CN114980155A - Periodic data stream scheduling and aggregating method for 6TiSCH network - Google Patents

Periodic data stream scheduling and aggregating method for 6TiSCH network Download PDF

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CN114980155A
CN114980155A CN202210047466.1A CN202210047466A CN114980155A CN 114980155 A CN114980155 A CN 114980155A CN 202210047466 A CN202210047466 A CN 202210047466A CN 114980155 A CN114980155 A CN 114980155A
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time
scheduling
transmission
data
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王平
陈煜�
蒲宬亘
罗佳
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Chongqing University of Post and Telecommunications
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    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W24/00—Supervisory, monitoring or testing arrangements
    • H04W24/02—Arrangements for optimising operational condition
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W28/00—Network traffic management; Network resource management
    • H04W28/02—Traffic management, e.g. flow control or congestion control
    • H04W28/0231—Traffic management, e.g. flow control or congestion control based on communication conditions
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W72/00—Local resource management
    • H04W72/04—Wireless resource allocation
    • H04W72/044—Wireless resource allocation based on the type of the allocated resource
    • H04W72/0446—Resources in time domain, e.g. slots or frames
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W72/00—Local resource management
    • H04W72/12—Wireless traffic scheduling
    • H04W72/1221—Wireless traffic scheduling based on age of data to be sent
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W72/00—Local resource management
    • H04W72/50—Allocation or scheduling criteria for wireless resources
    • H04W72/54—Allocation or scheduling criteria for wireless resources based on quality criteria
    • H04W72/542—Allocation or scheduling criteria for wireless resources based on quality criteria using measured or perceived quality
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W72/00—Local resource management
    • H04W72/50—Allocation or scheduling criteria for wireless resources
    • H04W72/56—Allocation or scheduling criteria for wireless resources based on priority criteria
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W72/00—Local resource management
    • H04W72/50—Allocation or scheduling criteria for wireless resources
    • H04W72/56—Allocation or scheduling criteria for wireless resources based on priority criteria
    • H04W72/566—Allocation or scheduling criteria for wireless resources based on priority criteria of the information or information source or recipient
    • H04W72/569—Allocation or scheduling criteria for wireless resources based on priority criteria of the information or information source or recipient of the traffic information
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02D—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN INFORMATION AND COMMUNICATION TECHNOLOGIES [ICT], I.E. INFORMATION AND COMMUNICATION TECHNOLOGIES AIMING AT THE REDUCTION OF THEIR OWN ENERGY USE
    • Y02D30/00—Reducing energy consumption in communication networks
    • Y02D30/70—Reducing energy consumption in communication networks in wireless communication networks

Abstract

The invention belongs to the technical field of IPv6 wireless sensor networks, and particularly relates to a method for scheduling and aggregating periodic data streams facing a 6TiSCH network, which carries out aggregation and deterministic scheduling on the periodic data streams with different time delay constraints, calculates the transmission period of each node data packet, the whole scheduling maximum period and the transmission time of the first data packet of a node according to the time delay attribute set of the data streams, and completes the time slot allocation of each node; modeling a channel by adopting an exponential weighting moving average filter, and calculating an optimal transmission channel of each node; the optimal transmission channel and the time slot of each node form a whole time slot scheduling table; designing a data packet aggregation method to realize the aggregation of two or more data packets in a common father node queue of a child node. The invention can effectively avoid data packet collision, save network resources and improve the delivery capacity and communication quality of the network.

Description

Periodic data stream scheduling and aggregating method for 6TiSCH network
Technical Field
The invention belongs to the technical field of IPv6 wireless sensor networks, and particularly relates to a 6TiSCH network-oriented periodic data flow scheduling aggregation method.
Background
Wireless Sensor Networks (WSNs) are entering new, more demanding areas, such as industrial automation and control scenarios and avionics, by virtue of their low power consumption, fast deployment, and high efficiency. A common feature of these fields is that they require timely and reliable delivery of critical data packets to avoid system instability, economic loss, and even human safety threats. At present, most wireless sensor networks are based on the ieee802.15.4 standard, and a CSMA/CA is adopted to solve channel access, but with the increase of traffic load, network congestion occurs, which results in increased delay and degraded throughput, and this method is not suitable for the application of data stream transmission with strict delay constraints.
