KR101752601B1 - Routing path setup method for reliable data delivery in uav ad-hoc networks - Google Patents

Abstract

A routing path establishment method for data transfer in an unmanned ad hoc network according to an embodiment includes broadcasting a route request packet for searching a data transfer path from a source node to a destination node; Re-broadcasting the route request packet through the omnidirectional antenna as the relay node receives the route request packet transmitted from the source node; Receiving another plurality of route request packets for a predetermined time as the destination node receives the route request packet; The destination node determining an optimal path based on the plurality of path request packets and unicasting the path response packet to the source-direction preceding node; And starting data transmission from the source node as the path response packet is delivered to the source node via the directional antenna.

Description

Technical Field [0001] The present invention relates to a routing path setting method for reliable data transmission in an unmanned ad hoc network,

In the following description, an ad hoc network between unmanned aerial vehicles (UAVs) is constructed to set up a path for transferring data to a desired air vehicle. More specifically, the estimated connection time and the risk of flying with the adjacent air vehicle are considered Thereby determining an optimal path.

In a wide range of UAV applications, including commercial drones and military unmanned aerial vehicles, if there is no direct communication between the endpoints of the information at the source of information in the transfer of information between the drones, an ad hoc network using relays using multiple UAVs will be required.

In the routing path of the unmanned aerial vehicle network, the rapid movement of the aircraft and frequent route disconnection increases the data communication overhead due to the increase of the data communication re - establishment overhead.

In addition, the routing protocol using the omnidirectional antenna that radiates in all directions has a relatively small propagation radius, which makes it difficult to maintain a stable path according to the movement of the moving object.

Therefore, in order to establish the data path of an efficient unmanned aerial vehicle ad hoc network, there is a need for a route setting protocol using a directional antenna and an optimal path setting method considering the movement discontinuity prediction time.

The present invention can provide a routing path setting method and system for data transmission between unmanned aerial vehicles.

In addition, the present invention can provide a method and system for reducing the overhead due to path reestablishment by providing a route for a long time even in a fast moving situation of a moving object in a routing path setting.

Further, the present invention can provide a method and system for improving the reliability of a path by widening the radio wave radius by utilizing position and movement information.

In addition, the present invention can provide a method and system for reducing an interruption of data transmission due to a path disconnection by determining an appropriate reconfiguration time automatically before disconnection of an actual path at the time of path reconfiguration and performing path reconfiguration at the same time as data transmission.

In addition, the present invention can provide a crime prevention and system for reducing the path re-setting overhead by reducing the range of the path request broadcasting to the destination node at the time of path re-setting.

According to an embodiment, a routing path establishment method for data delivery in an unmanned ad hoc network includes: broadcasting a route request packet for searching a data delivery path from a source node to a destination node; Re-broadcasting the route request packet through the omnidirectional antenna as the relay node receives the route request packet transmitted from the source node; Receiving another plurality of route request packets for a predetermined time as the destination node receives the route request packet; The destination node determining an optimal path based on the plurality of path request packets and unicasting the path response packet to the source-direction preceding node; And starting data transmission from the source node as the path response packet is delivered to the source node via the directional antenna.

According to one aspect of the present invention, the step of re-broadcasting the route request packet through the omnidirectional antenna as the relay node receives the route request packet transmitted from the source node includes the steps of: Calculating a maximum connection expectation time at which a connection between the source node and the relay node is maintained and calculating a current position of the source node and the relay node when the directional antenna between the source node and the relay node is used, And calculating a utility value of the received path by using the information existing in the route request packet by the relay node receiving the route request packet after calculating the expected time.

According to another aspect of the present invention, the step of re-broadcasting the path request packet through the omnidirectional antenna as the relay node receives the path request packet transmitted from the source node includes the steps of: When a value calculated from a new route request packet is greater than a utility value of the reverse table according to the presence of a utility value recorded in the reverse table of the node, the utility value of the reverse table is calculated based on the information of the new route request packet And generating a reverse table based on the new route request packet when the utility value of the reverse table does not exist.

