CN115022838A - Network coding communication method and device based on layered network architecture - Google Patents

Network coding communication method and device based on layered network architecture Download PDF

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CN115022838A
CN115022838A CN202210609991.8A CN202210609991A CN115022838A CN 115022838 A CN115022838 A CN 115022838A CN 202210609991 A CN202210609991 A CN 202210609991A CN 115022838 A CN115022838 A CN 115022838A
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node
cluster
network
nodes
cluster head
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芦存博
金博
查文中
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CETC Information Science Research Institute
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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
    • H04W4/30—Services specially adapted for particular environments, situations or purposes
    • H04W4/40—Services specially adapted for particular environments, situations or purposes for vehicles, e.g. vehicle-to-pedestrians [V2P]
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W40/00—Communication routing or communication path finding
    • H04W40/02—Communication route or path selection, e.g. power-based or shortest path routing
    • H04W40/20—Communication route or path selection, e.g. power-based or shortest path routing based on geographic position or location
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W40/00—Communication routing or communication path finding
    • H04W40/24—Connectivity information management, e.g. connectivity discovery or connectivity update
    • H04W40/32—Connectivity information management, e.g. connectivity discovery or connectivity update for defining a routing cluster membership
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • 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
    • H04W84/08—Trunked mobile radio systems
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W84/00—Network topologies
    • H04W84/18—Self-organising networks, e.g. ad-hoc networks or sensor networks
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02D—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN INFORMATION AND COMMUNICATION TECHNOLOGIES [ICT], I.E. INFORMATION AND COMMUNICATION TECHNOLOGIES AIMING AT THE REDUCTION OF THEIR OWN ENERGY USE
    • Y02D30/00—Reducing energy consumption in communication networks
    • Y02D30/70—Reducing energy consumption in communication networks in wireless communication networks

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Abstract

The present disclosure relates to the technical field of network communication, and provides a network coding communication method and device based on a layered network architecture, wherein the method comprises the following steps: establishing a cluster hierarchical self-organizing network; establishing a hierarchical network route; the network encoded data is transmitted. The network architecture adopts a layered clustering double-cluster-head network architecture, network maintenance under an unmanned aerial vehicle cluster dynamic environment is met by utilizing a mode that a ground station participates in initialization of a backbone network and self-organized maintenance of aerial nodes, the problem that the aerial nodes realize the self-organized maintenance of a cluster structure under the condition that the ground station does not participate is solved, a cluster set can be quickly constructed and maintained with the lowest cost, the network architecture can be applied to various battlefield environments and application requirements in the future, timely and reliable message transmission among equipment is provided in unmanned intelligent equipment networking operation such as unmanned aerial vehicles, unmanned combat vehicles, unmanned boats, intelligent missiles, intelligent fighters and the like and in manned/unmanned collaborative networking operation, and unmanned clusters are guaranteed to collaboratively complete various operation tasks.

Description

Network coding communication method and device based on layered network architecture
Technical Field
The present disclosure relates to the field of network communication technologies, and in particular, to a network coding communication method and apparatus based on a hierarchical network architecture.
Background
The existing unmanned aerial vehicle communication technology is mainly point-to-point communication of single-aircraft flight, and research on a cluster communication network is still in a starting stage. At present, an unmanned aerial vehicle cluster communication network mainly adopts a base station or an unmanned aerial vehicle cluster ground station to control an unmanned aerial vehicle.
However, there are some problems with the networking of drones as hubs for air transmission. For example, a broadband network topology formed by the unmanned aerial vehicle has the characteristic of multi-hop dynamic change, and if a traditional routing mechanism is adopted, the requirement for efficient and reliable transmission of data is difficult to meet. Moreover, each node in the broadband network formed by the unmanned aerial vehicle still has the problem of capacity limitation, which can seriously affect the number of sensing nodes accessed to the network and can not meet the requirements of multi-access and high-throughput transmission.
Therefore, in the background of an unmanned aerial vehicle cluster, how to design a feasible intelligent networking and efficient transmission scheme becomes a problem to be solved urgently in the field.
Disclosure of Invention
The present disclosure is directed to at least one of the problems in the prior art, and provides a network coding communication method and apparatus based on a layered network architecture.
One aspect of the present disclosure provides a network coding communication method based on a layered network architecture, applied to an unmanned aerial vehicle cluster, including the following steps:
establishing a cluster hierarchical self-organizing network: the method comprises the steps that a clustering algorithm based on geographical position information is adopted, a cluster self-organization network composed of aerial nodes and ground stations in an unmanned aerial vehicle cluster is divided into a backbone network with a plurality of cluster head nodes and a plurality of non-cluster head nodes as backbone nodes, wherein the plurality of cluster head nodes form a first layer of the backbone network, the plurality of non-cluster head nodes corresponding to all the cluster head nodes form a second layer of the backbone network, and each cluster head node and the plurality of non-cluster head nodes corresponding to the cluster head node form a cluster;
establishing a hierarchical network route: establishing a time map model capable of sensing the connection situation between backbone nodes in the backbone network based on the backbone network, determining the data forwarding capacity of the backbone nodes according to the time map model, and establishing a route from a source node to a destination node in the backbone network by using a geographical position information assisted cluster head exchange protocol;
transmitting network coded data: the source node carries out random linear coding on the original data packet in the coding cache region to obtain a corresponding coding mixed packet, and sends the coding mixed packet to a source cluster head node corresponding to the source node, the source cluster head node sends the coding mixed packet to a target cluster head node based on the route, and the target cluster head node sends the coding mixed packet to a corresponding target node.
Optionally, the establishing a cluster hierarchical self-organizing network specifically includes the following steps:
taking a ground station as a networking node of a backbone network;
the networking node completes the network access of the air node: the networking node receives and processes a network access application sent by an air node, determines identity information and time slot information corresponding to the air node according to the network access application, and replies the identity information and the time slot information to the air node to complete network access of the air node, wherein the identity information is used for indicating whether the air node is a cluster head node or not and the corresponding cluster head node when the air node is a non-cluster head node, and the time slot information is used for indicating a cluster head time slot or an intra-cluster service time slot corresponding to the air node;
the new air node monitors the geographical position information broadcast by the cluster head node obtained finally in the previous step, selects the cluster head node with the nearest one-hop range and the number of the corresponding non-cluster head nodes not reaching the preset limit value as a new networking node according to the monitored geographical position information, sends a new network access application to the new networking node, and the new networking node completes the network access step of the air node according to the networking node to complete the network access of the new air node, so that the final backbone network is obtained.
