CN114499804B - Parallel communication method, equipment and medium for multichannel underwater acoustic network - Google Patents
Parallel communication method, equipment and medium for multichannel underwater acoustic network Download PDFInfo
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L5/00—Arrangements affording multiple use of the transmission path
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Abstract
The invention relates to the field of underwater acoustic communication, and particularly discloses a parallel communication method, equipment and a medium of a multichannel underwater acoustic network, which comprises the steps of initializing each node of the multichannel underwater acoustic network, detecting and storing propagation delay between each node and other nodes, and dividing the multichannel underwater acoustic network into a plurality of channels; recording all historical information of successful handshaking of each node in the previous two transmission periods as a first transmission parameter of the node; recombining the first two transmission periods and the current transmission period of each source node into first data of the source node; acquiring second transmission parameters of all source nodes of the transmission beat according to the first transmission parameters and the propagation delay; and controlling the source node to transmit the first data to all the target nodes according to the second transmission parameters. The invention more effectively utilizes the parallel communication resources of time domain and multi-channel, improves the communication performance of the underwater acoustic network and can eliminate the transmission conflict of signaling and data packet.
Description
Technical Field
The present invention relates to the field of underwater acoustic communications, and in particular, to a parallel communication method, device, and medium for a multi-channel underwater acoustic network.
Background
The underwater acoustic channel is a wireless channel with narrow frequency band, strong interference, prolonged time and limited energy, and the underwater point-to-point acoustic communication rate is usually very low, so that the underwater acoustic network needs to improve the communication performance of the network by increasing the parallelism of communication between nodes.
At present, three parallel communication modes of time domain, space domain and multi-channel are mainly involved in the research of the underwater acoustic network. The parallel communication in the underwater time domain mainly utilizes the characteristic of prolonging the propagation time of underwater sound waves, and ensures that the destination nodes of data packets sent in parallel do not generate aliasing by reasonably arranging the time for sending information by the nodes. The parallel communication in the underwater airspace mainly utilizes the principle that nodes outside the communication interference range can receive and transmit data in parallel in the network, and realizes the parallel communication by utilizing the methods of node position distribution or transmitting power adjustment and the like. The underwater multichannel parallel communication is realized by a plurality of parallel communication channels underwater by utilizing the technologies such as code division multiple access, frequency division multiple access and the like. Most of the existing parallel communication methods of the underwater acoustic network only utilize one parallel communication mode, and a scheme for comprehensively utilizing multiple parallel communication modes is lacked.
The existing underwater acoustic network communication method generally utilizes the characteristics of multiple communication channels and prolonged information transmission time of the underwater acoustic channels to realize parallel transmission of data, a handshake signaling is transmitted by adopting an optimized time division multiplexing method in some communication channels, data is transmitted in parallel by adopting optimized transmission time in other communication channels, and the two communication channels are performed in parallel in a pipeline mode, so that transmission conflict can be completely eliminated, and the communication efficiency of the underwater acoustic network is effectively improved. However, in each super step, a certain channel is fixedly allocated to handshake signaling transmission or data transmission, which means that an additional constraint condition is added to the allocation of channel resources, so that the utilization of the channel resources is difficult to achieve the optimum, the waste of resources is easily caused, and the further improvement of the network transmission performance is limited.
Disclosure of Invention
The invention provides a parallel communication method, equipment and medium for a multi-channel underwater acoustic network, aiming at solving the problems that the existing multi-channel underwater acoustic network parallel communication scheme is low in channel resource utilization rate, wastes network resources and limits the upper limit of the transmission performance of the underwater acoustic network.
The invention provides a parallel communication method of a multichannel underwater acoustic network, which comprises the following steps:
initializing each node of the multichannel underwater sound network, detecting and storing the propagation delay between each node and other nodes, and dividing the multichannel underwater sound network into a plurality of channels; the node is a source node when a certain transmission beat of a channel where the node is located is used for transmitting data, and the node is a target node when the certain transmission beat of the channel where the node is located is used for receiving the data;
recording all history information of successful handshaking of each node in the previous two transmission periods as a first transmission parameter of the node; the data transmitted in the transmission period comprises handshake signaling, data packets and response signaling;
recombining data transmitted in the first two transmission periods and the current transmission period of each source node into first data of the source node; the first data is a response signaling of the second previous transmission period of the source node, a data packet of the first previous transmission period and a handshake signaling of the current transmission period;
according to the first transmission parameters of all the source nodes and the propagation delay between the source nodes and the corresponding target nodes, second transmission parameters of all the source nodes of the transmission beat are obtained; the obtaining of the second transmission parameters of all source nodes of the transmission beat specifically includes: establishing a first set of all source nodes and target nodes to be subjected to first data transmission in a current transmission beat; initializing a queue formed by a source node and a target node with determined sending time for each channel; calculating the time delay of each data in the first set from the source node to the target node by adopting the same non-random algorithm to obtain a second set; sequentially calculating each source node in each channel according to the second set, sending the optimal time of a data packet or a signaling at all channels without conflict, and calculating the total duration of the current transmission beat to obtain a second transmission parameter; the second transmission parameters comprise the channel and the time of sending all signaling or data packets in the first data by each source node in all channels without conflict, and the total duration of the transmission beat; each transmission beat comprises a current transmission period and different transmission stages of the first two transmission periods of the current transmission period;
and respectively controlling all the source nodes on each channel, and transmitting the first data to all the target nodes according to a second transmission parameter.
