CN117202309A - Distributed aviation ad hoc network multi-hop following clustering method - Google Patents
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Abstract
A distributed aviation ad hoc network multi-hop following clustering method. The method comprises an information table generation stage, a cluster head node selection and cluster formation stage and a cluster maintenance stage. Compared with the existing clustering algorithm, the distributed aviation ad hoc network multi-hop following clustering method provided by the invention has the following advantages: 1) Establishing clusters in a distributed manner; 2) Taking the link duration as an inter-node stability measurement index; 3) More local topology information can be obtained, and clusters can be formed better; 4) Providing stability weight of the nodes, and selecting more stable nodes as cluster head nodes; 5) The node following strategy can select more stable nodes to be added into the cluster to form stable clusters.
Description
Technical Field
The invention belongs to the technical field of aviation wireless communication, and particularly relates to a distributed aviation ad hoc network multi-hop clustering method.
Background
The aviation communication system is a core infrastructure for guaranteeing efficient operation of the aviation transport system, so that stability and timeliness of data transmission need to be guaranteed. Aeronautical ad hoc networks are one of the effective schemes for aeronautical communication systems, which rely on aircraft nodes as relays for transmitting data over multi-hop air-to-air communication links. However, because the aircraft nodes move at high speed, the aviation ad hoc network topology can be changed in a high dynamic manner, and the network node routing information can be frequently disabled due to the high dynamic network topology, so that the data transmission efficiency is reduced and even the transmission is failed.
Currently, aeronautical ad hoc network routing protocols are improved over traditional mobile ad hoc network routing protocols, however, these routing protocols have a number of problems: 1) A large amount of network resources are consumed to frequently update the routing information to adapt to the high dynamic network topology; 2) These flat routing protocols can lead to an exponential increase in the resource cost of maintaining routing information as the network scale increases. Therefore, there is a need to develop a method for improving the sustainability of a network topology to reduce the frequency of updating routing information by network nodes, thereby improving network performance.
The aviation ad hoc network clustering refers to that nodes with relatively stable motion are placed in the same cluster to form a subnet according to the position and the movement attribute of aviation ad hoc network nodes. At present, a few researchers aim at the problem of poor topology stability of an aviation ad hoc network, and a traditional clustering method and a machine learning method are introduced into the aviation ad hoc network node clustering. However, these methods have limited improvement of network topology sustainability because most of them only consider the location or speed of the node, or only simply weight-combine the location attribute and the movement attribute of the node.
Disclosure of Invention
In order to solve the problems, the invention aims to provide a distributed aviation ad hoc network multi-hop clustering method.
In order to achieve the above purpose, the distributed aviation ad hoc network multi-hop following clustering method provided by the invention comprises the following steps in sequence:
1) Information table generation stage:
1.1 Converting the position information acquired by the aviation node, and broadcasting the converted position information to neighbor nodes in a communication range; meanwhile, the aviation node also receives broadcast information from the neighbor node, and updates the information table according to the acquired broadcast information of the neighbor node;
1.2 According to the position information of the nodes in the information table, the aviation node calculates the link duration time between the nodesS time (i,j)And uses a link duration thresholdTH Stime To determine whether the link between the nodes is stable, and then based on the link duration between the nodesS time (i,j)Calculating average link duration for stable links between nodesAvg Stime Thereafter broadcasting to neighboring nodes an average link duration of a stable link between the neighboring nodesAvg Stime And updating the information table;
1.3 According to the link duration between the nodesS time (i,j)And average link duration of stable links between nodesAvg Stime Calculating stability weights for nodesweight i Then broadcast and receive stability weights to neighbor nodesweight i And updating the information table; finding the maximum stability weight in neighbor nodesMax_weightThereafter broadcasting and receiving maximum stability weights to neighboring nodesMax_weightAnd updating the information table;
2) Cluster head node selection and cluster formation stage:
2.1 Determining whether a certain node is a cluster head node according to the stability weight and the maximum stability weight of the node;
2.2 When a certain node is determined to be a cluster head node, the cluster head node sends a CH_BROABCAST data packet to a neighbor node so as to inform the neighbor node that the cluster head node is the cluster head node;
2.3 After the neighbor node receives the ch_broadcast packet, determining the node state of the cluster member, where two special cases exist: a special case is that a node receives CH_BROABCAST data packets of a plurality of cluster head nodes, and the node selects a following target according to a node following strategy; another special case is that if info_table of a node is empty, it indicates that the node has no neighbor node, and then the state is transformed into an isolated node state; after the node states of all the cluster members are determined, the cluster formation is indicated;
3) Cluster maintenance stage:
3.1 Detecting that a following node losing connection with the following target will reselect the following target and notifying all of its following nodes to reselect the following target;
3.2 A node needing to reselect a following target reselects the following target according to a node following strategy, and if the following target is not selected, the node is regarded as an isolated node;