Optionally, the networking node completes network access of the air node, and specifically includes the following steps:
judging whether the network access application is processed or not, if so, replying identity information and time slot information corresponding to the air node by the networking node as a confirmation message; if not, the networking node distributes node identifiers for the air nodes in sequence;
judging whether the number of cluster head nodes in the current backbone network does not reach a first preset threshold value:
if so, the networking node determines the cluster identity of the aerial node as a cluster head node, allocates a cluster head time slot for the aerial node according to the cluster number of the aerial node corresponding to the cluster head node, stores the geographical position information of the aerial node in the network access application into a cluster head position table corresponding to the networking node, and replies the identity information and the cluster head time slot corresponding to the aerial node as a confirmation message, wherein the identity information comprises a node identifier, a cluster identity, a cluster number of the aerial node and a cluster head node identifier, and the cluster head node identifier is the node identifier of the aerial node;
if not, the networking node searches for a cluster of which the number of non-cluster-head nodes does not reach a second preset threshold value according to a proximity principle based on the geographical position information of the aerial node in the networking application, if the found cluster is an isolated cluster, the cluster identity of the aerial node is determined as a secondary cluster-head node in the non-cluster-head nodes, if the found cluster is not the isolated cluster, the cluster identity of the aerial node is determined as a common node in the non-cluster-head nodes, intra-cluster service time slots are sequentially allocated to the aerial node, the identity information corresponding to the aerial node and the intra-cluster service time slots are used as confirmation messages to be replied to the aerial node, wherein the cluster number and the cluster-head node identification in the identity information are determined according to the found cluster;
the air node reads identity information from the confirmation message replied by the networking node, and judges whether the air node is a cluster head node: if yes, regularly broadcasting own geographical position information, and updating a cluster head position table by the networking node according to the sensed geographical position information broadcasted by the air node; and if not, the identity information and the time slot information in the confirmation message are sent to the corresponding cluster head node.
Optionally, the establishing a hierarchical network route specifically includes the following steps:
based on a backbone network, establishing connection between any two backbone nodes, wherein each backbone node respectively records the encounter time information of the backbone node and the connected backbone node, and the encounter time information comprises the node identification and the encounter moment of the encountered backbone nodes;
each backbone node continuously exchanges mutually stored encounter time information with the backbone nodes connected with the backbone node to obtain historical encounter information of other backbone nodes except the backbone node in the backbone network, wherein the historical encounter information comprises at least one encounter time information, and a time graph model is established according to the time sequence in the historical encounter information;
determining the shortest meeting time intervals at different moments between any two backbone nodes in the backbone network according to the time duration edges between the nodes in the time graph model, averaging the shortest meeting time intervals at a plurality of different moments to obtain the average meeting time interval between any two backbone nodes, determining the shortest path length between the backbone nodes according to historical meeting information, and determining the reachable rate between the corresponding two backbone nodes according to the number of effective shortest paths between the backbone nodes;
taking the average meeting time interval, the shortest path length and the reachable rate as influence factors of the data forwarding capacity of the backbone nodes, calculating the entropy values of the influence factors, determining the weighted values of the influence factors according to the entropy values, and determining the utility values of the backbone nodes according to the weighted values;
and sequencing the backbone nodes according to the utility value from large to small, marking the sequenced backbone nodes with a preset number as relay nodes, and establishing a route from a source node to a destination node.
Optionally, the network coding data transmission specifically includes the following steps:
the source node encodes the original data packet: the method comprises the steps that a source node stores original data packets arriving at a network coding layer from a transmission control protocol layer into a coding cache region, generates random coding kernels with the same number as the original data packets, carries out random linear coding on the original data packets by using the generated random coding kernels, obtains a coding mixed packet with the same number as the original data packets, and delivers the coding mixed packet to the network layer, wherein the random coding kernels are random vectors with the length equal to the number of the original data packets, each value in the random vectors is a random number generated in a Galois field, and the coding mixed packet carries coding information generated based on the random coding kernels;
the source node sends the coded mixed packet of the network layer to a source cluster head node corresponding to the source node, the source cluster head node sends the coded mixed packet to a destination cluster head node based on a route from the source node to the destination node established according to the time graph model, and the destination cluster head node sends the coded mixed packet to a corresponding destination node;
the target node stores the received coding mixed packet into a corresponding decoding cache region, determines a coding matrix according to the coding information, and judges whether the coding matrix is full rank:
if yes, based on the coded mixed packet, restoring an original data packet by using a matrix inversion method, and submitting the original data packet to a transmission control protocol layer;
and if not, feeding back the degree of freedom confirmation information to the source node, extracting and analyzing the coded mixed packet needing to be retransmitted by the source node according to the degree of freedom confirmation information, and returning to the step of coding the original data packet by the source node, wherein the degree of freedom confirmation information comprises the coding information of the coded mixed packet needing to be retransmitted, which is determined based on the coding matrix.
Optionally, the random linear coding is performed on the original data packet by using the generated random coding core, which specifically includes the following steps:
under the Galois field, multiplying the nth random number in the random coding core and the nth original data packet in the coding buffer area in sequence, and adding the multiplication results, wherein n is a positive integer.
Optionally, the degree of freedom acknowledgement information is determined based on an ACK response mechanism and a coding matrix of the transmission control protocol.
In another aspect of the present disclosure, a network coding communication device based on a layered network architecture is provided, which is applied to an unmanned aerial vehicle cluster, and includes:
the first establishing module is used for establishing a cluster hierarchical self-organizing network: the method comprises the steps that a clustering algorithm based on geographical position information is adopted, a cluster self-organization network composed of aerial nodes and ground stations in an unmanned aerial vehicle cluster is divided into a backbone network with a plurality of cluster head nodes and a plurality of non-cluster head nodes as backbone nodes, wherein the plurality of cluster head nodes form a first layer of the backbone network, the plurality of non-cluster head nodes corresponding to all the cluster head nodes form a second layer of the backbone network, and each cluster head node and the plurality of non-cluster head nodes corresponding to the cluster head node form a cluster;
a second establishing module, configured to establish a hierarchical network route: based on a backbone network, establishing a time graph model capable of sensing connection situations among backbone nodes in the backbone network, determining the data forwarding capacity of the backbone nodes according to the time graph model, and establishing a route from a source node to a destination node in the backbone network by using a geographical position information assisted cluster head exchange protocol;
a transmission module for transmitting network encoded data: the source node carries out random linear coding on the original data packet in the coding cache region to obtain a corresponding coding mixed packet, and sends the coding mixed packet to a source cluster head node corresponding to the source node, the source cluster head node sends the coding mixed packet to a target cluster head node based on the route, and the target cluster head node sends the coding mixed packet to a corresponding target node.
In another aspect of the present disclosure, there is provided an electronic device including:
at least one processor; and (c) a second step of,
a memory communicatively coupled to the at least one processor; wherein the content of the first and second substances,
the memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor to enable the at least one processor to perform the network coding communication method based on the hierarchical network architecture.
In another aspect of the present disclosure, a computer-readable storage medium is provided, in which a computer program is stored, and the computer program, when executed by a processor, implements the network coding communication method based on the hierarchical network architecture.
Compared with the prior art, the network architecture adopts a layered clustering double-cluster-head network architecture, meets the network maintenance under the dynamic environment of an unmanned aerial vehicle cluster by utilizing the mode that a ground station participates in the initialization of a backbone network and the self-organization maintenance of aerial nodes, solves the problem that the aerial nodes realize the self-organization maintenance of a cluster structure under the condition that the ground station does not participate, can quickly construct and maintain a cluster set with the lowest expenditure, can be applied to various battlefield environments and application requirements in the future, provides timely and reliable message transmission among equipment in unmanned aerial vehicles, unmanned combat vehicles, unmanned boats, intelligent missiles, intelligent fighters and other unmanned intelligent equipment combat operations and manned/unmanned collaborative networking combat operations, and ensures that the unmanned cluster collaboratively completes various combat tasks.