Preferably, the initializing each node of the multichannel underwater acoustic network, and detecting and storing propagation delay between each node and other nodes, specifically:
synchronizing clocks of all nodes in the multichannel underwater acoustic network;
recording the propagation delay between each node and each node by each node;
dividing a multi-channel underwater sound network into a plurality of channels;
broadcasting a start-up signaling in the multi-channel underwater acoustic network.
Preferably, the sequentially calculating, according to the second set, each source node in each channel, the optimal time for sending a data packet or a signaling without collision in all channels, and calculating the total duration of the current transmission beat to obtain a second transmission parameter specifically include:
selecting the sending time with the minimum total duration as the optimal time for the source node to send the response signaling and the data packet;
when calculating the optimal time for sending the request sending signal in the handshake signaling of the source node, if the second set has the reserved time slot for clearing the sending signal of the source node, deleting the sending time corresponding to the node, which is greater than the starting point of the reserved time slot for clearing the sending signal, and selecting the time with the minimum total duration from the remaining sending times of the node as the optimal time;
when the optimal time for receiving and clearing the sending signal in the handshake signaling of the source node is calculated, if the request sending signal reserved time slot of the source node exists in the second set, the sending time which is corresponding to the node and is smaller than the end point of the request sending signal reserved time slot is deleted, and the time which makes the total time length minimum is selected from the remaining sending time of the node as the optimal time.
The invention also provides a parallel communication device of the multichannel underwater acoustic network, which comprises: the system comprises an initialization module, a recording module, a recombination module, an optimization module and an execution module;
the initialization module is used for initializing each node of the multichannel underwater acoustic network, detecting and storing the propagation delay between each node and other nodes, and dividing the multichannel underwater acoustic network into a plurality of channels; the node is a source node when a certain transmission beat of a channel where the node is located is used for transmitting data, and the node is a target node when the certain transmission beat of the channel where the node is located is used for receiving the data;
the recording module is used for recording all history information of successful handshaking of each node in the previous two transmission periods as a first transmission parameter of the node; the data transmitted in the transmission period comprises handshake signaling, data packets and response signaling;
the recombination module is used for recombining data transmitted in the first two transmission periods and the current transmission period of each source node into first data of the source node; the first data is a response signaling of the second previous transmission period of the source node, a data packet of the first previous transmission period and a handshake signaling of the current transmission period;
the optimization module is used for obtaining second transmission parameters of all the source nodes of the transmission beat according to the first transmission parameters of all the source nodes and the propagation delay between the first transmission parameters and the corresponding target nodes; the acquiring of the second transmission parameters of all the source nodes of the transmission beat specifically includes: establishing a first set of all source nodes and target nodes which are to perform first data transmission in a current transmission beat; initializing a queue formed by a source node and a target node with determined sending time for each channel; calculating the time delay of each data in the first set from the source node to the target node by adopting the same non-random algorithm to obtain a second set; according to the second set, sequentially calculating each source node in each channel, the optimal time for sending data packets or signaling in all channels without conflict, and calculating the total time length of the current transmission beat to obtain a second transmission parameter; the second transmission parameters comprise channels and time when all signaling or data packets in the first data are sent by all source nodes in all channels without conflict, and the total duration of the transmission beat; each transmission beat comprises a current transmission period and different transmission stages of the first two transmission periods of the current transmission period;
the execution module is configured to control all the source nodes on each of the channels respectively, and transmit the first data to all the target nodes according to a second transmission parameter.
The invention provides a computer-readable storage medium, which comprises a stored computer program, wherein when the computer program runs, a device where the computer-readable storage medium is located is controlled to execute the parallel communication method of the multi-channel underwater acoustic network.
