KR101791351B1 - Data delivery method with dynamic position update in uav ad-hoc networks - Google Patents

Abstract

A method for transmitting data from a source node to a destination node in an ad hoc network for unmanned autonomous inter-vehicle data communication according to an embodiment includes: predicting a position between each node as a data transmission path for packet transmission is set; ; Transmitting the data packet to the destination node using a directional antenna based on prediction information by predicting a position between the respective nodes; Updating the location information and the moving speed information by the relay node or the destination node that received the data packet while the data packet is being transmitted to the destination node; Receiving an acknowledgment packet (ACK) for the data packet using the directional antenna upon receiving the data packet from the destination node; And updating the location information and the moving speed information by the relay node or the source node receiving the acknowledgment packet.

Description

Technical Field [0001] The present invention relates to a data delivery method and a data delivery method using a dynamic location information update method in an unmanned ad hoc network,

In the following description, we assume that when a data is transmitted after constructing an ad hoc network between unmanned aerial vehicles (UAVs), data is transmitted using a directional antenna by predicting the position between nodes, and the position information and the moving speed information are included in the transmission / To a technique for performing an information update.

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.

When using an existing omnidirectional antenna for data transmission after setting up an ad hoc network, the propagation radius may be short and reliable data transmission may not be performed due to high probability of transmission and interference of other nodes.

In this case, the use of a directional antenna can increase the communication distance between the unmanned aerial vehicles and reduce the influence of inter-node interference.

Data transmission using directional antennas has been mainly applied to relatively stationary user terminals or to use separate training sequence signals for user location estimation. In addition, if the position estimation is not performed well, an operation for estimating the position is performed again. During the operation, the data transmission is disconnected and the service quality is degraded.

There is thus a need for additional techniques, such as an algorithm that provides dynamic position estimation and an adaptive antenna angle adjustment to the expected position estimation error.

The present invention proposes a method and system for providing reliable data transmission through directional antenna angle control through real-time position estimation between unmanned aerial vehicles.

For this purpose, in data transmission using general directional antennas, if the beamforming by accurate position estimation is not performed, since the possibility of the position estimation error increases because the data can not be transmitted successfully, the angle of the directional antenna Can be provided.

Also, when the transmitting node and the receiving node include information for a new position estimation in the data packet and the acknowledgment packet (ACK) at the time of data transmission, a new data format And procedures.

In ad hoc communication between real unmanned aerial vehicles, data transmission using a directional antenna may fail due to sudden change of direction and unexpected change of state. In order to overcome this problem, a new data transmission mechanism is used to update the position of the correct node A method and system for reducing disconnection time can be provided.

According to an embodiment, a method of transmitting data from a source node to a destination node in an ad hoc network for unmanned autonomous inter-vehicle data communication includes: predicting a position between each node as a data transmission path for packet transmission is set; step; Transmitting a data packet to the destination node using a directional antenna based on prediction information by predicting a position between the respective nodes; Updating the location information and the moving speed information by the relay node or the destination node that received the data packet while the data packet is being transmitted to the destination node; Receiving, by the source node, an acknowledgment packet (ACK) for the data packet using the directional antenna upon receiving the data packet from the destination node; And updating the location information and the moving speed information by the relay node or the source node receiving the acknowledgment packet.

Wherein the step of transmitting the data packet to the destination node using the directional antenna based on the prediction information by predicting the position between the respective nodes comprises the steps of: Estimating a current position of a source node and a next node in a destination direction, transmitting the data packet through a directional antenna, automatically calculating a propagation radial angle of the directional antenna based on an estimated distance between the source node and a node next to the destination direction And transmitting the data packet using a directional antenna in which the radio wave radiation angle is automatically adjusted.

Wherein the step of transmitting the data packet to the destination node using the directional antenna based on the prediction information by predicting the position between the respective nodes comprises the steps of: Wherein the step of updating the location information and the moving speed information by the relay node or the destination node that received the data packet while the data packet is being transmitted to the destination node includes A reverse direction table for the source node in the source direction using the three-dimensional position information and the moving speed information included in the data packet or the destination node next to the destination node receiving the data packet, Source direction Position vector information of previous node, Movement velocity vector The information may comprise the step of updating, and the change to record the time at which obtaining the three-dimensional position information in the received time data receives the packet.