According to another aspect of the present invention, the destination node determines an optimal path based on the received plurality of path request packets and unicasts the path response packet to the source direction preceding node, The method of claim 1, wherein, in transmitting the path response packet to the source node, the current location of the source node in the source direction at the reception time of the route response packet is estimated using the reverse table of the destination node and the relay nodes, And transmitting the path response packet at an angle.

According to another aspect of the present invention, the destination node determines an optimal path based on the received plurality of path request packets and unicasts the path response packet to the source direction preceding node, Based on the information of the node that transmits the path response packet included in the path response packet, the relay node, which has received the path response packet, transmits the path response packet based on the three- And updating the information of the forward table.

According to another aspect, the step of starting data transmission from the source node as the path response packet is communicated to the source node via the directional antenna may comprise: receiving the information of the path response packet from the destination node A reset timer for performing a route reset before the expected route cut-off budget time is operated to calculate a timer value, and when the timer value is ended, the reset timer is set to a predetermined angle around the predicted position of the destination node at the current time Transmitting a route reset request packet using the directional antenna and transmitting the route reset request packet using the directional antenna to the expected position of the destination node by the relay node.

According to an embodiment, a routing path setting system for data transfer in an unmanned ad hoc network includes a first broadcasting unit for broadcasting a path request packet for searching a data transfer path from a source node to a destination node; A second broadcasting unit for re-broadcasting the path request packet through the omnidirectional antenna as the relay node receives the path request packet transmitted from the source node; A receiving unit for receiving another plurality of route request packets for a predetermined time according to the destination node receiving the route request packet; A unicasting unit for the destination node to determine an optimal path based on the plurality of path request packets and to unicast the path response packet to the source direction preceding node; And a data transmission unit for starting data transmission from the source node as the path response packet is transmitted to the source node through the directional antenna.

In transmitting the path response packet from the destination node to the source node, the path response packet is transmitted using the directional antenna at the predicted position of the neighboring vehicle, thereby enabling more reliable transmission of the path information.

In addition, in setting the routing path, the present invention can reduce the overhead for reestablishing the path by providing the path for a long time even in the fast moving state of the moving object.

1 is a block diagram illustrating a configuration of a routing path setting system according to an embodiment.
2 is a diagram illustrating an ad hoc network configuration for data transfer between UAVs according to an exemplary embodiment of the present invention.
3 is a diagram illustrating a format of a route request packet transmitted from a relay node performing a route search between a source node and a destination node in a routing path setting system according to an exemplary embodiment.
4 is a diagram for explaining a process of calculating a maximum connection time between a node that has received a route request packet and a node that has transmitted a route request packet in the routing path configuration system according to an exemplary embodiment.
5 is a diagram illustrating a reverse table to a source node generated by a node receiving a route request packet in a routing path setting system according to an exemplary embodiment.
6 is a diagram for explaining a process of transmitting a path response packet using a directional antenna in a routing path setting system according to an embodiment.
7 is a diagram illustrating a forward table to a destination node created by a node that has received a route response packet in the routing path setting system according to an exemplary embodiment.
8 is a diagram illustrating a format of a path response packet transmitted from a relay node according to a path from a routing path setup system according to an embodiment to a destination node and a source node.
9 is a diagram illustrating a format of a path reset request packet for path reset at a source node in a routing path setting system according to an embodiment.
10 is a diagram for explaining an example of transmission of a path reset request packet in a routing path setting system according to an embodiment.

Hereinafter, an optimal path setting method in an unmanned aerial vehicle ad hoc network will be described in detail with reference to the accompanying drawings.

The routing path setting system according to the embodiment may include a Global Positioning System (GPS) function capable of measuring three-dimensional position information of a UAV. Also, it is possible to estimate the moving speed of each direction or to calculate the average moving speed in the past by measuring the average speed in the x, y, and z directions at each viewpoint according to each unmanned aerial vehicle.

