CN114374935B - Cluster terminal communication method, device and system - Google Patents

Cluster terminal communication method, device and system Download PDF

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CN114374935B
CN114374935B CN202210274457.6A CN202210274457A CN114374935B CN 114374935 B CN114374935 B CN 114374935B CN 202210274457 A CN202210274457 A CN 202210274457A CN 114374935 B CN114374935 B CN 114374935B
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terminal
gateway
flight
cluster
network
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CN114374935A (en
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张晋华
杨皓宇
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Beijing Yuandu Internet Technology Co ltd
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Beijing Yuandu Internet Technology Co ltd
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    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
    • H04W4/06—Selective distribution of broadcast services, e.g. multimedia broadcast multicast service [MBMS]; Services to user groups; One-way selective calling services
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04B—TRANSMISSION
    • H04B7/00—Radio transmission systems, i.e. using radiation field
    • H04B7/14—Relay systems
    • H04B7/15—Active relay systems
    • H04B7/185—Space-based or airborne stations; Stations for satellite systems
    • H04B7/18502—Airborne stations
    • H04B7/18506—Communications with or from aircraft, i.e. aeronautical mobile service
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
    • H04L45/00—Routing or path finding of packets in data switching networks
    • H04L45/02—Topology update or 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
    • H04W40/00—Communication routing or communication path finding
    • H04W40/34—Modification of an existing route
    • H04W40/36—Modification of an existing route due to handover
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W84/00—Network topologies
    • H04W84/02—Hierarchically pre-organised networks, e.g. paging networks, cellular networks, WLAN [Wireless Local Area Network] or WLL [Wireless Local Loop]
    • H04W84/04—Large scale networks; Deep hierarchical networks
    • H04W84/06—Airborne or Satellite Networks

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  • Computer Networks & Wireless Communication (AREA)
  • Signal Processing (AREA)
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Abstract

The embodiment of the application provides a cluster terminal communication method, device and system, each flight terminal in a cluster serves as a node to form a Mesh network, one flight terminal is selected as a candidate gateway terminal according to a network topology structure and is sent to other flight terminals, the candidate gateway terminals sent by the other flight terminals are received, and then the gateway terminal of the network is determined according to the candidate gateway terminals selected by all the flight terminals in the cluster. In the scheme of the application, all nodes in the cluster form a peer-to-peer network together, adjacent nodes can directly communicate without intermediate node forwarding, the communication efficiency is high, and the communication pressure of a control center is reduced. Meanwhile, the gateway terminal is elected based on the change of the network topology, so that any node can be used as a gateway, the node roles can be automatically switched, a central node does not exist, the reliability is high, the changes of the shape, the position and the like of a cluster in the air can be effectively coped with, and the reliability and the communication efficiency are further improved.

Description

Cluster terminal communication method, device and system
Technical Field
The application relates to the technical field of unmanned aerial vehicles, in particular to a cluster terminal communication method, device and system.
Background
With the rapid development of the unmanned aerial vehicle technology, the unmanned aerial vehicle cluster system has become an important development direction of the unmanned aerial vehicle. In the prior art, the cluster technology is mainly applied to the fields of unmanned aerial vehicle formation performance and the like, a local area network is generally established by means of ground or aerial wireless router equipment, cluster internal communication is realized, control equipment also needs to be within the communication range of the wireless router, in addition, nodes inside an unmanned aerial vehicle cluster are generally divided by fixed roles, and automatic conversion among the roles is not supported.
The inventor discovers that the mode of relying on wireless router equipment to realize cluster internal communication in the unmanned aerial vehicle cluster in the prior art, the hidden danger of single-point faults easily exists, meanwhile, the unmanned aerial vehicle cluster internal communication all needs the router to forward, and the communication efficiency is also lower.
Disclosure of Invention
The application provides a cluster terminal communication method, device and system, which are used for solving the problems of communication among devices in an unmanned aerial vehicle cluster and cluster management and improving the reliability and communication efficiency.
According to a first aspect of the embodiments of the present application, a trunking terminal communication method is provided, where the method is used in a trunking terminal communication system, the system includes a trunking and a control center, the trunking includes multiple flight terminals, each flight terminal serves as a node to form a Mesh network, each flight terminal performs information interaction in the network in a multicast manner, and each flight terminal communicates with the control center through a flight terminal serving as a gateway terminal in the network;
the method is executed by any flight terminal in the cluster, and comprises the following steps:
selecting a flight terminal in the cluster as a candidate gateway terminal of the network according to the topological structure of the network, and sending the candidate gateway terminal to other flight terminals in the cluster;
receiving candidate gateway terminals sent by other flight terminals in the cluster;
and determining the gateway terminal of the network according to the candidate gateway terminals selected by all the flight terminals in the cluster.
Optionally, selecting one flight terminal in the cluster as a candidate gateway terminal of the network according to the topology structure of the network includes:
judging whether the topological structure of the network changes or not;
and if the topological structure is changed, selecting a flight terminal from the cluster as a candidate gateway terminal according to a first preset rule.
Optionally, the determining whether the topology of the network changes includes:
periodically receiving node information of a neighbor flight terminal, wherein the node information comprises an identifier of the neighbor flight terminal, the number of neighbor nodes of the neighbor flight terminal and the total number of nodes collected by the neighbor flight terminal;
and judging whether the topological structure is changed or not according to the node information.
Optionally, the determining whether the topology changes according to the node information includes:
updating a node information table according to the node information of the neighbor flight terminal;
judging whether the number of neighbor nodes of each flight terminal in the node information table in adjacent periods is consistent;
and if the topological structures are not consistent, judging that the topological structures are changed.
Optionally, determining whether the topology structure changes according to the node information, further includes:
if the number of neighbor nodes of each flight terminal in the node information table in the adjacent period is judged to be consistent, judging whether the total number of the flight terminals in the cluster in the adjacent period is consistent;
if the judgment result is negative, the topological structure is judged to be changed.