3.3 A determination is made as to whether an orphaned node can join the cluster.
In step 1.1), converting the position information acquired by the aviation node, and broadcasting the converted position information to neighbor nodes in a communication range; meanwhile, the aviation node also receives the broadcast information from the neighbor node, and the method for updating the information table according to the acquired broadcast information of the neighbor node is as follows:
converting position information in a WGS-84 coordinate system (World Geodetic System-1984 Coordinate System) acquired by an aviation node into position information in a Earth-Centered Earth-Fixed (ECEF) coordinate system, wherein the conversion formula is shown in formulas (1) - (5):
(1)
(2)
(3)
(4)
(5)
wherein,B，L，Hrespectively representing latitude, longitude and altitude in the WGS-84 coordinate system;x，y，zrespectively representing the position coordinates of the nodes under a geocentric and geodetic fixed coordinate system;arepresenting the semi-long axis of the earth, as 6378.137km;brepresenting the half-minor axis of the earth, as 6356.752km;N R representing the principal vertical radius of curvature;ea first eccentricity representing an ellipsoid;
and then, the converted position information is put into a data packet according to a fixed format, the data packet is sent to all the one-hop neighbor nodes in a broadcast mode by taking the current node as a source node, and meanwhile, the node also receives the broadcast information of the neighbor nodes to update the information table.
In step 1.2), the aviation node calculates the link duration between nodes according to the position information of the nodes in the information tableS time (i,j)And uses a link duration thresholdTH Stime To determine whether the link between the nodes is stable, and then based on the link duration between the nodesS time (i,j)Calculating average link duration for stable links between nodesAvg Stime Thereafter broadcasting to neighboring nodes an average link duration of a stable link between the neighboring nodesAvg Stime The method for updating the information table comprises the following steps:
calculating the link duration between nodes according to the positions and the relative movement speeds of the nodesS time (i,j)The calculation formula is shown as formula (6):
(6)
wherein,Rrepresenting the maximum communication radius of the node,D ij representing nodesiAnd nodejThe relative position between the two parts is that,V ij representing nodesiAnd nodejThe relative movement speed between the two;
link duration thresholdTH Stime For a given value, ifS time (i,j)>TH Stime Then determine the nodeiSum nodejThe link between is stable, otherwise is an unstable link;
average link duration for inter-node stable linksAvg Stime Means that the node can establish the average value of the link durations of all stable links, which is defined as shown in formula (7), whereinnThe number of the neighbor nodes;f(x)defining a coefficient function as shown in a formula (8); then, the average link duration of the inter-node stable links is calculatedAvg Stime The method comprises the steps of putting the data packet into the data packet according to a fixed format, taking a current node as a source node, sending the data packet to all one-hop neighbor nodes in a broadcast mode, and meanwhile, receiving broadcast information of neighbors of the node to update an information table;
(7)
(8)
in step 1.3), said method is based on the link duration between the nodesS time (i,j)And average link duration of stable links between nodesAvg Stime Calculating stability weights for nodesweight i Then broadcast and receive stability weights to neighbor nodesweight i And updating the information table; finding the maximum stability weight in neighbor nodesMax_weightThereafter broadcasting and receiving maximum stability weights to neighboring nodesMax_weightThe method for updating the information table comprises the following steps:
stability weights for nodesweight i Is used for measuring the overall stability performance of the node in the local topological structure, and the definition is shown in a formula (9):
(9)
wherein the coefficient functionf(x)The definition of (2) is shown as a formula (8);NBHD(i)is a nodeiIs a neighbor set of (a);minto take the minimum function, the node is hereiAnd nodejLink duration betweenS time (i,j)Sum nodejAverage link duration of all stable links that can be createdAvg Stimej Comparing, selecting small-value added stability weightweight i The method comprises the steps of carrying out a first treatment on the surface of the Then, weight the stabilityweight i The method comprises the steps of putting the data packet into the data packet according to a fixed format, taking a current node as a source node, sending the data packet to all the one-hop neighbor nodes in a broadcast mode, and meanwhile, receiving broadcast information of the neighbor nodes by the node to update an information table;
after the information table is updated, the information table contains the stability weights of all neighbor nodesweight i Comparing the stability weights to find the maximum stability weightMax_weightThen, the maximum stability is weightedMax_weightAnd the data packet is put into the data packet according to a fixed format, the current node is taken as a source node, the data packet is sent to all the one-hop neighbor nodes in a broadcast mode, and meanwhile, the node also receives the broadcast information of the neighbor nodes to update the information table.
In step 2.1), the method for determining whether a node is a cluster head node according to the stability weight and the maximum stability weight of the node is as follows:
in the information table generation stage, all nodes can obtain stability weights in the two-hop range; judging the stability weight of a certain nodeweight i Whether or not there is maximum stability weight in neighbor nodes within two-hop rangeMax_ weightIf the node has the greatest stability weightMax_weightTaking the node as a cluster head node, and converting the state of the node into a cluster head state; the cluster head node sets the address target_ID of the Target node as the address ID of the Target node, and sets the hop count to the cluster headhopSet to 0.
