CN116015403A - Networking method suitable for large-scale unmanned aerial vehicle ground-air network - Google Patents
Networking method suitable for large-scale unmanned aerial vehicle ground-air network Download PDFInfo
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Abstract
The invention discloses a networking method suitable for a large-scale unmanned aerial vehicle ground-air network, which comprises the steps of network searching, network access, chain building, communication, chain disconnecting, network returning and the like. The network search is used for obtaining the network information to be accessed, and the equipment is in a limited single-receiving state at the moment; the network access flow has an identity authentication function, and ground equipment which is successful in network access enters an unrestricted single-receipt state; the link establishment process based on priority is realized, and equipment with successful link establishment enters a receiving and transmitting state; the communication stage meets the data transmission requirement among networking nodes; the recovery of communication resources is realized through a link disassembly process, and the equipment enters an unrestricted single-receipt state again; the network-exiting process is implemented to recover network resources. The method provides communication support for interconnection and intercommunication between the ground communication nodes and the aerial unmanned aerial vehicle platform, and has important significance in application fields such as ground-air networking and the like.
Description
Technical Field
The invention relates to a networking method suitable for a large-scale unmanned aerial vehicle ground-air network, which provides communication support for interconnection and intercommunication of ground communication nodes and an aerial unmanned aerial vehicle platform large-scale network and has important significance in the application fields of ground-air networking and the like.
Background
With the vigorous development of unmanned aerial vehicle technology, unmanned aerial vehicles are widely applied to a plurality of fields such as agriculture, inspection, security protection, rescue and the like at present. The task is executed by a single unmanned aerial vehicle, and if the task has a large working area, the unmanned aerial vehicle needs to make multiple trips and even turns for multiple times to completely cover the task area, so that the time consumption is long, and the efficiency is relatively low. In addition, some places are limited by the topography factors limiting aspects of communication between the unmanned aerial vehicle and the ground control station, and the unmanned aerial vehicle cannot reach the working area, so that the task expansion area is affected.
Disclosure of Invention
The invention aims to provide a communication support for interconnection and intercommunication among a plurality of ground communication nodes and an aerial unmanned platform, and provides a networking method suitable for a large-scale unmanned aerial vehicle ground-air network.
The technical scheme adopted by the invention is as follows:
a networking method suitable for a large-scale unmanned aerial vehicle ground-air network comprises the following steps:
step 1, network searching: the aerial communication device periodically broadcasts network configuration information and position and posture information of the aerial unmanned plane platform; the ground communication equipment searches available networks in different directions and channels and reports the networks to the user computer, and the user selects the network to be accessed; after the access network is selected, the ground communication equipment enters a limited single-receiving state and only receives necessary network state information;
step 2, network access stage: the ground communication equipment selects the common node or management node identity to carry out network access application; the aerial communication equipment judges whether to allow the ground communication equipment to access the network according to the network scale and the identity authentication condition, and notifies all the ground communication equipment after the network access; the ground communication equipment which is successful in network access enters an unrestricted single-receipt state, can receive all network information, but does not have the data transmission capability;
step 3, a chain building stage: when data transmission is required, the ground communication equipment performs a link establishment application according to the required communication resources; the aerial communication equipment judges whether to allow the equipment to build a link according to the priority and the conditions of the occupation condition of communication resources, and notifies all ground communication equipment after the link is built successfully; the ground communication equipment with successful link establishment enters a receiving and transmitting state and has the capability of receiving and transmitting data;
step 4, communication phase: the method comprises two working modes of broadcasting machine equipment data and forwarding ground equipment data, and the transmitted contents comprise: pictures, videos, voices, files, and words;
step 5, chain disassembly stage: after the communication is completed, the ground communication equipment initiates a link disassembly application; the air communication equipment recovers corresponding communication resources; the ground communication equipment reenters an unrestricted single receipt state;
step 6, a network-removing stage: after the task is executed, the ground communication equipment initiates a network-quitting application; the air communication equipment recovers network access user resources; the ground communication device re-enters the limited single receipt state.
Further, the step 1 specifically includes the following steps:
(1.1) starting up the aerial communication equipment, and periodically broadcasting network configuration information and position and posture information of an aerial platform;
the network configuration information comprises the number of users who are accessed to the network, the addresses of the air communication equipment and the uplink and downlink working channels of the air communication equipment; the ground communication equipment acquires the outline conditions of the air communication equipment and the corresponding network through the network configuration information;
the position and attitude information of the aerial platform includes longitude, latitude, altitude, and the like. The ground communication equipment acquires the current position of the aerial platform through the position and posture information, so that the alignment and tracking of the directional antenna are realized;
(1.2) starting up the ground communication equipment, and sending a network searching starting instruction by a user computer;
(1.3) traversing all working frequency points and directional antenna orientations by the ground communication equipment, searching available networks on different directions and channels one by one, and reporting the available network information searched in the current area to a user computer;
(1.4) the user computer selecting a network to be added and notifying the ground communication device;
(1.5) the ground communication device adjusts the working channel and the antenna direction, only receives the configuration information of the selected network and prepares to access the network;
(1.6) ending the network search of the ground communication equipment, and turning to an unaccessed state.