Optionally, the first preset rule includes:
and selecting the flying terminal with the largest number of neighbor nodes as a candidate gateway terminal in the node information table.
Optionally, when any flight terminal is determined to be a gateway terminal, the method further includes:
judging whether a gateway terminal exists in the cluster;
if the judgment result is negative, the gateway service is started;
if the judgment result is yes, a gateway switching request is initiated to the existing gateway terminal, and the gateway service is started after the existing gateway terminal closes the gateway service.
Optionally, when any flight terminal is a gateway terminal, the method further includes:
and if the gateway switching request of the control center is received or the gateway switching requests of other flight terminals in the cluster are received, closing the gateway service.
Optionally, the method further includes:
if the appointed gateway request of the control center is received through the existing gateway terminal in the network, a gateway switching request is initiated to the existing gateway terminal, and the gateway service is started after the existing gateway terminal closes the gateway service.
According to a second aspect of the embodiments of the present application, a cluster terminal communication device is provided, where the device is used in a cluster terminal communication system, the system includes a cluster and a control center, the cluster includes multiple flight terminals, each flight terminal serves as a node to form a Mesh network, each flight terminal performs information interaction in the network in a multicast manner, and each flight terminal communicates with the control center through a flight terminal serving as a gateway terminal in the network;
the device is used for any flight terminal in the cluster, and the device comprises:
the candidate gateway terminal selecting unit is used for selecting one flight terminal in the cluster as a candidate gateway terminal of the network according to the topological structure of the network and sending the candidate gateway terminal to other flight terminals in the cluster;
the candidate gateway terminal receiving unit is used for receiving candidate gateway terminals sent by other flight terminals in the cluster;
and the gateway terminal determining unit is used for determining the gateway terminal of the network according to the candidate gateway terminals selected by all the flight terminals in the cluster.
Optionally, when the candidate gateway terminal selecting unit is configured to select one flight terminal in the cluster as the candidate gateway terminal of the network according to the topology structure of the network, the candidate gateway terminal selecting unit is specifically configured to:
judging whether the topological structure of the network changes or not;
and if the topological structure is changed, selecting one flight terminal from the cluster as a candidate gateway terminal according to a first preset rule.
Optionally, the candidate gateway terminal selecting unit is configured to determine whether a topology structure of the network changes, and may specifically be configured to:
periodically receiving node information of a neighbor flight terminal, wherein the node information comprises an identifier of the neighbor flight terminal, the number of neighbor nodes of the neighbor flight terminal and the total number of nodes collected by the neighbor flight terminal;
and judging whether the topological structure is changed or not according to the node information.
Optionally, when the candidate gateway terminal selecting unit is configured to determine whether the topology structure changes according to the node information, the candidate gateway terminal selecting unit may be specifically configured to:
updating a node information table according to the node information of the neighbor flight terminal;
judging whether the number of neighbor nodes of each flight terminal in the node information table in adjacent periods is consistent;
and if the topological structures are not consistent, judging that the topological structures are changed.
Optionally, when the candidate gateway terminal selecting unit is configured to determine whether the topology structure changes according to the node information, the candidate gateway terminal selecting unit may be further configured to:
if the number of neighbor nodes of each flight terminal in the node information table in the adjacent period is judged to be consistent, judging whether the total number of the flight terminals in the cluster in the adjacent period is consistent;
if the judgment result is negative, the topological structure is judged to be changed.
Optionally, the first preset rule may specifically include:
and selecting the flying terminal with the largest number of neighbor nodes as a candidate gateway terminal in the node information table.
Optionally, the apparatus further comprises:
the first gateway switching unit is used for judging whether a gateway terminal exists in the cluster or not when any flight terminal is determined to be the gateway terminal; if the judgment result is negative, the gateway service is started; if the judgment result is yes, a gateway switching request is initiated to the existing gateway terminal, and the gateway service is started after the existing gateway terminal closes the gateway service.
Optionally, the apparatus further comprises:
and the second gateway switching unit is used for initiating a gateway switching request to the existing gateway terminal when receiving the specified gateway request of the control center through the existing gateway terminal in the network, and starting the gateway service after the existing gateway terminal closes the gateway service.
Optionally, the apparatus further comprises:
and the third gateway switching unit is used for closing gateway service if receiving a gateway switching request of the control center or receiving gateway switching requests of other flight terminals in the cluster when any flight terminal is a gateway terminal.
According to a third aspect of the embodiments of the present application, a trunking terminal communication system is provided, where the system includes a trunking and a control center, the trunking includes multiple flight terminals, each flight terminal serves as a node to form a Mesh network, and each flight terminal performs information interaction in the network in a multicast manner; each flight terminal executes any one of the cluster terminal communication methods;
and the control center communicates with each flight terminal in the cluster through the flight terminal serving as a gateway terminal in the network.
According to a fourth aspect of embodiments of the present application, there is provided an electronic apparatus, including:
a memory storing computer readable instructions;
and the processor reads the computer readable instructions stored in the memory to execute any one of the above cluster terminal communication methods.
According to a fifth aspect of embodiments of the present application, there is provided a computer-readable storage medium storing instructions that, when executed on a computer, cause the computer to perform any one of the above-mentioned trunking terminal communication methods.
The technical scheme provided by the embodiment of the application can have the following beneficial effects:
in the scheme of the application, all nodes in the cluster form a peer-to-peer network together, adjacent nodes can directly communicate without intermediate node forwarding, the communication efficiency is high, and the communication pressure of a control center is reduced. Meanwhile, the gateway terminal is selected based on the change of the network topology in the scheme, so that any node can be used as the gateway, the node roles can be automatically switched, a central node does not exist, the reliability is high, the changes of the shape, the position and the like of the cluster in the air can be effectively responded, and the reliability and the communication efficiency are further improved. In addition, the gateway terminal in the embodiment of the application is combined with the wireless data link system, so that the cluster communication range can be greatly expanded, the ground control equipment does not need to be located in a cluster, and the scheme deployment becomes more flexible.