In step 2.2), after a certain node is determined to be a cluster head node, the method for sending a ch_broadcast packet to a neighboring node of the cluster head node to notify the neighboring node of the fact that the cluster head node is:
when a certain node determines that the node is a cluster head node, the cluster head node puts the information including the state, the address and the hop count of the cluster head into a CH_BROABCAST data packet and broadcasts the information to inform the neighbor node that the node is the cluster head node.
In step 2.3), after the neighbor node receives the ch_broadcast packet, determining the node status of the cluster member, where two special cases exist: a special case is that a node receives CH_BROABCAST data packets of a plurality of cluster head nodes, and the node selects a following target according to a node following strategy; another special case is that if info_table of a node is empty, it indicates that the node has no neighbor node, and then the state is transformed into an isolated node state; when the node states of all the cluster members are determined, the method for representing the cluster formation is as follows:
after receiving the CH_BROABCAST data packet, the neighbor node in the undetermined state sends a JOIN_REQ request to the cluster head node which sends the data packet to follow, and the cluster head node replies JOIN_RESP to indicate that the node is allowed to serve as a following node and adds information of the following node in a FOLLOWER queue of the node;
when the following node receives the JOIN_RESP, the following node changes the state into a cluster member state, simultaneously extracts information in a CH_BROABCAST data packet, sets a own cluster head as CHID in the CH_BROABCAST data packet, sets a following target as SID in the CH_BROABCAST data packet, and sets the hop count to the cluster head as CHBROABCAST data packethop；
After determining the cluster member state, the following node updates SID in CH_BROABCAST data packet and counts hops to the cluster headhopAdding 1, broadcasting to the neighbor nodes, repeating the process according to the received CH_BROABCAST data packet by the nodes with undetermined states, and adding the nodes into the corresponding clusters;
when the two special cases appear, the neighbor node can follow a more stable following target and share cluster head nodes with the neighbor node according to a node following strategy, wherein the following target expression is shown as a formula (10), and the following target expression is shown as a formula (10)T i Representing nodesiIs a target of following; wherein the method comprises the steps ofExpressed in timetNodeiA received broadcast information set of the cluster head node;hop j representing nodesjA hop count to the cluster head;weight i representing nodesjStability weights of (2);
(10)
in step 3.1), the following node that detects that the following node loses connection with the following target will reselect the following target, and notify all the following nodes thereof that the following target is reselected by:
at the beginning of each time slice, the following node determines whether the following target is still within the communication range, and when the following target is not within the communication range, the following node reselects a new following target and simultaneously notifies the following node to reselect an appropriate following target.
In step 3.2), the node needing to reselect the following target reselects the following target according to the node following policy, and if the following target is not selected, the method for regarding the node as an isolated node is as follows:
the nodes that need to reselect the following targets divide all neighbor nodes in the information table into two categories: neighbor node set of previous same clusterS C And a set of neighbor nodes of different clustersD C The method comprises the steps of carrying out a first treatment on the surface of the When|S C When the I is not equal to 0, the node following strategy is utilized to collect neighbor nodes in the same clusterS C Selecting a following target; when|S C |=0 and|D C When the I is not equal to 0, the node following strategy is utilized to collect neighbor nodes in different clustersD C Selecting a following target; otherwise, the node is considered an orphaned node.
In step 3.3), the method for judging whether the isolated node can be added into the cluster is as follows:
for the previous isolated node, if a neighbor node exists at the moment, selecting a following target according to a node following strategy, otherwise, continuing to maintain the state of the isolated node.
Compared with the existing clustering algorithm, the distributed aviation ad hoc network multi-hop following clustering method provided by the invention has the following advantages: 1) Establishing clusters in a distributed manner; 2) Taking the link duration as an inter-node stability measurement index; 3) More local topology information can be obtained, and clusters can be formed better; 4) Providing stability weight of the nodes, and selecting more stable nodes as cluster head nodes; 5) The node following strategy can select more stable nodes to be added into the cluster to form stable clusters.
Drawings
Fig. 1 is a flowchart of a distributed aviation ad hoc network multi-hop following clustering method provided by the invention.
Fig. 2 is a graph of experimental versus results of average cluster head duration for the method of the present invention over real aviation historical flight data.
FIG. 3 is a graph of average cluster member duration experiment versus results for the method of the present invention on real aviation historical flight data.
Fig. 4 is a graph of experimental comparison results of cluster head variation times of the method of the invention on real aviation historical flight data.
Fig. 5 is a graph of experimental comparison of average intra-cluster link fracture times on real aviation historical flight data for the method of the present invention.
Detailed Description
The distributed aviation ad hoc network multi-hop following clustering method provided by the invention is described in detail below with reference to the accompanying drawings and specific embodiments.