The receiving of the acknowledgment packet (ACK) for the data packet using the directional antenna upon receipt of the data packet from the destination node may include updating the uplink table in the reverse table Estimating a position of a previous node in a source direction using the information and automatically adjusting a radio wave radiation angle of the directional antenna based on an estimated distance between the destination node and a source node in front of the source direction, And transmitting the acknowledgment packet using the adjusted directional antenna.

The receiving of the acknowledgment packet (ACK) for the data packet using the directional antenna upon receipt of the data packet from the destination node may include receiving the acknowledgment packet for the data packet from the destination node or the three- Wherein the step of updating the location information and the moving speed information of the relay node or the source node that has received the acknowledgment packet includes a step of receiving the acknowledgment packet, The previous node or the source node constructs a forward table for the next node in the destination direction using the 3D position information and the moving speed information included in the acknowledgment packet, , Updates the moving speed vector information, and acquires the three-dimensional position information It may comprise the step of recording by changing the time in the receiving time of receiving the acknowledgment packet.

Determining whether the number of retransmissions of the data packet using the directional antenna is less than a preset maximum directional antenna retransmission number as the source node fails to receive the acknowledgment packet; And retransmits the data packet using the directional antenna if the number of retransmissions of the data packet using the directional antenna is smaller than the number of retransmissions using the predetermined maximum directional antenna, Converting the directional antenna to a non-directional antenna and retransmitting the data packet if the number of retransmissions is not less than the number of retransmissions using the directional antenna; Receiving an acknowledgment packet for the retransmitted data packet using the omnidirectional antenna, converting the antenna mode to a directional antenna, and using the three-dimensional position information, moving speed information, and current time information included in the acknowledgment packet Updating the information of the forward table; And determining whether the retransmission number of the data packet using the omnidirectional antenna is smaller than the retransmission number of the maximum omnidirectional antenna when the reception acknowledgment packet for the retransmitted data packet is not received using the omnidirectional antenna And if the number of retransmissions using the omnidirectional antenna is smaller than the number of retransmissions using the predetermined maximum omnidirectional antenna, retransmitting the data packet using the omnidirectional antenna, and if the number of retransmissions using the omni- And transmitting the path error packet in the direction of the source node if it is not smaller than the number of retransmissions using the maximum omnidirectional antenna.

According to one embodiment, a data delivery system from a sourcing node to a destination node in an ad hoc network for unmanned autonomous inter-vehicle data communication includes a step of predicting a position between each node as a data transmission path for packet transmission is set A position estimating unit; A data packet transmission unit for transmitting the data packet to the destination node using a directional antenna based on prediction information that predicts a position between the respective nodes; A first update unit for updating the location information and the moving speed information by the relay node or the destination node that receives the data packet while the data packet is being transmitted to the destination node; An acknowledgment packet unit for receiving the acknowledgment packet (ACK) for the data packet by the source node using the directional antenna upon receiving the data packet from the destination node; And a second updating unit for updating the location information and the moving speed information of the relay node or the source node receiving the acknowledgment packet.

The present invention transmits data from a source to a destination end node in an unmanned ad hoc network on a path determined by an existing path search protocol, so that more reliable data transmission can be performed using a directional antenna.

The present invention uses a directional antenna based on position estimation information in comparison with an omnidirectional antenna to increase the transmission distance, thereby reducing link disconnection between fast moving objects and providing reliable data transmission.

In addition, since the link disconnection probability due to the position error may be different when the directional antenna is used according to the estimated distance of the adjacent vehicle, the angle of the directional antenna for correcting the angle may be adaptively adjusted to reduce the data disconnection due to the link disconnection .

In case of directional antenna, a new method for updating accurate location information and moving speed information is proposed.

The present invention also enables data transmission through directivity and omnidirectional antenna mode exchange when data transmission is not successful due to sudden flight path change or other environment change, The path resetting overhead can be reduced by reducing the data transmission disconnection time and not performing the path resetting.