In the following embodiments, an ad hoc network between unmanned aerial vehicles is constructed to set up a path for transferring data to a desired air vehicle, and a method for determining an optimal path considering the expected connection setting time and the risk of flight with an adjacent air vehicle Will be described. More specifically, the routing path setting system calculates and stores the position information of the neighboring vehicle, the predicted moving speed information, the minimum disconnection prediction time of the route, the route risk, and the like in order to set an optimal route. A method for determining an optimal path for the ad hoc communication will be described.

1 is a block diagram illustrating a configuration of a routing path setting system according to an embodiment.

The routing path setting system 100 is for setting a routing path for data transfer in an unmanned ad hoc network and includes a first broadcasting unit 110, a second broadcasting unit 120, a receiving unit 130, A unicasting unit 140 and a data transfer unit 150. [

The first broadcasting unit 110 may broadcast a path request packet for searching a data transmission path from a source node to a destination node.

The second broadcasting unit 120 may re-broadcast the route request packet through the omnidirectional antenna as the relay node receives the route request packet transmitted from the source node. The second broadcasting unit 120 calculates the maximum connection expected time at which the relay node having received the route request packet maintains the link between the source node and the link and calculates the maximum connection expected time when the source node and the relay node- The relay node receiving the route request packet calculates the utility value of the received route using the information existing in the route request packet .

The second broadcasting unit 120 determines that the value calculated from the new route request packet is greater than the utility value of the reverse table as the relay node receiving the route request packet has a utility value recorded in the reverse table of the node The utility value of the reverse table is updated based on the information of the new route request packet, and if the utility value of the reverse table does not exist, the reverse table can be generated based on the new route request packet.

The receiving unit 130 may receive another plurality of route request packets for a predetermined time as the destination node receives the route request packet.

The unicasting unit 140 may determine an optimal path based on the plurality of path request packets and unicast the path response packet to the source direction preceding node. The unicasting unit 140 transmits the path response packet to the source node after determining the optimal path at the destination node. The unicasting unit 140 uses the reverse table of the destination node and the relay nodes to transmit the path response packet to the source node The current position can be estimated and the path response packet can be transmitted at a predetermined angle through the directional antenna. The unicasting unit 140 transmits a path response packet based on the three-dimensional position information and the speed information of the node that transmits the path response packet, and the relay node receiving the path response packet transmits the path response packet The information of the forwarding table can be updated based on the information of the node that transmits the forwarding table.

The data transmission unit 150 can start data transmission from the source node as the path response packet is transmitted to the source node through the directional antenna. The data transfer unit 150 calculates a timer value by operating a reset timer for performing path resetting before the estimated path disconnection budget time using the information of the path response packet from the destination node, The relay node transmits a path reset request packet using a directional antenna having a predetermined angle around a predicted position of the destination node at the current point, and the relay node transmits a path reset request packet Lt; / RTI >

2 is a diagram illustrating an ad hoc network configuration for data transfer between UAVs according to an exemplary embodiment of the present invention.

2 shows a UAV ad hoc network structure in which a source node 201 which desires to transmit data and a destination node 203 which is an end point of data are connected to the destination node 203 directly from the sword node 201 to the destination node 203 there may be a relay node 202, which is an intermediate node capable of transferring data in the middle when direct transmission is impossible. Thus, data can be transmitted and received between the source node 201 and the destination node 203. [

3 is a diagram illustrating a format of a route request packet transmitted from a relay node performing a route search between a source node and a destination node in a routing path setting system according to an exemplary embodiment.

FIG. 3 shows a format of a route request packet broadcasted by a source node for path search for transferring data to a destination node. The path request packet is propagated in all directions through an omnidirectional antenna.

