CN117119555B - Lunar exploration time-varying topology group node self-adaptive networking routing method and system - Google Patents
Lunar exploration time-varying topology group node self-adaptive networking routing method and system Download PDFInfo
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Abstract
The invention discloses a lunar exploration time-varying topology group node self-adaptive network routing method and a system, comprising the following steps: designing a general networking and routing model to obtain node states of all mobile carriers in a lunar surface area; screening the communicable nodes by combining communicable judgment conditions; searching and clustering according to a preset clustering rule, and dividing the screened communicable nodes into sub-networks to obtain layered sub-networks; searching an optimal path among all levels of sub-networks according to a global routing principle; taking the channels among the sub-networks as constraint, increasing the resource constraint limit of each node, and searching the optimal routing path in the sub-networks to obtain a complete routing path; the system comprises a node state acquisition module, a communicable node screening module, a sub-network clustering module, a global route prediction module and a local route prediction module; the invention improves the accuracy and reliability of the route in the lunar surface data transmission and ensures that the optimal replacement topology structure of the network is formed rapidly in the task process.
Description
Technical Field
The invention relates to the technical field of wireless communication networks, in particular to a lunar exploration time-varying topology group node self-adaptive network routing method and system.
Background
The lunar surface communication interaction mainly comprises remote control instructions, telemetry state information and various load data of each mobile carrier, and the transmission system mainly comprises WIFI and UHF; the key of lunar surface communication is to ensure high-efficiency receiving and executing of instructions and real-time feedback of telemetry status of carriers, and rapidly return monitoring camera content for ground judgment decision at key time, especially under the condition of long-term unattended operation, the mobile carriers need to form autonomous planning, detection and health management capability, and have a series of complex operations such as three-dimensional topography imaging, real-time path planning, high-value scientific target detection, intelligent group cooperative interaction and the like, so that higher requirements are provided for lunar surface flexible networking communication.
The common group mobile carrier ad hoc network mainly realizes automatic interactive link establishment between a single carrier and surrounding close-range carriers in a large-range field, and carries out routing forwarding of information according to the network state of a target carrier, and the problems of shielding topography and uneven topography, temporary interruption and breakpoint continuous transmission of a certain type of network, switching transmission among networks and quick exchange of communication topological structures among carriers become the difficulties of high-quality low-delay communication requirements.
Traditional researches mainly focus on a centerless ad hoc network architecture, take opportunistic data transmission as a routing target, and rarely consider the storage and energy problems of end-side equipment; the previous design mainly relies on ASIC devices to solve the problem of lunar high-power wireless interactive application, and obviously, the method has high cost, long time consumption and high customization degree and cannot become the mainstream application of future frames; in addition, unlike the general airborne aircraft ad hoc network, even if the distance between the lunar surface mobile carriers is fixed, the communication rate may be interrupted or drastically reduced due to the uneven ground, and a predictable fixed networking scheme may not be formed.
Therefore, how to cope with the local speed reduction and interruption influence of the group mobile nodes caused by the interference of the ground environment of the complex terrain and the influence of the energy, storage and communication link change on the network in the lunar exploration process so as to improve the accuracy and reliability of the data routing is a problem which needs to be solved by the technicians in the field.
Disclosure of Invention
In view of the above, the present invention provides a method and a system for a lunar exploration time-varying topology group node adaptive networking routing to solve the problems mentioned in the background art.
In order to achieve the above purpose, the present invention adopts the following technical scheme:
a lunar exploration time-varying topology group node self-adaptive network routing method comprises the following steps:
S1, designing a general networking and routing model, and acquiring node states of all mobile carriers in a lunar surface area;
s2, screening the communicable nodes according to the node states of the mobile carriers and the communicable judgment conditions;
s3, searching and clustering are carried out according to a preset clustering rule, and sub-network division is carried out on the screened communicable nodes to obtain layered sub-networks;
S4, searching an optimal path among all levels of sub-networks according to a global routing principle;
s5, taking the channels among the sub-networks as constraints, increasing resource constraint limits of each node, searching the optimal routing paths in the sub-networks, and finally obtaining the complete routing paths.
Preferably, in step S1, the node status is:
S(n)={x,y,vx,vy,P,R,fUI,fUO,fWI,fWO,L,Q}；
Wherein S (N) is the state of the nth mobile carrier, n=0, …, N-1, x and y are lunar longitude and latitude information, v x、vy is a speed value along the warp and weft directions respectively, P is battery power, R is a storage space, f UI、fUO is input and output bandwidths of a UHF signal respectively, f WI、fWO is input and output bandwidths of a WIFI signal respectively, L is altitude of the current position, and Q is reliability of the mobile carrier.