It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the application.
Drawings
In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly described below, and it is obvious for those skilled in the art to obtain other drawings without inventive exercise. Furthermore, these descriptions should not be construed as limiting the embodiments, wherein elements having the same reference number designation are identified as similar elements throughout the figures, and the drawings are not to scale unless otherwise specified.
Fig. 1 is a schematic flowchart of a trunking terminal communication method provided in an embodiment of the present application;
FIG. 2 is a schematic diagram of a system configuration in an embodiment of the present application;
FIG. 3 is another schematic diagram of the system components in the embodiment of the present application;
fig. 4 is another schematic flowchart of a trunking terminal communication method provided in an embodiment of the present application;
FIG. 5 is a schematic flow chart diagram of a process of collecting node information in an embodiment of the present application;
fig. 6 is a schematic flowchart of an old gateway in a gateway handover process in an embodiment of the present application;
FIG. 7 is a schematic flow chart of a new gateway in a gateway handover process in the embodiment of the present application;
fig. 8 is a schematic diagram of a trunking terminal communication device according to an embodiment of the present application.
Detailed Description
The technical solutions in the embodiments of the present application will be described in detail below with reference to the drawings in the embodiments of the present application. When referring to the drawings, the same numbers in different drawings represent the same or similar elements unless otherwise specified. It should be apparent that the examples described below are only a part of examples of the present application and not all examples, or that the embodiments described in the following exemplary examples do not represent all embodiments consistent with the present application. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
When the terms "first", "second", "third", and the like appear in the description, the claims, and the above-described drawings of the embodiments of the present application, they are used to distinguish different objects, and not to limit a specific order. In the embodiments of the present application, words such as "exemplary" or "for example" are used to mean serving as an example, instance, or illustration. Any embodiment or design described herein as "exemplary" or "e.g.," should not be construed as preferred or advantageous over other embodiments or designs. Rather, use of the word "exemplary" or "such as" is intended to present concepts related in a concrete fashion.
For convenience of understanding, the following first introduces related concepts such as a Mesh network and the like related to the embodiments of the present application.
Mesh network: in a conventional wireless access technology, a point-to-point or point-to-multipoint topology is mainly used, and in such a topology, there is generally a central node, such as a base station in a mobile communication system, an Access Point (AP) in an 802.11 Wireless Local Area Network (WLAN), etc., where the central node is connected to each wireless terminal through a single-hop wireless link to control access of each wireless terminal to a wireless network, and users must first access the central node (e.g., a fixed access point) if they want to communicate with each other. The wireless Mesh network is a network completely different from the traditional wireless network, namely a wireless Mesh network, a Mesh-shaped Mesh topological structure is adopted in the wireless Mesh network, the Mesh-shaped Mesh topological structure is a multipoint-to-multipoint network topological structure, each node in the network can send and receive signals, each node can be in peer-to-peer direct communication with one or more adjacent nodes, and each node is connected in a wireless multi-hop mode through other adjacent nodes.
And (3) neighbor nodes: in the Mesh network, the neighbor nodes of a node, i.e. other nodes in the direct communication range of the node, in other words, a node can directly communicate with its own neighbor nodes without other nodes acting as relays.
Fig. 1 is a schematic flowchart of a trunking terminal communication method provided in an embodiment of the present application. The method is used for a cluster terminal communication system, the system comprises a cluster and a control center, the cluster comprises a plurality of flight terminals, each flight terminal is used as a node to form a grid Mesh network, each flight terminal carries out information interaction in the network in a multicast mode, and each flight terminal is communicated with the control center through the flight terminal which is used as a gateway terminal (also called as a gateway node or a gateway) in the network. It should be noted that, the node referred to in the following text refers to a flying terminal in a cluster, and a neighbor flying terminal is equivalent to a neighbor node.
As an example, the cluster terminal communication system in this embodiment may refer to fig. 2, where fig. 2 is a schematic diagram of a system composition in this embodiment, in fig. 2, a cluster in the cluster terminal communication system may include a plurality of flight terminals, each flight terminal serves as a node to form a Mesh network, and a control center in the cluster terminal communication system communicates with a flight terminal serving as a gateway terminal in the cluster.
As an example, in implementation, the flight terminal may specifically be an unmanned aerial vehicle, the cluster may be a task cluster formed by a plurality of unmanned aerial vehicles, and the control center outside the cluster may specifically be a ground station. Each flight terminal in the cluster is used as a Mesh node to establish an 802.11s Mesh network to form a local area network, the local area network needs to support a multicast function, and devices in the local area network can communicate with each other. Each unmanned aerial vehicle communicates with the outside of the cluster through a gateway terminal, and the gateway terminal is connected to the ground station through a data link system. The data link system on each unmanned aerial vehicle defaults to close the data forwarding service, and only the unmanned aerial vehicle serving as the gateway terminal can open the data forwarding service of the data link system.
Referring to fig. 3, fig. 3 is another schematic diagram of the system in the embodiment of the present application. In some scenarios, a repeater may be added between a control center and a cluster in order to increase the communication distance, i.e. the system may further comprise a repeater for relaying communication between the gateway terminal and the control center. As an example, the repeater may also be served by a flying terminal such as a drone.
The WiFi or 5G wireless router usually has a communication distance of hundreds of meters, and the wireless data link can have a communication distance of several kilometers, so that the cluster communication range can be greatly expanded by combining the gateway terminal with the wireless data link system in the embodiment of the application, the ground control equipment does not need to be located in a cluster, and the scheme deployment becomes more flexible.
The method may be executed by any flight terminal in the cluster, and referring to fig. 1, the method may include the following steps:
in step S101, a flying terminal is selected from the cluster as a candidate gateway terminal of the network according to the topology structure of the network, and the candidate gateway terminal is sent to other flying terminals in the cluster.
