CN115774460B - Unmanned aerial vehicle group topology control method based on interference avoidance - Google Patents
Unmanned aerial vehicle group topology control method based on interference avoidance Download PDFInfo
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Abstract
The invention discloses an unmanned aerial vehicle group topology control method based on interference avoidance, which comprises the following steps: s1, enabling an unmanned aerial vehicle cluster to sense and maintain the current basic cluster network topology; s2, periodically interacting the current received real-time communication interference state of the unmanned aerial vehicle by adopting a cluster network interference sensing message; s3, generating a current optimal interference avoidance strategy by adopting a self-adaptive interference processing algorithm; distributing an interference avoidance mechanism to other unmanned aerial vehicle nodes in the cluster network, wherein other unmanned aerial vehicles randomly move according to the avoidance mechanism to avoid current interference; s4, continuously interacting interference sensing information among the unmanned aerial vehicles, and selecting whether to revert to the original route or continue to the new route according to the interference state information. The invention ensures that the unmanned aerial vehicle cluster effectively avoids the current interference under the condition of optimal network communication performance, thereby greatly enhancing the strong interference adaptability of the unmanned aerial vehicle cluster in the application scene of the complex electromagnetic environment.
Description
Technical Field
The invention relates to the technical field of unmanned aerial vehicle cluster communication, in particular to an unmanned aerial vehicle cluster topology control method based on interference avoidance.
Background
In an unmanned aerial vehicle cluster network, a plurality of unmanned aerial vehicle nodes adopt a cluster topology control method matched with a cluster task to jointly complete a preset task. The cluster topology control plays a key role in the execution result of the unmanned aerial vehicle cluster task.
The unmanned aerial vehicle cluster network topology has important influence on performances such as the communication rate, stability and robustness of the whole unmanned aerial vehicle cluster network, and the success and failure of unmanned aerial vehicle cluster tasks are related, and when the cluster network is interfered in an unmanned aerial vehicle cluster application scene, especially in a refusing environment responsible for an electromagnetic environment, node paralysis or abnormality can be caused, so that the network performance is influenced. In order to ensure the overall performances of connectivity, robustness, survivability and the like of the cluster network, the cluster topology optimization control is required to be performed based on interference avoidance so as to better maintain the stability of the topology and the communication performance of the cluster network. The traditional unmanned aerial vehicle cluster topology control method does not carry out related researches on interference avoidance of the cluster network, researches are carried out aiming at unmanned aerial vehicle cluster networking communication interference avoidance technology, and the communication interference avoidance capability of the cluster network is effectively improved under the condition that the communication performance of the cluster network is ensured.
Disclosure of Invention
Aiming at the defects in the prior art, the unmanned aerial vehicle cluster topology control method based on interference avoidance solves the problem of interference avoidance of unmanned aerial vehicle cluster networking communication.
In order to achieve the aim of the invention, the invention adopts the following technical scheme: the unmanned aerial vehicle group topology control method based on interference avoidance is characterized by comprising the following steps of:
s1, unmanned aerial vehicle nodes periodically interact unmanned aerial vehicle basic situation information by adopting cluster network maintenance information, so that unmanned aerial vehicle clusters sense and maintain the current basic cluster network topology;
s2, periodically interacting the current received real-time communication interference state of the unmanned aerial vehicle by adopting a cluster network interference sensing message;
s3, according to the interference state information of all unmanned aerial vehicles in the trunking network, selecting the unmanned aerial vehicle with the minimum interference degree as an interference avoidance point, and generating a current optimal interference avoidance strategy by adopting a self-adaptive interference processing algorithm; distributing an interference avoidance mechanism to other unmanned aerial vehicle nodes in the cluster network through the interference avoidance strategy message, and enabling other unmanned aerial vehicles to randomly move according to the avoidance mechanism after receiving the interference avoidance strategy message, so as to deviate from the original flight route and avoid the current interference;
s4, continuously interacting interference sensing information among unmanned aerial vehicles, and selecting whether to revert to the original route or continue to the new route according to the interference state information of all unmanned aerial vehicles in the cluster network so as to ensure that the unmanned aerial vehicle cluster effectively avoids the current interference under the condition of normal network communication, thereby not only maintaining the stability of the cluster network topology, but also ensuring that the interference does not influence the cluster network communication and realizing the optimal cluster network communication performance.