Preferably, the mobile carrier communication decision conditions are specifically:
the distance between the two moving carriers is not more than a limiting distance;
the variance of the elevation view cross section between the moving carriers does not exceed a preset threshold;
the maximum elevation between moving carriers does not exceed a preset threshold.
Preferably, the specific content of searching and clustering according to the preset clustering rule is as follows:
s31, constructing a sub-network table E m, Representing a set of a plurality of communicable neighboring nodes, if the distance/>, between any two mobile nodes i and j in the selected communicable nodesThen/>I and j each represent any one of the available communication nodes, i+.j,/>D sub is the limiting distance of the distance between two mobile carriers for the linear distance of longitude and latitude between the node j and the node i;
s32, carrying out the same operation of the step S31 on all the communicable nodes at the current moment until all the nodes at the current moment are traversed;
s33, according to the time delta, the positions of all nodes are And/>X and y are longitude and latitude information of the lunar surface, v x、vy is a speed value along the warp and weft directions respectively, calculating coordinate attributes of the new position according to uniform motion, and traversing the updated nodes in steps S31 to S32;
S34, performing the same operation in step 33 according to the node position after the time 2 delta, performing operation according to a three-in-two mode for the sub-network attribution of three time points, and attributing different nodes to the sub-network for three times according to the last node attribution.
Preferably, the global routing principle is that the communication bandwidth of a path of two nodes belonging to different sub-networks is the largest priority, and the rates at two ends of the path are calculated as the smallest.
Preferably, the resource constraint limits include an energy constraint limit and a storage constraint limit.
Preferably, the energy constraints are limited to:；
wherein, P min is the lower limit of the electric quantity, The power supply allowance of the node n is used for converting the electric quantity into a time unit;
The storage constraints are limited to: ；
Wherein R min is the lower storage limit, And storing a margin for the node n, wherein f UI、fUO is the input bandwidth and the output bandwidth of the UHF signal respectively, and f WI、fWO is the input bandwidth and the output bandwidth of the WIFI signal respectively.
A lunar exploration time-varying topology group node self-adaptive network routing system is based on the lunar exploration time-varying topology group node self-adaptive network routing method and comprises a node state acquisition module, a communicable node screening module, a sub-network clustering module, a global route prediction module and a local route prediction module.
A computer readable storage medium having stored thereon a computer program which when executed by a processor implements the described method for adaptive group network routing of lunar exploration time-varying topology group nodes.
A processing terminal comprises a memory and a processor, wherein the memory stores a computer program capable of running on the processor, and the processor realizes the lunar exploration time-varying topology group node self-adaptive network routing method when executing the computer program.
Compared with the prior art, the invention discloses a lunar exploration time-varying topology group node self-adaptive networking routing method and a lunar exploration time-varying topology group node self-adaptive networking routing system, which are used for coping with local speed reduction and interruption influence of group mobile nodes caused by the interference of the ground environment of complex terrains;
by designing a general networking and routing model, considering the influence of energy, storage and communication link change on the network, introducing local and global predictions, designing an optimal model for time-varying topology, and improving the accuracy and reliability of routing in the process of data transmission on the lunar surface; independent resource calculation and path planning are carried out on each sub-network, so that an optimal replacement topological structure of the network can be formed rapidly even if individual carriers are interrupted and lost in the task process;
the statistical results of the route request ratio, the fault number, the data packet and the route rate delay are given through simulation experiment analysis, the method has good fidelity and instantaneity, and compared with the prior art, the method considers the functions of storage, power supply and calculation, and has strong burst state resistance.
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In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings that are required to be used in the embodiments or the description of the prior art will be briefly described below, and it is obvious that the drawings in the following description are only embodiments of the present invention, and that other drawings can be obtained according to the provided drawings without inventive effort for a person skilled in the art.