Drawings
One or more embodiments are illustrated by way of example in the accompanying drawings, which correspond to the figures in which like reference numerals refer to similar elements and which are not to scale unless otherwise specified.
Fig. 1 is a flowchart of a network coding communication method based on a layered network architecture according to an embodiment of the present disclosure;
fig. 2 is a flowchart of a network coding communication method based on a hierarchical network architecture according to another embodiment of the present disclosure;
fig. 3 is a schematic structural diagram of a network coding communication device based on a layered network architecture according to another embodiment of the present disclosure;
fig. 4 is a schematic structural diagram of an electronic device according to another embodiment of the present disclosure.
Detailed Description
Along with the continuous improvement of the autonomous ability of the unmanned aerial vehicle, the unmanned aerial vehicle cluster combat must become an important combat style applied by the unmanned aerial vehicle system in the future. At present, the research of the unmanned aerial vehicle clustering technology is mostly in a theoretical and experimental stage.
In the aspect of unmanned cluster action control, the prior art has verified cluster intensive emission, cooperative formation control and other related technologies, breaks through unmanned aerial vehicle cluster cooperative control technology in a rejection environment and integrated verification, completes technology development and experimental verification of autonomous and man-machine cooperation of a swarm, and completes unmanned aerial vehicle recovery and autonomous formation technology verification. Key technologies such as cluster flight, flight path planning, dynamic networking and the like are also broken through, and series of cluster test flight demonstration verification is passed. Meanwhile, the land-air cooperative fixed wing unmanned aerial vehicle swarm system test flight work verifies the capability of each task such as land launching, aerial unmanned aerial vehicle swarm ground scouting and accurate striking.
However, the prior art has no point convergence and surface formation, lacks integration verification in an actual combat environment, has limited comprehensive research on task adaptability and cluster system performance of an unmanned autonomous system and a cluster system in a typical application scene, and has insufficient adaptability to unknown environments/multi-target tasks.
The autonomous cluster requires efficient and reliable inter-machine cooperative communication. The timely and reliable message transmission between the unmanned aerial vehicles is an important guarantee for the unmanned aerial vehicle cluster to cooperatively complete various combat tasks. When the unmanned aerial vehicle cluster executes tasks, the functions of real-time tracking and positioning, remote control and remote measurement, real-time task planning and coordination, task information transmission and the like of the unmanned aerial vehicle need to be met, and all the functions need a stable and reliable communication network. The design research of the unmanned aerial vehicle ad hoc network is one of the core directions for realizing unmanned aerial vehicle cluster combat, and research reports of an unmanned aerial vehicle route map and an unmanned system integrated route map also point out that the design of the unmanned aerial vehicle ad hoc network is the research direction of the future unmanned aerial vehicle cluster combat network.
The existing unmanned aerial vehicle communication technology is mainly point-to-point communication of single flight, and the research of a cluster communication network is still in a starting stage. The existing unmanned aerial vehicle cluster communication network mainly adopts a base station or an unmanned aerial vehicle cluster ground station to control an unmanned aerial vehicle, but the basis of the unmanned aerial vehicle cluster network in the future is a Mobile Ad-Hoc network (MANET), which can be rapidly expanded and reduced according to the actual needs of an unmanned aerial vehicle cluster, and the network structure has high flexibility, expansibility and survivability.
However, there are some problems with the networking of drones as hubs for air transmission. The broadband network topology formed by the unmanned aerial vehicle has the characteristic of multi-hop dynamic change, if a traditional routing mechanism is adopted, efficient and reliable transmission of data is difficult to achieve, and each node of the broadband network formed by the unmanned aerial vehicle has the problem of capacity limitation, so that the number of sensor nodes of an access network is seriously influenced, and multi-access and high-throughput transmission cannot be achieved.
Therefore, in the background of an unmanned aerial vehicle cluster, how to solve two major bottleneck problems existing in network communication, namely, the intelligent networking protocol and the efficient communication technical problem, and designing a feasible intelligent networking and efficient transmission scheme is a problem worthy of research.
To make the objects, technical solutions and advantages of the embodiments of the present disclosure more apparent, the embodiments of the present disclosure will be described in detail below with reference to the accompanying drawings. However, it will be appreciated by those of ordinary skill in the art that in various embodiments of the disclosure, numerous technical details are set forth in order to provide a better understanding of the disclosure. However, the technical solution claimed in the present disclosure can be implemented without these technical details and various changes and modifications based on the following embodiments. The following embodiments are divided for convenience of description, and no limitation should be made to specific implementations of the present disclosure, and the embodiments may be mutually incorporated and referred to without contradiction.
One embodiment of the present disclosure relates to a network coding communication method based on a hierarchical network architecture, which is applied to an unmanned aerial vehicle cluster, and the flow of the method is shown in fig. 1, and the method includes the following steps:
step 110, establishing a cluster hierarchical self-organizing network: a clustering algorithm based on geographical position information is adopted, and a cluster self-organization network formed by aerial nodes and ground stations in an unmanned aerial vehicle cluster is divided into a backbone network with a plurality of cluster head nodes and a plurality of non-cluster head nodes as backbone nodes. The plurality of cluster head nodes form a first layer of the backbone network, a plurality of non-cluster head nodes corresponding to each cluster head node form a second layer of the backbone network, and each cluster head node and the plurality of non-cluster head nodes corresponding to the cluster head node form a cluster. The non-cluster head node may be a secondary cluster head node or a common node. Each cluster comprises a cluster head node and a secondary cluster head node.
Illustratively, step 110 specifically includes the following steps:
and step 111, taking the ground station as a networking node of the backbone network.
Step 112, the networking node completes the network access of the air node: and the networking node receives and processes the network access application sent by the air node, determines the identity information and the time slot information corresponding to the air node according to the network access application, and replies the identity information and the time slot information to the air node to complete the network access of the air node. The identity information is used for indicating whether the air node is a cluster head node or not and indicating the corresponding cluster head node when the air node is a non-cluster head node. And the time slot information is used for indicating a cluster head time slot or an intra-cluster service time slot corresponding to the air node.
Illustratively, step 112 specifically includes the following steps:
step 112a, judging whether the network access application is processed: if yes, go to step 112 b; if not, go to step 112 c.
And step 112b, the networking node replies the identity information and the time slot information corresponding to the air node as a confirmation message. If the network access application is processed, it indicates that the identity information and the time slot information have been allocated to the corresponding air node, so that the identity information and the time slot information corresponding to the air node can be directly replied to the air node as a confirmation message.
Step 112c, the networking nodes allocate node identifiers to the air nodes in sequence, and judge whether the number of cluster head nodes in the current backbone network does not reach a first preset threshold: if yes, go to step 112 ca; if not, step 112cb is performed.
