RU2789978C1 - Method for parallel data transmission in self-organizing radio networks of groups of robotics - Google Patents

Abstract

FIELD: network information technology.

SUBSTANCE: invention relates to the field of network information technology. The effect is achieved due to the fact that the RTS are grouped into clusters with the appointment of a leader, where in each cluster at least k+r RE, each i-th RE of the cluster "a" the extracted target data is represented by a vector and is divided into parts, which are encoded by multivalued redundant code, the code symbols are distributed among the RE of cluster "a". To transmit code symbols, route data is transmitted to all RE of cluster “a”, then code symbols are transmitted to the recipient along parallel one-dimensional routes, the multi-valued redundant code is decoded on the receiving side, then, discarding the check symbols, concatenation is performed, restoring the transmitted target data, in case failure of at most one cluster, the cluster leader recovers erroneous or erased symbols.

EFFECT: increasing the data transfer rate and noise immunity of the radio network of a group of robotic equipment (RE) under the influence of destabilizing factors.

3 cl, 8 dwg

Description

The field of technology to which the invention belongs

The invention relates to the field of network information technology and can be used in data transmission systems of robotic complexes.

The trend in the development of robotics is associated with the transition from the use of individual robotic systems (ground control station and one robotic tool) to group ones (ground control point, two or more robotic tools (RTS) combined into a radio communication network) [Polovko S.A. Prospects for the use of hybrid groups of mobile robots for special purposes / S.A. Polovko, A.V. Popov. // Proceedings of the International Scientific and Technical Conference "Extreme Robotics and Conversion Trends". - 2018. - S. 25-33]. In turn, the dynamics of changes in the topology of the radio communication network of the RTS group imposes certain restrictions on the data routing procedures, to combat which it is proposed to use the technology of building self-organizing MANET (Mobile Ad-Hoc Networks) [Kucheryavy A.E. Internet of things // Electrosvyaz. - 2013. - No. 1 - S. 21-24] and FANET (Flying Ad-Hoc Networks) networks [Bekmezci I. Flying ad-hoc networks (FANETs): A survey / I. Bekmezci, O.K. Sahingoz, and, S. Temel // Ad Hoc Networks, vol. 11, no. 3, pp. 1254-1270, May 2013]. At the same time, an increase in the number of RTS in a group and the presence of destabilizing factors (accidental and intentional) lead to the need to solve problems: managing RTS and combating the consequences of destabilizing factors. So, according to [GOST R 53111 - 2008. Stability of the operation of a public communication network], a destabilizing factor is understood as an impact on the telecommunication network, the source of which is a physical or technological process of an internal or external nature in relation to the telecommunication network, leading to failure of the network elements.

One of the well-known approaches to solving these problems is: RTS clustering in a radio communication subnetwork, application of methods of distributed storage and redundant data coding.

A RTS cluster will mean two or more RTSs with data storage devices located on them, united in a communication subnet according to a common feature. Then the RTS cluster can be considered as a separate independent element (node) of the radio network of the RTS group.

State of the art

a) description of analogues

There is a known method of building a communication network for flying devices of the Internet of Things for system monitoring in healthcare and sports using Ant-Enabled Energy-Aware Routing [Inam Ullah Khan etc Monitoring System-Based Flying IoT in Public Health and Sports Using Ant-Enabled Energy-Aware Routing , Journal of Healthcare Engineering Volume 2021, Article ID 1686946, 11 pages, https://doi.org/10.l155/2021/1686946 (Accessed 04/18/2022)], which consists in building a flying radio network for the Internet of Things in the interests of health care and sports, which implements data routing procedures based on the AntHocNet hybrid algorithm (ant colony optimization concept).

The disadvantage of the analog is the low noise immunity of the radio network for flying devices of the Internet of things under the influence of destabilizing factors that can lead to the loss of a flying device with information stored on it, as well as errors in transmitted data and / or loss of part (packets) of data.