FIG. 1 illustrates an example of a configuration of an ad hoc network path for data transfer between UAVs according to an exemplary embodiment of the present invention. Referring to FIG.
2 is a diagram for explaining a propagation range and a maximum transmission distance in transmitting data using a directional antenna in a data delivery system according to an exemplary embodiment.
FIG. 3 is a diagram for explaining that a propagation range of a directional antenna according to an estimated inter-node distance in a data packet and an acknowledgment packet transmission to a neighboring node in a data delivery system according to an exemplary embodiment, to be.
4 is a view for explaining a method of adjusting the angle of a directional antenna in a data transmission system according to an embodiment.
FIG. 5 is a diagram for explaining a packet configuration when a data packet is transmitted in a data delivery system according to an embodiment and a process of updating a reverse table of a receiving node receiving the data packet.
6 is a diagram for explaining a packet configuration when transmitting an acknowledgment packet in a data delivery system according to an embodiment and a process of updating a forward table of a receiving node receiving an acknowledgment packet.
FIG. 7 is a diagram for explaining an operation when a transmitting node of a data packet fails to receive an acknowledgment packet in a process of transmitting and receiving a data packet and an acknowledgment packet in the data delivery system according to the embodiment.
8 is a block diagram illustrating a configuration of a data delivery system according to an embodiment.

Hereinafter, a method for transmitting effective data in an unmanned aerial vehicle ad hoc network according to an embodiment will be described in detail with reference to the accompanying drawings.

The data delivery system according to the embodiment may include a Global Positioning System (GPS) function capable of measuring three-dimensional position information of the unmanned aerial vehicle. 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.

FIG. 1 illustrates an example of a configuration of an ad hoc network path for data transfer between UAVs according to an exemplary embodiment of the present invention. Referring to FIG.

The source node 101 is a node that desires data transmission, and the destination node 105 is an endpoint that finally receives data. The data can be directly transferred to the destination node 105 as the data is transmitted from the source node 101. However, when data can not be directly transmitted from the source node 101 to the destination node 105, There may be relay nodes 102-104 which are intermediate nodes that can communicate with each other. Thus, data can be transmitted and received between the source node 101 and the destination node 105. [

In the embodiments, it is assumed that a path for data transmission has already been set using an AODV-based routing protocol or the like. In this case, the path request packet and the path response packet may include the three-dimensional position information and the moving speed information of the transmitting node transmitting the respective packets.

), 다시 말해서, 이 경우, 경로 요청 패킷 수신시간을 기록할 수 있다. 이때, 경로 요청 패킷을 수신하는 수신 노드는 목적지 노드(105)일 수도 있고, 릴레이 노드(102~104)일 수도 있다.The receiving node receiving the route request packet can construct a reverse table for the source node in the source direction and records the three-dimensional position information and the moving speed information of the node in the source direction in the table.

), In other words, in this case, the path request packet reception time can be recorded. At this time, the receiving node receiving the route request packet may be the destination node 105 or the relay node 102-104.

), 다시 말해서, 경로 응답 패킷 수신 시간을 기록할 수 있다.Likewise, the receiving node receiving the path response packet can construct a forward table for the next node in the destination direction, and records the three-dimensional position information and the moving speed information of the next node in the destination direction in the forward table,

), In other words, the path response packet reception time can be recorded.

2 is a diagram for explaining a propagation range and a maximum transmission distance in transmitting data using a directional antenna in a data delivery system according to an exemplary embodiment.

Fig. 2 is for explaining the range of propagation according to the angle of the directional antenna when transmitting a signal using the directional antenna. At this time, the transmission power may be constant.

일 때, 전파 도달 범위는 201로 표시될 수 있으며, 이때, 최대 전송거리는

로 표시될 수 있다. 지향성 안테나의 각도 변화가 총 N(N은 자연수)가지로 이산적으로 조절될 때, 마지막 각도는

일 수 있으며, 각도

에 대한 전파 도달 범위는 202로 표시되며, 이에 대한 최대 전송거리는

으로 표시될 수 있다.For example, if the angle of the directional antenna is

, The radio wave arrival range can be indicated by 201, and the maximum transmission distance is represented by

. ≪ / RTI > When the angular variation of the directional antenna is discretely adjusted with a total of N (N is a natural number) branch, the last angle is

And the angle

The propagation range for the antenna is indicated by 202,

. ≪ / RTI >

FIG. 3 is a diagram for explaining that a propagation range of a directional antenna according to an estimated inter-node distance in a data packet and an acknowledgment packet transmission to a neighboring node in a data delivery system according to an exemplary embodiment, to be.