An IEEE802.15.4e TSCH new protocol is introduced into a link layer in an industrial Internet of things protocol stack 6TiSCH established by IETF, and the TSCH adopts a method combining time slot regulation and channel frequency hopping to effectively resist multipath fading and potential external interference and can provide stable and reliable link support for an upper layer. Therefore, the 6TiSCH can well meet the requirements of reliability, real-time performance and low power consumption of industrial wireless transmission.
Currently, the 6TiSCH network does not perform preferential scheduling for high priority packets with critical time constraints, such as alarm commands, control commands, etc. Therefore, to support time critical applications in 6TiSCH networks, reliable real-time communication is a critical requirement and must be delivered reliably to the DODAG root within a strict deadline, so facing the problem of how to allocate time slots and how to deliver the data stream quickly and accurately within the deadline.
Disclosure of Invention
In order to ensure that the application of critical time is supported under the 6TiSCH network, realize the transmission of strict time delay constraint type data stream, reliably deliver the data stream to a DODAG root within the deadline, and solve the problems of how to allocate time slots and quickly and accurately deliver the critical data stream within the maximum allowed time delay, the invention provides a method for scheduling and aggregating the periodic data stream facing the 6TiSCH network, which specifically comprises the following steps:
s1: constructing a time delay attribute set of a node data stream in a 6TiSCH network, and determining the time slot length and the size of a basic scheduling super frame unit according to the 6TiSCH node data stream time delay attribute set;
s2: calculating the transmission period of each node data packet and the maximum repetition period of the whole scheduling according to the size of the basic scheduling superframe unit and the time delay attribute set of the node data stream;
s3: calculating the number of time slots for transmitting periodic data in a basic scheduling superframe unit according to the reserved time slots;
s4: calculating the transmission time of the first data packet of the node according to the unit number and the time slot number in the basic scheduling superframe unit, and completing the time slot allocation of each node;
s5: according to the link signal intensity and the node packet delivery rate, an exponential weighted moving average filter is used for modeling an optimal channel function, an optimal transmission channel of each node is calculated, and the optimal transmission channel of each node forms a whole time slot scheduling table;
s6: the transmission periods between the nodes are powers of 2 to each other, at 2 nd k And during secondary transmission, the common father node of the child node aggregates two or more data packets in the queue.
Further, determining the slot length and the size of the basic scheduling super frame unit according to the 6TiSCH node data stream delay attribute set includes:
the node routing hop count, the maximum constraint delay of the data packet, and the transmission cycle represent a periodic data flow, and the periodic data flow is represented as:
Figure BDA0003472712070000021
setting a time slot in the 6TiSCH network to 10 ms;
the size of the basic scheduling superframe unit must not exceed the maximum allowed delay of all nodes, and the size of the basic scheduling unit is expressed as follows:
Figure BDA0003472712070000022
wherein R is i For periodic data streams, C i The number of hops is routed for the node,
Figure BDA0003472712070000023
for maximum constrained delay, T, of a data packet i Is a transmission period; the BSU is the size of the basic scheduling unit;
Figure BDA0003472712070000024
is the set of maximum allowed delays for all nodes.
Further, the process of calculating the transmission period of each node data packet and the whole scheduling maximum repetition period includes:
if the maximum allowable time delay of the ith node is
Figure BDA0003472712070000031
Node i of (2) transmission period T of the ith node i It must satisfy:
the node transmission period must not exceed the maximum allowable delay;
and the transmission periods among the nodes are powers of 2;
the transmission period T of the ith node i Expressed as:
Figure BDA0003472712070000032
the maximum transmission period of the node, i.e. the whole scheduling maximum repetition period, is:
RSP＝max{T 1 ,T 2 ,………T i }；
wherein, the BSU is the size of the basic scheduling unit; t is min Is the minimum value of the transmission periods in all nodes.
Further, calculating the number of slots for transmitting periodic data in the basic scheduling superframe unit according to the allocated reserved slots includes:
Figure BDA0003472712070000033
constraint conditions are as follows: (FTSA + FRTS) x TS is less than or equal to BSU;
the FTSA is the number of time slots used for transmitting periodic data in a basic scheduling superframe unit;
Figure BDA0003472712070000034
maximum allowed delay for the ith node; t is min The minimum value of the transmission period in all the nodes is obtained; k is the set of all nodes; FRTS is a fixed allocation reserved time slot; the BSU is the size of the basic scheduling unit; TS is a time slot.