Further, the step 2 specifically includes the following steps:
(2.1) the ground communication equipment selects to apply for network access by using the identity of a common node or a management node;
the common node can only manage the local equipment; the management node has the capabilities of local equipment management, air communication equipment management and networking network management; a networking network has only one management node;
(2.2) the over-the-air communication device receiving and processing the network entry request;
(2.2.1) receiving a network access application sent by the ground by the aerial communication device;
(2.2.2) querying whether the ground communication device sending the network entry request is already in the network; if already in the network, performing (2.2.3); if not, executing (2.2.4);
(2.2.3) repeatedly applying for the common node by the management node or repeatedly applying for the management node by the common node, maintaining the existing attribute of the node, and refusing the ground communication equipment to access the network, and executing (2.3);
(2.2.4) determining whether the identity authentication function is enabled; if enabled, execute (2.2.5); if not, execute (2.2.6);
(2.2.5) querying whether the ground communication device is on a white list; if in the white list, execute (2.2.6); if the ground communication equipment is not in the white list, refusing the ground communication equipment to access the network, and executing (2.3);
(2.2.6) inquiring whether the number of the network access users reaches the upper limit; if the upper limit is reached, refusing the ground communication equipment to access the network, and executing (2.3); if the upper limit is not reached, executing (2.2.7);
(2.2.7) judging whether the application becomes a management node; executing (2.2.8) if the application becomes a management node; if the application becomes a common node, allowing the ground communication equipment to access the network, and executing (2.3);
(2.2.8) determining whether a management node already exists; if so, refusing the ground communication equipment to access the network, and executing (2.3); if not, allowing the ground communication equipment to access the network and setting the ground communication equipment as a management node, and executing (2.3);
(2.3) the over-the-air communication device generating and transmitting the network response and the network access user list;
(2.4) the ground communication equipment receives and processes the network access response and the network access user list;
(2.4.1) for the network access response, the ground communication device transmits the network access response to the user computer without processing the network access response; the user computer judges the network access result and the reason of refusing the network access according to the instruction code and the error code in the network access response;
(2.4.2) for the network entry user table, the ground communication device querying whether the local ground communication device address is in the table, if so, the ground communication device transitions to the network entry state.
Further, the step 3 specifically includes the following steps:
(3.1) the ground communication equipment initiates a chain establishment application, wherein the chain establishment application comprises bandwidth and priority information of the application;
(3.2) the over-the-air communication device receiving and processing the link establishment application;
(3.2.1) receiving a link establishment application sent by the ground by the aerial communication equipment;
(3.2.2) inquiring whether the link establishment application equipment is connected to the network; if the network is accessed, executing (3.2.3); if the network is not accessed, rejecting the link establishment application, and executing (3.3);
(3.2.3) inquiring whether the link establishment application device has established a link; if a chain is established, executing (3.2.4); if no link is established, execute (3.2.5);
(3.2.4) judging whether the resources required by the newly built link application are consistent with the occupied link resources of the equipment; if the two types are consistent, allowing the ground communication equipment to build a chain, and executing (3.3); if not, executing (3.2.5);
(3.2.5) querying whether the communication resource satisfies a resource required for the link establishment application; if yes, allowing the ground communication equipment to build a chain and allocate corresponding resources, and executing (3.3); if not, executing (3.2.6);
(3.2.6) judging whether to preempt the resource according to the priority; if the priority specified by the link establishment application is higher than the equipment priority of the occupied resources, re-planning the link communication resources and preempting the low-priority resources, allowing the ground communication equipment to establish links and updating a communication resource table, and executing (3.3); if the priority specified by the link establishment application is lower than the equipment priority of the occupied resource, rejecting the link establishment application, and executing (3.3);
(3.3) the over-the-air communication device generating and transmitting a link establishment response and a communication resource table;
(3.4) the ground communication equipment receives and processes the link establishment response and the communication resource list;
(3.4.1) for the link establishment response, the ground communication equipment does not process and transmits to the user computer; the user computer judges the link establishment result and the reason of refusing the link establishment according to the instruction code and the error code in the link establishment response;
(3.4.2) for a table of communication resources, the ground communication device querying whether the local ground communication device address is in the table; if the ground communication device is in the list, the ground communication device is switched to the established link state.
Further, the step 4 specifically includes the following steps:
(4.1) according to actual demands, the ground management node designates a data mode of equipment on a broadcasting machine or a data mode of forwarding ground equipment;
(4.2) the on-broadcaster device data mode is used for realizing the broadcasting of load data such as aerial communication device images to network-connected ground communication devices in the coverage area;
(4.3) forwarding the ground equipment data mode for realizing the interaction of text, voice and image information among the network-accessed ground communication equipment;
(4.4) the actual demand changes, and (4.1) is executed.