FIG. 3 illustrates the necessity of directional antenna angle control according to the estimated inter-node distance in data and acknowledgment packet transmission from a data delivery system to a neighboring node.

A packet may be transmitted from the transmitting node 301. [ At this time, the transmitting node 301 may be a source node or a relay node. 3, reference numeral 301 denotes a location of a transmitting node that transmits a data packet (e.g., a route request packet, a route reply packet) or an acknowledgment (ACK) packet, 302 denotes a packet The predicted position of the receiving node.

를 사용하였을 경우, 전파 도달 범위는 306이 된다. 예를 들면, 수신 노드의 실제 위치가 송신 노드(301)로부터 일정거리(예를 들면, d 만큼) 떨어진 303에 위치하고 있다고 할 때, 수신 노드의 실제위치(303)은

를 사용한 전파 도달 범위 안에 존재하기 때문에 데이터 수신이 가능하다.At this time,

, The radio wave arrival range is 306. For example, assuming that the actual location of the receiving node is located 303 away from the transmitting node 301 by a certain distance (e.g., d), the actual location 303 of the receiving node is

And therefore data reception is possible.

On the other hand, assuming that the predicted position 304 of the receiving node is located 305, which is a distance d away from the transmitting node 301, since the actual position 305 of the receiving node is outside the range of the radio wave using impossible. At this time, when the angle of the directional antenna of the transmitting node 301 is widened, the radio wave arrival range 307 includes the actual position of the receiving node 305, so that the packet can be successfully transmitted.

4 is a view for explaining a method of adjusting the angle of a directional antenna in a data transmission system according to an embodiment.

A description will be made of a directional antenna angle control method according to a distance between a transmitting node and a predicted position of an estimated receiving node in data and acknowledgment packet transmission to a neighboring node.

라 할 때, 테이블(403)에 예측거리에 따른 지향성 안테나의 조절 각도를 나타낼 수 있다. 여기서

,

의 관계를 갖는다.4, a transmission node 401 (i-node) that transmits a data packet or an acknowledgment (ACK) packet and a predicted position 402 of a receiving node (j-node) . The predicted distance between the transmitting node 410 and the receiving node at the predicted position is

The adjustment angle of the directional antenna according to the predicted distance can be displayed on the table 403. [ here

,

.

The data delivery system increases the angle of the directional antennas as the predicted distance between the transmitting node 401 and the receiving node becomes shorter, thereby reducing the propagation distance. However, by increasing the width of the beam, The longer the distance, the smaller the angle of the directional antenna, and the transmission distance can be increased.

은 시간 t에서 수신 노드(j노드)의 추정된 예측 위치이고,

,

는 각각 시간

에 기록된 역방향 또는 순방향 테이블에 존재하는 수신 노드(j 노드)의 3차원 위치 정보와 이동 속도 정보를 의미할 수 있다. 이때,

는 역방향 테이블 또는 순방향 테이블에 기록된 위치 정보 획득 시간을 의미할 수 있다. 4, an estimation method for estimating the location of a receiving node (j node) receiving a data packet or an acknowledgment packet can be calculated as shown in Equation (1). At this time,

Is the estimated predicted position of the receiving node (j-th node) at time t,

,

Respectively,

Dimensional position information and moving velocity information of the receiving node (j node) existing in the backward or forward table recorded in the table. At this time,

May mean the location information acquisition time recorded in the reverse table or the forward table.

Equation 1:

FIG. 5 is a diagram for explaining a packet configuration when a data packet is transmitted in a data delivery system according to an embodiment and a process of updating a reverse table of a receiving node receiving the data packet.