As shown in fig. 1, the distributed aviation ad hoc network multi-hop following clustering method provided by the invention comprises the following steps in sequence:
1) Information table generation stage:
1.1 Converting the position information acquired by the aviation node, and broadcasting the converted position information to neighbor nodes in a communication range; meanwhile, the aviation node also receives broadcast information from the neighbor node, and updates the information table according to the acquired broadcast information of the neighbor node;
converting position information in a WGS-84 coordinate system (World Geodetic System-1984 Coordinate System) acquired by an aviation node into position information in a Earth-Centered Earth-Fixed (ECEF) coordinate system, wherein the conversion formula is shown in formulas (1) - (5):
(1)
(2)
(3)
(4)
(5)
wherein,B，L，Hrespectively representing latitude, longitude and altitude in the WGS-84 coordinate system;x，y，zrespectively representing the position coordinates of the nodes under a geocentric and geodetic fixed coordinate system;arepresenting the semi-long axis of the earth, as 6378.137km;brepresenting the half-minor axis of the earth, as 6356.752km;N R representing the principal vertical radius of curvature;ea first eccentricity representing an ellipsoid;
and then, the converted position information is put into a data packet according to a fixed format, the data packet is sent to all the one-hop neighbor nodes in a broadcast mode by taking the current node as a source node, and meanwhile, the node also receives the broadcast information of the neighbor nodes to update the information table.
1.2 According to the position information of the nodes in the information table, the aviation node calculates the link duration time between the nodesS time (i,j)And uses a link duration thresholdValue ofTH Stime To determine whether the link between the nodes is stable, and then based on the link duration between the nodesS time (i,j)Calculating average link duration for stable links between nodesAvg Stime Thereafter broadcasting to neighboring nodes an average link duration of a stable link between the neighboring nodesAvg Stime And updating the information table;
calculating the link duration between nodes according to the positions and the relative movement speeds of the nodesS time (i,j)The calculation formula is shown as formula (6):
(6)
wherein,Rrepresenting the maximum communication radius of the node,D ij representing nodesiAnd nodejThe relative position between the two parts is that,V ij representing nodesiAnd nodejThe relative movement speed between the two;
link duration thresholdTH Stime To a specified value, in the present invention, the link duration thresholdTH Stime Set to 10min, ifS time (i,j)>TH Stime Then determine the nodeiSum nodejThe link between is stable, otherwise is an unstable link;
average link duration for inter-node stable linksAvg Stime Means that the node can establish the average value of the link durations of all stable links, which is defined as shown in formula (7), whereinnThe number of the neighbor nodes;f(x)defining a coefficient function as shown in a formula (8); then, the average link duration of the inter-node stable links is calculatedAvg Stime The method comprises the steps of putting the data packet into the data packet according to a fixed format, taking a current node as a source node, sending the data packet to all one-hop neighbor nodes in a broadcast mode, and meanwhile, receiving broadcast information of neighbors of the node to update an information table;
(7)
(8)
1.3 According to the link duration between the nodesS time (i,j)And average link duration of stable links between nodesAvg Stime Calculating stability weights for nodesweight i Then broadcast and receive stability weights to neighbor nodesweight i And updating the information table; finding the maximum stability weight in neighbor nodesMax_weightThereafter broadcasting and receiving maximum stability weights to neighboring nodesMax_weightAnd updating the information table;
stability weights for nodesweight i Is used for measuring the overall stability performance of the node in the local topological structure, and the definition is shown in a formula (9):
(9)
wherein the coefficient functionf(x)The definition of (2) is shown as a formula (8);NBHD(i)is a nodeiIs a neighbor set of (a);minto take the minimum function, the node is hereiAnd nodejLink duration betweenS time (i,j)Sum nodejAverage link duration of all stable links that can be createdAvg Stimej Comparing, selecting small-value added stability weightweight i The method comprises the steps of carrying out a first treatment on the surface of the Inter-node link durationS time (i,j)For representing nodesiAnd nodejStability between nodes, while the average link duration of a stable link between nodes is used to represent nodesjLocal stability of (2), thus, nodeiAnd nodejThe stability between neighboring nodes of (a) depends on the smaller of the two values; then, will stabilizeQualitative weightingweight i The method comprises the steps of putting the data packet into the data packet according to a fixed format, taking a current node as a source node, sending the data packet to all the one-hop neighbor nodes in a broadcast mode, and meanwhile, receiving broadcast information of the neighbor nodes by the node to update an information table;
after the information table is updated, the information table contains the stability weights of all neighbor nodesweight i Comparing the stability weights to find the maximum stability weightMax_weightThen, the maximum stability is weightedMax_weightAnd the data packet is put into the data packet according to a fixed format, the current node is taken as a source node, the data packet is sent to all the one-hop neighbor nodes in a broadcast mode, and meanwhile, the node also receives the broadcast information of the neighbor nodes to update the information table.
2) Cluster head node selection and cluster formation stage:
2.1 Determining whether a certain node is a cluster head node according to the stability weight and the maximum stability weight of the node;
in the information table generation stage, all nodes can obtain stability weights in the two-hop range; judging the stability weight of a certain nodeweight i Whether or not there is maximum stability weight in neighbor nodes within two-hop rangeMax_ weightIf the node has the greatest stability weightMax_weightTaking the node as a cluster head node, and converting the state of the node into a cluster head state; the cluster head node sets the address target_ID of the Target node as the address ID of the Target node, and sets the hop count to the cluster headhopSet to 0.