Further, completing the time slot allocation of each node comprises:
calculating the first data packet transmission time of each node according to the number of the starting unit and the number of the time slots in the basic superframe, simultaneously checking the number of the current allocated residual time slots in each basic superframe, if the residual time slots exist, continuing allocation, if the residual time slots do not exist, allocating in the next basic superframe unit, wherein the first data packet transmission time of the ith node is represented as:
FDTS i ＝(SBSU i -1)×BSU+(SSN i -1)×TS
wherein FDTS i A first data packet transmission time for the ith node; SBSU i Indicates the number of the initial superframe unit and is initialized to 1; SSN i Representing the initial time slot number, and initializing to 1; when SSN is satisfied i >In FTSA, SBSU i Will increase 1, SSN i Initializing, wherein FTSA is the fixed time slot number in the basic scheduling superframe unit of the ith node; TS is a time slot.
Further, calculating the optimal transmission channel of each node comprises:
Figure BDA0003472712070000041
wherein, CR i The channel value of the ith channel is represented, and the smaller the value is, the higher the channel quality is; PDR represents the data packet delivery rate of the current node, and RSSI represents the signal intensity of the current link; n is the number of channels, and the channels in the 6TiSCH network range from 0 to 15, for a total of 16 channels.
Further, the aggregating two or more data packets in the queue by the common parent node of the child node includes:
if the father node has n child nodes, the transmission period of the ith child node is T i And in FDTS i Transmitting data to a father node at any moment; the jth sub-node output period is T j In FDTS j The data is transmitted to the father node at any moment, and the transmission period between the jth child node and the ith child node in the n child nodes meets T j ＝2 k T i ；
In FDTS j Time of day and FDTS j ＞FDTS i At this time, the process of the present invention,
Figure BDA0003472712070000042
when the constraint conditions are met, the data of the node i and the node j are cached in the queue of the father node at the same time. Then the father node checks the transmission period of the data packet in the queue, and selects the aggregation period on the premise of satisfying the time delay of the data packet, wherein the aggregation period is expressed as:
DATS i ＝min{T i ,T j }；
if the parent node has n nodes, the aggregation period is represented as:
DATS i ＝min{T i ,T j ………,T n }；
wherein k is a positive integer; the BSU is the size of the basic scheduling unit; both alpha and beta are positive integers; t is t 1 Indicates a certain time, t, in the (α +1) th BSU 2 Indicating a certain time in the (β +1) th BSU.
The invention carries out time slot allocation through centralized scheduling, carries out reasonable time slot transmission on nodes generating data streams in the 6TiSCH network, researches factors such as channel wireless link quality and data packet delivery rate based on a time slot channel hopping mechanism (TSCH) in the 6TiSCH network, calls an optimal channel selection function to solve the problem that the data streams with strict time delay constraint complete reliable data delivery within the maximum allowable time delay, and greatly improves the delivery rate of the emergency data streams. Meanwhile, through reasonable planning of a network structure, the tree-shaped topological structure is used, a node data packet aggregation method is designed, data aggregation is carried out on data streams with different time delays in a sub-node minimum transmission period, allocation of time slots in the network is reduced, and meanwhile, the delivery capacity of data is improved, so that high-priority data in the 6TiSCH network can be delivered quickly and reliably, and meanwhile, the time delay of the whole 6TiSCH network can be reduced.
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FIG. 1 is a flowchart of a method for scheduling and aggregating periodic data streams for a 6TiSCH network according to the present invention;
FIG. 2 is a network topology diagram of a method for scheduling and aggregating periodic data streams for a 6TiSCH network according to the present invention;
fig. 3 is a data aggregation model diagram of a periodic data flow scheduling aggregation method for a 6TiSCH network according to the present invention;
fig. 4 is a schematic diagram of a simulated scheduling of a method for scheduling and aggregating periodic data streams for a 6TiSCH network according to 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.
The invention provides a method for scheduling and aggregating periodic data streams for a 6TiSCH network, which comprises the following steps:
s1: constructing a time delay attribute set of a node data stream in a 6TiSCH network, and determining the time slot length and the size of a basic scheduling super frame unit according to the 6TiSCH node data stream time delay attribute set;
s2: calculating the transmission period of each node data packet and the maximum repetition period of the whole scheduling according to the size of the basic scheduling superframe unit and the time delay attribute set of the node data stream;
s3: calculating the number of time slots for transmitting periodic data in a basic scheduling superframe unit according to the allocated reserved time slots;
s4: calculating the transmission time of the first data packet of the node according to the unit number and the time slot number in the basic scheduling superframe unit, and completing the time slot allocation of each node;
s5: according to the link signal intensity and the node packet delivery rate, an exponential weighted moving average filter is used for modeling an optimal channel function, an optimal transmission channel of each node is calculated, and the optimal transmission channel and the time slot of each node form a whole time slot scheduling table;
s6: the transmission periods between the nodes are powers of 2 to each other, at 2 nd k And during secondary transmission, the common father node of the child node aggregates two or more data packets in the queue.
