CN115052281A - Neighbor node discovery method for self-adaptive node density of electric power construction site - Google Patents

Neighbor node discovery method for self-adaptive node density of electric power construction site Download PDF

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CN115052281A
CN115052281A CN202210311666.3A CN202210311666A CN115052281A CN 115052281 A CN115052281 A CN 115052281A CN 202210311666 A CN202210311666 A CN 202210311666A CN 115052281 A CN115052281 A CN 115052281A
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current
beam direction
directions
node
follows
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CN115052281B (en
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陈畅
袁晶
黄均才
刘鉴栋
邓烨恒
唐金锐
唐若笠
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Guangzhou Power Supply Bureau of Guangdong Power Grid Co Ltd
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Guangzhou Power Supply Bureau of Guangdong Power Grid Co Ltd
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    • HELECTRICITY
    • H04ELECTRIC COMMUNICATION TECHNIQUE
    • H04WWIRELESS COMMUNICATION NETWORKS
    • H04W16/00Network planning, e.g. coverage or traffic planning tools; Network deployment, e.g. resource partitioning or cells structures
    • H04W16/24Cell structures
    • H04W16/28Cell structures using beam steering
    • HELECTRICITY
    • H04ELECTRIC COMMUNICATION TECHNIQUE
    • H04WWIRELESS COMMUNICATION NETWORKS
    • H04W48/00Access restriction; Network selection; Access point selection
    • H04W48/16Discovering, processing access restriction or access information
    • HELECTRICITY
    • H04ELECTRIC COMMUNICATION TECHNIQUE
    • H04WWIRELESS COMMUNICATION NETWORKS
    • H04W8/00Network data management
    • H04W8/005Discovery of network devices, e.g. terminals
    • HELECTRICITY
    • H04ELECTRIC COMMUNICATION TECHNIQUE
    • H04WWIRELESS COMMUNICATION NETWORKS
    • H04W84/00Network topologies
    • H04W84/18Self-organising networks, e.g. ad-hoc networks or sensor networks
    • YGENERAL 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
    • Y02TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02DCLIMATE CHANGE MITIGATION TECHNOLOGIES IN INFORMATION AND COMMUNICATION TECHNOLOGIES [ICT], I.E. INFORMATION AND COMMUNICATION TECHNOLOGIES AIMING AT THE REDUCTION OF THEIR OWN ENERGY USE
    • Y02D30/00Reducing energy consumption in communication networks
    • Y02D30/70Reducing energy consumption in communication networks in wireless communication networks

Abstract

The invention discloses a method for discovering adjacent nodes of self-adaptive node density on a power construction site, which comprises the following steps: randomly selecting one direction from all beam directions by the node, randomly generating the execution times and the execution mode of the adjacent node discovery operation, and executing the adjacent node discovery operation on the adjacent node discovery operation; if the adjacent node is successfully found, selecting the beam direction adjacent to the left or right of the current beam direction to execute the adjacent node discovery, if the silent direction is selected, sequentially replacing the adjacent node discovery according to the sequence from near to far; if the adjacent node is not successfully found, selecting one of three adjacent beam directions which are symmetrical with the current beam direction by 180 degrees to randomly find the adjacent node, and if the silent direction is selected, sequentially replacing the adjacent node from far to near; setting the beam directions of which a sufficient number of adjacent nodes are found to be silent directions at regular intervals; the above process is repeated until the termination condition is met.

Description

Neighbor node discovery method for self-adaptive node density of electric power construction site
Technical Field
The invention relates to the technical field of wireless communication, in particular to a neighbor node discovery method for self-adaptive node density of a power construction site.
Background
For a power construction site in a remote area, the signal coverage is often poor based on the mobile communication of a traditional cellular network, and the communication between the personnel and the related equipment in the construction site is mostly realized by adopting a wireless self-organizing network technology.
Because the wireless self-organizing network node of the directional antenna has unique advantages in the aspects of communication distance, communication time delay, data transmission reliability and the like, the wireless self-organizing network node is widely applied to wireless self-organizing network communication of a plurality of engineering fields. However, since such wireless ad hoc network nodes cannot simultaneously transmit and receive signals within a 360 ° range, they can only transmit and receive signals in a specific beam direction at the same time. Therefore, an efficient neighbor node discovery algorithm is very important for improving the communication efficiency of the wireless ad hoc network. For the electric power construction site, the distribution of each node of the communication network is not completely random, and the density degree of the nodes distributed in different areas is highly related to equipment, devices, materials and the like with relatively fixed positions in the construction site range, and is also closely related to high-frequency activity areas of vehicles, personnel and the like with variable positions. Therefore, the invention provides a neighbor node discovery method capable of self-adapting to node density aiming at the characteristics of node distribution in a wireless self-organizing network of a power construction site.