FIG. 1 is a schematic diagram of a method for routing a lunar exploration time-varying topology group node adaptive network;
fig. 2 is a schematic diagram of a routing process of a group node according to the present invention;
Fig. 3 is a schematic diagram of a communicable condition of two mobile carriers provided in the present invention;
FIG. 4 is a schematic diagram of a sub-network search clustering process provided by the invention;
FIG. 5 is a schematic diagram of global routing computation provided by the present invention;
FIG. 6 is a schematic diagram of a local route calculation provided by the present invention;
Fig. 7 is a schematic diagram of a lunar surface communication simulation verification experiment scene provided by an embodiment of the invention;
FIG. 8 is a graph of a data packet fitted with a data packet delivery rate according to an embodiment of the present invention;
fig. 9 is a schematic diagram of data rate and average route application rate according to an embodiment of the present invention;
FIG. 10 is a diagram illustrating a packet length and an average link failure number according to an embodiment of the present invention;
FIG. 11 is a schematic diagram of a packet and average end-to-end delay according to an embodiment of the present invention;
fig. 12 is a schematic diagram of experimental process storage and power occupation provided in an embodiment of the present invention.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
The embodiment of the invention discloses a lunar exploration time-varying topology group node self-adaptive network routing method, as shown in fig. 1 and 2, comprising the following steps of:
S1, designing a general networking and routing model, and acquiring node states of all mobile carriers in a lunar surface area;
s2, screening the communicable nodes according to the node states of the mobile carriers and the communicable judgment conditions;
s3, searching and clustering are carried out according to a preset clustering rule, and sub-network division is carried out on the screened communicable nodes to obtain layered sub-networks;
S4, searching an optimal path among all levels of sub-networks according to a global routing principle;
s5, taking the channels among the sub-networks as constraints, increasing resource constraint limits of each node, searching the optimal routing paths in the sub-networks, and finally obtaining the complete routing paths.
Taking the analysis of 8 mobile nodes as in fig. 2 (a) as an example, it is initially considered that each node can communicate; according to the state function of each node, the communicable node screening is carried out in combination with constraint conditions, the node 7 is not connected with other nodes, and the node 7 is considered to be invalid, so that the node 7 is not included in the topology of fig. 2 (b), invalid communication link channels (dotted line channels) are removed, each sub-network set is obtained according to search clustering, and the clustering area takes D sub as a threshold value; in fig. 2 (c), each sub-network is taken as a node, and a routing channel between the sub-networks is searched; in fig. 2 (d), the channels between the subnetworks are taken as constraints, so as to obtain the optimal routing paths of the subnetworks, and finally obtain the complete routing paths.
In order to further implement the above technical solution, in step S1, the node states are: s (n) = { x, y, v x,vy,P,R,fUI,fUO,fWI,fWO, L, Q };
Wherein S (N) is the state of the nth mobile carrier, n=0, …, N-1, x and y are lunar longitude and latitude information, v x、vy is a speed value along the warp and weft directions respectively, P is battery power, R is a storage space, f UI、fUO is input and output bandwidths of a UHF signal respectively, f WI、fWO is input and output bandwidths of a WIFI signal respectively, L is altitude of the current position, and Q is reliability of the mobile carrier.
In order to further implement the above technical solution, as shown in fig. 3, the mobile carrier communicable decision conditions are specifically:
the distance between the two moving carriers is not more than a limiting distance;
the variance of the elevation view cross section between the moving carriers does not exceed a preset threshold;
the maximum elevation between moving carriers does not exceed a preset threshold.
In the present embodiment, it is considered that the communication condition between two mobile nodes satisfies the formula:；
wherein, For the distance between each mobile carrier, which is equal to the linear distance of longitude and latitude, D sub is a defined distance; /(I)The variance of the elevation graph section between the moving carriers is represented by phi, which is a variance threshold; l T (i, j) is the maximum elevation between moving carriers, and L MAX is the maximum elevation threshold.
In this example, the sub-network clustering is mainly to divide the effective nodes into sub-networks according to a well-defined clustering rule, and only limited distances need to be considered because the topography interference is eliminated in the previous section, so that the nearer nodes are networked according to the nearby principle.
Searching any node by taking D sub as a radius, wherein the topology of the current network is ensured and the current network is kept unchanged within a certain time delta; searching at the current moment and at two time points after the time delta, considering that the target moves at a uniform speed in the time delta, and predicting the position according to simple kinematics, as shown in fig. 4, the node 0 and the node 6 move in the time delta, continuously checking whether the sub-network belongs to the new position, and if the two searches do not belong to the same network, performing sub-network attribution searching for the position after the time 2 delta.