Further: the step S1 specifically comprises the following steps:
s11, the unmanned aerial vehicle node periodically sends grid maintenance information to other unmanned aerial vehicles of the cluster, carries ID, position and hop count information of the unmanned aerial vehicle node, the node obtains the position and hop count information of surrounding nodes by receiving network maintenance information of the surrounding other nodes, senses the relative position relation and corresponding network topology structure between the network nodes of the whole cluster, realizes real-time cluster network topology sensing, and fills the network topology information of the surrounding nodes into a local cluster network topology table of the node;
and S12, when the position and hop count information of the unmanned aerial vehicle change, the position and hop count information is updated and then sent to the network, meanwhile, the topology structure of the whole cluster network is updated and maintained according to the current latest position and hop count information sent by surrounding nodes, and the changed topology information is updated and processed in a local cluster network topology table, so that the network topology table is ensured to continuously keep the current latest state.
Further: the step S2 specifically comprises the following steps:
s21, periodically sending cluster network interference sensing information to other unmanned aerial vehicles of the cluster by the unmanned aerial vehicle node, carrying the ID, the position, the current received signal-to-noise ratio, the received signal level and the interference index information of the unmanned aerial vehicle, acquiring real-time communication interference state information of surrounding nodes by the node through receiving the interference sensing information of the surrounding other nodes, realizing real-time cluster network interference sensing, and filling the interference state information of the surrounding nodes into a node local cluster network interference state table;
s22, when the position, the current receiving signal-to-noise ratio, the receiving signal level and the interference index information of the unmanned aerial vehicle change, the information is updated and then sent to the network, meanwhile, according to the current latest interference sensing information sent by surrounding nodes, the interference state of the whole cluster network is updated and maintained, the changed interference state information is updated in the local cluster network topology table, and the current latest state is kept continuously by the interference state information table.
Further: the location includes longitude, latitude, and altitude; the current receiving signal-to-noise ratio comprises a receiving signal-to-noise ratio at the current moment and an average value of the receiving signal-to-noise ratio in the current period; the received signal level comprises the received signal level at the current moment and the average value of the received signal level in the current period; the interference index comprises a 1-2 two-stage index, wherein 1 represents low interference and 2 represents high interference; the interference index is 1 when the received signal-to-noise ratio and the received signal level are high, and is 2 when the received signal-to-noise ratio is low and the received signal level is high.
Further: the step S3 specifically comprises the following steps:
s31, according to the interference state information of all unmanned aerial vehicles in the cluster network, selecting the unmanned aerial vehicle with the minimum interference degree as an interference avoidance point, adopting a self-adaptive interference avoidance processing algorithm, matching corresponding interference avoidance routes for each unmanned aerial vehicle according to the interference information states of other surrounding unmanned aerial vehicles by using the interference avoidance processing node, thereby generating a current optimal interference avoidance strategy, and distributing the avoidance strategy to other unmanned aerial vehicle nodes in the cluster network in a mode of interference avoidance strategy information;
s32, after receiving the interference avoidance strategy message, other unmanned aerial vehicles match the optimal avoidance route of the unmanned aerial vehicle to perform random movement according to the corresponding avoidance mechanism, deviate from the original airplane route, and thereby successfully avoid the current interference.
Further: the interference information state includes a current received signal-to-noise ratio, a received signal level, and an interference index.
Further: the step S4 specifically includes:
s41, continuously periodically interacting interference sensing information among unmanned aerial vehicles, sending the current latest interference conditions of self and surrounding unmanned aerial vehicle nodes to other unmanned aerial vehicles, comprehensively judging and processing by an interference avoidance processing node according to the interference state information of all unmanned aerial vehicles in a cluster network, and if the interference indexes of two continuous periods are 2 for each unmanned aerial vehicle, returning the unmanned aerial vehicle to the original route by sending an interference avoidance strategy information, otherwise, continuously maintaining the new route for avoiding interference;
s42, the interference avoidance processing node adaptively switches and uses the original route and the new route for avoiding interference according to the current real-time cluster network interference state of all unmanned aerial vehicles, and preferably selects the route with low interference index, and when the interference indexes are the same, preferably selects the route with high average value of the received signal to noise ratio so as to ensure that the unmanned aerial vehicle cluster effectively avoids the current interference under the condition of normal network communication.