2.2 When a certain node is determined to be a cluster head node, the cluster head node sends a CH_BROABCAST data packet to a neighbor node so as to inform the neighbor node that the cluster head node is the cluster head node;
when a certain node determines that the node is a cluster head node, the cluster head node puts the information including the state, the address and the hop count of the cluster head into a CH_BROABCAST data packet and broadcasts the information to inform the neighbor node that the node is the cluster head node.
2.3 After the neighbor node receives the ch_broadcast packet, determining the node state of the cluster member, where two special cases exist: a special case is that a node receives CH_BROABCAST data packets of a plurality of cluster head nodes, and the node selects a following target according to a node following strategy; another special case is that if info_table of a node is empty, it indicates that the node has no neighbor node, and then the state is transformed into an isolated node state; after the node states of all the cluster members are determined, the cluster formation is indicated;
after receiving the CH_BROABCAST data packet, the neighbor node in the undetermined state sends a JOIN_REQ request to the cluster head node which sends the data packet to follow, and the cluster head node replies JOIN_RESP to indicate that the node is allowed to serve as a following node and adds information of the following node in a FOLLOWER queue of the node;
when the following node receives the JOIN_RESP, the following node changes the state into a cluster member state, simultaneously extracts information in a CH_BROABCAST data packet, sets a own cluster head as CHID in the CH_BROABCAST data packet, sets a following target as SID in the CH_BROABCAST data packet, and sets the hop count to the cluster head as CHBROABCAST data packethop；
After determining the cluster member state, the following node updates SID in CH_BROABCAST data packet and counts hops to the cluster headhopAdding 1, broadcasting to the neighbor nodes, repeating the process according to the received CH_BROABCAST data packet by the nodes with undetermined states, and adding the nodes into the corresponding clusters;
when the two special cases appear, the neighbor node can follow a more stable following target and share cluster head nodes with the neighbor node according to a node following strategy, wherein the following target expression is shown as a formula (10), and the following target expression is shown as a formula (10)T i Representing nodesiIs a target of following; wherein the method comprises the steps ofExpressed in timetNodeiA received broadcast information set of the cluster head node;hop j representing nodesjA hop count to the cluster head;weight i representing nodesjStability weights of (2);
(10)
3) Cluster maintenance stage:
3.1 Detecting that a following node losing connection with the following target will reselect the following target and notifying all of its following nodes to reselect the following target;
at the beginning of each time slice, the following node determines whether the following target is still within the communication range, and when the following target is not within the communication range, the following node reselects a new following target and simultaneously notifies the following node to reselect an appropriate following target.
3.2 A node needing to reselect a following target reselects the following target according to a node following strategy, and if the following target is not selected, the node is regarded as an isolated node;
the nodes that need to reselect the following targets divide all neighbor nodes in the information table into two categories: neighbor node set of previous same clusterS C And a set of neighbor nodes of different clustersD C The method comprises the steps of carrying out a first treatment on the surface of the When|S C When the I is not equal to 0, the node following strategy is utilized to collect neighbor nodes in the same clusterS C Selecting a following target; when|S C |=0 and|D C When the I is not equal to 0, the node following strategy is utilized to collect neighbor nodes in different clustersD C Selecting a following target; otherwise, the node is considered an orphaned node.
3.3 A determination is made as to whether an orphaned node can join the cluster.
For the previous isolated node, if a neighbor node exists at the moment, selecting a following target according to a node following strategy, otherwise, continuing to maintain the state of the isolated node.
The method for forming the stable network clustering structure by fully utilizing the position attribute and the movement attribute of the aviation ad hoc network node comprises the following steps: a distributed aviation ad hoc network multi-hop following clustering method. The method utilizes link duration to measure stability between nodes. In the information generation stage, in order to balance between obtaining more local information and reducing network resource consumption, the method enables the node to acquire neighbor information within a two-hop range through two continuous data transmission of the node. As much local topology information as possible is obtained with less network resources. In the cluster head selection and cluster formation stage, the method defines node stability weights to measure the stability of nodes and proposes node following strategies to form clusters. The node stability weight comprehensively considers the relative stability of the node and the node within the two-hop range and the connectivity of the node. The node following strategy simultaneously considers the stability of the neighbors and the hop count to the cluster head, and selects one node which is the most stable to the cluster head as a following target, so that the topology stability in the cluster is improved. In the cluster maintenance stage, the method uses the history information of the node following, and distributes the node which loses the following target to the original cluster as much as possible, so that the stability of the network topology can be effectively improved.
The effect of the distributed aviation ad hoc network multi-hop following clustering method provided by the invention can be further illustrated through the following experiment.
