4) normal withdrawal of cluster head
The cluster head is a manager of the whole micro-cellular network topology and is responsible for important functions such as member maintenance, resource allocation and the like, so that the network quitting of the cluster head node is relatively complex. Before the cluster head normally exits the network, a substitute cluster head needs to be selected from member nodes maintained locally through weight comparison, negotiation is carried out with the substitute cluster head, self cluster head information is handed over with the substitute cluster head, then the substitute cluster head information is issued to the micro-cellular member, the member is instructed to initiate network access to the substitute cluster head, and the specific flow is shown in fig. 6;
5) abnormal net withdrawal of cluster head
If the cluster head node encounters an attack, an equipment failure and other abnormal conditions, abnormal network quitting is caused, and for the conditions, a cluster head node abnormal network quitting period threshold value n is set in the member node, if the value of the threshold counter is not updated in n periods, the member defaults that the cluster head is abnormally quitted, the self-maintained cluster head information is deleted, and other cluster heads capable of entering the network or initiating network reestablishment are searched, wherein the specific flow is shown in fig. 7;
6) capacity based microcell splitting and merging
The micro-cellular network topology of the invention is a dynamic structure, and in order to improve the resource utilization rate and the network management efficiency, the number of member nodes in the micro-cellular network should have an optimal value. If the number of member nodes in one micro-cell is too large, the load of a cluster head is increased, and the energy consumption is accelerated, so that the cluster head becomes the bottleneck of improving the performance of the whole network; if the number of member nodes in a micro cell is too small, a large number of clusters can be formed in a network with a certain scale, so that the routing overhead of communication between micro cells is increased, and the end-to-end transmission delay is increased. Based on the above consideration, the upper limit and the lower limit of the number of nodes in the microcell are set in the maintenance stage of the microcell, and when the number of nodes exceeds the preset threshold, the microcellular structure will perform splitting or merging operation to keep the number of members in the microcell consistent with the expected range all the time.
Both microcell splitting and merging are initiated by the cluster head. Setting a microcellular capacity check timer at the cluster head, periodically checking the number of members by the cluster head according to the timer, and triggering the splitting of the microcells if the number of the members is larger than an upper limit threshold value; and if the number of the members is continuously smaller than the lower limit threshold value and the neighbor micro cells have micro cells which accord with the combination, initiating the combination operation with the neighbor micro cells.
In order to reduce signaling interaction among members in the micro-cells and improve the management capability of the cluster heads, the cluster heads of the micro-cells designate new cluster heads and the split member division according to node position information in the micro-cells, and inform the new cluster heads of related macro-cell information. The merging is determined by two cluster heads according to the negotiation of the relative position of the nodes in the newly merged microcell, and the merging can be one of the two cluster heads or another node in the network meeting the conditions of the cluster heads, and the specific flow is shown in fig. 8;
7) inter-microcell mobility handover
When the node is in a moving state, the signal strength (RSSI) of the receiving cluster head changes continuously, when the signal strength is too low to meet the requirement of communication or enters a new microcellular range, the unmanned aerial vehicle is required to perform effective switching, and the network communication quality is ensured.
The unmanned aerial vehicle node can periodically scan the broadcast reference frame signals sent by the adjacent cluster heads, and triggers the subnet switching among the micro cells according to a preset micro cell switching strategy by combining the energy detection result, the number of node users in different micro cells and the load condition.
The unmanned aerial vehicle node is switched from one microcell to another microcell, and certain switching judgment conditions need to be met so as to determine the optimal switching time and further guarantee the communication quality. Here, we use the following signal strength as the handover decision condition:
RSSI(C s )＜Thresh1 and RSSI(C n ) ＜Thresh2
that is, the book is very littleCellular clusterhead signal strengthRSSI(C s ) Less than a threshold value of 1Thresh1 and neighbor microcell clusterhead signal strengthRSSI(C n ) Greater than a threshold value of 2Thresh2, the specific handover process is shown in fig. 9.
In conclusion, the invention provides a three-dimensional space swarm networking architecture based on a similar heterogeneous cellular network, aiming at the highly limited characteristic of a frequency spectrum in an unmanned swarm battle scene, focusing on improving the frequency spectrum utilization efficiency and the unmanned energy efficiency of a swarm network. The architecture is oriented to the heterogeneous characteristics of medium-large and small unmanned aerial vehicles, and supports the dynamic flexible networking of an unmanned aerial vehicle group with a double-layer architecture, wherein the medium-large unmanned aerial vehicle is used for constructing an upper macro cellular network and the small unmanned aerial vehicle is used for constructing a lower micro cellular network; the cooperative spectrum sensing and distributed resource management of two levels of macro cells and micro cells and an efficient information sharing processing mechanism are supported, and the timeliness of accurate identification and efficient sharing of the swarm spectrum is improved.