In this embodiment, a specific work flow of a method for scheduling and aggregating periodic data streams for a 6TiSCH network is shown in fig. 1, and includes the following steps:
step 1: constructing all 6TiSCH node data stream delay attribute sets;
step 2: calculating the length of a Time Slot (TS) and the size of a basic scheduling super frame unit (BSU);
step 3: calculating the transmission period (T) of each node according to the size of BSU and the time delay attribute set of the node data stream i ) And determining a repeat scheduling unit (RSP) of the entire schedule;
ste: 4: calculating a number of slots (FTSA) for transmitting periodic data in one BSU;
step 5: if the sum of the reserved time slot number and the allocated time slot number exceeds the basic superframe unit size, returning to Step1 to reset the reserved time slot number, and if the sum does not exceed the basic scheduling superframe, continuing to execute the next time slot;
step 6: allocating time slots for each node, and determining a first data transmission instant (FDTS) of the node;
step 7: determining an optimal channel for transmitting data by a node;
step 8: judging whether the channel is available through collision detection, if the channel is unavailable, returning to the channel sequencing of the previous step, and selecting a second optimal channel;
step 9: and the aggregation node performs minimum transmission period aggregation construction while meeting the transmission periods of all the child nodes, and determines an aggregation period.
In this embodiment, the slot length and the size of the basic scheduling super frame unit are determined according to the 6TiSCH node data stream delay attribute set, and the periodic data stream (R) is obtained i ) Hop count (C) of routing by node i ) Maximum constrained delay of data packet
Figure BDA0003472712070000071
And a transmission period (T) i ) Expressed as:
Figure BDA0003472712070000072
while in a 6TiSCH network the time slot TS is typically set to 10ms, and therefore,
TS＝10ms
the superframe duration of the basic scheduling unit must not exceed the maximum allowed delay of all nodes, and therefore,
Figure BDA0003472712070000073
Figure BDA0003472712070000074
determining a transmission period of the data generated by the node and the whole scheduling maximum period by combining the sending attribute set, wherein the steps are as follows:
for having different maximum approximationsBeam time delay
Figure BDA0003472712070000075
Node of (2), node transmission period (T) i ) The following two conditions must be satisfied:
a) the node transmission period must not exceed the maximum constraint time
b) Transmission periods between nodes are powers of 2
T min ＝min{T 1 ,T 2 ,………T i }≤BSU；
Figure BDA0003472712070000076
Define the maximum transmission period of the node, i.e. the maximum transmission period (RSP) over which this scheduling is repeated:
RSP＝max{T 1 ,T 2 ,………T i }；
determining the number of time slots (FTSA) for transmitting periodic data in a basic scheduling superframe according to reserved fixed time slots (FRTS), namely:
Figure BDA0003472712070000077
(FRTS+FTSA)×TS≤BSU。
and calculating the first data transmission time of each node according to the starting number and the time slot number in the basic superframe unit. And simultaneously checking the residual time slot number (RTS) currently allocated in each basic superframe, if the residual time slots exist, continuing the allocation, and if the residual time slots do not exist, allocating in the next basic superframe unit. The calculation formula is as follows:
1≤RTS≤FTSA
FDTS i ＝(SBSU i -1)×BSU+(SSN i -1)×TS
wherein, SBSU i Indicating initialization of the starting hyper frame number to 1, SSN i Indicates that the initial slot number is initialized to 1 when SSN is satisfied i >In FTSA, SBSU i Will increase 1, SSN i Go back toInitialization, repeat the same process.
Considering the strict time delay constraint when each node transmits the data packet, the node should transmit the data packet with high priority by using a good channel. Therefore, two main media characteristics are concerned, namely the statistical performance of each link and the current environmental performance. The inter-channel prioritization is accurately performed by two measurements of the current RSSI and PDR. The channel parameter function is constructed by an exponentially weighted moving average filter as follows:
Figure BDA0003472712070000081
the optimal channel ranking function is as follows:
Figure BDA0003472712070000082
CR i the channel value is represented, and the smaller the value is, the higher the channel quality is; PDR represents the data packet delivery rate of the current node, and RSSI represents the signal intensity of the current link; OCTS i Indicating the ordering of the optimal channels.