The invention has the beneficial effects that:
(1) Obtaining second transmission parameters of all the source nodes of the transmission beat according to the first transmission parameters of all the source nodes and the propagation delay between the source nodes and the corresponding target nodes; the second transmission parameters include the channel and time at which each source node sends all signaling or data packets in the first data in all channels without collision, and the total duration of the transmission beat; the method realizes the simultaneous joint optimization of the sending channels and the sending time of the handshake signaling, the data packet and the response signaling of three adjacent transmission beats, can more effectively utilize the parallel communication resources of time domains and multiple channels, improves the communication performance of the underwater acoustic network, and can be widely applied to occasions such as the underwater acoustic communication network, the underwater acoustic sensing network and the like;
(2) Recombining the first two transmission periods and the current transmission period of each source node into first data of the source node; the first data is a response signaling of the second previous transmission period of the source node, a data packet of the first previous transmission period and a handshake signaling of the current transmission period; the handshake signaling, the data packet and the response signaling of three adjacent transmission beats are put in one transmission beat to carry out the joint optimization of the channel and the sending time, compared with the prior underwater sound transmission technology, the invention has less constraint conditions on the distribution of channel resources and can more effectively utilize the parallel communication opportunities of time domains and multiple channels; by reasonably scheduling the sending channels and time of the handshake signaling, the data packet and the response signaling, the transmission conflict of the signaling and the data packet can be completely eliminated in the underwater competition type network;
preferably, the invention adopts a repeated calculation technology, each node can independently calculate the same signaling and the same sending channel and the same time schedule of the data packet, no additional information exchange is needed for coordination, and the transmission efficiency of the underwater competitive network can be effectively improved.
Drawings
The invention will be further described with reference to the accompanying drawings, in which:
FIG. 1 is a flow chart of a method according to one embodiment of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. 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 invention.
Referring to fig. 1, as one embodiment of the present invention, there is provided a parallel communication method of a multi-channel underwater acoustic network, including:
s1, initializing each node of a multi-channel underwater acoustic network, detecting and storing propagation delay between each node and other nodes, and dividing the multi-channel underwater acoustic network into a plurality of channels; the node is a source node when a certain transmission beat of a channel where the node is located is used for transmitting data, and the node is a target node when the certain transmission beat of the channel where the node is located is used for receiving the data;
s2, recording all history information of successful handshaking of each node in the previous two transmission periods as a first transmission parameter of the node; wherein the transmission cycle comprises handshake signaling, data packets and response signaling;
s3, recombining the first two transmission periods and the current transmission period of each source node into first data of the source node; the first data is a response signaling of the second previous transmission period of the source node, a data packet of the first previous transmission period and a handshake signaling of the current transmission period;
s4, according to the first transmission parameters of all the source nodes and the propagation delay between the first transmission parameters and the corresponding target nodes, second transmission parameters of all the source nodes of the transmission beat are obtained; the second transmission parameters comprise channels and time when all signaling or data packets in the first data are sent by all source nodes in all channels without conflict, and the total duration of the transmission beat;
and S5, respectively controlling all the source nodes on each channel, and transmitting the first data to all the target nodes according to a second transmission parameter.
Preferably, the step S1 specifically includes:
s11, synchronizing clocks of all nodes in the multichannel underwater acoustic network;
s12, recording the propagation delay between each node and each node by each node;
s13, dividing the multichannel underwater sound network into a plurality of channels;
and S14, broadcasting a starting signaling in the multichannel underwater sound network.
Preferably, the step S4 includes the following sub-steps:
s41, establishing a first set of all source nodes and target nodes to be subjected to first data transmission in the current transmission beat;
s42, initializing a queue formed by the source node and the target node with determined sending time for each channel;
s43, calculating the time delay of each data in the first set from the source node to the target node by adopting the same non-random algorithm to obtain a second set;
and S44, sequentially calculating each source node in each channel according to the second set, sending the optimal time of a data packet or a signaling in all channels without conflict, and calculating the total time length of the current transmission beat to obtain a second transmission parameter.
Preferably, step S44 specifically includes:
selecting the sending time with the minimum total duration as the optimal time when the optimal time for sending the response signaling and the data packet by the source node is reached;
when the optimal time for sending the request sending signal in the source node handshake signaling is calculated, if the second set has the reserved time slot for clearing the sending signal of the source node, deleting the sending time which is greater than the starting point of the reserved time slot for clearing the sending signal and corresponds to the node, and selecting the time with the minimum total duration from the remaining sending time of the node as the optimal time;
when the optimal time for receiving and clearing the sending signal in the handshake signaling of the source node is calculated, if the request sending signal reserved time slot of the source node exists in the second set, the sending time which is corresponding to the node and is smaller than the end point of the request sending signal reserved time slot is deleted, and the time which makes the total time length minimum is selected from the remaining sending time of the node as the optimal time.