Claims (5)
1. A three-dimensional space swarm networking architecture construction method based on a similar heterogeneous cellular network is characterized in that nodes are divided into a medium-large unmanned aerial vehicle node and a small unmanned aerial vehicle node according to unmanned aerial vehicle capability difference, wherein the medium-large unmanned aerial vehicle node refers to an unmanned aerial vehicle node with an aircraft takeoff weight of more than 15 kilograms and a maximum load weight of more than 10 kilograms; the small unmanned aerial vehicle node refers to an unmanned aerial vehicle node with the takeoff weight of the unmanned aerial vehicle being not more than 15 kg and the maximum load weight being not more than 10 kg;
the medium-large unmanned aerial vehicle is used as a cluster head node, the small unmanned aerial vehicle is used as a cluster sub-node to construct a lower-layer micro-cellular network, and the medium-large unmanned aerial vehicle used as a micro-cellular cluster head node constructs an upper-layer macro-cellular network; the method comprises the following steps that a double-layer network system architecture is jointly constructed by an inter-cluster communication network based on a macro cell and an intra-cluster communication network based on a micro cell, and the specific construction process comprises micro cell initial network construction, macro cell network construction and network topology maintenance;
the initial network establishment process of the microcells is as follows: starting up an unmanned aerial vehicle node in a swarm to perform channel sensing, synchronization and neighbor discovery; carrying out cluster head election by negotiating unmanned planes in the neighbor range, and electing a cluster head representing a base station in a local microcell; the unmanned aerial vehicle in the negotiation neighbor range is accessed into the cluster head by the member identity to construct a micro-cellular network;
the micro-cellular network takes a cluster head as a center, the cluster head executes network management functions, and the functions comprise providing time reference for each node in the micro-cellular, realizing cross-network information forwarding among member nodes, being responsible for network entry and exit management and resource planning and scheduling of all members in the cluster, and adjusting the communication coverage of the micro-cellular according to the application requirements of combat tasks of each node platform of a sub-network in the cluster;
the initial network establishment process of the macro cell is as follows: after the micro-cellular network is formed, further performing channel sensing and synchronization on the basis of each cluster head node, and then forming a macro-cellular network through an OLSR routing protocol;
the network topology maintenance and management process is as follows: the cluster head node in the micro-cellular network periodically sends a reference frame to the member nodes of the cluster head node, receives state information reported by the members to confirm whether the network has network topology structure change caused by node movement and available frequency spectrum range change in the network or node entering and exiting due to security performance receiving threat, and if the network topology change is found, the cluster head node updates the member information maintained by the cluster head node and sends the network topology change condition to other cluster head nodes through the macro-cellular.
2. The method for constructing the three-dimensional space swarm networking architecture based on the similar heterogeneous cellular network according to claim 1, wherein the medium-large unmanned aerial vehicle node supports simultaneous operation of multiple communication links, can serve as a time synchronization reference of each node in an 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 small unmanned aerial vehicle node is provided with a transmitting channel and a receiving channel.
3. The method for constructing the spatial bee colony networking architecture based on the heterogeneous cellular network according to claim 1, wherein the microcell is initially constructed as follows:
step 11, channel synchronization
The method comprises the steps that a minimum channel labeling method is adopted for channel synchronization, nodes are started to sense channels and form an available channel set, and all the nodes select a channel with the minimum label in the channel set as a working channel;
step 12, cluster election and initial microcell formation
Sending a hello packet on a selected working channel to carry out a neighbor discovery process, and finishing cluster head election and micro-cell establishment on the basis, wherein the specific flow is as follows:
step 121, the unmanned aerial vehicle node receives and transmits hello packets on the selected working channel, if hello packets of other nodes are received, the node is used as a neighbor node, and an information table and a neighbor information table maintained by the node are updated;
step 122, the node receives the new neighbor node information, synchronously calculates the weight and updates the hello packet;
step 123, if the steps 121-122 continue for N superframes, entering step 124, otherwise, returning to step 121, wherein N is a natural number set according to actual network requirements;
step 124, the node queries the neighbor node information table of the local record:
if the node has no neighbor information, the node is an isolated node and is defaulted as a cluster head node, and then the step 125 is carried out;
if the node has neighbor information, comparing whether the weight of the node per se is the minimum value of all neighbor nodes: if the value is the only minimum value in all the neighbor nodes, the node is elected as a cluster head node and then the step 125 is carried out; if the weight of the node and the weight of the neighbor node are the same as the minimum value, judging through the minimum ID criterion, wherein the ID refers to the node number, if the ID value of the node is small, the node is continuously selected as a cluster head, then the step 125 is carried out, otherwise, the node is converted into a cluster sub-node, and then the step 126 is carried out; if not, entering a member node state, and then entering step 126;
step 125, periodically broadcasting a reference frame by the cluster head node;
step 126, the cluster child node waits for receiving the reference frame, and the node receiving the reference frame broadcasted by the cluster head sends a cluster entering request message to the cluster head, and the step 127 is carried out;
and 127, if the cluster child node replies a network access confirmation message after receiving the approval from the cluster head node, completing network access, and completing the local information table by the node, otherwise, entering 126.