Known communication protocol for networks FANET [W. Zafar, V.M. Khan A reliable, delay bounded and less complex communication protocol for multicluster FANETs, Digital Communications and Networks (2016), https://reader.elsevier.com/reader/sd/pii/S2352864816300256?token=4E4F4F01 8E5A62758A8207A84743F17C324CA46AD3D79F61C46C292F7AC86B73FC 785B62C7BFAD59DC89DBEFC8CAA3FA&originRegion=eu-west -l&originCreation=20220418165535 (date of access: 04/18/2022)], which consists in building multi-cluster FANET networks using the IEEE 802.15.4 protocol for communication between UAVs.

The disadvantage is the low level of noise immunity of the air communication network when transmitting target information under the influence of destabilizing factors.

b) description of the closest analogue (prototype)

A known method of dynamic clustering of air peer-to-peer networks with load balancing [G. Asaamoning, P. Mendes, N. Magaia A Dynamic Clustering Mechanism With Load-Balancing for Flying Ad Hoc Networks. IEEE Access. PP(99). 1-1. 10.1109/ACCESS.2021.3130417 https://www.researchgate.net/publication/356485778_A_Dynamic_Clustering_Mechanism_With_Load-Balancing_for_Flying_Ad_Hoc_Networks (date of access: 04/18/2022)], taken as a prototype and consisting in the fact that groups of UAVs operating in a certain, grouping clusters. In each cluster, using the "Political Optimization" algorithm, two leaders are selected (primary and alternate). They act as a gateway in their cluster and also share the traffic load using the Shannon entropy function. Data exchange between clusters is implemented through leaders. They also interact with ground base stations and UAVs in their own clusters.

The disadvantage of the prototype is: low noise immunity of the air peer-to-peer network under the influence of destabilizing factors that can lead to the loss of the UAV with the information stored on it, to errors and/or loss of part (packets) of transmitted data; as well as the low data rate of overhead peer-to-peer networks. The data rate is limited by the rate in the communication channels between leaders in adjacent clusters. In addition, data transmission through a common gateway (cluster leader) provides for serial data transmission over communication channels between leaders, which can lead to delays in data transmission.

Disclosure of the invention (its essence)

a) the technical result to which the invention is directed

The technical result of this invention is to increase: data transfer rate and noise immunity of the radio network of the RTS group under the influence of destabilizing factors.

b) a set of essential features

представляются вектором

и разбиваются на части

таким образом, что

Эти части кодируются на представительском уровне эталонной модели взаимодействия открытых систем многозначным избыточным кодом. Символы кода

равномерно распределяются между запоминающими устройствами, размещенными на бортах робототехнических средств, кластера «а» для хранения и, при необходимости, передачи. При выполнении процедуры передачи хранимых символов кода, данные о маршруте, который построил лидер, передаются всем робототехническим средствам кластера «а». Далее, символы кода, подлежащие передаче, всеми робототехническими средствами кластера «а» передаются получателю по параллельным одномерным маршрутам между одноименными робототехническими средствами в других кластерах. На приемной стороне, на представительском уровне эталонной модели взаимодействия открытых систем, выполняют декодирование многозначного избыточного кода, при необходимости восстанавливают ошибочные или стертые символы кода, получая

Затем, отбросив проверочные символы, выполняют конкатенацию

восстанавливая переданные целевые данные

The technical result of the invention is achieved by the fact that the method of parallel data transmission in self-organizing radio networks of groups of robotic means, which consists in the fact that groups of robotic means are fragmented into clusters. In each cluster, one of the robotic means is appointed as the leader of the communication control, which calculates the data transmission route from its cluster to the recipient cluster. Clusters, for one communication session, can act as: a source or recipient, or a data relay. What is new is that each cluster contains at least k+r robotics. In adjacent clusters "a" and "b", each i-th robotic tool of cluster "a" is associated with the i-th robotic tool of cluster "b", thus forming a parallel communication channel between adjacent clusters "a" and "b". Each i-th robotic tool of cluster "a" collected target data

are represented by the vector

and break into pieces

so that

These parts are encoded at the representational level of the reference model of open systems interaction with a multivalued redundant code. Code symbols

are evenly distributed between the storage devices placed on the sides of the robotic means, cluster "a" for storage and, if necessary, transmission. When performing the procedure for transmitting stored code symbols, data about the route that the leader built is transmitted to all robotic means of cluster "a". Further, the code symbols to be transmitted are transmitted by all robotic means of cluster "a" to the recipient along parallel one-dimensional routes between robotic means of the same name in other clusters. On the receiving side, at the representative level of the reference model of interaction of open systems, the multi-valued redundant code is decoded, if necessary, erroneous or erased code characters are restored, obtaining