The specific calculation method of step S4 is as follows:
s41, establishing a set
Wherein M is the total number of signaling and data packets to be sent in the current transmission beat, S i The node sending the ith signaling or data packet and the corresponding receiving node set; wherein S i The determination method comprises the following steps: according to the first two transmission cyclesThe historical information of successful handshake in the period is respectively obtained, and all the node pairs S which need to send and receive response signaling and data packets in the current transmission beat are obtained i ＝(s i ，d i ) (ii) a All nodes broadcast handshake signaling, i.e. S, to other nodes in the current transmission period i ＝(s i Λ), where Λ represents the set of all nodes in the network;
s42, initializing S with determined transmission time for each channel i Formed queue
Order to
Initializing an iteration variable r =1, and when r is smaller than M, repeating the following calculation steps until r is not smaller than M; wherein k is the serial number of the channel;
s43, from
Middle selection S i Calculating S i On the k channel with all S j ∈S r-1 Non-conflicting transmission time intervals
Wherein K is more than 1 and less than K;
s44, for the k channel, according to the formula:
is calculated to obtain s i Optimum transmission time of
Wherein S is j ∈S r-1 ，
Is s is j The time of transmission of (a) is,
is as s i Number of bits required to send signalling or data packets, v k Is the transmission rate of the k channel, C is the guard time;
s45, according to a formula:
calculating to obtain S i Is optimized to transmit the channel
And optimal transmission time
S46, adding S i From
Deleting S and adding S i Adding into
To obtain
Order to
S47, when r is not less than K, making the starting time of transmission be T 0 Node S i The channel actually transmitting the signalling or data packets is
The time of its transmission is calculated as:
wherein S j ∈S r (ii) a By passing
Calculating the total duration T of the nth transmission beat total (ii) a Wherein i is more than or equal to 1 and less than or equal to K, j is more than or equal to 1 and less than or equal to K, p l ∈Λ，
Is s is i To p l The propagation delay of (c).
Preferably, said slave unit
Middle selection S i Calculating S i On the k channel with all S j ∈S r-1 Non-conflicting transmission time intervals
The method specifically comprises the following steps:
when s is i When the response signaling or data packet is sent, all the messages are processed
By:
calculating s i Sending no conflict signalling or data packet to j An interval;
for all that
By:
is calculated to obtain s i Sending signaling or data packet to d without collision jm The interval of the lambda is laid;
for all that
And S j ＝(s j ，Λ)∈S r-1 By:
calculating s i Sending signaling or data packet to d without collision i The interval of (1);
by passing
Calculate out
When s is i When handshake signaling is sent, all S are sent j ∈S r-1 By:
calculating s i Interval of collision-free broadcast RTS/CTS signaling:
wherein d is jm ∈Λ；
By:
calculating s i Interval where broadcasting does not conflict with reception of all nodes:
by passing
Is calculated to obtain
The invention also provides a parallel communication device of the multichannel underwater acoustic network, which comprises: the device comprises an initialization module, a recording module, a recombination module, an optimization module and an execution module;
the initialization module is used for initializing each node of the multichannel underwater sound network, detecting and storing the propagation delay between each node and other nodes, and dividing the multichannel underwater sound network into a plurality of channels; the node is a source node when a certain transmission beat of the channel where the node is located is used for sending data, and the node is a target node when the certain transmission beat of the channel where the node is located is used for receiving the data;
the recording module is used for recording all history information of successful handshaking of each node in the previous two transmission periods as a first transmission parameter of the node; wherein the transmission cycle comprises handshake signaling, data packets and response signaling;
the recombination module is used for recombining the first two transmission periods and the current transmission period of each source node into first data of the source node; the first data is a response signaling of the second previous transmission period of the source node, a data packet of the first previous transmission period and a handshake signaling of the current transmission period;
the optimization module is used for obtaining second transmission parameters of all the source nodes of the transmission beat according to the first transmission parameters of all the source nodes and the propagation delay between the first transmission parameters and the corresponding target nodes; the second transmission parameters comprise channels and time when all signaling or data packets in the first data are sent by all source nodes in all channels without conflict, and the total duration of the transmission beat;
the execution module is configured to control all the source nodes on each of the channels respectively, and transmit the first data to all the target nodes according to a second transmission parameter.
As another embodiment of the present invention, a parallel communication method for a multi-channel underwater acoustic network is provided, and this embodiment is applied to a fully-connected static underwater acoustic network having K parallel channels capable of independently receiving and transmitting data, where a communication mode of each node in the network is half-duplex, and data can only be monitored or transmitted on one channel at the same time.
The embodiment adopts a multi-rendezvous (multi-channel handshake) technology to complete the handshake of the multi-channel network, can effectively overcome the defect that a single rendezvous (namely single-channel handshake) easily signals the number of the signaling channels to become the communication bottleneck of the underwater acoustic network, and simultaneously adopts a repeated calculation technology to make the multi-rendezvous not need to add additional communication.