It should be noted that the first preset threshold may be set according to actual needs, and the specific value is not limited in this embodiment. If the number of the cluster head nodes in the current backbone network does not reach the first preset threshold value, the air nodes applying for joining the backbone network can also join the backbone network by the identity of the cluster head nodes. If the number of the cluster head nodes in the current backbone network reaches a first preset threshold value, the cluster head nodes in the current backbone network are saturated, and the aerial nodes applying for adding into the backbone network can only add into the backbone network by the identity of the non-cluster head nodes.
Step 112ca, the networking node determines the cluster identity of the air node as a cluster head node, allocates a cluster head time slot for the air node according to the cluster number corresponding to the cluster head node, stores the geographical position information of the air node in the network access application into a cluster head position table corresponding to the networking node, and replies the identity information and the cluster head time slot corresponding to the air node as a confirmation message. The identity information comprises a node identifier, a cluster identity, a cluster number where the node identifier is located and a cluster head node identifier, wherein the cluster head node identifier is the node identifier of the node in the air. Because the cluster identity of the air node is determined as the cluster head node, the cluster head node identifier corresponding to the air node is the node identifier of the air node.
And 112cb, the networking node searches for a cluster of which the number of non-cluster-head nodes does not reach a second preset threshold value according to a proximity principle based on the geographical position information of the aerial nodes in the networking application, if the found cluster is an isolated cluster, the cluster identity of the aerial nodes is determined as a secondary cluster-head node in the non-cluster-head nodes, if the found cluster is not the isolated cluster, the cluster identity of the aerial nodes is determined as a common node in the non-cluster-head nodes, intra-cluster service time slots are distributed to the aerial nodes in sequence, and the identity information corresponding to the aerial nodes and the intra-cluster service time slots are used as confirmation messages to be replied to the aerial nodes. And determining the cluster number and the cluster head node identification in the identity information according to the found cluster.
It should be noted that the second preset threshold may be set according to actual needs, and the embodiment does not limit specific values thereof. If the number of the non-cluster-head nodes in the cluster does not reach the second preset threshold, it is indicated that although the cluster-head nodes exist in the cluster, the non-cluster-head nodes are not saturated yet, the cluster is not full, and the aerial nodes can be added into the cluster by the identity of the non-cluster-head nodes. Moreover, because the found cluster has a cluster head node, the cluster number corresponding to the cluster can be directly used as the cluster number of the aerial node, and the node identification of the cluster head node in the cluster can be used as the cluster head node identification of the aerial node. If the number of the non-cluster-head nodes in the cluster reaches the second preset threshold, it is indicated that the cluster not only has cluster-head nodes, but also the non-cluster-head nodes are saturated, the cluster is full, and the aerial node cannot join the cluster.
Step 112d, the air node reads the identity information from the confirmation message returned by the networking node, and determines whether the air node itself is a cluster head node: if yes, regularly broadcasting the geographical position information of the networking node, and updating a cluster head position table by the networking node according to the sensed geographical position information broadcast by the air node; and if not, sending the identity information and the time slot information in the confirmation message to the corresponding cluster head node.
Specifically, in this step, the air node may determine whether it is a cluster head node by reading the cluster identity in the identity information. If the cluster identity in the identity information is the cluster head node, the aerial node is the cluster head node, and the geographic position of the aerial node is the geographic position of the cluster head node. If the cluster identity in the identity information is the secondary cluster head node or the common node, the aerial node is not the cluster head node
And 113, the new air node monitors the geographical position information broadcast by the cluster head node finally obtained in the previous step, selects the cluster head node with the nearest one-hop range and the number of the corresponding non-cluster head nodes not reaching the preset limit value as a new networking node according to the monitored geographical position information, sends a new networking application to the new networking node, and the new networking node completes the step of networking the air node according to the networking node, completes the networking of the new air node and obtains a final backbone network.
The preset limit value may be set according to actual needs, and the present embodiment is not limited to a specific numerical value. The number of the non-cluster head nodes corresponding to the cluster head node does not reach a preset limit value, which indicates that the cluster scale of the cluster where the cluster head node is located does not reach a preset requirement, and the cluster head node can be used as a new networking node to receive and process a network access application of a new air node, so that network access of the new air node is completed.
Step 120, establishing a hierarchical network route: based on a backbone network, establishing a time graph model capable of sensing the connection situation between backbone nodes in the backbone network, determining the data forwarding capacity of the backbone nodes according to the time graph model, and establishing a route from a source node to a destination node in the backbone network by using a geographical position information assisted cluster head exchange protocol.
It should be noted that the source node herein refers to a starting point of a route, and may be an air node or a ground station. The destination node refers to the end point of the route, and can be an air node or a ground station.
Illustratively, the step 120 specifically includes the following steps:
step 121, based on the backbone network, a connection is established between any two backbone nodes, each backbone node records the encounter time information of itself and the connected backbone node, and the encounter time information includes the node identification and the encounter time of the encountered backbone nodes.
Specifically, in this step, each backbone node may record a node identifier of the encountered backbone node and a current encounter time when encountering another backbone node each time, and store the node identifier and the current encounter time as encounter time information.
And step 122, each backbone node continuously exchanges the mutually stored encounter time information with the backbone nodes connected with the backbone node, so as to obtain historical encounter information of other backbone nodes except the backbone node in the backbone network, wherein the historical encounter information comprises at least one encounter time information, and a time graph model is established according to the time sequence in the historical encounter information.
It should be noted that the historical encounter information herein refers to historical encounter time information composed of at least one encounter time information. The historical encounter time information refers to encounter time information of past encounters with other backbone nodes, which is stored by each backbone node.
And step 123, determining the shortest meeting time intervals at different moments between any two backbone nodes in the backbone network according to the time duration edges between the nodes in the time graph model, averaging the shortest meeting time intervals at a plurality of different moments to obtain the average meeting time interval between any two backbone nodes, determining the shortest path length between the backbone nodes according to historical meeting information, and determining the reachable rate between the corresponding two backbone nodes according to the number of effective shortest paths between the backbone nodes.
And step 124, taking the average meeting time interval, the shortest path length and the reachable rate as influence factors of the data forwarding capacity of the backbone nodes, calculating entropy values of the influence factors, determining weighted values of the influence factors according to the entropy values, and determining utility values of the backbone nodes according to the weighted values.
And step 125, sequencing the backbone nodes from large to small according to the utility values, marking the sequenced backbone nodes with a preset number as relay nodes, and establishing a route from the source node to the destination node.
The preset number may be set according to actual needs, and the embodiment is not limited to a specific numerical value. A relay node refers to a backbone node that needs to be traversed from a source node to a destination node.
The method comprises the steps of sensing the connection situation between backbone nodes by establishing an actual time graph model, determining the data forwarding capacity of the backbone nodes according to three factors of average meeting time interval, shortest path length and reachable rate, and providing a relay node selection strategy based on dynamic link capacity evaluation.
Step 130, transmitting the network coded data: the method comprises the steps that a source node carries out random linear coding on an original data packet in a coding cache region to obtain a corresponding coding mixed packet, the coding mixed packet is sent to a source cluster head node corresponding to the source node, the source cluster head node sends the coding mixed packet to a target cluster head node based on routing, and the target cluster head node sends the coding mixed packet to a corresponding target node.