5 shows the structure of a data packet for data packet transmission from node i to node j. At this time, the node j can receive the packet as the node i transmits the data packet.

The data packet structure may include the additional information area 502 in the data area 501. At this time, the additional information area 502 may include additional information for providing the node j to perform accurate beamforming when transmitting a packet to the node i in the future. The additional information area 502 may include a current position information area 503 including current position information of the three-dimensional node i and a current traveling speed information area 504 including the current traveling speed information.

The node j receiving the data uses the latest information of the position information and the velocity recorded in the current position information area 503 and the current movement speed information area 504 of the node i in the reverse table of the node j as shown in FIG. The existing information on the node i can be updated and stored, and the position information acquisition time of the reverse table can be updated to the current time.

6 is a diagram for explaining a packet configuration when transmitting an acknowledgment packet in a data delivery system according to an embodiment and a process of updating a forward table of a receiving node receiving an acknowledgment packet.

As described above, node j can receive a data packet by transmitting a data packet from node i to node j. At this time, an acknowledgment (ACK) packet indicating that the node j has received the data packet transmitted from the node i may be transmitted to the node i. Accordingly, the structure of the acknowledgment packet will be described with reference to FIG.

The acknowledgment packet 601 may include an additional information area 620 that allows later node i to perform accurate beamforming when transmitting a packet to node j. The additional information area 602 may include a current position information area 603 including the current position information of the node j in the three-dimensional position and a current traveling speed information area 604 including the current traveling speed information.

1, the node i receiving the acknowledgment packet transmits the position information recorded in the current position information area 603 of the node j and the current movement speed information area 604 to the forward table of the node i, The existing information on the node j can be updated and stored. The location information acquisition time of the forward table can also be updated with the current time.

FIG. 7 is a diagram for explaining an operation when a transmitting node of a data packet fails to receive an acknowledgment packet in a process of transmitting and receiving a data packet and an acknowledgment packet in the data delivery system according to the embodiment.

The receiving node may transmit the acknowledgment packet to the transmitting node using the directional antenna (701). The transmitting node can determine whether to receive the acknowledgment packet (702). At this time, if the acknowledgment packet is normally received, the information of the forward table may be updated using the location information, the speed information, and the current time information included in the acknowledgment packet, and then the next packet may be transmitted (703).

)보다 작은지를 검사할 수 있다(704). 만약, 지향성 안테나를 이용한 재전송 횟수가 미리 설정된 최대 지향성 안테나를 이용한 재전송 횟수보다 적다면 해당 데이터 패킷을 지향성 안테나를 이용하여 재전송하고, 재전송 카운터를 1 증가시킬 수 있다. 또한, 지향성 안테나를 이용한 재전송 횟수가 미리 설정된 최대 지향성 안테나 재전송 횟수보다 작지 않다면, 지향성 안테나에서 무지향성 안테나로 변환하고(705), 동일한 데이터 패킷을 무지향성 안테나를 이용하여 재전송할 수 있다(706). 이는 상대 노드(예를 들면, 수신 노드)의 위치 추정 오류로 지향성 안테나가 가질 수 있는 데이터 전달 오류를 해결하기 위해서이다.In this case, when the transmitting node fails to receive the acknowledgment packet, the transmitting node determines whether the number of retransmissions using the directional antenna of the data packet is equal to the number of retransmissions

(704). ≪ / RTI > If the number of retransmissions using the directional antenna is smaller than the number of retransmissions using the preset maximum directional antenna, the corresponding data packet may be retransmitted using the directional antenna and the retransmission counter may be incremented by one. If the number of retransmissions using the directional antenna is not less than the predetermined maximum number of directional antenna retransmissions, the directional antenna may be converted to a non-directional antenna (705) and the same data packet may be retransmitted using an omnidirectional antenna (706) . This is to solve the data transmission error that the directional antenna can have due to the position estimation error of the other node (e.g., receiving node).

The transmitting node can determine whether the acknowledgment packet for the retransmitted data packet is received (707). Upon receiving the acknowledgment packet, the transmitting node converts the antenna mode to a directional antenna (step 708). The transmitting node updates information of the forwarding table using the location information, the speed information, and the current time information included in the acknowledgment packet (step 703 ) The next packet is transmitted using the directional antenna.