The beneficial effects of the invention are as follows:
1. the traditional unmanned aerial vehicle cluster network topology control method is not studied in the aspect of hunting interference avoidance, and the method is aimed at the unmanned aerial vehicle cluster networking communication interference avoidance technology, creatively adopts cluster network interference sensing, self-adaptive interference avoidance processing algorithms and the like, and remarkably improves the communication interference avoidance capability of the cluster network under the condition of ensuring the communication performance of the cluster network;
2. according to the invention, the unmanned aerial vehicle cluster interference avoidance route self-adaptive selection and switching processing algorithm is adopted, and the original route is selected to be restored or the new route is continued according to the interference state information of all unmanned aerial vehicles in the cluster network, so that the unmanned aerial vehicle cluster can effectively avoid the current interference under the condition of optimal network communication performance, and the strong interference adaptability of the unmanned aerial vehicle cluster under the application scene of a complex electromagnetic environment is greatly enhanced.
Drawings
Fig. 1 is a flow chart of a method for controlling a topology of an unmanned aerial vehicle group based on interference avoidance.
Detailed Description
The following description of the embodiments of the present invention is provided to facilitate understanding of the present invention by those skilled in the art, but it should be understood that the present invention is not limited to the scope of the embodiments, and all the inventions which make use of the inventive concept are protected by the spirit and scope of the present invention as defined and defined in the appended claims to those skilled in the art.
The unmanned aerial vehicle cluster network topology has important influence on performances such as the communication rate, stability and robustness of the whole unmanned aerial vehicle cluster network, and the success and failure of unmanned aerial vehicle cluster tasks are related, and when the cluster network is interfered in an unmanned aerial vehicle cluster application scene, especially in a refusing environment responsible for an electromagnetic environment, node paralysis or abnormality can be caused, so that the network performance is influenced. In order to ensure the overall performances of connectivity, robustness, survivability and the like of the cluster network, the cluster topology optimization control is required to be performed based on interference avoidance so as to better maintain the stability of the topology and the communication performance of the cluster network.
In this embodiment, a method for controlling a topology of an unmanned aerial vehicle group based on interference avoidance, as shown in fig. 1, includes the following steps: the unmanned aerial vehicle nodes periodically interact basic situation information of the unmanned aerial vehicle by adopting cluster network maintenance information, so that the unmanned aerial vehicle clusters sense and maintain the current basic cluster network topology; the method comprises the steps of periodically interacting the real-time communication interference state currently received by the unmanned aerial vehicle by adopting a cluster network interference sensing message; according to the interference state information of all unmanned aerial vehicles in the cluster network, selecting the unmanned aerial vehicle with the minimum interference degree as an interference avoidance processing node, and generating a current optimal interference avoidance strategy by adopting a self-adaptive interference avoidance processing algorithm; distributing an interference avoidance mechanism to other unmanned aerial vehicle nodes in the cluster network through the interference avoidance strategy message, and enabling other unmanned aerial vehicles to randomly move according to the avoidance mechanism after receiving the interference avoidance strategy message, so as to deviate from the original flight route and avoid the current interference; the unmanned aerial vehicles continuously interact with each other to sense information, and according to the interference state information of all unmanned aerial vehicles in the cluster network, whether the unmanned aerial vehicle is restored to the original route or continues to a new route is selected, so that the unmanned aerial vehicle cluster effectively avoids the current interference under the condition that network communication is normal, the stability of the cluster network topology is maintained, the interference is ensured not to influence the cluster network communication, and the optimal cluster network communication performance is realized.