Illustratively, the step 130 specifically includes the following steps:
step 131, the source node encodes the original data packet: the source node stores each original data packet arriving at a network coding layer from a Transmission Control Protocol (TCP) layer into a coding buffer area, generates random coding kernels with the same number as the original data packets, performs random linear coding on the original data packets by using the generated random coding kernels to obtain coding mixed packets with the same number as the original data packets, and delivers the coding mixed packets to a network (IP) layer.
It should be noted that the network coding layer is located below the TCP layer and above the IP layer, and is used for completing the coding and decoding of the original data packet, the calculation and feedback of the degree-of-freedom acknowledgement information, and providing a data service compatible with the TCP datagram format upwards.
The random coding core is a random vector with the length equal to the number of the original data packets, and each value in the random vector is a random number generated under a Galois field.
The coded hybrid packet carries coded information generated based on the random coding kernel. Illustratively, the generation process of the coded mixed packet, that is, the random linear coding is performed on the original data packet by using the generated random coding core, specifically includes the following steps:
under the Galois field, multiplying the nth random number in the random coding core and the nth original data packet in the coding buffer area in sequence, and adding the multiplication results. Wherein n is a positive integer. The number of the encoded hybrid packets is equal to the number of the original data packets in the encoding buffer.
Step 132, the source node sends the coded mixed packet of the network layer to a source cluster head node corresponding to the source node, the source cluster head node sends the coded mixed packet to a destination cluster head node based on a route from the source node to the destination node established according to the time graph model, and the destination cluster head node sends the coded mixed packet to a corresponding destination node;
step 133: the target node stores the received coding mixed packet into a corresponding decoding cache region, determines a coding matrix according to the coding information, and judges whether the coding matrix is full rank: if yes, go to step 133 a; if not, go to step 133 b.
And step 133a, based on the coded mixed packet, restoring the original data packet by using a matrix inversion method, and submitting the original data packet to a transmission control protocol layer.
And step 133b, feeding back the degree of freedom confirmation information to the source node, extracting and analyzing the coded mixed packet to be retransmitted by the source node according to the degree of freedom confirmation information, and returning to the step of coding the original data packet by the source node.
Note that the degree-of-freedom acknowledgement information includes coding information of the coded hybrid packet that needs to be retransmitted, which is determined based on the coding matrix. Illustratively, the degree of freedom acknowledgement information is determined based on an ACK acknowledgement mechanism and a coding matrix of the transmission control protocol. The freedom degree confirmation information is based on an ACK response mechanism of a traditional TCP protocol, an ACK mechanism in the TCP protocol is realized by adopting a rank concept in network coding, the organic combination of the network coding and the TCP is achieved, and finally the design of a reliable transmission protocol of the network coding TCP is realized.
By organically combining network coding and TCP, the method for solving the performance of wireless TCP based on the network coding is provided, ACK is redefined according to the concept of degree of freedom, the equal-weight characteristic of a coding mixed packet obtained by the network coding is utilized, the traditional data packet transmission sequence is broken through, an unreliable packet loss channel in the network is converted into a reliable transmission channel by utilizing a network coding layer, the problems of reduction of a congestion window and reduction of TCP performance caused by overtime caused by data packet loss are solved, and the TCP protocol can exert better transmission performance.
Compared with the prior art, the network architecture of layered clustering and double cluster heads is adopted, the network maintenance under the dynamic environment of the unmanned aerial vehicle cluster is met by utilizing the mode that the ground station participates in the initialization of the backbone network and the self-organized maintenance of the aerial nodes, the problem that the aerial nodes realize the self-organized maintenance of the cluster structure under the condition that the ground station does not participate is solved, the cluster set can be quickly constructed and maintained with the lowest cost, the network architecture can be applied to various battlefield environments and application requirements in the future, and timely and reliable message transmission among equipment is provided in unmanned aerial vehicles, unmanned combat vehicles, unmanned boats, intelligent missiles, intelligent fighters and other unmanned intelligent equipment networking operations and manned/unmanned collaborative networking operations, and the unmanned cluster is guaranteed to collaboratively complete various combat tasks.
In order to make the above embodiments better understood by those skilled in the art, a specific example is described below.
As shown in fig. 2, a network coding communication method based on a layered network architecture includes the following steps:
step 210: establishing a cluster hierarchical self-organizing network: a cluster self-organization network formed by the air nodes and the ground station is divided into two layers, and a cluster head and a secondary cluster head are elected for each cluster by adopting a clustering algorithm based on position information. The network formed by the cluster head nodes is a first layer, and the network formed by the non-cluster head nodes is a second layer. Step 210 specifically includes the following steps:
step 211: and establishing an initial cluster structure, and taking the ground station as a networking node. When a networking node receives a network access application InRequest sent by a certain air node, judging whether the network access application is processed, if so, executing a step 212; if not, step 213 is performed.
Step 212: and the networking node directly stores the identity information and the time slot information corresponding to the air node into a confirmation message InConfirm and replies the confirmation message InConfirm to the air node. The identity information comprises a node identifier, a cluster identity, a cluster number where the node identifier is located, and a cluster head node identifier. The time slot information includes a cluster head time slot or an intra-cluster service time slot.
Step 213: the networking nodes distribute node identifiers for the air nodes in sequence, whether enough cluster heads are not distributed in the currently generated backbone network or not is judged, namely whether the number of cluster head nodes does not reach a first preset threshold value or not is judged, and if yes, the step 213a is executed; if not, step 213b is performed.
Step 213 a: the networking node designates the air node as a cluster head node, namely the cluster identity is the cluster head node, a cluster head time slot is allocated according to the corresponding cluster number, the geographical position information of the air node is read and stored in a local cluster head position table, and the identity information and the time slot information of the air node are stored in a confirmation message InConfirm and then are replied to the air node.
Step 213 b: and the networking node reads the geographical position information of the aerial node, finds out the unfilled clusters, namely the clusters with the number of non-cluster-head nodes not reaching a second preset threshold value according to the principle of proximity, and adds the unfilled clusters, namely the clusters with the number of non-cluster-head nodes not reaching the second preset threshold value, if the found clusters are isolated clusters, the cluster identity of the aerial node is designated as a secondary cluster-head node, otherwise, the aerial node is designated as a common node, distributes intra-cluster service time slots for the aerial node in sequence, stores the identity information and the time slot information of the aerial node in a confirmation message InConfirm, and replies to the aerial node.
Step 214: after receiving the confirmation message InConfirme replied by the networking node, the air node reads the identity information in the confirmation message InConfirme, judges whether the air node is a cluster head node or not, and if so, executes step 214 a; if not, step 214b is performed.
Step 214 a: the air node broadcasts the geographical position information of the air node at regular time, and the networking node, namely the ground station, updates the cluster head position table according to the sensed geographical position information of the air node.
Step 214 b: the air node is used as a secondary cluster head node or a common node to send identity information and time slot information to the corresponding cluster head node so as to inform the cluster head node of joining itself.