) 보다 작은지를 검사할 수 있다(709). 이때, 무지향성 안테나를 이용한 재전송 횟수가 미리 설정된 최대 무지향성 안테나를 이용한 재전송 횟수보다 작다면 해당 데이터 패킷을 무지향성 안테나를 이용하여 재전송하고 재전송 카운터를 1 증가시킬 수 있다. 또한, 무지향성 안테나를 이용한 재전송 횟수가 미리 설정된 최대 무지향성 안테나 재전송 횟수보다 작지 않다면, 소스 노드 방향으로 경로 오류 패킷을 전송한다(710). 경로 오류 패킷을 수신한 소스 노드는 경로 재설정 절차를 시작한다.When the acknowledgment packet is not received, the transmitting node determines whether the number of retransmissions of the data packet using the omnidirectional antenna is equal to the number of retransmissions using the predetermined maximum omnidirectional antenna

(709). ≪ / RTI > At this time, if the number of retransmissions using the omnidirectional antenna is smaller than the number of retransmissions using the maximum omni-directional antenna, the corresponding data packet can be retransmitted using the omnidirectional antenna and the retransmission counter can be increased by one. If the number of retransmissions using the omnidirectional antenna is not less than the maximum number of omnidirectional antenna retransmissions, a path error packet is transmitted in the direction of the source node (710). The source node that received the path error packet starts the path reset procedure.

8 is a block diagram illustrating a configuration of a data delivery system according to an embodiment.

The data delivery system 800 is for providing reliable data transmission from the source node to the destination node after routing in an ad hoc network for data communication between the unmanned aerial vehicle and includes a position estimation unit 810, 820, a first update unit 830, an acknowledgment packet reception unit 840, and a second update unit 850.

The location estimating unit 810 can predict the position between each node as the data transmission path for packet transmission is set.

The data packet transmitter 820 may transmit the data packet to the destination node using the directional antenna based on the prediction information as predicted by the position between the respective nodes. The data packet transmission unit 820 estimates the current position of the source node and the next node in the destination direction using the forward table obtained in the process of setting the data transmission path, transmits the data packet through the directional antenna, The directional radiation angle of the directional antenna can be automatically adjusted based on the estimated distance between the direction of the next node and the data packet can be transmitted using the directional antenna in which the propagation angle of radiation is automatically adjusted. The data packet transmitting unit 820 may transmit the data packet including the three-dimensional position information and the moving speed information of the source node or the next node in the destination direction.

The first update unit 830 may update the location information and the moving speed information of the relay node or the destination node that received the data packet while the data packet is being transmitted to the destination node. The first update unit 830 constructs an inverse table for the source node in the source direction using the three-dimensional position information and the moving speed information included in the data packet, the next node or the destination node in the destination direction in which the data packet is received, The position vector information and the moving velocity vector information of the node before the source direction in the table are updated, and the time at which the three-dimensional position information is acquired is changed to the receiving time at which the data packet is received.

The acknowledgment packet receiver 840 receives the data packet from the destination node, and the source node can receive the acknowledgment packet (ACK) for the data packet using the directional antenna. The acknowledgment packet receiving unit 840 estimates the location of the source node in the source direction using the updated information in the reverse table as the acknowledgment packet is transmitted from the destination node, and based on the estimated distance between the destination node and the source node in the source direction And the reception acknowledgment packet can be transmitted using the directional antenna in which the radio wave radiation angle of the directional antenna is automatically adjusted and the radio wave radiation angle is automatically adjusted. The acknowledgment packet receiving unit 840 may transmit the three-dimensional position information and the moving speed information of the destination node or the destination mobile node in the acknowledgment packet.

The second update unit 850 can update the location information and the moving speed information of the relay node or the source node that has received the acknowledgment packet. The second update unit 850 constructs a forward table for the next node in the destination direction using the three-dimensional position information and the moving speed information included in the acknowledgment packet, , The position vector information and the moving velocity vector information of the next node in the destination direction in the forward table are updated, and the time at which the three-dimensional position information is acquired is changed to the reception time at which the acknowledgment packet was received.