Designing a node aggregation method under a queue, wherein the transmission periods among the nodes are power powers of 2, the nodes check data packets in the queue, and if two or more data packets appear in the queue, the nodes determine data aggregation by comparing the transmission periods. The polymerization cycle was as follows:
a) suppose a parent node has n child nodes, a child node n i Transmission period of T i In FDTS i Transmitting data to father node, son node n j Transmission period of T j In FDTS j Transmitting data to a father node at any moment;
b) the transmission period between the jth sub-node and the ith sub-node in the sub-nodes meets T j ＝2 k T i ；
c) In FDTS j Time of day and FDTS j ＞FDTS i At this time. And the following conditions are satisfied:
Figure BDA0003472712070000091
there must be FDTS j At the same time, buffering the node n in the queue of the father node i And node n j The data of (1).
d) The father node checks the transmission period of the data packet in the queue, and selects the aggregation period as follows on the premise of meeting the time delay of the data packet:
DATS i ＝min{T i ,T j }
e) if the parent node has n child nodes, the aggregation period is as follows:
DATS i ＝min{T i ,T j ………,T n }。
fig. 2 is a network topology structure in a periodic data flow scheduling aggregation method for a 6TiSCH network. Wherein, the nodes 1 and 2 are routing nodes which only transmit data, and the rest are sensing nodes.
Table 1 shows simulation data for the above algorithm, and fig. 4 shows the entire schedule table. Simulation dataset calculation was performed for 10 nodes by inputting the maximum allowable delay using random numbers
Figure BDA0003472712070000092
Wherein the content of the first and second substances,
Figure BDA0003472712070000093
the first transmission time TDTS of the node data packet is obtained through the steps i 0.1,0.05,0.09,0.01,0.02,0,0.03,0.04}, as shown in fig. 4. The 6TiSCH has 16 channels, only part of the channels are simulated in the method for transmission, the channels with higher link quality are selected for transmission by sequencing the channels, the transmission time slot and the transmission channel of the node are uniquely determined by combining the first transmission time of the node, and then a corresponding scheduling table 1 is formed according to the data.
TABLE 1
Figure BDA0003472712070000094
Fig. 3 is data aggregation of a periodic data flow scheduling aggregation method for a 6TiSCH network, taking nodes 8, 9, 10, 4 and a root node root as an example, where data packets of the child nodes 8, 9, 10 are periodic data but have different delay constraints. Due to the deterministic scheduling of the algorithm, the data transmission periods of the sub-nodes 8, 9, 10 are not identical but are integer multiples of each other. In FDTS j At that time, the data in the queue of node 4 will be buffered to these three nodes at the same time. And according to the aggregation condition, the node 4 judges the data transmission periods of the sub-nodes 8, 9 and 10, and selects the minimum transmission period of the sub-nodes for data aggregation. Thus, it can be seen that when node 1 is transmitted to the DODAG root, there is already an aggregated packet in the queue by node 4, and the aggregation does not change the attributes of the packet.
Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.

Claims (7)

1. A method for scheduling and aggregating periodic data streams for a 6TiSCH network is characterized by comprising the following steps:
s1: constructing a time delay attribute set of a node data stream in a 6TiSCH network, and determining the time slot length and the size of a basic scheduling super frame unit according to the 6TiSCH node data stream time delay attribute set;
s2: calculating the transmission period of each node data packet and the maximum repetition period of the whole scheduling according to the size of the basic scheduling superframe unit and the time delay attribute set of the node data stream;
s3: calculating the number of time slots for transmitting periodic data in a basic scheduling superframe unit according to the reserved time slots;
s4: calculating the transmission time of the first data packet of the node according to the unit number and the time slot number in the basic scheduling superframe unit, and completing the time slot allocation of each node;
s5: according to the link signal intensity and the node packet delivery rate, an exponential weighted moving average filter is used for modeling a channel, the optimal transmission channel of each node is calculated, and the optimal transmission channel and the time slot of each node form a whole time slot scheduling table;
s6: the transmission periods between the nodes are powers of 2 each other, at 2 nd k And during secondary transmission, the common father node of the child node aggregates two or more data packets in the queue.