In the embodiment of the application, the flying terminal cluster based on the Mesh network is a decentralized peer-to-peer network, each node runs the same program, flying terminals in the cluster are all peer-to-peer, and any flying terminal can possibly become a gateway terminal.
Specifically, how to select a flight terminal in the cluster as a candidate gateway terminal according to the topology structure of the network is not limited in this embodiment, and a person skilled in the art may select and design the flight terminal according to different requirements/different scenarios, and these selections and designs may be used herein without departing from the spirit and scope of the present application.
In step S102, candidate gateway terminals sent by other flight terminals in the cluster are received.
It should be noted that, in step S101 and step S102, the other flight terminals refer to all other flight terminals in the Mesh network. After each flight terminal selects a candidate gateway terminal, the candidate gateway terminal selected by all other flight terminals can be known through mutual information interaction.
In step S103, the gateway terminal of the network is determined according to the candidate gateway terminals selected by all the flight terminals in the cluster.
In a general case, the candidate gateway terminal selected by each flight terminal should be consistent, and the candidate gateway terminal may be determined as the gateway terminal. If the candidate gateway terminals selected by each flight terminal are inconsistent, preset measures can be taken, for example, the original gateway terminal can be continuously used without switching the gateway, or each flight terminal can select the candidate gateway terminal again, and the like. The embodiment is not limited to how to determine the gateway terminal according to the candidate gateway terminal, and those skilled in the art may select and design the gateway terminal according to different requirements/different scenarios, and these choices and designs may be used herein without departing from the spirit and scope of the present application.
In this embodiment, each flight terminal establishes a decentralized peer-to-peer network based on the Mesh technology, adjacent flight terminals can directly communicate without a router, and meanwhile, a gateway terminal is generated by election based on a network topology structure, any node can be a gateway, and the roles of the nodes can be freely switched.
When one flight terminal is selected as the gateway terminal, the specific service of the gateway terminal, namely the gateway service, is started. As an example, the gateway service may specifically include: broadcasting of gateway information, processing of external requests, data link system data forwarding, and the like.
As an example, the gateway information may include: the identity of the gateway, the IP address of the gateway, and the gateway selection mode, etc. Wherein, the gateway selection mode comprises: a bootstrap mode and an external designation mode. Ground equipment (such as a control center) and other non-gateway nodes can know the current gateway situation by receiving gateway information. After receiving the gateway information, the ground device may also initiate an external request to the gateway, and execute cluster configuration such as changing a gateway node, setting a gateway selection mode, and the like. The ground device can only operate the cluster through the gateway node.
Only one gateway terminal exists at the same time, and only the gateway terminal can operate the gateway service. As an example, the switching of the roles of the old and new gateway terminals may be accomplished through a gateway switching step.
Therefore, in this embodiment or some other embodiments of the present application, when any of the flight terminals is determined to be a gateway terminal, the method may further include the following gateway switching step:
judging whether a gateway terminal exists in the cluster;
if the judgment result is negative, the gateway service is started;
if the judgment result is yes, a gateway switching request is initiated to the existing gateway terminal, and the gateway service is started after the existing gateway terminal closes the gateway service.
Fig. 1 determines that the mode of the gateway terminal may be referred to as a bootstrap mode (or automatic mode), and the bootstrap process is not associated with the outside of the cluster. Usually, the first gateway terminal always generates in the bootstrap mode, and in the case that a gateway terminal already exists, this embodiment or some other embodiments of the present application further propose another mode for determining the gateway terminal: and an external appointed mode (or a manual mode), namely, a control center directly appoints one flight terminal as a gateway terminal.
Therefore, in this embodiment or some other embodiments of the present application, the method may further include:
if the appointed gateway request of the control center is received through the existing gateway terminal in the network, a gateway switching request is initiated to the existing gateway terminal, and the gateway service is started after the existing gateway terminal closes the gateway service. It should be noted that the gateway switching request carries an identifier of a new gateway.
It should be noted that only the flight terminals designated as gateways by the control center receive the gateway designation request from the control center via the existing gateway terminals.
Generally, the bootstrap mode is the basis for implementing the external specification mode, and the first gateway terminal is always generated in the bootstrap mode, and then the gateway terminal may be replaced by the external specification mode.
In addition, when any flight terminal is already a gateway terminal, it may close its own gateway service according to a request to make another flight terminal become a new gateway, where the request may be a gateway switching request sent by the control center (i.e., in an external specified mode), or may be a gateway switching request of other flight terminals in the cluster (i.e., in a bootstrap mode). Therefore, the method can further comprise:
and if the gateway switching request of the control center is received or the gateway switching requests of other flight terminals in the cluster are received, closing the gateway service.
An exemplary description is further provided below of how to select a flying terminal in the cluster as a candidate gateway terminal of the network according to the topology structure of the network:
in this embodiment or some other embodiments of the present application, selecting one flight terminal in the cluster as a candidate gateway terminal of the network according to the topology structure of the network may specifically include:
judging whether the topological structure of the network changes or not;
and if the topological structure is changed, selecting one flight terminal from the cluster as a candidate gateway terminal according to a first preset rule.
In other words, in the embodiment of the present application, the change of the gateway terminal may be triggered by a change of the network topology, and if a flight terminal determines that the topology of the network is not currently changed, it does not need to reselect a new candidate gateway terminal.
As an example, determining whether the topology of the network changes may include:
periodically receiving node information of a neighbor flight terminal, wherein the node information comprises an identifier of the neighbor flight terminal, the number of neighbor nodes of the neighbor flight terminal and the total number of nodes collected by the neighbor flight terminal; and judging whether the topological structure is changed or not according to the node information.
As an example, the identification of the flight terminal may be the MAC address of the flight terminal.