Further, the step 5 specifically includes the following steps:
(5.1) the ground communication equipment initiates a chain disconnecting application;
(5.2) the over-the-air communication device receiving and processing the de-linking application;
(5.2.1) the aerial communication device receiving a ground-transmitted de-link application;
(5.2.2) inquiring whether the chain-breaking application equipment has a built chain; if a chain is established, executing (5.2.3); if the link is not established, rejecting the link disassembly application, and executing (5.3);
(5.2.3) inquiring the communication resources occupied by the link splitting application equipment, recovering the corresponding communication resources, cleaning the priority, resetting the timer, and updating the whole network communication resource table;
(5.3) the over-the-air communication device generating and transmitting a de-linking acknowledgement and a communication resource table;
(5.4) the ground communication device receives and processes the de-link acknowledgement and the communication resource list;
(5.4.1) for the link disassembly response, the ground communication equipment does not process and transmits the link disassembly response to the user computer; the user computer judges the chain disconnecting result and the reason of the chain disconnecting failure according to the instruction code and the error code in the chain disconnecting response;
(5.4.2) for a table of communication resources, the ground communication device querying whether the local ground communication device address is in the table; if not, the ground communication equipment is switched to the network-accessed state.
Further, the step 6 specifically includes the following steps:
(6.1) the ground communication equipment initiates a network-quitting application;
(6.2) the air communication equipment receives and processes the network-exit application;
(6.2.1) inquiring whether the network-quitting application equipment occupies communication resources; if the communication resource is occupied, the corresponding communication resource is recovered and the communication resource table is updated, and the operation (6.2.2) is executed; if the communication resource is not occupied, executing (6.2.2);
(6.2.2) inquiring whether the network-exit application device is in the network; if in the net, executing (6.2.3); if not, refusing the network-quitting application, and executing (6.3);
(6.2.3) inquiring whether the network-exit application device is a management node; if the network access request is a management node, recovering the authority of the management node, recovering the network access user resource, updating the network access user table and allowing the network access request to be carried out (6.3); if the network access request is a common node, recovering network access user resources, updating a network access user table and allowing the network access request to be carried out (6.3);
(6.3) the air communication equipment generates and transmits a network-quit response, a communication resource list and a network-access user list;
(6.4) receiving and processing the network-quit response, the communication resource list and the network-access user list by the ground communication equipment;
(6.4.1) for the network-exit response, the ground communication equipment does not process and transmits to the user computer; the user computer judges the network-quitting result according to the instruction code in the network-quitting response;
(6.4.2) for the network access user list, the ground communication device querying whether the address of the ground communication device is in the list, if not, the ground communication device is switched to the network-not-accessed state.
The invention has the beneficial effects that:
1. the method is suitable for large-scale unmanned aerial vehicle ground-air network networking, and can realize interconnection and intercommunication between a plurality of ground communication nodes and an air unmanned platform.
2. According to the invention, the unmanned aerial vehicle platform is used as an air mobile base station, so that a plurality of ground communication nodes can be effectively connected, and real-time monitoring during emergency communication and large-area operation of the unmanned aerial vehicle is realized.
Drawings
Fig. 1 is a workflow diagram of an unmanned aerial vehicle ground-air network networking method of the present invention.
Fig. 2 is a flow chart of an over-the-air communication device processing an inbound application.
Fig. 3 is a flow chart of the over-the-air communication device processing a link establishment application.
Fig. 4 is a flow chart of an over-the-air communication device processing a de-chaining application.
Fig. 5 is a flow chart of the over-the-air communication device processing a logout application.
Detailed Description
The invention is further described below with reference to the drawings and examples.
As shown in fig. 1 to 5, a networking method suitable for a large-scale unmanned aerial vehicle ground-air network comprises the following steps:
step 1, network searching: the aerial communication device periodically broadcasts network configuration information and position and attitude information of the aerial unmanned aerial vehicle platform. The ground communication device searches available networks in different directions and channels and reports the networks to the user computer, and the user selects the network to be accessed. After the access network is selected, the ground communication equipment enters a limited single-receipt state, and only a small amount of necessary network state information can be received.
Step 2, network access stage: the ground communication equipment selects the common node or management node identity to carry out network access application. The air communication equipment judges whether to allow the ground communication equipment to access the network according to the conditions of network scale, identity authentication and the like, and notifies all the ground communication equipment after the ground communication equipment passes through the network access. The ground communication equipment which is successful in network access enters an unrestricted single receipt state, can receive all network information, and does not have data transmission capability.
Step 3, a chain building stage: when data transmission is required, the ground communication equipment performs link establishment application according to the required communication resources. The aerial communication equipment judges whether to allow the equipment to build a link according to the conditions of priority, communication resource occupation condition and the like, and notifies all the ground communication equipment after the link is built successfully. The ground communication equipment with successful link establishment enters a receiving and transmitting state and has the capability of receiving and transmitting data.
Step 4, communication phase: the method comprises two working modes of broadcasting machine equipment data and forwarding ground equipment data, and the transmitted contents comprise: picture, video, voice, file, text, etc.
Step 5, chain disassembly stage: after the communication is completed, the ground communication equipment initiates a link disassembly application. The over-the-air communication device recovers the corresponding communication resources. The ground communication device reenters the unrestricted single receipt state.
Step 6, a network-removing stage: after the work is finished, the ground communication equipment initiates a network-quitting application. The over-the-air communication device recovers the network user resources. The ground communication device re-enters the limited single receipt state.
Wherein, the step (1) specifically comprises the following steps:
(1.1) starting up the aerial communication device, and periodically broadcasting network configuration information and position and posture information of the unmanned aerial vehicle platform.
(1.2) the ground communication device is started, and the user computer sends a network searching starting instruction.