In this case, when the relay node receives the route request packet and then knows the route to the destination, the relay node transmits a route reply packet. If the route to the destination is not known, Lt; RTI ID = 0.0 > re-broadcast < / RTI >

The route request packet includes a search path 301 field to the source node and the destination node, a route request time field 302 of the source node, an identification address 311 field of the node that transmitted the route request packet, A hop count 314 field, a path maximum risk value 321 field, a path minimum connection expected time value 322, Field.

In the search path 301 field of the route request packet, the search path information and the route request time 302 field of the source node are the route request time information of the source node, and the value written by the source node remains unchanged.

A node 311 field of the node that sent the route request packet, a location vector 312 field of the node that transmitted the route request packet, a moving speed vector 313 field of the node that transmitted the route request packet, a hop count 314 ) Field may be changed to an identification address, a position vector, and a movement velocity vector of a relay node.

The path maximum risk value (321) field and the path minimum connection expected time value (322) field are the maximum risk value and the minimum connection expected time value on the route, and the field value can be changed or maintained according to the situation. At this time, each node has the flying risk value of the unmanned aerial vehicle at the current position.

로 표시하고, 각

의 지향성 안테나를 사용할 경우 최대 전송거리는

로 표기할 수 있다. The maximum transmission distance when the omnidirectional antenna is used in the routing path setting system is

And each

Directional antenna, the maximum transmission distance is

.

A node (e.g., a destination node or a relay node) that has received a route request packet can determine the maximum connection expectation time at which a link can be maintained with a node (e.g., a source node or a relay node) Can be calculated. In this case, the maximum connection expected time of the path can be calculated considering the node receiving the route request packet and the node transmitting the route request packet, and using the directional antenna between the two nodes, considering the current position and the three- have.

4 is a diagram for explaining a process of calculating a maximum connection time between a node that has received a route request packet and a node that has transmitted a route request packet in the routing path configuration system according to an exemplary embodiment.

시점에 경로 요청 패킷이 수신되었고,

시점에 경로 요청 패킷을 송신한 노드(401)와 경로 요청 패킷을 수신한 노드(402)의 거리가

에 이르렀다면 경로 요청 패킷을 송신한 노드(401)와 경로 요청 패킷을 수신한 노드(402)간 최대 연결 기대 시간은

가 된다.The relationship between the maximum connection time and the maximum transmission distance between the node 401 transmitting the route request packet and the node 402 receiving the route request packet is shown. For example,

When the route request packet is received at the time point,

The distance between the node 401 that sent the route request packet and the node 402 that received the route request packet

The maximum expected connection time between the node 401 that sent the route request packet and the node 402 that received the route request packet is

.

The node 402 receiving the route request packet can calculate the utility value of the received route using the information present in the route request packet.

는 수신된 경로 요청 패킷에 포함된 경로 최소 연결 예상 시간 값과 경로 요청 패킷을 송신한 노드(401)와 경로 요청 패킷을 수신한 노드(402) 사이에 계산된 최대 연결 기대 시간 중에 작은 값으로 설정될 수 있다. 또한

는 수신된 경로요청 패킷에 있는 홉카운트 값에 1을 더한 값이다.

은 수신된 경로 요청 패킷의 경로 최대 위험도 값과 경로 요청 패킷을 수신한 노드(402)의 위험도 값 중 작은 값으로 계산될 수 있다.

는 각 항목별 가중치를 의미한다.At this time, the utility value can be calculated by using the following equation (1). In Equation (1)

Is set to a small value among the path minimum connection expected time value included in the received route request packet and the maximum connection expected time calculated between the node 401 that sent the route request packet and the node 402 that received the route request packet . Also

Is a value obtained by adding 1 to the hop count value in the received route request packet.

May be calculated to be a smaller value among the route maximum risk value of the received route request packet and the risk value of the node 402 that received the route request packet.

Means the weight for each item.