One flight terminal can periodically send the collected node information to the neighbor nodes, and conversely, one flight terminal can periodically receive the node information sent by the corresponding neighbor nodes, wherein the period can be 1 second and the like, for example. Therefore, the flying terminal can know the total number of the nodes in the network collected by the neighbor node through the received node information sent by the neighbor node, and also can know the number of the neighbor nodes of the neighbor node, so that whether the network topology structure changes or not can be judged based on the number. For example, if the neighboring node of node a in the network is node B, node C is a neighboring node of node B, and node D is a neighboring node of node C, node a may receive node information sent by node B, where the node information includes an identifier of node B, the number of neighboring nodes of node B is 2 (node a and node C), and the total number of nodes collected by node B is 4 (including nodes A, B, C and D).
It should be noted that the total number of nodes collected by the node in the node information of each node is the total number of all flight terminals in the cluster, and can be obtained by performing data interaction between the flight terminals.
In this embodiment or some other embodiments of the present application, the determining whether the topology structure changes according to the node information may specifically include:
updating a node information table according to the node information of the neighbor flight terminal;
judging whether the number of neighbor nodes of each flight terminal in the node information table in adjacent periods is consistent;
and if the topological structures are not consistent, judging that the topological structures are changed.
Each flight terminal maintains a node information table locally, the node information table stores node information received by the flight terminal and sent by a neighbor flight terminal, and the node information of the flight terminal is stored in the node information table.
After receiving node information sent by a neighbor node, recording the node information in the current period, comparing the previous period with the next period in two adjacent periods, and if the number of neighbor nodes with flying terminals is found to be changed, judging that the topological structure of the network is changed. For example, in the above example, in the last period, node a may receive node information sent by node B, where the node information includes an identifier of node B, the number of neighboring nodes of node B is 2 (node a and node C), the total number of nodes collected by node B is 4 (including nodes A, B, C and D), and if, in the current period, node a receives node information sent by node B, and the number of neighboring nodes of node B in the node information is 1 (node a only), it is determined that the network topology is changed, that is, nodes in the network have decreased nodes C and D.
In addition, if the number of neighbor nodes of any flight terminal does not change in the node information table, whether the total number of flight terminals in the cluster changes before and after can be further judged, and if the total number of flight terminals is inconsistent before and after, the change of the topology structure can be judged.
That is, determining whether the topology changes according to the node information may further include:
if the number of neighbor nodes of each flight terminal in the node information table in the adjacent period is judged to be consistent, judging whether the total number of the flight terminals in the cluster in the adjacent period is consistent;
if the judgment result is negative, the topological structure is judged to be changed.
For example, in the above example, in the previous period, the node a may receive the node information sent by the node B, where the node information includes an identifier of the node B, the number of neighboring nodes of the node B is 2 (for the node a and the node C), the total number of nodes collected by the node B is 4 (including the node A, B, C and the node D), and if, in the current period, the node a receives the node information sent by the node B, the number of neighboring nodes of the node B in the node information is 2 (for the node a and the node C), and the total number of nodes collected by the node B is 5 (including the node A, B, C, D and the node E), it is determined that the network topology is changed, that is, the node E is added in the network.
The specific content of the first preset rule is not limited in this embodiment, and those skilled in the art can select and design the first preset rule according to different requirements/different scenarios, and these choices and designs can be used herein without departing from the spirit and scope of the present application.
As an example, the first preset rule may specifically include:
and selecting the flying terminal with the largest number of neighbor nodes as a candidate gateway terminal in the node information table.
Further, for some scenarios, the first preset rule may further include:
and when more than one node with the maximum number of the neighbor nodes is available, selecting one node from the nodes with the maximum number of the neighbor nodes as the candidate gateway terminal according to a second preset rule.
As an example, when the identifier in the node information includes a MAC address, the second preset rule may include:
and selecting the node with the maximum MAC address as the candidate gateway terminal from the nodes with the maximum number of the neighbor nodes.
In this embodiment, each node in the cluster forms a peer-to-peer network together, and the adjacent nodes can directly communicate without intermediate node forwarding, so that the communication efficiency is high, and the communication pressure of the control center is also reduced. Meanwhile, in the scheme of the embodiment, the gateway terminal is selected based on the change of the network topology, so that any node can be used as the gateway, the roles of the nodes can be automatically switched, a central node does not exist, the reliability is high, the changes of the shape, the position and the like of the cluster in the air can be effectively responded, and the reliability and the communication efficiency are further improved. In addition, in this embodiment, the gateway terminal is combined with the wireless data link system, so that the cluster communication range can be greatly expanded, the ground control device does not need to be located inside the cluster, and the scheme deployment becomes more flexible.
The scheme of the present application is further described below by taking an unmanned aerial vehicle cluster based on a Mesh network as an example. Of course, the following application scenarios are only exemplary, and in practical applications, the application scenarios may also be applied to other application scenarios.
The Mesh network-based unmanned aerial vehicle cluster is a decentralized peer-to-peer network, each unmanned aerial vehicle operates the same program as a node, and the whole processing flow can be shown in fig. 4. The specific processes of collecting node information, gateway switching, etc. involved in the flow of fig. 4 can be further illustrated with reference to fig. 5 and other figures.
Fig. 4 is another schematic flowchart of a cluster terminal communication method provided in an embodiment of the present application, where an execution subject of the method is any flight terminal in an unmanned aerial vehicle cluster, and the method includes the following steps:
s401, starting a node information collection function to collect node information. That is, node information sent from the neighboring node is received, so that a node information table can be generated.
S402, judging whether the network topology structure changes. If yes, the process proceeds to S403, and if no, the flow ends.