Disclosure of Invention
The invention aims to solve the technical problem of providing a method for discovering adjacent nodes of self-adaptive node density in an electric power construction site aiming at the defects in the prior art.
The technical scheme adopted by the invention for solving the technical problems is as follows: a neighbor node discovery method for self-adaptive node density of a power construction site comprises the following steps:
step 1: each node calculates the total number of wave beam directions of the node according to the wave beam angle of the directional antenna, and initializes all the wave beam directions into non-silent directions; setting a target value found by the adjacent node; setting the maximum traversal times of the beam direction; initializing and accumulating the times of scanning beam directions; initializing a decision interval;
step 2: randomly selecting one from all the beam directions in the step 1 as a current beam direction;
and step 3: randomly generating the execution times of the current adjacent node discovery operation in the current beam direction and the execution mode of each adjacent node discovery operation, and executing the adjacent node discovery operation of the corresponding times and mode in the current beam direction;
and 4, step 4: and if the current beam direction successfully finds the adjacent node in the step 3, randomly selecting the beam direction adjacent to the left or right of the current beam direction. If the selected beam direction is a non-silent direction, replacing the current beam direction with the selected beam direction; if the selected direction is the silent direction, selecting the non-silent directions in turn according to the order of the priorities from near to far, and replacing the current beam direction with the selected beam direction. Then, jumping to step 6;
otherwise, if the current beam direction fails to find the neighbor node in the step 3, jumping to the step 5;
and 5: if the current beam direction fails to find the neighboring node in step 3, one of the three neighboring beam directions that are 180 ° symmetric to the current beam direction is randomly selected. If the selected beam direction is a non-silent direction, replacing the current beam direction with the selected beam direction; if the selected beam direction is the silent direction, sequentially selecting from the non-silent directions according to the priority sequence from far to near, and replacing the current beam direction with the selected beam direction;
step 6: and judging whether the current accumulated times of scanning beam directions reach integral multiples of a preset judgment interval. If yes, jumping to step 7; otherwise, jumping to step 8;
and 7: detecting the number of adjacent nodes found in each beam direction one by one, and setting the beam direction in which the number of the adjacent nodes found is more than or equal to a preset adjacent node finding target value as a silent direction;
and 8: and judging whether all the beam directions are silent directions or whether the current accumulated times of scanning the beam directions reach the preset maximum beam direction traversal times. If yes, the discovery process of the adjacent node is finished; otherwise, jumping to step 3.
Preferably, in step 1, the antenna beam angle is: theta;
step 1, the total number of beam directions of the computing nodes is as follows: m is 360 DEG/theta;
the beam direction in step 1 is: d i (i=1,2,…,M);
The target value found by the adjacent node in the step 1 is as follows: n is a radical of target
Step 1, the maximum traversal times of the beam direction is as follows: n is a radical of max
Step 1, the accumulated times of scanning beam directions are as follows: n is a radical of scan
Step 1, the determination interval is as follows: n is a radical of 0
Preferably, all the beam directions in step 2 are: d i (i=1,2,…,M);
Step 2, the current beam direction is: d current ∈{D 1 ,D 2 ,…,D M },current∈{1,2,…, M};
Preferably, in step 3, the current beam direction is: d current ∈{D 1 ,D 2 ,…,D M },current ∈{1,2,…,M};
The execution times of the step 3 are as follows: m;
step 3, the execution mode of each time of the neighboring node discovery operation is as follows: mode Mode k E { "send-receive", "receive-send" }, k ═ 1,2, …, m;
preferably, step 4 isThe current beam direction is: d current ∈{D 1 ,D 2 ,…,D M },current ∈{1,2,…,M};
Step 4, the beam direction adjacent to the left of the current beam direction is: d current_left ∈{D 1 ,D 2 ,…,D M }, current_left=current-1;
Step 4, the beam direction adjacent to the right of the current beam direction is: d current_right ∈{D 1 ,D 2 ,…, D M },current_right=current+1;
Preferably, in step 5, the current beam direction is: d current ∈{D 1 ,D 2 ,…,D M },current ∈{1,2,…,M};