And (1.3) traversing all working frequency points and directional antenna orientations by the ground communication equipment, searching available networks on different directions and channels one by one, and reporting the available network information searched in the current area to a user computer.
(1.4) the user computer selecting a network to be added and notifying the surface communication device.
(1.5) the ground communication device adjusting the operating channel and antenna pointing, receiving only configuration information of the selected network and preparing to access the network.
Wherein, the step (2) specifically comprises the following steps:
(2.1) the ground communication equipment selects to perform network access application with the identity of a common node or a management node. The normal node can only manage the local device. The management node has the capabilities of local device management, over-the-air communication device management and networking network management. A networking network can only have one management node.
And (2.2) after receiving the network access application, the air communication equipment judges whether the network access user reaches the upper limit, performs identity authentication on the network access application user and the like. If the network access condition is satisfied, the air communication equipment allocates network access user resources and updates the network access user table of the whole network.
(2.3) the over-the-air communication device generating and transmitting the network acknowledgement and the network entry user table.
And (2.4) receiving and analyzing the network access user table by the ground communication equipment to finish the network access process.
Wherein, the step (3) specifically comprises the following steps:
and (3.1) when the data transmission requirement exists, the ground communication equipment carries out the link establishment application according to the required communication resources, wherein the link establishment application comprises the information such as the bandwidth, the priority and the like of the application.
(3.2) after receiving the link establishment application, the air communication equipment firstly checks whether the idle network communication resources can meet the requirement, and if the idle communication resources are sufficient, the corresponding communication resources are allocated; and if the idle communication resources are insufficient, comparing the priorities, automatically removing the low-priority link to release the communication resources and distributing the communication resources to the newly applied equipment. If the link establishment condition is satisfied, the air communication equipment allocates link communication resources and updates the whole network communication resource table.
(3.3) the over-the-air communication device generating and transmitting the chaining acknowledgement and the communication resource table.
And (3.4) receiving and analyzing the communication resource table by the ground communication equipment to finish the link establishment flow.
Wherein, the step (4) specifically comprises the following steps:
(4.1) the communication stage comprises two working modes of broadcasting equipment data and forwarding ground equipment data.
(4.2) in the on-broadcaster device data mode: the method is mainly used for realizing the broadcasting of load data such as aerial communication equipment images to network-connected ground communication equipment in a coverage area.
(4.3) forwarding the ground equipment data pattern: the method is mainly used for realizing the interaction of information such as characters, voice, images and the like among the network-connected ground communication equipment.
Wherein, the step (5) specifically comprises the following steps:
and (5.1) after the communication is completed, the ground communication equipment initiates a link-breaking application.
And (5.2) receiving the link disassembly application by the air communication equipment, recovering corresponding communication resources and updating the whole network communication resource table.
(5.3) the over-the-air communication device generating and transmitting the de-linking acknowledgement and the communication resource table.
And (5.4) the ground communication equipment receives and analyzes the communication resource table to complete the link-breaking process.
Wherein, the step (6) specifically comprises the following steps:
and (6.1) after the task is executed, the ground communication equipment initiates a network-quitting application.
And (6.2) the air communication equipment receives the network-quitting application, recovers network-access user resources and updates the network-access user table.
(6.3) the over-the-air communication device generating and transmitting the off-network response and the on-network user table.
And (6.4) receiving and analyzing the network access user table by the ground communication equipment to finish the network exit flow.
The following is a more specific example:
the unmanned aerial vehicle ground-air network networking protocol operates in an air communication device and a ground communication device, which communicate through a wireless link. The unmanned aerial vehicle ground-air network networking protocol can construct a communication network, and a ground communication device is allowed to access the network by the identity of a ground management node in the network. The management node has super user authority and can manually intervene in network operation.
The communication flow of the unmanned aerial vehicle ground-air network networking protocol comprises six stages of network searching, network access, link establishment, communication, link detachment and network withdrawal. According to the completed network flow, the ground communication equipment has four states of network searching, no network access, network access and established links. The ground communication equipment is in an un-network-access state after being electrified, the ground user computer sends a network access starting searching command, then the ground communication equipment is switched into a network searching state, network signals are searched in all frequencies and antenna directions and reported to the ground user computer, after a user manually selects a network to be accessed, the ground user equipment resides in a certain channel and direction to wait for network access, and at the moment, the ground user computer can hear basic configuration information of the network; then, a network access process is initiated by a ground user computer, the network access state is entered after the network access is successfully completed, and the network access ground communication equipment can realize a data single receiving function; when the service is sent, the ground user computer firstly initiates a link establishment flow, and after the link establishment is successful, the ground user computer enters a link established state, so that data transmission can be performed.
The communication flow is initiated by the ground user computer, uploaded to the air communication equipment through the ground communication equipment, and is responsible for network management and maintenance by the air communication equipment.
As shown in fig. 1 to 5, the method mainly comprises the following steps:
(1) And (5) searching a network. The method specifically comprises the following steps:
(1.1) powering on the aerial communication device, and periodically broadcasting network configuration information and position and posture information of the aerial platform.