Equation 1:

If a utility value already recorded in the reverse table of the node receiving the route request packet exists, the node 402 that received the route request packet determines that the value calculated from the new route request packet is larger than the utility value of the existing reverse table , The utility value of the reverse table can be changed based on the information of the new route request packet. At this time, if the utility value does not exist in the existing reverse table, the reverse table can be generated based on the value calculated from the new route request packet.

5 is a diagram illustrating a reverse table to a source node generated by a node receiving a route request packet in a routing path setting system according to an exemplary embodiment.

Node i is the node 501 that sent the route request packet, and node j is the node 502 that received the route request packet, the reverse table of node j will be described.

The reverse table includes an identifier 511 of a source node and a destination node, an identifier 512 of a transmitting node 501 that has transmitted a route request packet, and an identifier 512 of a transmitting node Dimensional position vector 513, the three-dimensional moving speed vector 514 of the source direction preceding node 501, the position information acquisition time 515 of the source direction previous node, and the utility value 516 of the current path .

The relay node, which is not the destination node, transmits the identifier information of the relay node to the identification address (311) field of the node that transmitted the route request packet based on the format of the route request packet of FIG. 3, 312) field, and the velocity information 313 of the node that has transmitted the route request packet. The relay node records newly updated route information in the hop count field 314, the route maximum risk value field 321, and the route minimum connection expected time value field 322, and broadcasts the newly updated route information to the surroundings using a nondirectional antenna have.

The destination node can receive a plurality of route request packets by waiting for a predetermined time when receiving the initial route request packet. The Node B determines an optimal path by using Equation (1) according to receiving a plurality of path request packets, and transmits a Route Reply packet to the node (the source node before the source node) that has transmitted the path request packet according to the determined optimal path. Can be unicasted. At this time, the relay node receiving the path response packet can transmit the path response packet to the source node in the source direction by referring to the reverse table of the node.

를 갖는 지향성 안테나를 이용하여 송신될 수 있다. 지향성 안테나의 지향 중심점은 역방향 테이블에 저장되어 있는 소스방향 이전 노드의 3차원 위치정보, 이동속도 정보, 위치정보 갱신 시간을 이용하여 현재 시점에서 소스방향 이전 노드의 예상 위치점에 향하도록 할 수 있다.The path response packet includes a pre-determined angle

Lt; RTI ID = 0.0 > directional < / RTI > The directional center point of the directional antenna can be directed to the predicted position point of the previous node in the source direction at the present point in time using the three-dimensional position information, the moving speed information, and the position information update time of the node in the source direction stored in the reverse table .

6 is a diagram for explaining a process of transmitting a path response packet using a directional antenna in a routing path setting system according to an embodiment.

각을 포함하는 전파 범위를 갖도록 전송될 수 있다. 6 shows the propagation range of the path request packet and the path response packet. The path request packet is transmitted using the omnidirectional antenna, and the path response packet is transmitted through the directional antenna,

And may be transmitted to have a propagation range including angles.

When a directional antenna is used, it is possible to transmit a distance over a predetermined distance with the same transmission power, so that a more reliable path response packet can be transmitted. At this time, when the path response packet is transmitted using the omnidirectional antenna, the path response packet will not be correctly transmitted to the node before the source direction.

The relay node receiving the path response packet can create the forward table of the node. The forward table records information on the next node of the relay node in the destination direction.

7 is a diagram illustrating a forward table to a destination node created by a node that has received a route response packet in the routing path setting system according to an exemplary embodiment.

And the forwarding table configuration of the node 702 that has received the path response packet. When node j is the node 701 that sent the route reply packet and node i is the node 702 that received the route reply packet, the forward lookup table can be described as follows.

The forward table of the node i includes an identifier 711 of a source node and a destination node, an identifier 712 of a next node in a destination direction to which the path response packet is transmitted, a next node (a node that has sent a path response packet) A three-dimensional position vector 713 of the target node 701, a movement velocity vector 714 of the next node 701 in the destination direction, and a position information acquisition time 715 of the next node 701 in the destination direction have.