Evaluation index description: for quantitative evaluation of the method of the invention, the following four evaluation indexes are used: average cluster head durationAvgStime CH Average cluster member durationAvgStime CM Number of cluster head changesChange CH Average intra-cluster link break timesAvgLink break 。
The average cluster head duration is the total cluster head duration and the number of cluster headsmThe ratio of (2) is shown in the formula (11), whereinAvgStime CH Representing the average cluster head duration time,Stime CH (i)representing cluster head nodesiDuration of time.
(11)
The average cluster member duration is the ratio of the sum of the durations of all the nodes as cluster members to the number of nodes, and the calculation formula is shown as formula (12)Shown therein, whereinStime CM (i)Representing nodes as cluster membersiFor a duration of time of (a),nis the number of nodes.
(12)
The number of cluster head changes is the number of times the cluster head node is changed to other states in the simulation process, and can be represented by formula (13). Wherein the method comprises the steps ofChange CH (s)Represented in time slicessIn the process, the number of the cluster head changes,timeslicethe total number of time slices simulated is shown.
(13)
The average intra-cluster link fracture times are the ratio of the sum of all intra-cluster link fracture times to the number of nodes in the whole simulation process, and the calculation formula is shown in the formula (14). Wherein the method comprises the steps ofLink break (i)To be in the simulation process, the nodeiNumber of link breaks.
(14)
To illustrate the effectiveness of the present invention, the method of the present invention was compared to N-hop, K-means and DMCNF algorithms. The N-hop is a classical multi-hop clustering algorithm, the position and the speed of the node are considered in the K-means algorithm, and a relative speed-based following method is used in the DMCNF algorithm. Thus, the effectiveness of the present invention can be verified in comparison with these three methods.
Comparison algorithm description:
n-hop clustering algorithm, a classical multi-hop clustering algorithm. See the references: z, zhang, A, boukerche and R, pazzi, "A novel multi-hop clustering scheme for vehicular ad-hoc networks", in Proc, mobiwac, florida, USA, 2011, pp., 19-26.
The K-means algorithm takes into account both the location and speed of the node. See the references: T.Bilen, P.J. Aydemir, A.E. Konu and B.Canberk, "custom K-Means based topology clustering for aeronautical ad-hoc networks," in Proc. CAMAD, porto, portugal, 2021, pp. 1-5.
DMCNF algorithm, a follow clustering algorithm based on relative movement speed. See the references: y, chen, M, fang, S, shi, W, guo and X, zheng, "Distributed multi-hop clustering algorithm for VANETs based on neighborhood follow", J, wireless Commun, netwow, vol.2015, no. 98, pp. 1-12, dec.2015, doi: 10.1186/s13638-015-0327-0.
In order to verify the effectiveness of the method for improving the topological stability of the aviation ad hoc network, aviation historical flight data of the European sky all over the day of 27 days of 6 months in 2022 are obtained. In the experimental process, all data are segmented according to the hours, and grouping experiments are carried out according to the number of nodes in each segment of data. During simulation experiments, the link duration is thresholdedTH Stime The time slice size was set to 10min, the time slice size was set to 1min, and the reclustering time was set to 5min. The average cluster head duration, average cluster member duration, number of cluster head changes, and average number of intra-cluster link breaks are used to evaluate the performance of the clusters. The graphs of the experimental results are shown in fig. 2-5.
As can be seen from fig. 2-5, the present invention has a significant improvement in average cluster head duration, average cluster member duration, number of cluster head changes, and average intra-cluster link break times.
Claims (10)
1. A distributed aviation ad hoc network multi-hop following clustering method is characterized in that: the distributed aviation ad hoc network multi-hop following clustering method comprises the following steps of:
1) Information table generation stage:
1.1 Converting the position information acquired by the aviation node, and broadcasting the converted position information to neighbor nodes in a communication range; meanwhile, the aviation node also receives broadcast information from the neighbor node, and updates the information table according to the acquired broadcast information of the neighbor node;
1.2 Aviation node)Calculating the link duration between nodes according to the position information of the nodes in the information tableS time (i, j)And uses a link duration thresholdTH Stime To determine whether the link between the nodes is stable, and then based on the link duration between the nodesS time (i,j)Calculating average link duration for stable links between nodesAvg Stime Thereafter broadcasting to neighboring nodes an average link duration of a stable link between the neighboring nodesAvg Stime And updating the information table;
1.3 According to the link duration between the nodesS time (i,j)And average link duration of stable links between nodesAvg Stime Calculating stability weights for nodesweight i Then broadcast and receive stability weights to neighbor nodesweight i And updating the information table; finding the maximum stability weight in neighbor nodesMax_weightThereafter broadcasting and receiving maximum stability weights to neighboring nodesMax_weightAnd updating the information table;
2) Cluster head node selection and cluster formation stage:
2.1 Determining whether a certain node is a cluster head node according to the stability weight and the maximum stability weight of the node;
2.2 When a certain node is determined to be a cluster head node, the cluster head node sends a CH_BROABCAST data packet to a neighbor node so as to inform the neighbor node that the cluster head node is the cluster head node;
2.3 After the neighbor node receives the ch_broadcast packet, determining the node state of the cluster member, where two special cases exist: a special case is that a node receives CH_BROABCAST data packets of a plurality of cluster head nodes, and the node selects a following target according to a node following strategy; another special case is that if info_table of a node is empty, it indicates that the node has no neighbor node, and then the state is transformed into an isolated node state; after the node states of all the cluster members are determined, the cluster formation is indicated;
3) Cluster maintenance stage:
3.1 Detecting that a following node losing connection with the following target will reselect the following target and notifying all of its following nodes to reselect the following target;
3.2 A node needing to reselect a following target reselects the following target according to a node following strategy, and if the following target is not selected, the node is regarded as an isolated node;