The network configuration information mainly comprises the number of users who are accessed to the network, the addresses of the air communication equipment, the uplink and downlink working channels of the air communication equipment and the like. The ground communication equipment can acquire the outline conditions of the air communication equipment and the corresponding network through the network configuration information;
the position and attitude information of the aerial platform mainly comprises longitude, latitude, altitude and the like. Through the position and posture information, the ground communication equipment can acquire the current position of the aerial platform, and further alignment and tracking of the directional antenna are achieved.
(1.2) the ground communication device is started, and the user computer sends a network searching starting instruction.
And (1.3) traversing all working frequency points and directional antenna orientations by the ground communication equipment, searching available networks on different directions and channels one by one, and reporting the available network information searched in the current area to a user computer.
(1.4) the user computer selecting a network to be added and notifying the surface communication device.
(1.5) the ground communication device adjusting the operating channel and antenna pointing, receiving only configuration information of the selected network and preparing to access the network.
(1.6) ending the network search of the ground communication equipment, and turning to an unaccessed state.
(2) And (5) network access stage. The method specifically comprises the following steps:
(2.1) the ground communication equipment selects to perform network access application with the identity of a common node or a management node.
The normal node can only manage the local device. The management node has the capabilities of local device management, over-the-air communication device management and networking network management. A networking network can only have one management node.
(2.2) the over-the-air communication device receiving and processing the network entry request.
(2.2.1) the over-the-air communication device receiving the ground transmitted network access request.
(2.2.2) querying whether the ground communication device sending the network entry request is already in the network. If already in the network, performing (2.2.3); if not, execute (2.2.4).
(2.2.3) repeatedly applying for the normal node by the management node or repeatedly applying for the management node by the normal node, maintaining the existing attribute (normal/management) of the node and refusing the network access of the ground communication device, and executing (2.3).
(2.2.4) determining whether the authentication function is enabled. If enabled, execute (2.2.5); if not, execute (2.2.6).
(2.2.5) querying whether the ground communication device is on a "white list". If in the white list, execute (2.2.6); and if the ground communication equipment is not in the white list, refusing the ground communication equipment to access the network, and executing (2.3).
(2.2.6) inquiring whether the number of the network access users has reached the upper limit. If the upper limit is reached, refusing the ground communication equipment to access the network, and executing (2.3); if the upper limit is not reached, execution (2.2.7) proceeds.
(2.2.7) determining whether the application becomes a management node. Executing (2.2.8) if the application becomes a management node; and if the application becomes a common node, allowing the ground communication equipment to access the network, and executing (2.3).
(2.2.8) determining whether the management node already exists. If so, refusing the ground communication equipment to access the network, and executing (2.3); if not, allowing the ground communication device to access the network and setting the ground communication device as a management node, and executing (2.3).
(2.3) the over-the-air communication device generating and transmitting the network acknowledgement and the network entry user table.
(2.4) the ground communication device receives and processes the network access response and the network access user list.
(2.4.1) for the network access response, the ground communication device transmits to the user computer without processing. And the user computer judges the network access result and the reason of refusing the network access according to the instruction code and the error code in the network access response.
(2.4.2) for the network entry user table, the ground communication device querying whether the local ground communication device address is in the table, if so, the ground communication device transitions to the network entry state.
(3) And (3) a chain building stage. The method specifically comprises the following steps:
and (3.1) the ground communication equipment initiates a chain establishment application, wherein the chain establishment application comprises information such as the bandwidth, the priority and the like of the application.
(3.2) the over-the-air communication device receiving and processing the link establishment application.
(3.2.1) the over-the-air communication device receiving the ground transmitted link establishment request.
(3.2.2) inquiring whether the link establishment application equipment is connected to the network. If the network is accessed, executing (3.2.3); if the network is not accessed, the link establishment application is refused, and the method is executed (3.3).
(3.2.3) inquiring whether the link establishment application device has established a link. If a chain is established, executing (3.2.4); if no link is established, execution proceeds (3.2.5).
And (3.2.4) judging whether the resources required by the newly built link application are consistent with the occupied link resources of the equipment. If the two types are consistent, allowing the ground communication equipment to build a chain, and executing (3.3); if not, execution (3.2.5).
(3.2.5) inquiring whether the communication resource satisfies the resource required by the link establishment application. If yes, allowing the ground communication equipment to build a chain and allocate corresponding resources, and executing (3.3); if not, execute (3.2.6).
(3.2.6) judging whether to preempt the resource according to the priority. If the priority specified by the link establishment application is higher than the equipment priority of the occupied resources, re-planning the link communication resources and preempting the low-priority resources, allowing the ground communication equipment to establish links and updating a communication resource table, and executing (3.3); if the priority specified by the link establishment application is lower than the equipment priority of the occupied resource, rejecting the link establishment application, and executing (3.3).
(3.3) the over-the-air communication device generating and transmitting the chaining acknowledgement and the communication resource table.
(3.4) the ground communication device receiving and processing the link establishment response and the communication resource list.
(3.4.1) for the link establishment response, the ground communication device transmits to the user computer without processing. And the user computer judges the link establishment result and the reason of refusing the link establishment according to the instruction code and the error code in the link establishment response.
(3.4.2) for a table of communication resources, the ground communication device querying whether the local ground communication device address is in the table. If the ground communication device is in the list, the ground communication device is switched to the established link state.