The node 702 having received the path response packet can change some field values in transmitting the path response packet to the source node in the source direction by referring to its forward table.

8 is a diagram illustrating a format of a path response packet transmitted from a relay node according to a path from a routing path setup system according to an embodiment to a destination node and a source node.

The format of the path response packet includes a search path 801 field between the source node and the destination node, a route request time 802 field of the source node, a minimum connection expected time value 803 field of the route selected by the destination node, A location vector 804 field, a destination node's moving speed vector 805 field, and a destination node's path response time 806 field. At this time, the route request time field 802 of the source node can be used as it is by maintaining the time in the route request packet as the route request time of the source node.

The format of the path response packet includes an identification address 811 field of the node that transmitted the path response packet, a position vector 812 field of the node that transmitted the path response packet, a moving velocity vector 813 of the node that transmitted the path response packet, Field. ≪ / RTI >

A route request time 802 field of the source node, a minimum connection expected time value 803 field of the route selected by the destination node, a location vector 804 of the destination node field 804, The destination node's moving speed vector field 805, and the destination node's route response time field 806, the value written by the destination node remains unchanged, the identification address 811 field of the node that sent the route response packet, The field of the position vector 812 of the node that transmitted the response packet and the field of the movement speed vector 813 of the node that transmitted the route response packet may be changed to the relay node identification address, position vector, and movement speed vector.

을 계산할 수 있다. As the path response packet is delivered to the source node, the source node can begin data transmission. At this time, the source node calculates the path request time timer value < RTI ID = 0.0 >

Can be calculated.

는 소스 노드가 경로 응답 패킷을 수신한 시간,

는 경로 응답 패킷에 있는 소스 노드의 경로 요청 시간,

는 경로 응답 패킷의 경로 최소 연결 예상 시간 값을 의미한다. 또한

는 경로 단절 예상 시간 이전에 경로 재설정을 수행하기 위한 조정 파라미터이다

.At this time,

The time at which the source node received the path response packet,

Is the path request time of the source node in the path response packet,

Means the path minimum connection expected time value of the path response packet. Also

Is an adjustment parameter for performing a path reset prior to the expected path disconnect time

.

Equation 2:

)을 시간에 따라 감소시킬 수 있다. 이때, 만약 타이머 값이 0이 될 경우, 경로 재설정 요청을 시작할 수 있다. 이때, 경로 재설정 요청 패킷은 미리 결정된 각

를 갖는 지향성 안테나를 이용하여 목적지 노드 방향으로 전송될 수 있다.The source node uses the timer value (

) Can be reduced with time. At this time, if the timer value becomes 0, a path reset request can be started. At this time, the path reset request packet includes a predetermined angle

Lt; RTI ID = 0.0 > directional < / RTI > antenna.

9 is a diagram illustrating a format of a path reset request packet for path reset at a source node in a routing path setting system according to an embodiment.

The path reset request packet may further include a location vector field of the destination node, a moving speed vector field of the destination node, and a path response time field of the destination node in the route request packet described above.

More specifically, the format of the path reset request packet includes a search path 901 field to the north node and the destination node, a path request time 902 field of the source node, a location vector 903 field of the destination node A field of the destination node's movement speed vector 904, a destination node's path response time 905 field, an identifier address 911 of the node that sent the route request packet, a location vector 912 of the node that sent the route request packet Field, a hop count 914 field, a path maximum risk value 921 field, and a path minimum connection expected time value field 922 of a node that has transmitted a route request packet .

10 is a diagram for explaining an example of transmission of a path reset request packet in a routing path setting system according to an embodiment.