The embodiment adopts a non-random algorithm, also called a determination algorithm, corresponding to a random algorithm. The non-random algorithm can obtain the same output no matter how many times the non-random algorithm runs as long as the input is the same, and the random algorithm can generate random output; the non-random algorithm used in the present embodiment is a repetitive computing technique in parallel computing.
In the embodiment, three adjacent periods are selected as optimization objects, because one transmission period can be divided into three stages of handshaking (RTS and CTS), DATA transmission (DATA) and Acknowledgement (ACK), and different stages of the three adjacent periods can be processed in parallel when a pipeline is formed, theoretically, the best utilization of channel resources is achieved, network resources are saved, and the upper limit of the transmission performance of the underwater acoustic network is improved.
In a transmission beat, each node only sends one packet and then listens to the channel, but different nodes can be in different transmission stages, such as an acknowledgement stage, a data transmission stage or a handshake stage.
Preferably, when clock drift occurs in part of nodes in the underwater acoustic network, the initialization of step S1 is performed only once again.
As the description of the n-2 transmission beat and the n-1 transmission beat in the initial stage of data transmission, when the network just completes initialization, in the first transmission beat, only the handshake data of all the nodes of the first transmission beat are sent, while in the second transmission beat, only the data packets of all the source nodes of the first transmission beat and the handshake data of all the nodes of the second transmission beat need to be sent.
As another embodiment of the present invention, this embodiment is applied to an underwater acoustic communication network having 6 nodes, where each node is located on a plane 100 meters below the water, is a static node, and can directly listen to signals of other nodes. Each node is provided with 3 underwater sound modulation and demodulation systems capable of independently receiving and transmitting data, and the communication mode of each underwater sound modulation and demodulation system is omnidirectional and half-duplex and has the same data transmission rate. One transmission cycle comprises a handshake phase, a data transmission phase and a response phase, and all nodes adopt data packets with the same length and RTS, CTS and ACK/NACK signaling with the same length. All nodes have synchronous clocks, each node stores a table for recording propagation delay among all nodes, and the propagation delay is obtained by dividing the distance among the nodes by sound velocity after calculation or by measuring the difference between a time label in a signaling and the receiving time of the time label. The difference from the conventional handshake protocol is that adjacent transmission cycles in the above embodiments are partially overlapped, and concurrent transmission is performed in a pipeline manner, so that handshake signaling, data packets, and response signaling that need to be sent in multiple transmission cycles can be jointly optimized, thereby improving transmission efficiency.
In this embodiment, the following steps are adopted to perform parallel communication between nodes:
step 1: and synchronizing clocks of all nodes in the network, detecting propagation delay among all nodes in the network and storing the propagation delay into each node. After the network initialization is finished, one node broadcasts a network starting signaling;
step 2:in the nth transmission beat, each node in the network independently calculates the channels and the moments of all signaling and data packets which can be sent in the nth transmission beat in the K channels without conflict in the network by adopting the same non-random algorithm according to the history information of all handshaking successes in the (n-2) th transmission period and the (n-1) th transmission period which are recorded by the node respectively, and calculates the total duration T of the nth transmission beat total Then, timing is started, the transmission cycle includes three stages of handshaking, data packet sending and answering, and the signaling and data packet to be transmitted in the nth transmission beat includes: the method comprises the steps of time slots of all destination node ACK/NACK signaling in an n-2 transmission period, data packets of all destination nodes in an n-1 transmission period, and RTS and CTS time slots of all nodes in an n transmission period.
In the step 1, all nodes in the network firstly adopt a synchronization algorithm to calibrate respective clocks, then send signaling for measuring propagation delay in turn, each node obtains the propagation delay between the node and other nodes by calculating the difference between the time tag in the signaling and the receiving time of the node, and finally broadcasts the delay. Each node obtains the propagation delay among all nodes in the network through the steps and stores the propagation delay into a table for recording the propagation delay among all nodes; after the network initialization is finished, the node 1 broadcasts a network starting signaling, wherein the signaling comprises the time of network starting; after receiving the network starting signaling, each node counts the time to the network starting time and then enters a communication state.