(4) And a communication stage. The method specifically comprises the following steps:
(4.1) according to the actual requirement, the ground management node designates the data mode of the equipment on the broadcasting machine or the data mode of the forwarding ground equipment.
And (4.2) the data mode of the equipment on the broadcaster is mainly used for realizing the broadcasting of load data such as aerial communication equipment images and the like to network-connected ground communication equipment in a coverage area.
And (4.3) the data mode of the forwarding ground equipment is mainly used for realizing the interaction of text, voice, image and other information among the network-connected ground communication equipment.
(4.4) the actual demand changes, and (4.1) is executed.
(5) And (5) a chain disassembling stage. The method specifically comprises the following steps:
(5.1) the ground communication equipment initiates a chain disconnecting application.
(5.2) the over-the-air communication device receiving and processing the de-linking application.
(5.2.1) the over-the-air communication device receiving a ground transmitted tear-down application.
(5.2.2) inquiring whether the link-breaking application device has a link established. If a chain is established, executing (5.2.3); if no link is established, the link disassembly application is refused, and the process is executed (5.3).
And (5.2.3) inquiring the communication resources occupied by the link splitting application equipment, recovering the corresponding communication resources, cleaning the priority, resetting the timer and the like, and updating the whole network communication resource table.
(5.3) the over-the-air communication device generating and transmitting the de-linking acknowledgement and the communication resource table.
(5.4) the ground communication device receiving and processing the de-linking reply and the communication resource table.
(5.4.1) for the tear-down response, the ground communication device transmits to the user computer without processing. And the user computer judges the link disassembly result and the reason of the link disassembly failure according to the instruction code and the error code in the link disassembly response.
(5.4.2) for the table of communication resources, the ground communication device querying whether the local ground communication device address is in the table. If not, the ground communication equipment is switched to the network-accessed state.
(6) And (5) a network-removing stage. The method specifically comprises the following steps:
and (6.1) the ground communication equipment initiates a network-quitting application.
(6.2) the over-the-air communication device receiving and processing the network exit application.
And (6.2.1) inquiring whether the network-quitting application equipment occupies communication resources. If the communication resource is occupied, the corresponding communication resource is recovered and the communication resource table is updated, and the operation (6.2.2) is executed; if the communication resource is not occupied, execution (6.2.2) is performed.
(6.2.2) inquiring whether the network-exit application device is in the network. If in the net, executing (6.2.3); if not, the logout application is refused, and the process is executed (6.3).
(6.2.3) inquiring whether the logout application device is a management node. If the network access request is a management node, recovering the authority of the management node, recovering the network access user resource, updating the network access user table and allowing the network access request to be carried out (6.3); if the node is a common node, recovering the network access user resource, updating the network access user table and allowing the network access application to be carried out (6.3).
(6.3) the air communication equipment generates and transmits the network-quit response, the communication resource list and the network-access user list.
And (6.4) receiving and processing the network-quit response, the communication resource list and the network-access user list by the ground communication equipment.
(6.4.1) for the network-exit response, the ground communication device transmits the response to the network-exit request to the user computer without processing the response. And the user computer judges the network-quitting result according to the instruction code in the network-quitting response.
(6.4.2) for the network access user list, the ground communication device querying whether the address of the ground communication device is in the list, if not, the ground communication device is switched to the network-not-accessed state.
The network search is used for acquiring the network information to be accessed, and the equipment is in a limited single-receiving state; the network access flow has an identity authentication function, and ground equipment which is successful in network access enters an unrestricted single-receipt state; the link establishment process based on priority is realized, and equipment with successful link establishment enters a receiving and transmitting state; the communication stage meets the data transmission requirement among networking nodes; the recovery of communication resources is realized through a link disassembly process, and the equipment enters an unrestricted single-receipt state again; the network-exiting process is implemented to recover network resources. The method provides communication support for interconnection and intercommunication between the ground communication nodes and the aerial unmanned aerial vehicle platform, and has important significance in application fields such as ground-air networking and the like.
The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the invention. Thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
The principles and embodiments of the present invention have been described in detail with reference to specific examples, which are provided to facilitate understanding of the method and core ideas of the present invention; meanwhile, as those skilled in the art will have variations in the specific embodiments and application scope in accordance with the ideas of the present invention, the present description should not be construed as limiting the present invention in view of the above.