Since each information of the destination node's position vector, the destination node's moving speed vector, and the destination node's path response time is included in the route response packet transmitted by the destination node, the source node 1001 can calculate the destination node 1003 Can be estimated. The source node 1001 may transmit a route reset request packet using the directional antenna around the expected position of the destination node 1003. [

At this time, the relay node 1002 receiving the route reset request packet estimates the location of the destination node 1003 at the current time point in the same manner as the source node 1001 and transmits the route reset request packet.

The apparatus described above may be implemented as a hardware component, a software component, and / or a combination of hardware components and software components. For example, the apparatus and components described in the embodiments may be implemented within a computer system, such as, for example, a processor, a controller, an arithmetic logic unit (ALU), a digital signal processor, a microcomputer, a field programmable gate array (FPGA) , A programmable logic unit (PLU), a microprocessor, or any other device capable of executing and responding to instructions. The processing device may execute an operating system (OS) and one or more software applications running on the operating system. The processing device may also access, store, manipulate, process, and generate data in response to execution of the software. For ease of understanding, the processing apparatus may be described as being used singly, but those skilled in the art will recognize that the processing apparatus may have a plurality of processing elements and / As shown in FIG. For example, the processing unit may comprise a plurality of processors or one processor and one controller. Other processing configurations are also possible, such as a parallel processor.

The software may include a computer program, code, instructions, or a combination of one or more of the foregoing, and may be configured to configure the processing device to operate as desired or to process it collectively or collectively Device can be commanded. The software and / or data may be in the form of any type of machine, component, physical device, virtual equipment, computer storage media, or device , Or may be embodyed temporarily. The software may be distributed over a networked computer system and stored or executed in a distributed manner. The software and data may be stored on one or more computer readable recording media.

The method according to an embodiment may be implemented in the form of a program command that can be executed through various computer means and recorded in a computer-readable medium. The computer-readable medium may include program instructions, data files, data structures, and the like, alone or in combination. The program instructions to be recorded on the medium may be those specially designed and configured for the embodiments or may be available to those skilled in the art of computer software. Examples of computer-readable media include magnetic media such as hard disks, floppy disks and magnetic tape; optical media such as CD-ROMs and DVDs; magnetic media such as floppy disks; Magneto-optical media, and hardware devices specifically configured to store and execute program instructions such as ROM, RAM, flash memory, and the like. Examples of program instructions include machine language code such as those produced by a compiler, as well as high-level language code that can be executed by a computer using an interpreter or the like. The hardware devices described above may be configured to operate as one or more software modules to perform the operations of the embodiments, and vice versa.

While the present invention has been particularly shown and described with reference to exemplary embodiments thereof, it is to be understood that the invention is not limited to the disclosed exemplary embodiments. For example, it is to be understood that the techniques described may be performed in a different order than the described methods, and / or that components of the described systems, structures, devices, circuits, Lt; / RTI > or equivalents, even if it is replaced or replaced.

Therefore, other implementations, other embodiments, and equivalents to the claims are also within the scope of the following claims.

Claims (7)