2. The method of claim 1, wherein determining the slot length and the size of the basic scheduling superframe unit according to the 6TiSCH node data stream delay attribute set comprises:
the node routing hop count, the maximum constraint delay of the data packet, and the transmission cycle represent a periodic data flow, and the periodic data flow is represented as:
Figure FDA0003472712060000011
setting a time slot in the 6TiSCH network to 10 ms;
the size of the basic scheduling super-frame unit must not exceed the maximum allowed delay of all nodes, and the size of the basic scheduling unit is expressed as:
Figure FDA0003472712060000012
wherein R is i For periodic data streams, C i The number of hops is routed for the node,
Figure FDA0003472712060000021
for maximum constrained delay, T, of a data packet i Is a transmission period; BSU is basic scheduling unitThe size of (d);
Figure FDA0003472712060000022
is the set of maximum allowed delays for all nodes.
3. The method of claim 1, wherein the step of calculating the transmission period of each node packet and the maximum repetition period of the whole scheduling comprises:
if the maximum allowable time delay of the ith node is
Figure FDA0003472712060000023
Node i of (2) transmission period T of the ith node i It must satisfy:
the node transmission period must not exceed the maximum allowable delay;
and the transmission periods among the nodes are powers of 2;
the transmission period T of the ith node i Expressed as:
Figure FDA0003472712060000024
the maximum transmission period of the node, i.e. the whole scheduling maximum repetition period, is:
RSP＝max{T 1 ,T 2 ,………T i }；
wherein, the BSU is the size of the basic scheduling unit; t is min Is the minimum value of the transmission periods in all nodes.
4. The method of claim 1, wherein calculating the number of slots used for transmitting periodic data in a basic scheduling superframe unit according to reserved slots comprises:
Figure FDA0003472712060000025
constraint conditions are as follows: (FTSA + FRTS) x TS is less than or equal to BSU;
the FTSA is the number of time slots used for transmitting periodic data in a basic scheduling superframe unit;
Figure FDA0003472712060000026
maximum allowed delay for the ith node; t is min The minimum value of the transmission period in all the nodes is obtained; k is the set of all nodes; FRTS is reserved time slot; the BSU is the size of the basic scheduling unit; TS is a time slot.
5. The method of claim 1, wherein the completing the time slot allocation of each node comprises:
calculating the first data packet transmission time of each node according to the number of the starting unit and the number of the time slots in the basic superframe, simultaneously checking the number of the current allocated residual time slots in each basic superframe, if the residual time slots exist, continuing allocation, if the residual time slots do not exist, allocating in the next basic superframe unit, wherein the first data packet transmission time of the ith node is represented as:
FDTS i ＝(SBSU i -1)×BSU+(SSN i -1)×TS
wherein FDTS i A first data packet transmission time for the ith node; SBSU i Indicates the number of the initial superframe unit and is initialized to 1; SSN i Representing the initial time slot number, and initializing to 1; when SSN is satisfied i >In FTSA, SBSU i Will increase 1, SSN i Initializing, wherein FTSA is the fixed time slot number in the basic scheduling superframe unit of the ith node; TS is a time slot.
6. The method of claim 1, wherein calculating the optimal transmission channel for each node comprises:
Figure FDA0003472712060000031
wherein, CR i The channel value of the ith channel is represented, and the smaller the value is, the higher the channel quality is; PDR represents the data packet delivery rate of the current node, and RSSI represents the signal intensity of the current link; n is the number of channels, and the channels in the 6TiSCH network range from 0 to 15, for a total of 16 channels.
7. The method of claim 1, wherein aggregating two or more packets in a queue by a common parent node of a child node comprises:
if the father node has n child nodes, the transmission period of the ith child node is T i And in FDTS i Transmitting data to a father node at any moment; the jth sub-node output period is T j In FDTS j The data is transmitted to the father node at any moment, and the transmission period between the jth child node and the ith child node in the n child nodes meets T j ＝2 k T i ；
In FDTS j Time of day and FDTS j ＞FDTS i If the constraint condition is satisfied:
Figure FDA0003472712060000032
the data of the node i and the node j are cached in the queue of the father node at the same time; the father node checks the transmission period of the data packets in the queue of the father node, and selects an aggregation period on the premise of meeting the time delay of the data packets, wherein the aggregation period is expressed as follows:
DATS i ＝min{T i ,T j }；
if the parent node has n nodes, the aggregation period is represented as:
DATS i ＝min{T i ,T j ………,T n }；
wherein k is a positive integer; with BSU as the basic scheduling unitSize; both alpha and beta are positive integers; t is t 1 Indicates a certain time, t, in the (α +1) th BSU 2 Indicating a certain time in the (β +1) th BSU.
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