Step 215: after the backbone network is initialized, the new air node monitors the geographical position information broadcasted by the newly obtained cluster head node, namely the cluster head node in the step 214a, the position and cluster scale information of all one-hop cluster heads is collected according to the geographical position information, the cluster head node with the closest distance of one-hop range and the cluster scale of which does not reach the preset limit value, namely the number of the corresponding non-cluster head nodes does not reach the preset limit value, is selected as a new networking node, the new networking node receives and processes the network access application of the new air node, the confirmation message is generated and replied to the new air node by referring to the steps 211 to 213b, and the new air node repeats the steps 214 to 214b to complete network access.
Step 220: establishing a layered network route: facing a backbone network formed by cluster head nodes and non-cluster head nodes, a time graph model is established to sense the connection situation between the backbone nodes, the node forwarding capability is comprehensively determined, and a cluster head exchange protocol assisted by geographical position information is used for establishing efficient path finding from a source node to a destination node. Step 220 specifically comprises the following steps:
step 221: after connection is established between any two backbone nodes facing a backbone network formed by the cluster head nodes and the non-cluster head nodes, each backbone node records meeting time information of the other backbone node, and historical meeting time information stored mutually is exchanged. The encounter time information includes node identifiers of the encountered nodes and the current encounter time. The historical encounter time information refers to encounter time information of past encounters with other backbone nodes, which is stored by each backbone node.
Step 222: by continuously exchanging the historical encounter information stored mutually, each backbone node can acquire the historical encounter information of other backbone nodes, so that a node connection state evaluation model based on a time graph, namely a time graph model, is formed according to the time sequence of encounter.
Step 223: each node obtains the shortest meeting time interval between any two backbone nodes in the backbone network according to the time duration edges established between the nodes in the time graph model, averages the shortest meeting time intervals at a plurality of different moments to obtain an average meeting time interval, obtains the shortest path length between any two backbone nodes according to historical meeting information in the time graph model, and further determines the reachable rate between any two backbone nodes according to the number of effective shortest paths between the nodes.
Step 224: the average meeting time interval, the shortest path length and the reachable rate among the nodes are selected as three typical network influence factors to quantify the data forwarding capacity of the backbone nodes, the entropy values of the influence factors are calculated, the weight values of the influence factors are determined by the entropy values, and then the utility values of the backbone nodes are determined.
Step 225: and sequencing the backbone nodes according to the utility value from large to small, and marking the sequenced backbone nodes with a preset number as relay nodes so as to establish the efficient routing from the source node to the destination node.
Step 230: network coded data transmission: and the source node randomly and linearly encodes the original data packet in the encoding cache region, then sends the encoded mixed packet to the cluster head of the source node, and the cluster head completes routing based on the time graph and forwards the routing to the target cluster head to finally reach the target node. Step 230 specifically includes the following steps:
step 231: the source node encodes and caches the original data packet which arrives at the network encoding layer by the TCP layer, generates a random encoding core, randomly and linearly encodes the original data packet in the encoding cache region by using the random encoding core to generate a corresponding encoding mixed packet, repeats the process, namely the process of generating the encoding mixed packet, generates different encoding mixed packets and delivers the encoding mixed packets to the network layer.
The random coding core is a random vector with the length equal to the number of original data packets in the coding buffer area, and each value of the random coding core is randomly generated in the Galois field.
And the generation of the code mixed packet is to multiply the nth random number in the random code kernel and the nth original data packet in the code buffer area in sequence under the Galois field, and add the obtained results, and the number of the generated code mixed packets is equal to the number of the original data packets in the code buffer area. The coded hybrid packet carries a coded header that carries coded information. n is a positive integer.
Step 232: the coded mixed packet generated by the source node is forwarded to the destination cluster head by the cluster head forwarding mechanism based on the time graph model established in step 220, and finally reaches the destination node.
Step 233: the target node stores the received coded mixed packet into a corresponding decoding cache region, extracts a corresponding coded header and analyzes the coded information of the coded header to obtain a coded matrix, judges whether the coded matrix is full-rank, and executes the step 233a if the coded matrix is full-rank; if the coding matrix is not of full rank, step 233b is performed.
Step 233 a: and combining the coding mixed packet, utilizing a matrix inversion method, restoring and resolving the original data packet by the destination node, and submitting the original data packet to the TCP layer.
The network coding layer is positioned below the TCP layer and above the IP layer, completes the coding and decoding of the original data packet, the calculation and the feedback of the degree of freedom ACK, and provides a data service compatible with the TCP datagram format upwards. The design of the degree of freedom ACK is based on an ACK response mechanism of a traditional TCP protocol, and the ACK mechanism in the TCP protocol is realized by adopting a rank concept in network coding, so that the network coding and the TCP are organically combined, and finally, the design of a network coding TCP reliable transmission protocol is realized.
The technical effect of the network coding communication method based on the layered network architecture shown in fig. 2 can be verified through the following experiments:
1. experimental conditions and contents:
the simulation under the single-hop simulation topological graph is carried out on the TCP protocol based on the network coding on the platform based on the NS 3. The NS3 is an open source free network simulation software integrating multiple functions, and is mainly written by C + +. The basic model of NS3 is divided into five layers, an application layer, a transport layer, a network layer, a connection layer, and a physical layer. The single-hop network simulates the communication directly performed by two nodes which do not pass through an intermediate node in the cluster network, and the error rate ranges from 0 to 2x10 -4 The link time delay is 140ms, the point-to-point communication rate is 30Gbps, and the finite field size of the random linear network coding is 2 8 And the size of the packet in the coding buffer is 5.
2. Simulation experiment and result:
the relationship between the throughput and the error rate between the Network Coding Transmission Control Protocol (NCTCP) -based method and the conventional TCP method shown in fig. 2 is simulated to obtain table 1 below. Table 1 shows the throughput of TCP and NCTCP with different error rates.
As can be seen from table 1, with increasing error rate, the throughput of both TCP and NCTCP will decrease to different degrees, but the throughput of NCTCP is always higher than TCP. When the error rate reaches 2x10 -4 In time, the TCP protocol is nearly out of order, the NCTCP protocol can still operate, and its throughput is 16.333 times that of the TCP protocol, which shows that the TCP protocol based on network coding is suitable for the scenario of high error rate. The application environment of the embodiment is unmanned aerial vehicle cluster communication, so the error rate is relatively large, and the performance of TCP based on network coding is superior to that of TCP.