Claims (7)
1. The networking method suitable for the large-scale unmanned aerial vehicle ground-air network is characterized by comprising the following steps of:
step 1, network searching: the aerial communication device periodically broadcasts network configuration information and position and posture information of the aerial unmanned plane platform; the ground communication equipment searches available networks in different directions and channels and reports the networks to the user computer, and the user selects the network to be accessed; after the access network is selected, the ground communication equipment enters a limited single-receiving state and only receives necessary network state information;
step 2, network access stage: the ground communication equipment selects the common node or management node identity to carry out network access application; the aerial communication equipment judges whether to allow the ground communication equipment to access the network according to the network scale and the identity authentication condition, and notifies all the ground communication equipment after the network access; the ground communication equipment which is successful in network access enters an unrestricted single-receipt state, can receive all network information, but does not have the data transmission capability;
step 3, a chain building stage: when data transmission is required, the ground communication equipment performs a link establishment application according to the required communication resources; the aerial communication equipment judges whether to allow the equipment to build a link according to the priority and the conditions of the occupation condition of communication resources, and notifies all ground communication equipment after the link is built successfully; the ground communication equipment with successful link establishment enters a receiving and transmitting state and has the capability of receiving and transmitting data;
step 4, communication phase: the method comprises two working modes of broadcasting machine equipment data and forwarding ground equipment data, and the transmitted contents comprise: pictures, videos, voices, files, and words;
step 5, chain disassembly stage: after the communication is completed, the ground communication equipment initiates a link disassembly application; the air communication equipment recovers corresponding communication resources; the ground communication equipment reenters an unrestricted single receipt state;
step 6, a network-removing stage: after the task is executed, the ground communication equipment initiates a network-quitting application; the air communication equipment recovers network access user resources; the ground communication device re-enters the limited single receipt state.
2. The networking method suitable for large-scale unmanned aerial vehicle ground-air networks according to claim 1, wherein the step 1 specifically comprises the following steps:
(1.1) starting up the aerial communication equipment, and periodically broadcasting network configuration information and position and posture information of an aerial platform;
the network configuration information comprises the number of users who are accessed to the network, the addresses of the air communication equipment and the uplink and downlink working channels of the air communication equipment; the ground communication equipment acquires the outline conditions of the air communication equipment and the corresponding network through the network configuration information;
the position and attitude information of the aerial platform includes longitude, latitude, altitude, and the like. The ground communication equipment acquires the current position of the aerial platform through the position and posture information, so that the alignment and tracking of the directional antenna are realized;
(1.2) starting up the ground communication equipment, and sending a network searching starting instruction by a user computer;
(1.3) traversing all working frequency points and directional antenna orientations by the ground communication equipment, searching available networks on different directions and channels one by one, and reporting the available network information searched in the current area to a user computer;
(1.4) the user computer selecting a network to be added and notifying the ground communication device;
(1.5) the ground communication device adjusts the working channel and the antenna direction, only receives the configuration information of the selected network and prepares to access the network;
(1.6) ending the network search of the ground communication equipment, and turning to an unaccessed state.
3. The networking method suitable for large-scale unmanned aerial vehicle ground-air networks according to claim 1, wherein the step 2 specifically comprises the following steps:
(2.1) the ground communication equipment selects to apply for network access by using the identity of a common node or a management node;
the common node can only manage the local equipment; the management node has the capabilities of local equipment management, air communication equipment management and networking network management; a networking network has only one management node;
(2.2) the over-the-air communication device receiving and processing the network entry request;
(2.2.1) receiving a network access application sent by the ground by the aerial communication device;
(2.2.2) querying whether the ground communication device sending the network entry request is already in the network; if already in the network, performing (2.2.3); if not, executing (2.2.4);
(2.2.3) repeatedly applying for the common node by the management node or repeatedly applying for the management node by the common node, maintaining the existing attribute of the node, and refusing the ground communication equipment to access the network, and executing (2.3);
(2.2.4) determining whether the identity authentication function is enabled; if enabled, execute (2.2.5); if not, execute (2.2.6);
(2.2.5) querying whether the ground communication device is on a white list; if in the white list, execute (2.2.6); if the ground communication equipment is not in the white list, refusing the ground communication equipment to access the network, and executing (2.3);
(2.2.6) inquiring whether the number of the network access users reaches the upper limit; if the upper limit is reached, refusing the ground communication equipment to access the network, and executing (2.3); if the upper limit is not reached, executing (2.2.7);
(2.2.7) judging whether the application becomes a management node; executing (2.2.8) if the application becomes a management node; if the application becomes a common node, allowing the ground communication equipment to access the network, and executing (2.3);
(2.2.8) determining whether a management node already exists; if so, refusing the ground communication equipment to access the network, and executing (2.3); if not, allowing the ground communication equipment to access the network and setting the ground communication equipment as a management node, and executing (2.3);
(2.3) the over-the-air communication device generating and transmitting the network response and the network access user list;
(2.4) the ground communication equipment receives and processes the network access response and the network access user list;
(2.4.1) for the network access response, the ground communication device transmits the network access response to the user computer without processing the network access response; the user computer judges the network access result and the reason of refusing the network access according to the instruction code and the error code in the network access response;
(2.4.2) for the network entry user table, the ground communication device querying whether the local ground communication device address is in the table, if so, the ground communication device transitions to the network entry state.