The retransmitting unit (not shown) may determine whether the number of retransmissions using the directional antenna of the data packet is less than a preset maximum directional antenna retransmission number as the source node fails to receive the acknowledgment packet. If the number of retransmissions using the directional antenna of the data packet is smaller than the number of retransmissions using the predetermined maximum directional antenna, the retransmission unit retransmits the data packet using the directional antenna, and if the number of retransmissions using the directional antenna is set using a preset maximum directional antenna If the number of retransmissions is not less than the number of retransmissions, the data packet can be retransmitted by converting from a directional antenna to an omnidirectional antenna. Upon receiving the acknowledgment packet for the retransmitted data packet using the omnidirectional antenna, the retransmission unit converts the antenna mode to a directional antenna, and uses the three-dimensional position information, the moving speed information, and the current time information included in the acknowledgment packet So that the information of the forward table can be updated. If the retransmission unit does not receive the acknowledgment packet for the retransmitted data packet using the non-directional antenna, it determines whether the retransmission number of the data packet using the omnidirectional antenna is smaller than the retransmission number using the predetermined maximum omni-directional antenna, If the number of retransmissions using the omnidirectional antenna is smaller than the number of retransmissions using the maximum omnidirectional antenna set in advance, the data packet is retransmitted using the omnidirectional antenna, and the retransmission number using the omnidirectional antenna is retransmitted If it is not less than the number of times, a path error packet can be transmitted in the direction of the source node.

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)