TABLE 1
Error rate TCP(Mbps) NCTCP(Mbps) NCTCP acceleration ratio
0 0.068 0.286 4.206
1x10 -6 0.068 0.286 4.206
2x10 -6 0.068 0.286 4.206
4x10 -6 0.068 0.286 4.206
6x10 -6 0.068 0.286 4.206
8x10 -6 0.068 0.286 4.206
1x10 -5 0.068 0.286 4.206
2x10 -5 0.068 0.204 3
4x10 -5 0.022 0.13 5.909
6x10 -5 0.019 0.11 5.789
8x10 -5 0.014 0.095 6.786
1x10 -4 0.013 0.062 4.769
2x10 -4 0.003 0.049 16.333
Another embodiment of the present disclosure relates to a network coding communication device based on a layered network architecture, applied to an unmanned aerial vehicle cluster, as shown in fig. 3, including:
a first establishing module 301, configured to establish a cluster hierarchical self-organizing network: the method comprises the steps that a clustering algorithm based on geographical position information is adopted, a cluster self-organization network composed of aerial nodes and ground stations in an unmanned aerial vehicle cluster is divided into a backbone network with a plurality of cluster head nodes and a plurality of non-cluster head nodes as backbone nodes, wherein the plurality of cluster head nodes form a first layer of the backbone network, the plurality of non-cluster head nodes corresponding to all the cluster head nodes form a second layer of the backbone network, and each cluster head node and the plurality of non-cluster head nodes corresponding to the cluster head node form a cluster;
a second establishing module 302, configured to establish a hierarchical network route: establishing a time map model capable of sensing the connection situation between backbone nodes in the backbone network based on the backbone network, determining the data forwarding capacity of the backbone nodes according to the time map model, and establishing a route from a source node to a destination node in the backbone network by using a geographical position information assisted cluster head exchange protocol;
a transmission module 303, configured to transmit the network encoded data: the source node carries out random linear coding on the original data packet in the coding cache region to obtain a corresponding coding mixed packet, and sends the coding mixed packet to a source cluster head node corresponding to the source node, the source cluster head node sends the coding mixed packet to a target cluster head node based on the route, and the target cluster head node sends the coding mixed packet to a corresponding target node.
The specific implementation method of the network coding communication device based on the hierarchical network architecture provided in the embodiments of the present disclosure may be described in the network coding communication method based on the hierarchical network architecture provided in the embodiments of the present disclosure, and details are not repeated here.
Compared with the prior art, the network architecture of layered clustering and double cluster heads is adopted, the network maintenance under the dynamic environment of the unmanned aerial vehicle cluster is met by utilizing the mode that the ground station participates in the initialization of the backbone network and the self-organized maintenance of the aerial nodes, the problem that the aerial nodes realize the self-organized maintenance of the cluster structure under the condition that the ground station does not participate is solved, the cluster set can be quickly constructed and maintained with the lowest cost, the network architecture can be applied to various battlefield environments and application requirements in the future, and timely and reliable message transmission among equipment is provided in unmanned aerial vehicles, unmanned combat vehicles, unmanned boats, intelligent missiles, intelligent fighters and other unmanned intelligent equipment networking operations and manned/unmanned collaborative networking operations, and the unmanned cluster is guaranteed to collaboratively complete various combat tasks.
Another embodiment of the present disclosure relates to an electronic device, as shown in fig. 4, including:
at least one processor 401; and the number of the first and second groups,
a memory 402 communicatively coupled to the at least one processor 401; wherein the content of the first and second substances,
the memory 402 stores instructions executable by the at least one processor 401, and the instructions are executed by the at least one processor 401, so as to enable the at least one processor 401 to execute the network coding communication method based on the hierarchical network architecture according to the above embodiments.
Where the memory and processor are connected by a bus, the bus may comprise any number of interconnected buses and bridges, the bus connecting together various circuits of the memory and the processor or processors. The bus may also connect various other circuits such as peripherals, voltage regulators, power management circuits, and the like, which are well known in the art, and therefore, will not be described any further herein. A bus interface provides an interface between the bus and the transceiver. The transceiver may be one element or a plurality of elements, such as a plurality of receivers and transmitters, providing a means for communicating with various other apparatus over a transmission medium. The data processed by the processor is transmitted over a wireless medium via an antenna, which further receives the data and transmits the data to the processor.
The processor is responsible for managing the bus and general processing and may also provide various functions including timing, peripheral interfaces, voltage regulation, power management, and other control functions. And the memory may be used to store data used by the processor in performing operations.
Another embodiment of the present disclosure relates to a computer-readable storage medium, which stores a computer program, and the computer program is executed by a processor to implement the network coding communication method based on the hierarchical network architecture according to the foregoing embodiment.
That is, as can be understood by those skilled in the art, all or part of the steps in the method according to the foregoing embodiments may be implemented by a program instructing related hardware, where the program is stored in a storage medium and includes several instructions to enable a device (which may be a single chip, a chip, or the like) or a processor (processor) to execute all or part of the steps in the method according to each embodiment of the present disclosure. And the aforementioned storage medium includes: various media capable of storing program codes, such as a usb disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk, or an optical disk.
It will be understood by those of ordinary skill in the art that the foregoing embodiments are specific embodiments for practicing the present disclosure, and that various changes in form and details may be made therein without departing from the spirit and scope of the present disclosure in practice.

Claims (10)

1. A network coding communication method based on a layered network architecture is applied to an unmanned aerial vehicle cluster, and the communication method comprises the following steps:
establishing a cluster hierarchical self-organizing network: dividing a cluster self-organization network composed of aerial nodes and ground stations in the unmanned aerial vehicle cluster into a backbone network with a plurality of cluster head nodes and a plurality of non-cluster head nodes as backbone nodes by adopting a clustering algorithm based on geographical position information, wherein the plurality of cluster head nodes form a first layer of the backbone network, the plurality of non-cluster head nodes corresponding to the cluster head nodes respectively form a second layer of the backbone network, and each cluster head node and the plurality of non-cluster head nodes corresponding to the cluster head node form a cluster;
establishing a hierarchical network route: establishing a time graph model capable of sensing the connection situation between backbone nodes in the backbone network based on the backbone network, determining the data forwarding capacity of the backbone nodes according to the time graph model, and establishing a route from a source node to a destination node in the backbone network by using a geographical position information assisted cluster head exchange protocol;
transmitting network coded data: the source node carries out random linear coding on an original data packet in a coding cache region to obtain a corresponding coding mixed packet, and sends the coding mixed packet to a source cluster head node corresponding to the source node, the source cluster head node sends the coding mixed packet to a target cluster head node based on the route, and the target cluster head node sends the coding mixed packet to a corresponding target node.
2. The communication method according to claim 1, wherein the establishing the cluster hierarchical ad hoc network specifically includes the following steps:
taking the ground station as a networking node of the backbone network;
the networking node completes the network access of the air node: the networking node receives and processes a network access application sent by the aerial node, determines identity information and time slot information corresponding to the aerial node according to the network access application, replies the identity information and the time slot information to the aerial node, and completes network access of the aerial node, wherein the identity information is used for indicating whether the aerial node is a cluster head node or not and the aerial node is a cluster head node corresponding to a non-cluster head node, and the time slot information is used for indicating a cluster head time slot corresponding to the aerial node or an intra-cluster service time slot;
the new air node monitors geographical position information broadcasted by the cluster head node obtained finally in the previous step, selects the cluster head node with the nearest one-hop range and the number of the corresponding non-cluster head nodes not reaching the preset limit value as a new networking node according to the monitored geographical position information, and sends a new networking application to the new networking node, and the new networking node completes the networking of the air node according to the networking node, so that the final backbone network is obtained.