And S403, determining a gateway. That is, a node is determined in the cluster as a new gateway terminal of the network, and two gateway selection modes can be adopted to determine a new gateway. In this embodiment, taking determining a gateway through a bootstrap mode as an example, in the bootstrap mode, according to a topology structure of a network, one flight terminal is selected from the cluster as a candidate gateway terminal of the network and sent to other flight terminals in the cluster, the candidate gateway terminal sent by the other flight terminals in the cluster is received, and the gateway terminal of the network is determined according to the candidate gateway terminals selected by all the flight terminals in the cluster.
S404, judging whether the new gateway is consistent with the old gateway. If yes, the flow ends, and if no, the flow proceeds to S405.
S405, judging whether the gateway is a new gateway. If yes, the process proceeds to S406, and if no, the flow ends.
S406, gateway switching is performed. Thereby making the node a new gateway terminal. The flow ends.
Each node maintains a node information table locally, periodically collects and updates the node information of the node, shares the node information in the cluster by using a multicast technology through the Mesh network, and periodically receives the node information sent by the neighbor nodes of the node and updates the local node information table. And if the number of the neighbor nodes with the nodes is found to be changed, the selection of the candidate gateway is triggered.
The process of collecting node information is illustrated in fig. 5. Fig. 5 is a schematic flowchart of a process of collecting node information in the embodiment of the present application.
S501, a node information table is created locally.
S502, collecting node information of any neighbor node. That is, the node information including the local node and any neighbor nodes is collected.
S503, determine whether the collected node identifier is searched in the node information table. If not, the process proceeds to S504, and if yes, the process proceeds to S505. For example, in the network, the neighbor node of node a is node B, node C is a neighbor node of node B, and node D is a neighbor node of node C, and if node a receives node information sent by node B, the identifier of node B is searched in a node information table created and maintained by node a.
S504, an item is created for the node in the node information table. Then, the process proceeds to S505.
For example, if the node B id is not searched in the node information table, an entry of the node B is created in the node information table.
And S505, updating the node information table.
For example, if the node B identifier is searched in the node information table, or an entry of the node B has been created in the node information table, the node information of the node B is updated.
S506, judging whether the number of the neighbor nodes of the node changes or not according to the node information table. If yes, the process proceeds to S508, and if no, the process proceeds to S507.
And S507, judging whether the number of the nodes in the cluster changes or not according to the node information table. If yes, the process proceeds to S508, and if no, the process ends.
And S508, judging that the topological structure of the network is changed. The flow ends.
For the selection of the candidate gateway, generally speaking, the more the number of the neighbor nodes is, the more suitable the node is as the candidate gateway, so that the overall communication efficiency can be improved. If more than one node with the largest number of neighbor nodes is available, the nodes can be sorted according to the MAC address, and the node with the largest MAC address is selected as the selected candidate gateway.
In a bootstrap mode, each node selects a candidate gateway of the node, when all the nodes in the cluster complete calculation and the candidate gateways selected by all the nodes are consistent, a new gateway is generated, and the new gateway completes the switching of the new gateway and the old gateway through the gateway switching process. If the candidate gateways calculated by all the nodes are inconsistent, a preset measure may be taken, for example, the original gateway is continuously used without switching the gateways, or each node re-selects a candidate gateway, and the like, which is not limited in this embodiment.
Only one gateway node can exist at the same time, and the gateway switching process can be seen in fig. 6 and 7.
Fig. 6 is a schematic flowchart of an old gateway in a gateway handover process in an embodiment of the present application, where the method may be performed by an existing gateway (i.e., the old gateway) in a network:
s601, starting gateway information broadcast service and data link data forwarding service.
S602, determining whether an internal gateway handover request is received. The internal gateway switching request comes from another flight terminal in the cluster, and when the other flight terminal is elected as a new gateway or designated as the new gateway by the control center, the other flight terminal sends the internal gateway switching request to the old gateway. If yes, the process proceeds to S607, and if no, the process proceeds to S603.
S603, determine whether an external gateway switching request is received. I.e. whether a gateway switching request sent by the control center is received. It is noted that in the externally specified mode, a gateway handover request may be sent by the specified new gateway or control center to an existing gateway (i.e., the old gateway). It should be noted that the gateway switching request carries an identifier of a new gateway. If yes, the process proceeds to S604, and if no, the process proceeds to S608.
S604, updating the gateway selection mode in the gateway information to be a designated mode.
S605, closing the gateway information broadcast service and the data link data forwarding service.
S606, initiate a request for opening gateway service to the new specified gateway. The flow ends.
S607, the gateway information broadcasting service and the data link data forwarding service are closed. The flow ends.
S608, judging whether receiving external request for recovering gateway bootstrap mode. If yes, the process proceeds to S609, and if no, the process ends.
And S609, updating the gateway selection mode in the gateway information to be bootstrap. The flow ends.
Fig. 7 is a schematic flow chart of a new gateway in a gateway handover process in the embodiment of the present application, and the method may be performed by a new gateway in a network, where the new gateway may be a newly-elected gateway in a cluster or a gateway newly designated by a control center.
S701, judging whether a gateway exists at present. The currently existing gateway may be referred to as the old gateway. If yes, the process proceeds to S702, and if no, the process proceeds to S705.
And S702, connecting to the current gateway.
S703, initiating a gateway switching request.
S704, waiting for the current gateway to close the gateway service.
S705, the gateway service is started. The flow ends.
In this embodiment, each node in the cluster forms a peer-to-peer network together, and the adjacent nodes can directly communicate without intermediate node forwarding, so that the communication efficiency is high, and the communication pressure of the control center is also reduced. Meanwhile, in the scheme of the embodiment, the gateway terminal is selected based on the change of the network topology, so that any node can be used as the gateway, the roles of the nodes can be automatically switched, a central node does not exist, the reliability is high, the changes of the shape, the position and the like of the cluster in the air can be effectively responded, and the reliability and the communication efficiency are further improved. In addition, in this embodiment, the gateway terminal is combined with the wireless data link system, so that the cluster communication range can be greatly expanded, the ground control device does not need to be located inside the cluster, and the scheme deployment becomes more flexible.