The unmanned aerial vehicle cluster network topology sensing and maintaining process comprises the following steps: the unmanned aerial vehicle node periodically sends network maintenance information, carries information such as ID, position and TTL of the unmanned aerial vehicle node, the node obtains information such as position and hop count of surrounding nodes by receiving network maintenance information of other surrounding nodes, and grasps the topology condition of the whole cluster network, so that topology perception of the cluster network is realized, and when the topology of the unmanned aerial vehicle node and the surrounding nodes correspondingly changes due to position and hop count changes, the current latest cluster network topology is updated and maintained.
The specific flow is as follows:
1) The unmanned aerial vehicle node periodically sends network maintenance information to other unmanned aerial vehicles of the cluster, carrying ID, position (longitude, latitude, altitude), TTL (hop count) and other information of the unmanned aerial vehicle, the node obtains the position, hop count and other information of surrounding nodes by receiving the network maintenance information of the surrounding other nodes, senses the relative position relation and corresponding network topology structure between the nodes of the whole cluster network, realizes real-time cluster network topology sensing, and fills the network topology information of the surrounding nodes into a node local cluster network topology table;
2) When the position, hop count and other information of the unmanned aerial vehicle change, the information is updated and then sent to the network, meanwhile, the topology structure of the whole cluster network is updated and maintained according to the current latest position, hop count and other information sent by surrounding nodes, and the changed topology information is updated and processed in a local cluster network topology table, so that the network topology table is ensured to continuously keep the current latest state.
The unmanned aerial vehicle cluster network interference sensing process is as follows: the method comprises the steps that a cluster network interference sensing message is adopted to periodically interact with the current real-time communication interference state of the unmanned aerial vehicle, the interference sensing message carries information such as ID, position, current receiving signal-to-noise ratio, receiving signal level, interference index and the like of the unmanned aerial vehicle, and the nodes acquire the interference condition of surrounding nodes by receiving interference sensing messages of other surrounding nodes, so that cluster network interference sensing is realized.
The specific flow is as follows:
1) The unmanned aerial vehicle node periodically sends cluster network interference sensing information to other unmanned aerial vehicles of the cluster, and the cluster network interference sensing information carries own ID, position (longitude, latitude and altitude), current received signal-to-noise ratio (including received signal-to-noise ratio at the current moment and average value of received signal-to-noise ratio in the current period), received signal level (including received signal level at the current moment and average value of received signal level in the current period), interference index (divided into two levels of 1 and 2, wherein 1 represents low interference, and 2 represents high interference; when the received signal-to-noise ratio and the received signal level are high, the interference index is 1, when the received signal-to-noise ratio is low and the received signal level is high, the interference index is 2) and other information is obtained by the node, the real-time communication interference state information of the surrounding nodes is obtained by receiving the interference sensing information of other surrounding nodes, the real-time cluster network interference sensing is realized, and the interference state information of the surrounding nodes is filled into the local cluster network interference state table of the node;
2) When the position, current receiving signal-to-noise ratio, receiving signal level, interference index and other information of the unmanned aerial vehicle change, the information is updated and then sent to the network, meanwhile, according to the current latest interference sensing information sent by surrounding nodes, the interference state of the whole cluster network is updated and maintained, the changed interference state information is updated in a local cluster network topology table, and the interference state information table is ensured to continuously keep the current latest state.
The unmanned aerial vehicle cluster network interference avoidance processing process comprises the following steps: according to the interference state information of all unmanned aerial vehicles in the cluster network, selecting the unmanned aerial vehicle with the minimum interference degree as an interference avoidance processing node, adopting a self-adaptive interference avoidance processing algorithm to generate a current optimal interference avoidance strategy, distributing the avoidance strategy to other unmanned aerial vehicle nodes in the cluster network in a mode of interference avoidance strategy information, and after receiving the interference avoidance strategy information, carrying out random movement according to a corresponding avoidance mechanism (optimal avoidance route) by other unmanned aerial vehicles, deviating from the original flight route, thereby successfully avoiding the current interference.