And 5, the three adjacent beam directions which are symmetrical with the current beam direction by 180 degrees are as follows: d current_symmetric 、D current_symmetric-1 、D current_symmetric+1 ∈{D 1 ,D 2 ,…,D M };
Wherein, current _ symmetric-1, and current _ symmetric +1 belongs to {1,2, …, M };
preferably, in step 6, the accumulated number of times of scanning beam directions is: n is a radical of scan
And 6, the judgment interval is as follows: n is a radical of 0
Preferably, in step 7, the beam directions are: d i (i=1,2,…,M);
Step 7, the target value of the discovery of the adjacent node is: n is a radical of target
Preferably, in step 8, the accumulated number of times of scanning beam directions is: n is a radical of scan
Step 8, the maximum traversal times of the beam direction is as follows: n is a radical of max
The invention has the following beneficial effects:
the method is suitable for discovering the adjacent nodes of the wireless self-organizing network based on the directional antenna on the electric power construction site. The wireless self-organizing network nodes distributed on the power construction site have the typical uneven characteristic that the network nodes are distributed more densely in certain node dense areas and less densely in certain node sparse areas in the communication range. Therefore, the neighbor node discovery method dynamically determines the next operation direction based on the execution result of neighbor node discovery in the current beam direction, namely, the direction with higher probability of the 'node dense area' is taken as the next direction for executing the neighbor node discovery operation, and more resources are distributed to the beam direction which is more likely to be the 'node dense area' from the angle of probability, so that the neighbor node discovery task can be completed more quickly; meanwhile, less resources are distributed in the beam direction which is more likely to be the node sparse area, so that excessive resources are not wasted in the node sparse area, the limited resources are fully utilized, and the adjacent node discovery efficiency of the system is improved.
Drawings
FIG. 1: is a flow chart of a method of implementing the present invention.
FIG. 2: is a schematic diagram of a network node based on directional antennas.
FIG. 3: the method is a schematic diagram of a node dense area and a node sparse area in a power construction site.
FIG. 4: is a schematic diagram of the selected beam direction for determining the next step.
FIG. 5: the direction of the selected beam in the next step is determined according to the near-to-far priority.
FIG. 6: the direction of the selected beam in the next step is determined according to the priority from far to near.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is further described in detail with reference to the following embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and do not limit the invention.
As shown in fig. 1, the method for discovering an adjacent node of an electric power construction site adaptive to node density according to the present invention includes the following steps:
the embodiment of the invention is as follows:
a neighbor node discovery method for self-adaptive node density of a power construction site comprises the following steps:
step 1: as shown in fig. 2, each node calculates the total number of beam directions of the node according to the directional antenna beam angle, and initializes all the beam directions to non-silent directions; setting a target value discovered by the adjacent node; setting the maximum traversal times of the beam direction; initializing the times of accumulated scanning beam directions; initializing a decision interval;
step 1, the antenna beam angle is: θ is 45 °;
step 1, the total number of wave beam directions of the calculation nodes is as follows: m360 °/θ is 8, that is, the node contains 8 beam directions;
the beam direction in step 1 is: d i (i=1,2,…,8);
The target value found by the adjacent node in the step 1 is as follows: n is a radical of target 5. The specific meanings are as follows: when the number of the discovered neighboring nodes in a certain beam direction is greater than or equal to 5, the beam direction is determined that the discovered neighboring nodes are enough to meet the communication requirement, and the neighbor node discovery operation can not be continuously executed for the beam direction;
step 1, the maximum traversal times of the beam direction is as follows: n is a radical of max 1000. The specific meanings are as follows: the different beam directions are traversed at most 1000 times in succession and neighbor discovery operations are performed for each beam direction. After the traversal times reach 1000 times, forcibly ending the discovery process of the adjacent node;