4. The method for constructing the spatial bee colony networking architecture based on the similar heterogeneous cellular network according to claim 1, wherein the macro cellular network is established as follows:
step 21, a minimum label channel method is selected for channel synchronization of macro cellular network nodes, and a cluster head node selects a channel with a minimum label in an available channel set as a working channel;
and step 22, after the macro cell working channel is determined, adopting routing protocols such as OLSR, AODV and DSR to construct the route of the macro cell network.
5. The method according to claim 1, wherein the network topology maintenance specifically includes the following maintenance procedures for various changing behaviors of the network topology under different conditions:
step 31, the node accesses the network late
After the network topology is stable, if a node is started and wants to join the network, the node performs channel sensing after being started, if the node receives a reference frame periodically broadcast by a micro-cell cluster head in the sensing process, the node sends a network-entering application message requesting for joining to the cluster head node, the cluster head node replies a network-entering confirmation message after approval, the new node becomes a member node of the micro-cell after receiving the confirmation message from the cluster head, the cluster head node updates the local member information of the micro-cell, and the newly-accessed node updates a local information table; otherwise, the node continues to keep the interception mode and waits for receiving the reference frame from the cluster head;
step 32, the member node normally quits the network
When the member nodes need to quit the current micro-cellular network, the nodes send network quitting requests to the cluster head nodes, if the network quitting confirmation message of the cluster head can be received in an instruction period, the network quitting is performed normally, and the cluster head updates the member information table in the cluster; re-requesting and requesting at most 3 times if no acknowledgement is received within one instruction cycle; if the confirmation message of the cluster head is not received, the member node defaults that the member node is not in the network, network quitting operation is carried out by self compulsorily, and meanwhile, the cluster head does not receive state information reported by the member node within the abnormal network quitting threshold, the member is defaulted to quit the network, and a local information table is updated;
step 33, abnormal exit of member node
The cluster head sets an abnormal quit network threshold period m, counts the node information in the network, if the cluster head does not receive the state information reported by the member node in the cluster in the period exceeding m, the cluster head updates the micro-cellular topology information and recovers the resource of the member node if the member is abnormal quit network, perfects the local information table of the cluster head and informs the whole network of topology updating;
step 34, the cluster head normally quits the network
Before the cluster head normally exits the network, selecting a new cluster head in member nodes maintained locally through weight comparison, negotiating with the new cluster head, and handing over self cluster head information and the new cluster head, so that the new cluster head information is issued to the microcellular members twice, wherein the interval time of the two times is m, indicating the members to initiate network entry to the replacement cluster head, deleting local original cluster head information after the members receive a re-network entry message issued by the cluster head, and initiating network entry application to the new cluster head, and informing the whole network to perform topology updating after the new cluster head agrees with the network entry application of the member nodes;
step 35, quitting the network when the cluster head is abnormal
The cluster head node quits the network abnormally when encountering abnormal conditions, a cluster head node abnormal network quitting period threshold value n is arranged in the member node, if the member node does not receive a reference frame periodically broadcasted from the cluster head within n periods, the member defaults that the cluster head is abnormally quitted, cluster head information maintained by the member node is deleted, if other network-accessible cluster heads are found, a new microcell is applied to join, otherwise, a network reestablishing process is initiated, the member node broadcasts a cluster head reselection message, the cluster head is reselected, and the cluster head informs the whole network to carry out topology updating after the network updating is finished;
step 36 capacity-based microcell splitting and merging
The splitting and merging of the micro cells are initiated by a cluster head, a micro cell capacity check timer and the upper limit and the lower limit of the number of nodes in the micro cells are arranged at the cluster head, the cluster head periodically checks the number of members according to the timer, and if the number of the members is found to be larger than the upper limit threshold value, the splitting of the micro cells is triggered; if the number of the members is continuously smaller than the lower limit threshold value and the neighbor micro cells have micro cells meeting the merging requirement, the merging operation with the neighbor micro cells is initiated;
the splitting of the micro-honeycomb is realized by that a cluster head designates a new cluster head and split member splitting through weight comparison according to node position information in the micro-honeycomb, a splitting scheme and a re-network access message are broadcasted to the members, and after receiving the message, each node is converted into a cluster head node to work according to the splitting scheme or sends a re-network access application to the new cluster head; the merging is determined by two cluster heads according to the negotiation of the relative position of the nodes in the newly merged microcellular, wherein the two cluster heads are one of the two cluster heads or the other node in the network meeting the conditions of the cluster heads;
step 37 inter-microcell mobility handover
When the unmanned aerial vehicle node is in the coverage range of a micro-cell or moves to the transmission range of the micro-cell, the unmanned aerial vehicle node periodically scans broadcast reference frame signals sent by adjacent cluster heads, measures the average strength of the signals, and triggers the switching of sub-networks among the micro-cells according to a preset micro-cell switching strategy by combining energy detection results, the number of node users in different micro-cells and load conditions;
the switching judgment condition of the unmanned plane node from one micro cell to another micro cell is as follows: the micro-honeycomb cluster headC s Signal strengthRSSI(C s ) Is less than a first threshold value andand neighbor microcellular cluster headC n Signal strengthRSSI(C n ) Greater than a set second threshold value.
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