The following are embodiments of the apparatus of the present application that may be used to perform embodiments of the method of the present application. For details which are not disclosed in the embodiments of the apparatus of the present application, reference is made to the embodiments of the method of the present application.
Fig. 8 is a schematic diagram of a trunking terminal communication device according to an embodiment of the present application. The device is used for a cluster terminal communication system, the system comprises a cluster and a control center, the cluster comprises a plurality of flight terminals, each flight terminal is used as a node to form a grid Mesh network, each flight terminal carries out information interaction in the network in a multicast mode, and each flight terminal is communicated with the control center through the flight terminal which is used as a gateway terminal in the network;
the apparatus is used for any flight terminal in the cluster, and the apparatus may include:
a candidate gateway terminal selecting unit 801, configured to select a flight terminal in the cluster as a candidate gateway terminal of the network according to the topology structure of the network, and send the candidate gateway terminal to other flight terminals in the cluster;
a candidate gateway terminal receiving unit 802, configured to receive candidate gateway terminals sent by other flight terminals in the cluster;
a gateway terminal determining unit 803, configured to determine a gateway terminal of the network according to candidate gateway terminals selected by all the flight terminals in the cluster.
As an example, in this embodiment or some other embodiments of the present application, when the candidate gateway terminal selecting unit is configured to select one flying terminal in the cluster as the candidate gateway terminal of the network according to the topology structure of the network, the candidate gateway terminal selecting unit is specifically configured to:
judging whether the topological structure of the network changes or not;
and if the topological structure is changed, selecting one flight terminal from the cluster as a candidate gateway terminal according to a first preset rule.
As an example, in this embodiment or some other embodiments of the present application, when the candidate gateway terminal selecting unit is configured to determine whether the topology structure of the network changes, the candidate gateway terminal selecting unit may specifically be configured to:
periodically receiving node information of a neighbor flight terminal, wherein the node information comprises an identifier of the neighbor flight terminal, the number of neighbor nodes of the neighbor flight terminal and the total number of nodes collected by the neighbor flight terminal;
and judging whether the topological structure is changed or not according to the node information.
As an example, in this embodiment or some other embodiments of the present application, the candidate gateway terminal selecting unit is configured to determine whether the topology structure changes according to the node information, and specifically may be configured to:
updating a node information table according to the node information of the neighbor flight terminal;
judging whether the number of neighbor nodes of each flight terminal in the node information table in adjacent periods is consistent;
and if the topological structures are not consistent, judging that the topological structures are changed.
As an example, in this embodiment or some other embodiments of the present application, when the candidate gateway terminal selecting unit is configured to determine whether the topology structure changes according to the node information, the candidate gateway terminal selecting unit may be further configured to:
if the number of neighbor nodes of each flight terminal in the node information table in the adjacent period is judged to be consistent, judging whether the total number of the flight terminals in the cluster in the adjacent period is consistent;
if the judgment result is negative, the topological structure is judged to be changed.
As an example, in this embodiment or some other embodiments of the present application, the first preset rule may specifically include:
and selecting the flying terminal with the largest number of neighbor nodes as a candidate gateway terminal in the node information table.
As an example, in this embodiment or some other embodiments of this application, the apparatus further includes:
the first gateway switching unit is used for judging whether a gateway terminal exists in the cluster or not when any flight terminal is determined to be the gateway terminal; if the judgment result is negative, the gateway service is started; if the judgment result is yes, a gateway switching request is initiated to the existing gateway terminal, and the gateway service is started after the existing gateway terminal closes the gateway service.
As an example, in this embodiment or some other embodiments of the present application, the apparatus further comprises:
and the second gateway switching unit is used for initiating a gateway switching request to the existing gateway terminal when receiving the specified gateway request of the control center through the existing gateway terminal in the network, and starting the gateway service after the existing gateway terminal closes the gateway service.
As an example, in this embodiment or some other embodiments of the present application, the apparatus further comprises:
and the third gateway switching unit is used for closing gateway service if receiving a gateway switching request of the control center or receiving gateway switching requests of other flight terminals in the cluster when any flight terminal is a gateway terminal.
In this embodiment, each node in the cluster forms a peer-to-peer network together, and the adjacent nodes can directly communicate without intermediate node forwarding, so that the communication efficiency is high, and the communication pressure of the control center is also reduced. Meanwhile, in the scheme of the embodiment, the gateway terminal is selected based on the change of the network topology, so that any node can be used as the gateway, the roles of the nodes can be automatically switched, a central node does not exist, the reliability is high, the changes of the shape, the position and the like of the cluster in the air can be effectively responded, and the reliability and the communication efficiency are further improved. In addition, in this embodiment, the gateway terminal is combined with the wireless data link system, so that the cluster communication range can be greatly expanded, the ground control device does not need to be located inside the cluster, and the scheme deployment becomes more flexible.
Regarding the apparatus in the foregoing embodiments, the specific manner in which each unit \ module executes operations has been described in detail in the embodiments of the related method, and is not described herein again. In the present application, the names of the above units/modules do not limit the units/modules themselves, and in practical implementations, the units/modules may be referred to by other names, so long as the functions of the units/modules are similar to those of the present application, and all of the units/modules belong to the scope of the claims and the equivalent technology of the present application.
The embodiment of the application also provides a cluster terminal communication system, which can be seen in fig. 2 and comprises a cluster and a control center, wherein the cluster comprises a plurality of flight terminals, each flight terminal is used as a node to form a Mesh network, and each flight terminal performs information interaction in the network in a multicast mode; and each flight terminal executes any one of the trunking terminal communication methods.
And the control center is communicated with each flight terminal in the cluster through the flight terminal serving as a gateway terminal in the network.
An embodiment of the present application further provides an electronic device, including:
a memory storing computer readable instructions;
and the processor reads the computer readable instructions stored in the memory to execute any one of the above cluster terminal communication methods.