In the embodiment, the RTS, the CTS, the DATA and the ACK in three transmission periods are transmitted concurrently in a pipeline mode, namely, the RTS and CTS stage of the nth transmission period, the DATA stage of the (n-1) th transmission period and the ACK stage of the (n-2) th transmission period are placed in the same transmission beat, and the sending moments of the RTS time slot, the CTS time slot, the DATA packet and the ACK/NACK signaling in the RTS time slot, the CTS time slot, the DATA packet and the ACK/NACK signaling are uniformly and optimally scheduled, so that the characteristics of extension during underwater sound transmission can be more fully utilized for concurrent transmission, and the transmission efficiency is improved. The method specifically comprises the following steps:
in the above step 2, the following method is used to calculate the n-th channel capable of being transmitted in the K channels without collision-channels and times of all signalling and data packets in the 2 to nth transmission periods, and the total duration T of the nth transmission beat total The method specifically comprises the following steps:
step 2.1: building a set
Where M is the sum of the number of signalling and data packets to be sent in the nth transmission beat, S i For the node sending the ith signaling or data packet and the corresponding receiving node set, the following method is adopted to determine: according to the handshake success history information of the (n-2) th transmission cycle and the (n-1) th transmission cycle, all node pairs S which need to send and receive ACK/NACK signaling and data packets in the nth transmission cycle are respectively obtained i ＝(s i ，d i ) (ii) a All nodes in the nth transmission period broadcast RTS and CTS signaling, i.e. S, to other nodes i ＝(s i Λ), where Λ represents the set of all nodes in the network;
taking the case that the node 1 needs to send ACK signaling to the node 2 in the (n-2) th transmission cycle, and the nodes 1 and 3 need to send data packets to the nodes 5 and 6 in the (n-1) th transmission cycle, there is S 1 ＝(1，2)，S 2 ＝(1，5)，S 2 ＝(3，6)，S 4 ＝(1，Λ)，S 5 ＝(2，Λ)，S 6 ＝(3，Λ)，S 7 ＝(4，Λ)，S 8 ＝(5，Λ)，S 9 ＝(6，Λ)，S 10 ＝(1，Λ)，S 11 ＝(2，Λ)，S 12 ＝(3，Λ)，S 13 ＝(4，Λ)，S 14 ＝(5，Λ)，S 15 = (6, Λ), wherein S 1 The node 1 sends ACK signaling to the node 2 in the corresponding n-2 transmission period 2 And S 3 The nodes 1 and 2 send data packets to the node 5 and the node 6 in the corresponding (n-1) th transmission period 4 To S 9 Corresponding to reserved time slot, S, of RTS in the nth transmission cycle 10 To S 15 A reserved time slot corresponding to the CTS in the nth transmission period; these signaling or data packets need to be sent on 3 channels in the nth transmission period;
step 2.2: for each channel initializationForming a signal of S from the determined transmission time i Formed queue
Is the serial number of the channel, order
Initializing an iteration variable r =1;
in the above embodiment, 3 queues are initialized
Corresponding to channel 1, channel 2 and channel 3, respectively, and
for all S determined transmission times i A set of (a);
step 2.3: from
Middle selection of S i Calculating S i In the k channel and all S j ∈S r-1 Non-conflicting transmission time intervals
Wherein k is more than or equal to 1 and less than or equal to N is the serial number of the channel;
in the above embodiment, S is calculated by the following method i In the k channel and all
Non-conflicting transmission time intervals
When s i Sending ACK/NACK signalling or data packets, i.e. only one destination node, for all
Namely S j When there is only one destination node, adoptCalculating s by the following equation i D to which signalling or data packets can be sent without collision j Interval(s)
For all that
Namely S j When not broadcast, s is calculated using the following formula i Can send signaling or data packets to d without collision jm Interval of epsilon lambda
For all that
And S j ＝(s j ，Λ)＝S r-1 S is calculated using the formula i Can send signaling or data packet to d without conflict i Interval of (1)
Calculated using the formula
When S is i RTS/CTS signalling is sent, i.e. broadcast, to all S j ∈S r-1 Calculating S using the following formula i Intervals in which RTS/CTS signaling may be broadcast without collision
Wherein d is jm E is left at the position of Λ; calculate s using the formula i Does not conflict with the reception of all nodes
Calculated using the formula
In the above embodiment, the first channel is used
For example, if from
Middle selection S 3 = (3, 6), then
If from
Middle selection of S 6 = (3, Λ), then
Step 2.4: for the k channel, calculate S i Optimum transmission time of
Wherein S j ∈S r-1 ，
Is s is j The time of transmission of (a) is,
is s is i Number of bits required to send signalling or data packets, v k Is the transmission rate of the kth channel, and C is the guard time;
in the above embodiment, in
Finding all of the satisfies
And searching for intervals of (2)
Step 2.5: calculating S i Optimum transmission channel and optimum transmission time
Wherein
Is S i The sequence number of the best transmission channel of (a),
is s is i The optimal transmission time of (2);
in the above embodiment, the calculation is performed for each channel
Then, the optimal sending channel and the optimal sending time are obtained by using the formula;
step 2.6: will S i From
Is deleted and added
To obtain
Order to
In the above embodiment, S is 3 ＝(3，6)，
For example, let S 3 From
Is deleted and added
To obtain
Order to
Step 2.7: if r is less than K, r = r +1, and repeatedly executing step 2.2-step 2.6; otherwise, let the starting time of transmission be T 0 Node s i The channel actually transmitting the signaling or data packet is
The time of transmission is calculated using the following formula
Wherein S j ∈S r The total duration of the nth transmission beat is
Wherein i is more than or equal to 1 and less than or equal to K, j is more than or equal to 1 and less than or equal to K, p l ∈Λ，
Is as s i To p l Propagation delay of (2);
and 3, step 3: in the nth transmission beat, each node needing to send the signaling or the data packet sends the signaling or the data packet on a corresponding channel according to the channels and the time of sending the signaling and the data packet of all the nodes calculated in the step 2 when the corresponding sending time of the node is timed; each node which needs to receive the signaling or the data calculates the time when the signaling or the data packet reaches the node according to the sending channel and the time of the signaling or the data packet calculated in the step 2, monitors the corresponding channel at the time and receives the signaling or the data packet; each node records the information of a source node and a destination node which are successful in handshaking in the nth transmission period by monitoring a CTS signaling in the network;
and 4, step 4: all nodes count until the end of the nth transmission beat, let n = n +1, and go back to step 2.