In order to further implement the technical scheme, the specific contents for searching and clustering according to the preset clustering rule are as follows:
s31, constructing a sub-network table E m, Representing a set of a plurality of communicable neighboring nodes, if the distance/>, between any two mobile nodes i and j in the selected communicable nodesThen/>I and j each represent any one of the available communication nodes, i+.j,/>D sub is the limiting distance of the distance between two mobile carriers for the linear distance of longitude and latitude between the node j and the node i;
For example, any of the screened communicable nodes S (0), if any, is selected ThenWhere j represents any one of the available communication nodes,/>The linear distance between the longitude and the latitude of the node j and the node 0;
distance between nodes S (1) and S (0) Then/>Otherwise, if S (1) exists with nodes other than S (0)/>And/>Then/>；
S32, carrying out the same operation of the step S31 on all the communicable nodes at the current moment until all the nodes at the current moment are traversed;
s33, according to the position of each node after the time delta, for example, the node S (0) is And/>X and y are lunar latitude and longitude information of the node S (0), v x、vy is a speed value along the warp and weft directions respectively, calculating a coordinate attribute of a new position according to uniform motion, and traversing the updated node in steps S31 to S32;
S34, carrying out the same operation in the step 33 according to the node position after the time 2 delta, carrying out operation according to a three-out-of-two mode for the sub-network attribution at three time points after the current time, the time delta and the time 2 delta, and carrying out attribution according to the last node for different nodes of the sub-network with three attributions.
In order to further implement the above technical solution, the global routing principle is that the path communication bandwidths of two nodes belonging to different sub-networks are the greatest priority, and the rates at the two ends of the path are calculated at the least.
In this example, simplifying the obtained subnetwork, and taking one subnetwork as a single node, then as shown in fig. 5 (a), the entire network connection is divided into two-level architecture, where there may be more than one data path between subnetworks, and the routing process is selected according to two principles: the communication bandwidth of the path is the greatest priority and the rates at the two ends of the path are calculated to be the smallest, so for node 2 belonging to the sub-network E 0 and node 1 belonging to E 1, the information is sent from E 1 to E 0, and the communication rate is selected to be; Fig. 5 (b) assumes that subnetworks E 2 and E 3 exist, and after setting the communication rate, dijkstra algorithm is used to complete the hierarchical optimal path search, and the result is shown in fig. 5 (b).
In order to further implement the above technical solution, the resource constraint limits include an energy constraint limit and a storage constraint limit.
In order to further implement the above technical solution, the energy constraint is limited to:
；
wherein, P min is the lower limit of the electric quantity, The power supply allowance of the node n is used for converting the electric quantity into a time unit;
The storage constraints are limited to:
；
Wherein R min is the lower storage limit, And storing a margin for the node n, wherein f UI、fUO is the input bandwidth and the output bandwidth of the UHF signal respectively, and f WI、fWO is the input bandwidth and the output bandwidth of the WIFI signal respectively.
In practical application, the type of wireless network with the largest bandwidth is selected as constraint, and the route search inside the sub-network is completed according to dijkstra algorithm, as shown in fig. 6.
A lunar exploration time-varying topology group node self-adaptive network routing system is based on a lunar exploration time-varying topology group node self-adaptive network routing method and comprises a node state acquisition module, a communicable node screening module, a sub-network clustering module, a global route prediction module and a local route prediction module.
A computer readable storage medium having stored thereon a computer program which when executed by a processor implements a lunar exploration time varying topology group node adaptive group network routing method.
A processing terminal comprises a memory and a processor, wherein a computer program capable of running on the processor is stored in the memory, and the processor realizes a lunar exploration time-varying topology group node self-adaptive network routing method when executing the computer program.
In another embodiment, a simulated simulation test is performed:
Constructing a simulated lunar surface scene comprising terrain elevation data, and taking 10 mobile carriers as networking communication nodes; the speed of the moving carrier was from 0km/h to 5km/h simulating the scenario of resource development and utilization process in a flat area between moon surface Monge and Santbech month pits, with an area radius of 5 km.
As shown in fig. 7, two moon pits are respectively arranged on the left side and the right side of a plain area, a scientific research station area is divided into a core area, a construction area, a mining area, a test area, an exploration area and an undeveloped area, 1 mobile carrier is used as a main control terminal, and a main control and 9 mobile carriers are used as simulation nodes together; all mobile carriers start from a core area, WIFI interconnection can be adopted in the core area, and image video data can be transmitted by means of large bandwidth; after the mobile carriers are far away from the scientific research station, UHF networking is adopted between the mobile carriers, so that stable communication can be realized within 5km, and local communication interruption can be generated within 5 km-10 km; and (3) carrying out three simulation experiments according to the carrier moving target tasks, wherein the speeds of all the carriers with the movement are 0-5 km/h.