3.3 A determination is made as to whether an orphaned node can join the cluster.
2. The distributed aviation ad hoc network multi-hop following clustering method according to claim 1, wherein: in step 1.1), converting the position information acquired by the aviation node, and broadcasting the converted position information to neighbor nodes in a communication range; meanwhile, the aviation node also receives the broadcast information from the neighbor node, and the method for updating the information table according to the acquired broadcast information of the neighbor node is as follows:
converting the position information under the WGS-84 coordinate system acquired by the aviation node into the position information under the geocentric fixed coordinate system, wherein the conversion formula is shown in formulas (1) - (5):
(1)
(2)
(3)
(4)
(5)
wherein,B，L，Hrespectively representing latitude, longitude and altitude in the WGS-84 coordinate system;x，y，zrespectively representing the position coordinates of the nodes under a geocentric and geodetic fixed coordinate system;arepresenting the semi-long axis of the earth, as 6378.137km;brepresenting the half-minor axis of the earth, as 6356.752km;N R representing the principal vertical radius of curvature;ea first eccentricity representing an ellipsoid;
and then, the converted position information is put into a data packet according to a fixed format, the data packet is sent to all the one-hop neighbor nodes in a broadcast mode by taking the current node as a source node, and meanwhile, the node also receives the broadcast information of the neighbor nodes to update the information table.
3. The distributed aviation ad hoc network multi-hop following clustering method according to claim 1, wherein: in step 1.2), the aviation node calculates the link duration between nodes according to the position information of the nodes in the information tableS time (i,j)And uses a link duration thresholdTH Stime To determine whether the link between the nodes is stable, and then based on the link duration between the nodesS time (i,j)Calculating average link duration for stable links between nodesAvg Stime Thereafter broadcasting to neighboring nodes an average link duration of a stable link between the neighboring nodesAvg Stime The method for updating the information table comprises the following steps:
calculating the link duration between nodes according to the positions and the relative movement speeds of the nodesS time (i,j)The calculation formula is shown as formula (6):
(6)
wherein,Rrepresenting the maximum communication radius of the node,D ij representing nodesiAnd nodejRelative position betweenThe device is arranged in the way that the device is arranged,V ij representing nodesiAnd nodejThe relative movement speed between the two;
link duration thresholdTH Stime For a given value, ifS time (i,j)>TH Stime Then determine the nodeiSum nodejThe link between is stable, otherwise is an unstable link;
average link duration for inter-node stable linksAvg Stime Means that the node can establish the average value of the link durations of all stable links, which is defined as shown in formula (7), whereinnThe number of the neighbor nodes;f(x)defining a coefficient function as shown in a formula (8); then, the average link duration of the inter-node stable links is calculatedAvg Stime The method comprises the steps of putting the data packet into the data packet according to a fixed format, taking a current node as a source node, sending the data packet to all one-hop neighbor nodes in a broadcast mode, and meanwhile, receiving broadcast information of neighbors of the node to update an information table;
(7)
(8)。
4. the distributed aviation ad hoc network multi-hop following clustering method according to claim 3, wherein: in step 1.3), said method is based on the link duration between the nodesS time (i,j)And average link duration of stable links between nodesAvg Stime Calculating stability weights for nodesweight i Then broadcast and receive stability weights to neighbor nodesweight i And updating the information table; finding the maximum stability weight in neighbor nodesMax_weightThereafter broadcasting and receiving maximum stability to neighboring nodesQualitative weightingMax_weightThe method for updating the information table comprises the following steps:
stability weights for nodesweight i Is used for measuring the overall stability performance of the node in the local topological structure, and the definition is shown in a formula (9):
(9)
wherein the coefficient functionf(x)The definition of (2) is shown as a formula (8);NBHD(i)is a nodeiIs a neighbor set of (a);minto take the minimum function, the node is hereiAnd nodejLink duration betweenS time (i,j)Sum nodejAverage link duration of all stable links that can be createdAvg Stimej Comparing, selecting small-value added stability weightweight i The method comprises the steps of carrying out a first treatment on the surface of the Then, weight the stabilityweight i The method comprises the steps of putting the data packet into the data packet according to a fixed format, taking a current node as a source node, sending the data packet to all the one-hop neighbor nodes in a broadcast mode, and meanwhile, receiving broadcast information of the neighbor nodes by the node to update an information table;
after the information table is updated, the information table contains the stability weights of all neighbor nodesweight i Comparing the stability weights to find the maximum stability weightMax_weightThen, the maximum stability is weightedMax_weightAnd the data packet is put into the data packet according to a fixed format, the current node is taken as a source node, the data packet is sent to all the one-hop neighbor nodes in a broadcast mode, and meanwhile, the node also receives the broadcast information of the neighbor nodes to update the information table.