4. The networking method suitable for large-scale unmanned aerial vehicle ground-air networks according to claim 1, wherein the step 3 specifically comprises the following steps:
(3.1) the ground communication equipment initiates a chain establishment application, wherein the chain establishment application comprises bandwidth and priority information of the application;
(3.2) the over-the-air communication device receiving and processing the link establishment application;
(3.2.1) receiving a link establishment application sent by the ground by the aerial communication equipment;
(3.2.2) inquiring whether the link establishment application equipment is connected to the network; if the network is accessed, executing (3.2.3); if the network is not accessed, rejecting the link establishment application, and executing (3.3);
(3.2.3) inquiring whether the link establishment application device has established a link; if a chain is established, executing (3.2.4); if no link is established, execute (3.2.5);
(3.2.4) judging whether the resources required by the newly built link application are consistent with the occupied link resources of the equipment; if the two types are consistent, allowing the ground communication equipment to build a chain, and executing (3.3); if not, executing (3.2.5);
(3.2.5) querying whether the communication resource satisfies a resource required for the link establishment application; if yes, allowing the ground communication equipment to build a chain and allocate corresponding resources, and executing (3.3); if not, executing (3.2.6);
(3.2.6) judging whether to preempt the resource according to the priority; if the priority specified by the link establishment application is higher than the equipment priority of the occupied resources, re-planning the link communication resources and preempting the low-priority resources, allowing the ground communication equipment to establish links and updating a communication resource table, and executing (3.3); if the priority specified by the link establishment application is lower than the equipment priority of the occupied resource, rejecting the link establishment application, and executing (3.3);
(3.3) the over-the-air communication device generating and transmitting a link establishment response and a communication resource table;
(3.4) the ground communication equipment receives and processes the link establishment response and the communication resource list;
(3.4.1) for the link establishment response, the ground communication equipment does not process and transmits to the user computer; the user computer judges the link establishment result and the reason of refusing the link establishment according to the instruction code and the error code in the link establishment response;
(3.4.2) for a table of communication resources, the ground communication device querying whether the local ground communication device address is in the table; if the ground communication device is in the list, the ground communication device is switched to the established link state.
5. The networking method suitable for large-scale unmanned aerial vehicle ground-air networks according to claim 1, wherein the step 4 specifically comprises the following steps:
(4.1) according to actual demands, the ground management node designates a data mode of equipment on a broadcasting machine or a data mode of forwarding ground equipment;
(4.2) the on-broadcaster device data mode is used for realizing the broadcasting of load data such as aerial communication device images to network-connected ground communication devices in the coverage area;
(4.3) forwarding the ground equipment data mode for realizing the interaction of text, voice and image information among the network-accessed ground communication equipment;
(4.4) the actual demand changes, and (4.1) is executed.
6. The networking method suitable for large-scale unmanned aerial vehicle ground-air networks according to claim 1, wherein the step 5 specifically comprises the following steps:
(5.1) the ground communication equipment initiates a chain disconnecting application;
(5.2) the over-the-air communication device receiving and processing the de-linking application;
(5.2.1) the aerial communication device receiving a ground-transmitted de-link application;
(5.2.2) inquiring whether the chain-breaking application equipment has a built chain; if a chain is established, executing (5.2.3); if the link is not established, rejecting the link disassembly application, and executing (5.3);
(5.2.3) inquiring the communication resources occupied by the link splitting application equipment, recovering the corresponding communication resources, cleaning the priority, resetting the timer, and updating the whole network communication resource table;
(5.3) the over-the-air communication device generating and transmitting a de-linking acknowledgement and a communication resource table;
(5.4) the ground communication device receives and processes the de-link acknowledgement and the communication resource list;
(5.4.1) for the link disassembly response, the ground communication equipment does not process and transmits the link disassembly response to the user computer; the user computer judges the chain disconnecting result and the reason of the chain disconnecting failure according to the instruction code and the error code in the chain disconnecting response;
(5.4.2) for a table of communication resources, the ground communication device querying whether the local ground communication device address is in the table; if not, the ground communication equipment is switched to the network-accessed state.
7. The networking method suitable for large-scale unmanned aerial vehicle ground-air networks according to claim 1, wherein the step 6 specifically comprises the following steps:
(6.1) the ground communication equipment initiates a network-quitting application;
(6.2) the air communication equipment receives and processes the network-exit application;
(6.2.1) inquiring whether the network-quitting application equipment occupies communication resources; if the communication resource is occupied, the corresponding communication resource is recovered and the communication resource table is updated, and the operation (6.2.2) is executed; if the communication resource is not occupied, executing (6.2.2);
(6.2.2) inquiring whether the network-exit application device is in the network; if in the net, executing (6.2.3); if not, refusing the network-quitting application, and executing (6.3);
(6.2.3) inquiring whether the network-exit application device is a management node; if the network access request is a management node, recovering the authority of the management node, recovering the network access user resource, updating the network access user table and allowing the network access request to be carried out (6.3); if the network access request is a common node, recovering network access user resources, updating a network access user table and allowing the network access request to be carried out (6.3);
(6.3) the air communication equipment generates and transmits a network-quit response, a communication resource list and a network-access user list;
(6.4) receiving and processing the network-quit response, the communication resource list and the network-access user list by the ground communication equipment;
(6.4.1) for the network-exit response, the ground communication equipment does not process and transmits to the user computer; the user computer judges the network-quitting result according to the instruction code in the network-quitting response;
(6.4.2) for the network access user list, the ground communication device querying whether the address of the ground communication device is in the list, if not, the ground communication device is switched to the network-not-accessed state.
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| CN202211568744.4A CN116015403A (en) | 2022-12-08 | 2022-12-08 | Networking method suitable for large-scale unmanned aerial vehicle ground-air network |
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| CN202211568744.4A CN116015403A (en) | 2022-12-08 | 2022-12-08 | Networking method suitable for large-scale unmanned aerial vehicle ground-air network |
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