Experiment one: setting UHF transmission rate to be 5Mbps/500kbps, WIFI transmission rate to be 10Mbps, starting from the vicinity of a main control, and enabling 9 mobile carriers to start from the vicinity of the main control, 4 to be in a mining area in the southwest direction, 4 to be in a test area in the northeast direction, 1 to be in a building area in the eastern direction, wherein the speed error is 1km/h, the communication rate error is 1Mbps, the power P ensures that the mobile carriers run for more than 5 hours after being full, and the storage capacity R is 256Gb;
Experiment II: after the experiment is finished, 2 mobile carriers in 4 southwest mining areas move to an exploration area, 2 mobile carriers in the other 2 mobile carriers return to a main control, 2 mobile carriers in the experiment area drive to a construction area, and the other 2 mobile carriers drive to a mining area on the north;
Experiment III: after the experiment II is finished, all the mobile carriers return to the main control area, after 0.5 hour of charging (full charging), 4 mobile nodes travel to the building area, 4 mobile nodes travel to the mining area on the north, and after reaching the destination, all the mobile carriers return to the main control area.
The experiment simulates the two-time group outgoing operation process within 8 hours, mainly tests the following 6 performance indexes and states, and the submitting rate, the link failure rate, the routing request ratio, the average end-to-end delay, the storage rate, the storage occupation and the power supply quantity of the data packet.
Counting that different data rates can affect the routing performance in a complete scene, wherein fig. 8 shows the delivery rate of the data packets at different data rates, and when the communication rate is lower than 64kbps, the data packet delivery rate reaches 100%; when the communication rate reaches up to 10Mbps, the data packet submitting rate is reduced to 7%;
Fig. 9 is a graph showing data rate and average route application rate, where the route application rate reaches 100% when the communication rate is 2Mbps, and decreases to below 50% and remains stable when the communication rate is increased to above 5 Mbps;
FIG. 10 is a graph of packet length versus average link failure number, which can be seen to increase with increasing packet length and exhibit a monotonic relationship;
FIG. 11 is a graph of packet length versus average end-to-end data delay, with delays below 1ms for small data frames and greater than 1ms for greater than 2048 bytes, but no more than 5ms at maximum, also illustrates the real-time nature of the present design;
Fig. 12 shows the power supply ratio change and the storage resource ratio change during the experiment, wherein the power supply is continuously reduced during the moving process, and only the charging process is improved to some extent. Storing the data recorded continuously from 0;
The following table shows that compared with the prior design, only the method considers the functions of storage, power supply and calculation integration in the route calculation process, has stronger burst state resistance, and can effectively promote the route planning calculation of time-varying topology group nodes:
Aiming at the problem that the networking communication of the group mobile carrier is difficult in the scene of exploration of complex topography on the lunar surface, the invention is used for coping with the local speed reduction and interruption influence of the group mobile nodes caused by the interference of the complex topography ground environment; by designing a general networking and routing model, considering the influence of energy, storage and communication link change on the network, introducing local and global predictions, designing an optimal model for time-varying topology, and improving the accuracy and reliability of routing in the process of data transmission on the lunar surface; compared with a conventional single constraint model, the method has the advantages that independent resource calculation and path planning are carried out on each sub-network, so that the optimal replacement topological structure of the network can be formed rapidly even if individual carrier interruption loss occurs in the task process.
The statistical results of the route request ratio, the fault number, the data packet and the route rate delay are given through simulation experiment analysis, wherein the route delay is in millisecond level, which shows that the algorithm model has better fidelity and real-time performance when being applied to more than 10 nodes on the lunar surface, and has stronger burst state resistance compared with the prior design which considers the functions of storage, power supply and calculation integration.
In the present specification, each embodiment is described in a progressive manner, and each embodiment is mainly described in a different point from other embodiments, and identical and similar parts between the embodiments are all enough to refer to each other. For the device disclosed in the embodiment, since it corresponds to the method disclosed in the embodiment, the description is relatively simple, and the relevant points refer to the description of the method section.
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.