5. The distributed aviation ad hoc network multi-hop following clustering method according to claim 1, wherein: in step 2.1), the method for determining whether a node is a cluster head node according to the stability weight and the maximum stability weight of the node is as follows:
in the information table generation stage, all nodes can obtain stability weights in the two-hop range; judging the stability weight of a certain nodeweight i Whether or not there is maximum stability weight in neighbor nodes within two-hop rangeMax_weightIf the node has the greatest stability weightMax_weightTaking the node as a cluster head node, and converting the state of the node into a cluster head state; the cluster head node sets the address target_ID of the Target node as the address ID of the Target node, and sets the hop count to the cluster headhopSet to 0.
6. The distributed aviation ad hoc network multi-hop following clustering method according to claim 1, wherein: in step 2.2), after a certain node is determined to be a cluster head node, the method for sending a ch_broadcast packet to a neighboring node of the cluster head node to notify the neighboring node of the fact that the cluster head node is:
when a certain node determines that the node is a cluster head node, the cluster head node puts the information including the state, the address and the hop count of the cluster head into a CH_BROABCAST data packet and broadcasts the information to inform the neighbor node that the node is the cluster head node.
7. The distributed aviation ad hoc network multi-hop following clustering method according to claim 1, wherein: in step 2.3), after the neighbor node receives the ch_broadcast packet, determining the node status of the cluster member, where two special cases exist: a special case is that a node receives CH_BROABCAST data packets of a plurality of cluster head nodes, and the node selects a following target according to a node following strategy; another special case is that if info_table of a node is empty, it indicates that the node has no neighbor node, and then the state is transformed into an isolated node state; when the node states of all the cluster members are determined, the method for representing the cluster formation is as follows:
after receiving the CH_BROABCAST data packet, the neighbor node in the undetermined state sends a JOIN_REQ request to the cluster head node which sends the data packet to follow, and the cluster head node replies JOIN_RESP to indicate that the node is allowed to serve as a following node and adds information of the following node in a FOLLOWER queue of the node;
when the following node receives the JOIN_RESP, the following node changes the state into a cluster member state, simultaneously extracts information in a CH_BROABCAST data packet, sets a own cluster head as CHID in the CH_BROABCAST data packet, sets a following target as SID in the CH_BROABCAST data packet, and sets the hop count to the cluster head as CHBROABCAST data packethop；
After determining the cluster member state, the following node updates SID in CH_BROABCAST data packet and counts hops to the cluster headhopAdding 1, broadcasting to the neighbor nodes, repeating the process according to the received CH_BROABCAST data packet by the nodes with undetermined states, and adding the nodes into the corresponding clusters;
when the two special cases appear, the neighbor node can follow a more stable following target and share cluster head nodes with the neighbor node according to a node following strategy, wherein the following target expression is shown as a formula (10), and the following target expression is shown as a formula (10)T i Representing nodesiIs a target of following; wherein the method comprises the steps ofExpressed in timetNodeiA received broadcast information set of the cluster head node;hop j representing nodesjA hop count to the cluster head;weight i representing nodesjStability weights of (2);
(10)。
8. the distributed aviation ad hoc network multi-hop following clustering method according to claim 1, wherein: in step 3.1), the following node that detects that the following node loses connection with the following target will reselect the following target, and notify all the following nodes thereof that the following target is reselected by:
at the beginning of each time slice, the following node determines whether the following target is still within the communication range, and when the following target is not within the communication range, the following node reselects a new following target and simultaneously notifies the following node to reselect an appropriate following target.
9. The distributed aviation ad hoc network multi-hop following clustering method according to claim 1, wherein: in step 3.2), the node needing to reselect the following target reselects the following target according to the node following policy, and if the following target is not selected, the method for regarding the node as an isolated node is as follows:
the nodes that need to reselect the following targets divide all neighbor nodes in the information table into two categories: neighbor node set of previous same clusterS C And a set of neighbor nodes of different clustersD C The method comprises the steps of carrying out a first treatment on the surface of the When| S C When the I is not equal to 0, the node following strategy is utilized to collect neighbor nodes in the same clusterS C Selecting a following target; when| S C |=0 and| D C When the I is not equal to 0, the node following strategy is utilized to collect neighbor nodes in different clustersD C Selecting a following target; otherwise, the node is considered an orphaned node.
10. The distributed aviation ad hoc network multi-hop following clustering method according to claim 1, wherein: in step 3.3), the method for judging whether the isolated node can be added into the cluster is as follows:
for the previous isolated node, if a neighbor node exists at the moment, selecting a following target according to a node following strategy, otherwise, continuing to maintain the state of the isolated node.
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