The invention also discloses a terminal device, which comprises a processor and a storage device, wherein the storage device is used for storing one or more programs; when the one or more programs are executed by the processor, the processor implements the parallel communication method of the multi-channel underwater acoustic network described above. The Processor may be a Central Processing Unit (CPU), other general purpose Processor, a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), an off-the-shelf Programmable Gate Array (FPGA) or other Programmable logic device, discrete Gate or transistor logic, discrete hardware components, etc. The general purpose processor may be a microprocessor or the processor may be any conventional processor or the like, which is the control center for the test equipment and connects the various parts of the overall test equipment using various interfaces and lines.
The storage means may be adapted to store computer programs and/or modules, and the processor may be adapted to implement various functions of the terminal device by running or executing the computer programs and/or modules stored in the storage means and by invoking data stored in the storage means. The storage device may mainly include a storage program area and a storage data area, wherein the storage program area may store an operating system, an application program required for at least one function, and the like; the storage data area may store data created according to the use of the terminal device, and the like. In addition, the storage device may include high speed random access memory, and may also include non-volatile memory, such as a hard disk, a memory, a plug-in hard disk, a Smart Media Card (SMC), a Secure Digital (SD) Card, a Flash memory Card (Flash Card), at least one magnetic disk storage device, a Flash memory device, or other volatile solid state storage device.
Wherein, the modules/units integrated by the parallel communication device of the multi-channel underwater acoustic network can be stored in a computer readable storage medium if the modules/units are realized in the form of software functional units and sold or used as independent products. Based on such understanding, all or part of the flow in the method according to the embodiments of the present invention may also be implemented by a computer program, which may be stored in at least one computer-readable storage medium and used for instructing related hardware to implement the steps of the above-described embodiments of the method when executed by a processor. Wherein the computer program comprises computer program code, which may be in the form of source code, object code, an executable file or some intermediate form, etc. The computer readable medium may include: any entity or device capable of carrying computer program code, recording medium, U.S. disk, removable hard disk, magnetic diskette, optical disk, computer Memory, read-Only Memory (ROM), random Access Memory (RAM), electrical carrier wave signal, telecommunications signal, software distribution medium, etc.
It should be noted that the embodiments of the apparatuses and devices described above are merely illustrative, where units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on multiple network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of the present embodiment. In addition, in the drawings of the device embodiments provided by the present invention, the connection relationship between the modules indicates that there is a communication connection between them, and may be specifically implemented as one or more communication buses or signal lines. One of ordinary skill in the art can understand and implement it without inventive effort.
The above-mentioned embodiments are provided to further explain the objects, technical solutions and advantages of the present invention in detail, and it should be understood that the above-mentioned embodiments are only examples of the present invention and are not intended to limit the scope of the present invention. It should be understood that various changes, substitutions and alterations can be made herein without departing from the spirit and scope of the invention as defined by the appended claims.