step 1, the accumulated times of scanning beam directions are as follows: n is a radical of scan . After each traversal of a beam direction and neighbor discovery operation performed thereon, N scan Adding 1;
step 1, the determination interval is as follows: n is a radical of 0 =20;
Step 2: randomly selecting one beam direction from all the beam directions in the step 1 as a current beam direction;
step 2, all the beam directions are as follows: d i (i=1,2,…,8);
Step 2, the current beam direction is: d current ∈{D 1 ,D 2 ,…,D 8 },current∈{1,2,…, 8};
For example, randomly selecting beam direction D 2 Then the current beam direction is D 2
And step 3: randomly generating the execution times of the current adjacent node discovery operation in the current beam direction and the execution mode of each adjacent node discovery operation, and executing the adjacent node discovery operation of the corresponding times and mode in the current beam direction;
step 3, the current beam direction is: d current ∈{D 1 ,D 2 ,…,D 8 },current∈{1,2,…, 8};
The execution times of the step 3 are as follows: m;
step 3, the execution mode of each time of the neighboring node discovery operation is as follows: mode (Mode) k E { "send-receive", "receive-send" }, k ═ 1,2, …, 8;
for example, the current beam direction is D 2 . Randomly generating a beam direction D from {1,2,3} 2 The execution times m of the neighbor node discovery operation. For example, the randomly generated value of m is m-3. Then, for the current beam direction D 2 From "transmission-reception" and "reception-transmission", m is randomly generated as a specific pattern of 3 times of the neighbor discovery operation. E.g. beam direction D 2 The execution mode random result of the 1 st time neighbor node discovery operation is a "transmission-reception" mode, the execution mode random result of the 2 nd time neighbor node discovery operation is a "reception-transmission" mode, and the execution mode random result of the 3 rd time neighbor node discovery operation is a "reception-transmission" mode. Then the current beam direction D 2 Finishing the neighbor node discovery operation according to the sequence of sending-receiving-sending;
and 4, step 4: and if the current beam direction successfully finds the adjacent node in the step 3, randomly selecting the beam direction adjacent to the left or right of the current beam direction. If the selected beam direction is a non-silent direction, replacing the current beam direction with the selected beam direction; if the selected direction is the silent direction, selecting from the non-silent directions in turn according to the priority sequence from near to far, and replacing the current beam direction by the selected beam direction. Then, jumping to step 6;
otherwise, if the current beam direction fails to find the neighbor node in the step 3, jumping to the step 5;
step 4, the current beam direction is: d current ∈{D 1 ,D 2 ,…,D 8 },current∈{1,2,…, 8};
Step 4, the beam direction adjacent to the left of the current beam direction is: d current_left ∈{D 1 ,D 2 ,…,D 8 }, current_left=current-1;
Step 4, the beam direction adjacent to the right of the current beam direction is: d current_right ∈{D 1 ,D 2 ,…, D 8 },current_right=current+1;
For example, if the current beam direction D 2 Successful discovery of the neighbor node in step 3 indicates the direction of the and-beam D 2 The direction facing to the node is the direction of the 'node dense region' of the power construction site (as shown in fig. 3) with a high probability, and the direction should be D 2 And allocating more resources to the corresponding large direction for carrying out the neighbor node discovery operation. For this purpose, D should be selected 2 Left adjacent beam direction (D) 1 ) Or right adjacent beam direction (D) 3 ) To perform neighbor discovery operations as shown in fig. 4. Upon selection, it is performed as follows:
(1) if D is 1 Direction and D 3 If the directions are all non-silent directions, D is randomly selected 1 Direction or D 3 Direction;
(2) if D is 1 The direction is silent, and D is selected directly 3 Direction;
(3) if D is 3 The direction is silent, and D is selected directly 1 Direction;
(4) if D is 1 And D 3 All directions are silent, then in order of priority from near to far, from D first 4 Direction and D 8 Selecting according to the same logic in the direction; if D is 4 Direction and D 8 Directions are also silent, then from D 5 Direction and D 7 Selection in direction, as shown in FIG. 5;
and 5: if the current beam direction fails to find the neighboring node in step 3, one of the three neighboring beam directions that are 180 ° symmetric to the current beam direction is randomly selected. If the selected beam direction is a non-silent direction, replacing the current beam direction with the selected beam direction; if the selected beam direction is the silent direction, sequentially selecting from the non-silent directions according to the priority sequence from far to near, and replacing the current beam direction with the selected beam direction;