A method for transmitting data from a source node to a destination node in an ad hoc network for unmanned autonomous body communication,
Predicting a position between each of the nodes as a data transmission path for packet transmission is set;
Transmitting a data packet to the destination node using a directional antenna based on prediction information by predicting a position between the respective nodes;
Updating the location information and the moving speed information by the relay node or the destination node that received the data packet while the data packet is being transmitted to the destination node;
Receiving, by the source node, an acknowledgment packet (ACK) for the data packet using the directional antenna upon receiving the data packet from the destination node; And
The relay node or the source node receiving the acknowledgment packet updates the location information and the moving speed information
Lt; / RTI >
Wherein the step of transmitting the data packet to the destination node using the directional antenna based on the prediction information by predicting the position between the respective nodes comprises:
Estimating a current position of the source node and a next node in a destination direction using the forward table obtained in the process of setting the data transmission path, transmitting the data packet through the directional antenna, Automatically adjusting the propagation angle of the directional antenna based on the estimated distance between the directional antenna and the directional antenna, and transmitting the data packet using the directional antenna with the propagation angle automatically adjusted
Lt; / RTI > delete The method according to claim 1,
Wherein the step of transmitting the data packet to the destination node using the directional antenna based on the prediction information by predicting the position between the respective nodes comprises:
And transmitting the data packet including the three-dimensional position information and the moving speed information of the source node or the next node in the destination direction to the data packet
Lt; / RTI >
Wherein the updating of the location information and the moving speed information by the relay node or the destination node, which received the data packet, while the data packet is being transmitted to the destination node,
The destination node receiving the data packet or the destination node constructs a reverse table for the source node in the source direction using the three-dimensional position information and the moving speed information included in the data packet, Direction moving vector information and moving velocity vector information of the previous node, and changing the time of acquiring the three-dimensional position information to the receiving time of the data packet and recording
Lt; / RTI > A method for transmitting data from a source node to a destination node in an ad hoc network for unmanned autonomous body communication,
Predicting a position between each of the nodes as a data transmission path for packet transmission is set;
Transmitting a data packet to the destination node using a directional antenna based on prediction information by predicting a position between the respective nodes;
Updating the location information and the moving speed information by the relay node or the destination node that received the data packet while the data packet is being transmitted to the destination node;
Receiving, by the source node, an acknowledgment packet (ACK) for the data packet using the directional antenna upon receiving the data packet from the destination node; And
The relay node or the source node receiving the acknowledgment packet updates the location information and the moving speed information
Lt; / RTI >
Receiving an acknowledgment packet (ACK) for the data packet using the directional antenna upon receiving the data packet from the destination node,
The method of claim 1, further comprising: estimating a position of a source node ahead of the source node by using information updated in an uplink table as the acknowledgment packet is transmitted from the destination node; And the reception acknowledgment packet is transmitted using the directional antenna in which the radio wave radiation angle is automatically adjusted
Lt; / RTI > The method according to claim 1 or 4,
Receiving an acknowledgment packet (ACK) for the data packet using the directional antenna upon receiving the data packet from the destination node,
And transmitting the three-dimensional position information and the moving speed information of the destination node or the destination mobile node to the acknowledgment packet
Lt; / RTI >
Wherein the updating of the location information and the moving speed information by the relay node or the source node, which has received the acknowledgment packet,
The source node or the source node receiving the acknowledgment packet constructs a forward table for the next node in the destination direction using the three-dimensional position information and the moving speed information included in the acknowledgment packet, Updating the position vector information and the moving velocity vector information of the next node in the destination direction and changing the time at which the three-dimensional position information is acquired to the reception time at which the acknowledgment packet was received
Lt; / RTI > A method for transmitting data from a source node to a destination node in an ad hoc network for unmanned autonomous body communication,
Predicting a position between each of the nodes as a data transmission path for packet transmission is set;
Transmitting a data packet to the destination node using a directional antenna based on prediction information by predicting a position between the respective nodes;
Updating the location information and the moving speed information by the relay node or the destination node that received the data packet while the data packet is being transmitted to the destination node;
Receiving, by the source node, an acknowledgment packet (ACK) for the data packet using the directional antenna upon receiving the data packet from the destination node; And
The relay node or the source node receiving the acknowledgment packet updates the location information and the moving speed information
Lt; / RTI >
Determining whether the number of retransmissions of the data packet using the directional antenna is less than a preset maximum directional antenna retransmission number as the source node fails to receive an acknowledgment packet;
And retransmits the data packet using the directional antenna if the number of retransmissions of the data packet using the directional antenna is smaller than the number of retransmissions using the predetermined maximum directional antenna, Converting the directional antenna to a non-directional antenna and retransmitting the data packet if the number of retransmissions is not less than the number of retransmissions using the directional antenna;
Receiving an acknowledgment packet for the retransmitted data packet using the omnidirectional antenna, converting the antenna mode to a directional antenna, and using the three-dimensional position information, moving speed information, and current time information included in the acknowledgment packet Updating the information of the forward table; And
Determining whether a retransmission number of the data packet using the omnidirectional antenna is less than a retransmission number using a predetermined maximum omnidirectional antenna when the reception acknowledgment packet for the retransmitted data packet is not received using the omnidirectional antenna, And if the number of retransmissions using the omnidirectional antenna is smaller than the number of retransmissions using the predetermined maximum omnidirectional antenna, retransmits the data packet using the omnidirectional antenna, and if the number of retransmissions using the omni- And transmitting the path error packet in the direction of the source node if it is not smaller than the number of retransmissions using the omnidirectional antenna
Lt; / RTI > A data delivery system from a source node to a destination node in an ad hoc network for unmanned autonomous inter-vehicle data communication,
A location estimator for estimating a location between each of the plurality of nodes as a data transmission path for packet transmission is set;
A data packet transmission unit for transmitting a data packet to the destination node using a directional antenna based on the prediction information by predicting a position between the respective nodes;
A first update unit for updating the location information and the moving speed information by the relay node or the destination node that receives the data packet while the data packet is being transmitted to the destination node;
An acknowledgment packet unit for receiving the acknowledgment packet (ACK) for the data packet by the source node using the directional antenna upon receiving the data packet from the destination node; And
The relay node receiving the acknowledgment packet or the second update unit updating the location information and the moving speed information by the source node
Lt; / RTI >
Wherein the data packet transmitter comprises:
Estimating a current position of the source node and a next node in a destination direction using the forward table obtained in the process of setting the data transmission path, transmitting the data packet through the directional antenna, Automatically adjusts the propagation angle of the directional antenna based on the estimated distance between the directional antenna and the directional antenna, and transmits the data packet using the directional antenna in which the propagation angle is automatically adjusted
Data delivery system.

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