delete A routing path establishment method for data transfer in an unmanned ad hoc network,
Broadcasting a route request packet for searching a data transmission path from a source node to a destination node;
Re-broadcasting the route request packet through the omnidirectional antenna as the relay node receives the route request packet transmitted from the source node;
Receiving another plurality of route request packets for a predetermined time as the destination node receives the route request packet;
The destination node determining an optimal path based on the plurality of path request packets and unicasting the path response packet to the source-direction preceding node; And
Wherein the path response packet is transmitted to the source node via a directional antenna,
Lt; / RTI >
Wherein the step of re-broadcasting the path request packet through the omnidirectional antenna as the relay node receives the path request packet transmitted from the source node comprises:
Wherein the relay node calculates a maximum connection expected time at which a relay node that has received the route request packet maintains a link with the source node and calculates a maximum connection expected time at which the source node and the relay node use the directional antenna between the source node and the relay node The relay node receiving the route request packet calculates the utility value of the received route using the information existing in the route request packet after calculating the maximum connection expected time in consideration of the three- step
/ RTI > 3. The method of claim 2,
Wherein the step of re-broadcasting the path request packet through the omnidirectional antenna as the relay node receives the path request packet transmitted from the source node comprises:
When a value calculated from a new route request packet is greater than a utility value of the reverse table when a relay node receiving the route request packet has a utility value recorded in an reverse table of the node, Updating the new route request packet based on the information of the new route request packet and generating a reverse route table based on the new route request packet when the utility value of the reverse route table does not exist
/ RTI > A routing path establishment method for data transfer in an unmanned ad hoc network,
Broadcasting a route request packet for searching a data transmission path from a source node to a destination node;
Re-broadcasting the route request packet through the omnidirectional antenna as the relay node receives the route request packet transmitted from the source node;
Receiving another plurality of route request packets for a predetermined time as the destination node receives the route request packet;
The destination node determining an optimal path based on the plurality of path request packets and unicasting the path response packet to the source-direction preceding node; And
Wherein the path response packet is transmitted to the source node via a directional antenna,
Lt; / RTI >
Wherein the step of determining an optimal path based on the plurality of path request packets received by the destination node and unicasting the path response packet to a source-
The method of claim 1, further comprising: determining, at the destination node, the route reply packet to the source node after determining an optimal route, using the reverse table of the destination node and the relay nodes, And transmitting the path response packet at a predetermined angle via the directional antenna
/ RTI > 5. The method of claim 4,
Wherein the step of determining an optimal path based on the plurality of path request packets received by the destination node and unicasting the path response packet to a source-
Wherein the relay node transmits the route reply packet based on the three-dimensional location information and the speed information of the node that has transmitted the route reply packet, and the relay node receiving the route reply packet transmits the route reply packet included in the route reply packet Updating the information of the forward table based on the information of the transmitting node
/ RTI > A routing path establishment method for data transfer in an unmanned ad hoc network,
Broadcasting a route request packet for searching a data transmission path from a source node to a destination node;
Re-broadcasting the route request packet through the omnidirectional antenna as the relay node receives the route request packet transmitted from the source node;
Receiving another plurality of route request packets for a predetermined time as the destination node receives the route request packet;
The destination node determining an optimal path based on the plurality of path request packets and unicasting the path response packet to the source-direction preceding node; And
Wherein the path response packet is transmitted to the source node via a directional antenna,
Lt; / RTI >
Wherein the step of starting data transmission from the source node as the path response packet is delivered to the source node via a directional antenna,
The source node calculates a timer value by operating a reset timer for performing path resetting before the estimated path disconnection budget time using the information of the path response packet from the destination node, and when the timer value is ended, The relay node transmits a path reset request packet using a directional antenna having a predetermined angle around a predicted position of a destination node at a time point, and the relay node transmits the path reset request packet ≪ / RTI >
/ RTI > 1. A routing path setting system for data transfer in an unmanned ad hoc network,
A first broadcasting unit for broadcasting a path request packet for searching a data transfer path from a source node to a destination node;
A second broadcasting unit for re-broadcasting the path request packet through the omnidirectional antenna as the relay node receives the path request packet transmitted from the source node;
A receiving unit for receiving another plurality of route request packets for a predetermined time according to the destination node receiving the route request packet;
A unicasting unit for the destination node to determine an optimal path based on the plurality of path request packets and to unicast the path response packet to the source direction preceding node; And
A data transmission unit for starting data transmission from the source node as the path response packet is transmitted to the source node through a directional antenna,
Lt; / RTI >
Wherein the second broadcasting unit comprises:
Wherein the relay node calculates a maximum connection expected time at which a relay node that has received the route request packet maintains a link with the source node and calculates a maximum connection expected time at which the source node and the relay node use the directional antenna between the source node and the relay node The relay node receiving the route request packet calculates the utility value of the received route using the information existing in the route request packet after calculating the maximum connection expected time in consideration of the three-
Routing routing system.

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