step 5, the current beam direction is: d current ∈{D 1 ,D 2 ,…,D 8 },current∈{1,2,…, 8};
In step 5, the three adjacent beam directions which are symmetrical to the current beam direction by 180 ° are: d current_symmetric 、D current_symmetric-1 、D current_symmetric+1 ∈{D 1 ,D 2 ,…,D 8 };
Wherein, current _ symmetric-1, and current _ symmetric +1 belongs to {1,2, …,8 };
for example, if the current beam direction D 2 If the neighbor node is not found successfully, the direction D of the beam is indicated 2 The direction of the opposite direction is the direction of a 'node sparse area' of the electric power construction site with high probability, and the direction D is reduced 2 And the resource allocation in the large direction is increased, and the resource allocation in other beam directions is increased. For this purpose, D should be selected 2 Three adjacent beam directions (i.e., D) with 180 degree symmetry 5 、D 6 And D 7 ) To perform a neighbor discovery operation as shown in fig. 4. Upon selection, it is performed as follows:
(1) if D is 5 Direction, D 6 Direction and D 7 If the directions are all non-silent directions, D is randomly selected 5 、D 6 Or D 7 Direction;
(2) if D is 5 The direction is the silent direction, then from D 6 Direction and D 7 Randomly chosen in the direction (similarly, if D 6 The direction is the silent direction, then from D 5 Direction and D 7 Randomly selecting in the direction; if D is 7 The direction is the silent direction, then from D 5 Direction and D 6 Random selection in direction);
(3) if D is 5 Direction and D 6 The direction is silent, and D is selected directly 7 Direction (similarly, if D 6 Direction and D 7 The direction is silent, and D is selected directly 5 Direction; if D is 5 Direction and D 7 The direction is silent, and D is selected directly 6 Direction);
(4) if D is 5 、D 6 And D 7 All directions are silent, then in order of priority from far to near, from D first 4 Direction and D 8 Selecting according to the same logic in the direction; if D is 4 Direction and D 8 Directions are also silent, then from D 1 Direction and D 3 Selection in direction, as shown in FIG. 6;
step 6: and judging whether the current accumulated times of scanning beam directions reach integral multiples of a preset judgment interval. If yes, jumping to step 7; otherwise, jumping to step 8;
step 6, the accumulated times of scanning beam directions are as follows: n is a radical of scan
And 6, the judgment interval is as follows: n is a radical of hydrogen 0 =20;
For example, if the number of times of beam directions N has been currently accumulated scan 123, not N 0 If it is an integral multiple of 20, the determination operation described in step 7 is not executed this time, and the process proceeds directly to step 8. If the current accumulated times of scanning beam direction N scan 120 is N 0 If the value is an integral multiple of 20, jumping to step 7 to execute corresponding judgment operation;
and 7: detecting the number of adjacent nodes found in each beam direction one by one, and setting the beam direction in which the number of the adjacent nodes found is more than or equal to a preset adjacent node finding target value as a silent direction;
and 7, the directions of the wave beams are as follows: d i (i=1,2,…,8);
7, the target value found by the adjacent node is as follows: n is a radical of target =5;
For example,if current D is present 1 To D 8 The number of the adjacent nodes found in the beam direction is as follows: d 1 Direction 2, D 2 Direction 5, D 3 Direction 3, D 4 Direction 0, D 5 Direction 0, D 6 Direction 0, D 7 Direction 1, D 8 The direction is 5. Then D will be 2 And D 8 Setting two beam directions as silent directions, and then not performing neighbor node discovery operation on the two beam directions;
and 8: and judging whether all the beam directions are silent directions or whether the current accumulated times of scanning the beam directions reach the preset maximum beam direction traversal times. If yes, the discovery process of the adjacent node is finished; otherwise, jumping to step 3.
Step 8, the accumulated times of scanning beam directions are as follows: n is a radical of scan
Step 8, the maximum traversal times of the beam direction is as follows: n is a radical of max =1000。
It should be understood that the above-mentioned embodiments are only for describing the present invention and are not intended to limit the scope of the present invention, and those skilled in the art can substitute or modify the described embodiments without departing from the scope of the present invention as claimed.