Claims (6)
1. The lunar exploration time-varying topology group node self-adaptive network routing method is characterized by comprising the following steps of:
S1, designing a general networking and routing model, and acquiring node states of all mobile carriers in a lunar surface area;
s2, screening the communicable nodes according to the node states of the mobile carriers and the communicable judgment conditions;
s3, searching and clustering are carried out according to a preset clustering rule, and sub-network division is carried out on the screened communicable nodes to obtain layered sub-networks;
S4, searching an optimal path among all levels of sub-networks according to a global routing principle;
S5, taking channels among the sub-networks as constraints, increasing resource constraint limits of each node, searching an optimal routing path in the sub-networks, and finally obtaining a complete routing path;
In step S1, the node state is:
S(n)＝{x,y,vx,vy,P,R,fUI,fUO,fWI,fWO,L,Q}；
Wherein S (N) is the state of the nth mobile carrier, n=0, …, N-1, x and y are lunar longitude and latitude information, v x、vy is a speed value along the warp and weft directions respectively, P is battery power, R is a storage space, f UI、fUO is input and output bandwidths of a UHF signal respectively, f WI、fWO is input and output bandwidths of a WIFI signal respectively, L is altitude of the current position, and Q is reliability of the mobile carrier;
The mobile carrier communication judging conditions are specifically as follows:
the distance between the two moving carriers is not more than a limiting distance;
the variance of the elevation view cross section between the moving carriers does not exceed a preset threshold;
the maximum elevation between the moving carriers does not exceed a preset threshold;
the specific contents of searching and clustering according to the preset clustering rule are as follows:
S31, constructing a sub-network table E m,m∈Z+, wherein the sub-network table E m,m∈Z+ represents a set of a plurality of communicable adjacent nodes, if the distance D (i, j) between any two mobile nodes i and j in the screened communicable nodes is less than or equal to D sub, S (i) E i, i and j respectively represent any one of available communication nodes, i is not equal to j, D (i, j) is the linear distance between the longitude and latitude of the node j and the node i, and D sub is the limiting distance of the distance between two mobile carriers;
s32, carrying out the same operation of the step S31 on all the communicable nodes at the current moment until all the nodes at the current moment are traversed;
S33, calculating coordinate attributes of new positions according to uniform motion according to the positions of nodes x+v x delta and y+y x delta after time delta, wherein x and y are longitude and latitude information of a lunar surface, v x、vy is a speed value along the directions of warp and weft, and traversing the updated nodes in steps S31 to S32;
S34, carrying out the same operation in the step 33 according to the node position after the time 2 delta, carrying out operation according to a mode of three taking two for the sub-network attribution of three time points, and carrying out attribution according to the last node attribution for different nodes of the sub-network with three attributions;
the energy constraint limits are:
P(n)-Δ≥Pmin；
Wherein, P min is the lower limit of the electric quantity, P (n) is the power supply allowance of the node n, and the electric quantity is converted into a time unit;
The storage constraints are limited to:
R(n)-(max{fUI,fWI}-max{fUO,fWO})Δ≥Rmin；
Wherein, R min is the lower limit of storage, R (n) is the storage margin of node n, f UI、fUO is the input and output bandwidths of UHF signals respectively, and f WI、fWO is the input and output bandwidths of WIFI signals respectively.
2. The method for adaptively routing a lunar exploration time-varying topology group node according to claim 1, wherein the global routing principle is that the communication bandwidth of a path is the greatest priority for two nodes belonging to different sub-networks, and the rates at two ends of the path are calculated as the smallest.
3. The lunar exploration time-varying topology group node adaptive group network routing method of claim 1, wherein the resource constraint limits comprise an energy constraint limit and a storage constraint limit.
4. A lunar exploration time-varying topology group node self-adaptive group network routing system, which is characterized by comprising a node state acquisition module, a communicable node screening module, a sub-network clustering module, a global route prediction module and a local route prediction module, wherein the lunar exploration time-varying topology group node self-adaptive group network routing method is based on any one of claims 1-3;
the node state acquisition module is used for acquiring the node states of all the mobile carriers in the lunar surface area by designing a general networking and routing model;
The communicable node screening module is used for screening communicable nodes according to the node states of the mobile carriers and the communicable judgment conditions;
the sub-network clustering module is used for carrying out search clustering according to a preset clustering rule, and carrying out sub-network division on the screened communicable nodes to obtain a layered sub-network;
The global route prediction module is used for searching the optimal path among all levels of sub-networks according to a global route selection principle;
and the local route prediction module is used for taking the channels among the sub-networks as constraints, increasing the resource constraint limit of each node, searching the optimal route path in the sub-network and finally obtaining the complete route path.
5. A computer readable storage medium having stored thereon a computer program, which when executed by a processor implements a lunar exploration time varying topology group node adaptive group network routing method as claimed in any of claims 1-3.
6. A processing terminal comprising a memory and a processor, wherein the memory stores a computer program executable on the processor, wherein the processor, when executing the computer program, implements a time-varying topology group node adaptive network routing method as claimed in any one of claims 1 to 3.
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