The specific flow is as follows:
1) According to the interference state information of all unmanned aerial vehicles in the cluster network, selecting the unmanned aerial vehicle with the minimum interference degree as an interference avoidance processing node, adopting a self-adaptive interference avoidance processing algorithm, matching corresponding interference avoidance routes for each unmanned aerial vehicle according to the interference information states (current received signal-to-noise ratio, received signal level and interference index) of other surrounding unmanned aerial vehicles by the interference avoidance processing node, thereby generating a current optimal interference avoidance strategy, and distributing the avoidance strategy to other unmanned aerial vehicle nodes in the cluster network in a mode of interference avoidance strategy information;
2) After receiving the interference avoidance strategy message, other unmanned aerial vehicles randomly move according to a corresponding avoidance mechanism (matched with the optimal avoidance route of the unmanned aerial vehicle), deviate from the original flight route, and thereby successfully avoid the current interference.
The unmanned aerial vehicle selects and switches the use process to the new route of original route and avoiding interference: and continuously interacting interference sensing information among unmanned aerial vehicles, judging whether a decision is to recover to an original route or to continuously maintain a new route for avoiding interference according to interference state information of all unmanned aerial vehicles in the cluster network, and performing self-adaptive switching according to the current real-time cluster network interference state so as to ensure that the unmanned aerial vehicle cluster effectively avoids current interference under the condition of normal network communication.
The specific flow is as follows:
1) The method comprises the steps that continuous period interaction interference sensing information between unmanned aerial vehicles is carried out, current latest interference conditions of self and surrounding unmanned aerial vehicle nodes are sent to other unmanned aerial vehicles, an interference avoidance processing node carries out comprehensive judgment processing according to interference state information of all unmanned aerial vehicles in a cluster network, and if the interference index of two continuous periods is 2 for each unmanned aerial vehicle, the unmanned aerial vehicle is restored to an original route by sending interference avoidance strategy information, otherwise, new route avoidance is continuously maintained;
2) The interference avoidance processing node adaptively switches and uses the original route and the new route for avoiding interference according to the current real-time cluster network interference state of all unmanned aerial vehicles, and preferably selects the route with lower interference index, and when the interference indexes are the same, preferably selects the route with higher average value of the received signal to noise ratio so as to ensure that the unmanned aerial vehicle cluster effectively avoids the current interference under the condition of normal network communication.
Claims (5)
1. The unmanned aerial vehicle group topology control method based on interference avoidance is characterized by comprising the following steps of:
s1, unmanned aerial vehicle nodes periodically interact unmanned aerial vehicle basic situation information by adopting cluster network maintenance information, so that unmanned aerial vehicle clusters sense and maintain the current basic cluster network topology;
s2, periodically interacting real-time communication interference state information received by the unmanned aerial vehicle by adopting a cluster network interference sensing message;
s3, according to the interference state information of all unmanned aerial vehicles in the trunking network, selecting the unmanned aerial vehicle with the minimum interference degree as an interference avoidance point, and generating a current optimal interference avoidance strategy by adopting a self-adaptive interference processing algorithm; distributing an interference avoidance mechanism to other unmanned aerial vehicle nodes in the cluster network through the interference avoidance strategy message, and enabling other unmanned aerial vehicles to randomly move according to the avoidance mechanism after receiving the interference avoidance strategy message, so as to deviate from the original flight route and avoid the current interference;
the step S3 specifically comprises the following steps:
s31, according to the interference state information of all unmanned aerial vehicles in the cluster network, selecting the unmanned aerial vehicle with the minimum interference degree as an interference avoidance point, adopting a self-adaptive interference avoidance processing algorithm, matching corresponding interference avoidance routes for each unmanned aerial vehicle according to the interference information states of other surrounding unmanned aerial vehicles by using the interference avoidance processing node, thereby generating a current optimal interference avoidance strategy, and distributing the avoidance strategy to other unmanned aerial vehicle nodes in the cluster network in a mode of interference avoidance strategy information;
s32, after receiving the interference avoidance strategy message, other unmanned aerial vehicles match the optimal avoidance route of the unmanned aerial vehicle to perform random movement according to the corresponding avoidance mechanism, deviate from the original airplane route, and thereby successfully avoid the current interference;