Claims (2)

1. A neighbor node discovery method for self-adaptive node density in an electric power construction site is characterized by comprising the following steps:
step 1: each node calculates the total number of wave beam directions of the node according to the wave beam angle of the directional antenna, and initializes all the wave beam directions into non-silent directions; setting a target value found by the adjacent node; setting the maximum traversal times of the beam direction; initializing the times of accumulated scanning beam directions; initializing a decision interval;
and 2, step: randomly selecting one beam direction from all the beam directions in the step 1 as a current beam direction;
and step 3: randomly generating the execution times of the neighbor node discovery operation of the current wave beam direction and the execution mode of each neighbor node discovery operation, and executing the neighbor node discovery operation of the corresponding times and modes on the current wave beam direction;
and 4, step 4: and if the current beam direction successfully finds the adjacent node in the step 3, randomly selecting the beam direction adjacent to the left or right of the current beam direction. If the selected beam direction is a non-silent direction, replacing the current beam direction with the selected beam direction; if the selected direction is the silent direction, selecting from the non-silent directions in turn according to the priority sequence from near to far, and replacing the current beam direction by the selected beam direction. Then, jumping to step 6;
otherwise, if the current beam direction fails to find the neighbor node in the step 3, jumping to the step 5;
and 5: if the current beam direction fails to find the neighboring node in step 3, one of the three neighboring beam directions that are 180 ° symmetric to the current beam direction is randomly selected. If the selected beam direction is a non-silent direction, replacing the current beam direction with the selected beam direction; if the selected beam direction is the silent direction, sequentially selecting from the non-silent directions according to the priority sequence from far to near, and replacing the current beam direction with the selected beam direction;
step 6: and judging whether the current accumulated times of scanning beam directions reach integral multiples of a preset judgment interval or not. If yes, jumping to step 7; otherwise, jumping to step 8;
and 7: detecting the number of adjacent nodes found in each beam direction one by one, and setting the beam direction in which the number of the adjacent nodes found is more than or equal to a preset adjacent node finding target value as a silent direction;
and 8: and judging whether all the beam directions are silent directions or whether the current accumulated times of scanning the beam directions reach the preset maximum beam direction traversal times. If yes, the discovery process of the adjacent node is finished; otherwise, jumping to step 3.
2. The method for discovering neighbor nodes according to the adaptive node density on the power construction site of claim 1, wherein the antenna beam angle in step 1 is: theta;
step 1, the total number of beam directions of the computing nodes is as follows: m is 360 DEG/theta;
the beam direction in step 1 is: d i (i=1,2,…,M);
The target value found by the adjacent node in the step 1 is as follows: n is a radical of target
Step 1, the maximum traversal times of the beam direction is as follows: n is a radical of max
Step 1, the accumulated times of scanning beam directions are as follows: n is a radical of scan
Step 1, the determination interval is as follows: n is a radical of 0
Step 2, all the beam directions are as follows: d i (i=1,2,…,M);
Step 2, the current beam direction is: d current ∈{D 1 ,D 2 ,…,D M },current∈{1,2,…,M};
Step 3, the current beam direction is: d current ∈{D 1 ,D 2 ,…,D M },current∈{1,2,…,M};
The execution times of the step 3 are as follows: m;
step 3, the execution mode of each time of the neighboring node discovery operation is as follows: mode (Mode) k E { "send-receive", "receive-send" }, k ═ 1,2, …, m;
step 4, the current beam direction is: d current ∈{D 1 ,D 2 ,…,D M },current∈{1,2,…,M};
Step 4, the beam direction adjacent to the left of the current beam direction is: d current_left ∈{D 1 ,D 2 ,…,D M },current_left=current-1;
Step 4, the beam direction adjacent to the right of the current beam direction is: d current_right ∈{D 1 ,D 2 ,…,D M },current_right=current+1;
Step 5, the current beam direction is: d current ∈{D 1 ,D 2 ,…,D M },current∈{1,2,…,M};
And 5, the three adjacent beam directions which are symmetrical with the current beam direction by 180 degrees are as follows: d current_symmetric 、D current_symmetric-1 、D current_symmetric+1 ∈{D 1 ,D 2 ,…,D M };
Wherein, current _ symmetric-1, and current _ symmetric +1 belongs to {1,2, …, M };
step 6, the accumulated times of scanning beam directions are as follows: n is a radical of scan
And 6, the judgment interval is as follows: n is a radical of 0
And 7, the directions of the wave beams are as follows: d i (i=1,2,…,M);
7, the target value found by the adjacent node is as follows: n is a radical of target
Step 8, the accumulated times of scanning beam directions are as follows: n is a radical of scan
Step 8, the maximum traversal times of the beam direction is as follows: n is a radical of max
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