3. The communication method according to claim 2, wherein the networking node performs network entry of the air node, and specifically comprises the following steps:
judging whether the network access application is processed or not, if so, replying the identity information and the time slot information corresponding to the air node by the networking node as a confirmation message; if not, the networking node distributes node identifiers for the air nodes in sequence;
judging whether the number of the cluster head nodes in the current backbone network does not reach a first preset threshold value:
if so, the networking node determines the cluster identity of the aerial node as a cluster head node, allocates a cluster head time slot for the aerial node according to the cluster number of the aerial node corresponding to the cluster head node, stores the geographical position information of the aerial node in the network access application into a cluster head position table corresponding to the networking node, and replies the identity information corresponding to the aerial node and the cluster head time slot to the aerial node as a confirmation message, wherein the identity information comprises the node identification, the cluster identity, the cluster number of the aerial node and a cluster head node identification, and the cluster head node identification is the node identification of the aerial node;
if not, the networking node searches for a cluster of which the number of the non-cluster-head nodes does not reach a second preset threshold value according to a proximity principle based on the geographic position information of the aerial nodes in the networking application, if the found cluster is an isolated cluster, the cluster identity of the aerial nodes is determined as a secondary cluster-head node in the non-cluster-head nodes, if the found cluster is not the isolated cluster, the cluster identity of the aerial nodes is determined as a common node in the non-cluster-head nodes, intra-cluster service time slots are distributed to the aerial nodes in sequence, and the identity information corresponding to the aerial nodes and the intra-cluster service time slots are replied to the aerial nodes as confirmation messages, wherein the cluster number of the aerial nodes in the identity information and the cluster-head node identification are determined according to the found cluster;
the air node reads the identity information from the confirmation message replied by the networking node, and judges whether the air node is a cluster head node: if yes, regularly broadcasting own geographical position information, and updating a cluster head position table by the networking node according to the sensed geographical position information broadcasted by the aerial node; and if not, sending the identity information and the time slot information in the confirmation message to the corresponding cluster head node.
4. The communication method according to claim 1, wherein the establishing a hierarchical network route specifically comprises the steps of:
based on the backbone network, establishing connection between any two backbone nodes, wherein each backbone node respectively records the encounter time information of the backbone node and the connected backbone node, and the encounter time information comprises the node identification and the encounter time of the encountered backbone nodes;
each backbone node continuously exchanges mutually stored encounter time information with the backbone nodes connected with the backbone node to obtain historical encounter information of other backbone nodes except the backbone node in the backbone network, wherein the historical encounter information comprises at least one encounter time information, and the time graph model is established according to the time sequence in the historical encounter information;
determining the shortest encounter time intervals at different moments between any two backbone nodes in the backbone network according to the time duration edges between the nodes in the time graph model, averaging the shortest encounter time intervals at a plurality of different moments to obtain the average encounter time intervals between any two backbone nodes, determining the shortest path length between the backbone nodes according to the historical encounter information, and determining the reachability between the corresponding two backbone nodes according to the number of the effective shortest paths between the backbone nodes;
taking the average meeting time interval, the shortest path length and the reachable rate as influence factors of the data forwarding capacity of the backbone nodes, calculating entropy values of the influence factors, determining weight values of the influence factors according to the entropy values, and determining utility values of the backbone nodes according to the weight values;
and sequencing the backbone nodes according to the utility value from large to small, marking the sequenced backbone nodes with a preset number as relay nodes, and establishing a route from the source node to the target node.
5. The communication method according to claim 1, wherein said transmitting network coded data specifically comprises the steps of:
the source node encodes the original data packet: the source node stores each original data packet arriving at a network coding layer from a transmission control protocol layer into a coding cache region, generates random coding kernels with the same number as the original data packets, carries out random linear coding on the original data packets by using the generated random coding kernels to obtain a coding mixed packet with the same number as the original data packets, and sends the coding mixed packet to the network layer, wherein the random coding kernels are random vectors with the length equal to the number of the original data packets, each value in the random vectors is a random number generated in a Galois field, and the coding mixed packet carries coding information generated based on the random coding kernels;
the source node sends the coded mixed packet of the network layer to a source cluster head node corresponding to the source node, the source cluster head node sends the coded mixed packet to a destination cluster head node based on a route from the source node to the destination node established according to the time graph model, and the destination cluster head node sends the coded mixed packet to a corresponding destination node;
the target node stores the received coding mixed packet into a corresponding decoding cache region, determines a coding matrix according to the coding information, and judges whether the coding matrix is full rank:
if so, based on the coded mixed packet, restoring the original data packet by using a matrix inversion method, and submitting the original data packet to a transmission control protocol layer;
and if not, feeding back the degree of freedom confirmation information to the source node, extracting and analyzing the coded mixed packet needing to be retransmitted by the source node according to the degree of freedom confirmation information, and returning to the step of coding the original data packet by the source node, wherein the degree of freedom confirmation information comprises the coding information of the coded mixed packet needing to be retransmitted, which is determined based on the coding matrix.
6. The communication method according to claim 5, wherein the randomly linearly encoding the original data packet by using the generated random encoding core specifically comprises the following steps:
and under a Galois field, sequentially multiplying the nth random number in the random coding core and the nth original data packet in the coding buffer area, and adding the multiplication results, wherein n is a positive integer.
7. The communication method according to claim 5, wherein the degree of freedom acknowledgement information is determined based on an ACK acknowledgement mechanism of a transmission control protocol and the coding matrix.
8. A network coding communication device based on a layered network architecture is applied to an unmanned aerial vehicle cluster, and the communication device comprises:
the first establishing module is used for establishing a cluster hierarchical self-organizing network: a clustering algorithm based on geographical position information is adopted, a cluster self-organization network formed by aerial nodes and ground stations in the unmanned aerial vehicle cluster is divided into a backbone network with a plurality of cluster head nodes and a plurality of non-cluster head nodes as backbone nodes, wherein the plurality of cluster head nodes form a first layer of the backbone network, the plurality of non-cluster head nodes corresponding to the cluster head nodes respectively form a second layer of the backbone network, and each cluster head node and the plurality of non-cluster head nodes corresponding to the cluster head node form a cluster;
a second establishing module, configured to establish a hierarchical network route: establishing a time graph model capable of sensing the connection situation between backbone nodes in the backbone network based on the backbone network, determining the data forwarding capacity of the backbone nodes according to the time graph model, and establishing a route from a source node to a destination node in the backbone network by using a geographical position information assisted cluster head exchange protocol;
a transmission module for transmitting network encoded data: the source node carries out random linear coding on an original data packet in a coding cache region to obtain a corresponding coding mixed packet, and sends the coding mixed packet to a source cluster head node corresponding to the source node, the source cluster head node sends the coding mixed packet to a target cluster head node based on the route, and the target cluster head node sends the coding mixed packet to a corresponding target node.
9. An electronic device, comprising:
at least one processor; and (c) a second step of,
a memory communicatively coupled to the at least one processor; wherein the content of the first and second substances,
the memory stores instructions executable by the at least one processor to enable the at least one processor to perform the hierarchical network architecture based network coding communication method of any of claims 1-7.
10. A computer-readable storage medium, storing a computer program, wherein the computer program, when executed by a processor, implements the hierarchical network architecture based network coding communication method of any of claims 1 to 7.
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CN116233904A (en) * 2023-05-08 2023-06-06 深圳大学 Cluster-based low-power-consumption wide area network recovery method
CN116233904B (en) * 2023-05-08 2023-08-18 深圳大学 Cluster-based low-power-consumption wide area network recovery method

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