Claims (5)
1. A method for parallel communication in a multi-channel underwater acoustic network, comprising:
initializing each node of the multichannel underwater sound network, detecting and storing the propagation delay between each node and other nodes, and dividing the multichannel underwater sound network into a plurality of channels; the node is a source node when a certain transmission beat of a channel where the node is located is used for transmitting data, and the node is a target node when the certain transmission beat of the channel where the node is located is used for receiving the data;
recording all historical information of successful handshaking of each node in the previous two transmission periods as a first transmission parameter of the node; the data transmitted in the transmission period comprises handshake signaling, data packets and response signaling;
recombining data transmitted in the first two transmission periods and the current transmission period of each source node into first data of the source node; the first data is a response signaling of the second previous transmission period of the source node, a data packet of the first previous transmission period and a handshake signaling of the current transmission period;
according to the first transmission parameters of all the source nodes and the propagation delay between the source nodes and the corresponding target nodes, second transmission parameters of all the source nodes of the transmission beat are obtained; the obtaining of the second transmission parameters of all source nodes of the transmission beat specifically includes: establishing a first set of all source nodes and target nodes to be subjected to first data transmission in a current transmission beat; initializing a queue formed by a source node and a target node with determined sending time for each channel; calculating the time delay of each data in the first set from the source node to the target node by adopting the same non-random algorithm to obtain a second set; sequentially calculating each source node in each channel according to the second set, sending the optimal time of a data packet or a signaling at all channels without conflict, and calculating the total duration of the current transmission beat to obtain a second transmission parameter; the second transmission parameters comprise the channel and the time when each source node sends all signaling or data packets in the first data in all channels without conflict, and the total time length of the transmission beat; each transmission beat comprises a current transmission period and different transmission stages of the first two transmission periods of the current transmission period;
and respectively controlling all the source nodes on each channel, and transmitting the first data to all the target nodes according to a second transmission parameter.
2. The parallel communication method of the multichannel underwater acoustic network according to claim 1, wherein the initializing each node of the multichannel underwater acoustic network, detecting and storing propagation delay between each node and other nodes, specifically:
synchronizing clocks of all nodes in the multichannel underwater acoustic network;
each node records the propagation delay between each node and the node;
dividing a multi-channel underwater sound network into a plurality of channels;
broadcasting a start-up signaling in the multi-channel underwater acoustic network.
3. The parallel communication method of the multi-channel underwater acoustic network according to claim 1, wherein the method sequentially calculates, according to the second set, each source node in each channel, an optimal time for sending a data packet or a signaling without collision in all channels, and calculates a total duration of a current transmission beat to obtain a second transmission parameter, specifically:
selecting the sending time with the minimum total duration as the optimal time for the source node to send the response signaling and the data packet;
when the optimal time for sending the request sending signal in the source node handshake signaling is calculated, if the second set has the reserved time slot for clearing the sending signal of the source node, deleting the sending time corresponding to the node and larger than the starting point of the reserved time slot for clearing the sending signal, and selecting the time with the minimum total duration from the remaining sending time of the node as the optimal time;
when the optimal time for receiving and clearing the sending signal in the handshake signaling of the source node is calculated, if the request sending signal reserved time slot of the source node exists in the second set, the sending time which is corresponding to the node and is smaller than the end point of the request sending signal reserved time slot is deleted, and the time which makes the total time length minimum is selected from the remaining sending time of the node as the optimal time.
4. A parallel communication device of a multi-channel underwater acoustic network, comprising: the system comprises an initialization module, a recording module, a recombination module, an optimization module and an execution module;
the initialization module is used for initializing each node of the multichannel underwater acoustic network, detecting and storing the propagation delay between each node and other nodes, and dividing the multichannel underwater acoustic network into a plurality of channels; the node is a source node when a certain transmission beat of the channel where the node is located is used for sending data, and the node is a target node when the certain transmission beat of the channel where the node is located is used for receiving the data;
the recording module is used for recording all history information of successful handshaking of each node in the previous two transmission periods as a first transmission parameter of the node; the data transmitted in the transmission period comprises handshake signaling, data packets and response signaling;
the recombination module is used for recombining data transmitted in the first two transmission periods and the current transmission period of each source node into first data of the source node; the first data is a response signaling of the second previous transmission period of the source node, a data packet of the first previous transmission period and a handshake signaling of the current transmission period;
the optimization module is used for obtaining second transmission parameters of all the source nodes of the transmission beat according to the first transmission parameters of all the source nodes and the propagation delay between the first transmission parameters and the corresponding target nodes; the obtaining of the second transmission parameters of all source nodes of the transmission beat specifically includes: establishing a first set of all source nodes and target nodes which are to perform first data transmission in a current transmission beat; initializing a queue formed by a source node and a target node with determined sending time for each channel; calculating the time delay of each data in the first set from the source node to the target node by adopting the same non-random algorithm to obtain a second set; sequentially calculating each source node in each channel according to the second set, sending the optimal time of a data packet or a signaling at all channels without conflict, and calculating the total duration of the current transmission beat to obtain a second transmission parameter; the second transmission parameters comprise the channel and the time of sending all signaling or data packets in the first data by each source node in all channels without conflict, and the total duration of the transmission beat; each transmission beat comprises a current transmission period and different transmission stages of the first two transmission periods of the current transmission period;
the execution module is configured to control all the source nodes on each of the channels respectively, and transmit the first data to all the target nodes according to a second transmission parameter.
5. A computer-readable storage medium, comprising a stored computer program, wherein the computer program, when executed, controls an apparatus in which the computer-readable storage medium is located to perform the parallel communication method of the multi-channel underwater acoustic network according to any one of claims 1 to 3.
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