The embodiment of the present application further provides a computer-readable storage medium, which stores instructions, and when the instructions are executed on a computer, the instructions cause the computer to execute any one of the above cluster terminal communication methods.
Although the present application has been described with reference to a preferred embodiment, it should be understood that various changes, substitutions and alterations can be made herein without departing from the spirit and scope of the application, and all changes, substitutions and alterations that fall within the spirit and scope of the application are to be understood as being covered by the following claims.
Other embodiments of the present application will be apparent to those skilled in the art from consideration of the specification and practice of the aspects disclosed herein. This application is intended to cover any variations, uses, or adaptations of the invention following, in general, the principles of the application and including such departures from the present disclosure as come within known or customary practice within the art to which the invention pertains. It is intended that the specification and examples be considered as exemplary only, with a true scope and spirit of the application being indicated by the following claims.
It will be understood that the present application is not limited to the precise arrangements described above and shown in the drawings and that various modifications and changes may be made without departing from the scope thereof. The scope of the application is limited only by the appended claims.

Claims (12)

1. A cluster terminal communication method is characterized in that the method is used for a cluster terminal communication system, the system comprises a cluster and a control center, the cluster comprises a plurality of flight terminals, each flight terminal is used as a node to form a grid Mesh network, each flight terminal carries out information interaction in the network in a multicast mode, and each flight terminal is communicated with the control center through the flight terminal which is used as a gateway terminal in the network;
the method is executed by any flight terminal in the cluster, and comprises the following steps:
selecting the flying terminal with the largest number of neighbor nodes from a node information table maintained locally according to the topological structure of the network as a candidate gateway terminal of the network and sending the candidate gateway terminal to other flying terminals in the cluster;
receiving candidate gateway terminals sent by other flight terminals in the cluster;
and determining the gateway terminal of the network according to the candidate gateway terminals selected by all the flight terminals in the cluster.
2. The method according to claim 1, wherein selecting the flying terminal with the largest number of neighbor nodes from a locally maintained node information table according to a topology structure of the network as a candidate gateway terminal of the network and sending the candidate gateway terminal to other flying terminals in the cluster comprises:
judging whether the topological structure of the network changes or not;
and if the topological structure is changed, selecting the flying terminal with the largest number of neighbor nodes from a locally maintained node information table as a candidate gateway terminal of the network and sending the candidate gateway terminal to other flying terminals in the cluster.
3. The method of claim 2, wherein determining whether the topology of the network has changed comprises:
periodically receiving node information of a neighbor flight terminal, wherein the node information comprises an identifier of the neighbor flight terminal, the number of neighbor nodes of the neighbor flight terminal and the total number of nodes collected by the neighbor flight terminal;
and judging whether the topological structure is changed or not according to the node information.
4. The method of claim 3, wherein determining whether the topology is changed according to the node information comprises:
updating the node information table according to the node information of the neighbor flight terminal;
judging whether the number of neighbor nodes of each flight terminal in the node information table in adjacent periods is consistent;
and if the topological structures are not consistent, judging that the topological structures are changed.
5. The method of claim 4, wherein determining whether the topology is changed according to the node information further comprises:
if the number of neighbor nodes of each flight terminal in the node information table in the adjacent period is judged to be consistent, judging whether the total number of the flight terminals in the cluster in the adjacent period is consistent;
if the judgment result is negative, the topological structure is judged to be changed.
6. The method of claim 1, wherein when the any flight terminal is determined to be a gateway terminal, the method further comprises:
judging whether a gateway terminal exists in the cluster;
if the judgment result is negative, the gateway service is started;
if the judgment result is yes, a gateway switching request is initiated to the existing gateway terminal, and the gateway service is started after the existing gateway terminal closes the gateway service.
7. The method of claim 1, wherein when the any flight terminal is already a gateway terminal, the method further comprises:
and if the gateway switching request of the control center is received or the gateway switching requests of other flight terminals in the cluster are received, closing the gateway service.
8. The method of claim 1, further comprising:
if the appointed gateway request of the control center is received through the existing gateway terminal in the network, a gateway switching request is initiated to the existing gateway terminal, and the gateway service is started after the existing gateway terminal closes the gateway service.
9. A cluster terminal communication device is characterized in that the device is used for a cluster terminal communication system, the system comprises a cluster and a control center, the cluster comprises a plurality of flight terminals, each flight terminal is used as a node to form a grid Mesh network, each flight terminal carries out information interaction in the network in a multicast mode, and each flight terminal is communicated with the control center through the flight terminal which is used as a gateway terminal in the network;
the device is used for any flight terminal in the cluster, and the device comprises:
the candidate gateway terminal selecting unit is used for selecting the flying terminal with the largest number of neighbor nodes from a locally maintained node information table according to the topological structure of the network as the candidate gateway terminal of the network and sending the candidate gateway terminal to other flying terminals in the cluster;
the candidate gateway terminal receiving unit is used for receiving candidate gateway terminals sent by other flight terminals in the cluster;
and the gateway terminal determining unit is used for determining the gateway terminal of the network according to the candidate gateway terminals selected by all the flight terminals in the cluster.
10. A cluster terminal communication system is characterized by comprising a cluster and a control center, wherein the cluster comprises a plurality of flight terminals, each flight terminal is used as a node to form a grid Mesh network, and each flight terminal performs information interaction in the network in a multicast mode; each flight terminal performing the method of any one of claims 1 to 8;
and the control center is communicated with each flight terminal in the cluster through the flight terminal serving as a gateway terminal in the network.
11. An electronic device, comprising:
a memory storing computer readable instructions;
a processor reading computer readable instructions stored by the memory to perform the method of any of claims 1 to 8.
12. A computer-readable storage medium having stored thereon instructions which, when executed on a computer, cause the computer to perform the method of any one of claims 1 to 8.
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