s4, continuously interacting interference sensing information among unmanned aerial vehicles, and selecting whether to restore to an original route or continue to a new route according to interference state information of all unmanned aerial vehicles in a cluster network so as to ensure that the unmanned aerial vehicle cluster effectively avoids current interference under the condition of normal network communication, thereby not only maintaining the stability of the cluster network topology, but also ensuring that the interference does not influence the cluster network communication and realizing optimal cluster network communication performance;
the step S4 specifically comprises the following steps:
s41, continuously periodically interacting interference sensing information among unmanned aerial vehicles, sending the current latest interference conditions of self and surrounding unmanned aerial vehicle nodes to other unmanned aerial vehicles, comprehensively judging and processing by an interference avoidance processing node according to the interference state information of all unmanned aerial vehicles in a cluster network, and if the interference indexes of two continuous periods are 2 for each unmanned aerial vehicle, returning the unmanned aerial vehicle to the original route by sending an interference avoidance strategy information, otherwise, continuously maintaining the new route for avoiding interference;
s42, the interference avoidance processing node adaptively switches and uses the original route and the new route for avoiding interference according to the current real-time cluster network interference state of all unmanned aerial vehicles, and preferably selects the route with low interference index, and when the interference indexes are the same, preferably selects the route with high average value of the received signal to noise ratio so as to ensure that the unmanned aerial vehicle cluster effectively avoids the current interference under the condition of normal network communication.
2. The method for controlling the topology of the unmanned aerial vehicle group based on interference avoidance according to claim 1, wherein the step S1 is specifically:
s11, the unmanned aerial vehicle node periodically sends grid maintenance information to other unmanned aerial vehicles of the cluster, carries ID, position and hop count information of the unmanned aerial vehicle node, the node obtains the position and hop count information of surrounding nodes by receiving network maintenance information of the surrounding other nodes, senses the relative position relation and corresponding network topology structure between the network nodes of the whole cluster, realizes real-time cluster network topology sensing, and fills the network topology information of the surrounding nodes into a local cluster network topology table of the node;
and S12, when the position and hop count information of the unmanned aerial vehicle change, the position and hop count information is updated and then sent to the network, meanwhile, the topology structure of the whole cluster network is updated and maintained according to the current latest position and hop count information sent by surrounding nodes, and the changed topology information is updated and processed in a local cluster network topology table, so that the network topology table is ensured to continuously keep the current latest state.
3. The method for controlling the topology of the unmanned aerial vehicle group based on interference avoidance according to claim 1, wherein the step S2 is specifically:
s21, periodically sending cluster network interference sensing information to other unmanned aerial vehicles of the cluster by the unmanned aerial vehicle node, carrying ID, position, current receiving signal-to-noise ratio, receiving signal level and interference index information of the unmanned aerial vehicle node, acquiring real-time communication interference state information of surrounding nodes by the node through receiving the interference sensing information of the surrounding other nodes, realizing real-time cluster network interference sensing, and filling the interference state information of the surrounding nodes into a node local cluster network topology table;
s22, when the position, the current receiving signal-to-noise ratio, the receiving signal level and the interference index information of the unmanned aerial vehicle change, the information is updated and then sent to the network, meanwhile, according to the current latest interference sensing information sent by surrounding nodes, the interference state of the whole cluster network is updated and maintained, the changed interference state information is updated in the local cluster network topology table, and the network topology table is ensured to continuously keep the current latest state.
4. The interference avoidance based drone swarm topology control method of claim 3, wherein said locations comprise longitude, latitude, and altitude; the current receiving signal-to-noise ratio comprises a receiving signal-to-noise ratio at the current moment and an average value of the receiving signal-to-noise ratio in the current period; the received signal level comprises the received signal level at the current moment and the average value of the received signal level in the current period; the interference index comprises a 1-2 two-stage index, wherein 1 represents low interference and 2 represents high interference; the interference index is 1 when the received signal-to-noise ratio and the received signal level are high, and is 2 when the received signal-to-noise ratio is low and the received signal level is high.
5. The method of claim 1, wherein the interference information state comprises a current received signal-to-noise ratio, a received signal level, and an interference index.
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