Then, discarding the check characters, perform the concatenation

restoring the transmitted target data

In this case, in case of failure of no more than D _min -1 robotic means of one cluster, the cluster leader fulfills a request for the transfer of symbols of a multi-valued redundant code from operable robotic means of the cluster to a storage device placed on its board. After receiving the multivalued redundancy code symbols, the cluster leader performs a procedure for recovering erroneous or erased symbols. Restores the target data as a whole. Further, it re-encodes the target data with a multi-valued redundant code and redistributes the received code symbols between the storage devices located on the sides of the operable robotic means of the cluster.

At the same time, the target data transmission procedure can be carried out in two modes: in the mode with target data relaying only at the physical level of the reference model of open systems interaction or in the mode with target data relaying and intermediate error correction in the target data at the representative level of the reference model of open systems interaction .

c) causal relationship between features and technical result

Thanks to a new set of essential features, the method implements the possibility of parallel transmission of target data (hereinafter referred to as "data") along a multidimensional (multipath) route with the possibility of restoring part of the data lost (accepted with an error) during their transmission and/or storage.

The analysis of the prior art made it possible to establish that there are no analogues characterized by a set of features identical to all the features of the claimed technical solution, which indicates the compliance of the claimed method with the condition of patentability "novelty".

The results of the search for known solutions in this and related fields of technology in order to identify features that match the distinguishing features of the prototype of the claimed object showed that they do not follow explicitly from the prior art.

From the prior art, the influence of the transformations provided for by the essential features of the claimed invention on the achievement of the specified technical result has not been revealed either. Therefore, the claimed invention meets the condition of patentability "inventive step".

Brief description of the drawings

The claimed invention is illustrated by drawings, which show: Fig. 1 shows an example of a radio communication network of an RTS group, fragmented into clusters, represented as an undirected graph;

fig. 2 - an example explaining the principle of constructing parallel communication channels in adjacent clusters of a group of robotic tools (for a particular case);

fig. 3 - an explanation of the area of operation of the considered method within the framework of the reference model of the interaction of open systems;

fig. 4 - explanation of the procedure for distributing data parts, represented by multivalued redundant code symbols, between cluster nodes (for a particular case: k=3 and n=5);

fig. 5 is an example explaining the principle of constructing a multidimensional route;

fig. 6 - explanation of the implementation of the considered method on the transmitting and receiving sides (for a particular case);

fig. 7 - an example of data transmission along a multidimensional route (for a particular case);

fig. 8 - explanation of the procedure for performing the procedures for decoding and encoding data, on the relay node in the mode with intermediate error correction (for a particular case).

The main idea of the proposed technical solution is as follows. The data collected by the cluster RTS and intended for subsequent transmission over the radio network of the RTS group is subjected to a multi-valued redundancy code coding procedure and then evenly distributed among the cluster elements for temporary storage and then transmitted along a multidimensional route in the network.

A one-dimensional route is understood as a set of serially connected communication channels in a point-to-point connection between a source node and a message recipient node.

A plurality of parallel-connected independent one-dimensional paths over which data is transmitted is called a multidimensional path.

An example of a multivalued redundant code would be an extended modular code (ECC). Modular code (MC) spreading is performed to enable the MC to correct corrupted or lost MC symbols.

To clarify the essence of the proposed method, consider the following provisions of number theory and coding theory:

может быть однозначно представлено в МК последовательностью Mi=(m_i,1, m_i,2, …, m_i,k)_MK,According to [Boyarinov I.M. Noise-immune coding of numerical information. - M.: Nauka, 1983. Pp. 48-49] any integer Mi≥0, i=1, 2, …, V;

can be uniquely represented in MK by the sequence Mi=(m _i,1 , m _i,2 , …, m _i,k ) _MK ,

j=1, 2, …, k;

k - количество информационных символов МК. Основаниями (модулями) служат попарно простые числа p_i,1, p_i,2, …, p_i,k, такие что Mi<P_i, где

Where

j=1, 2, …, k;

k - the number of information symbols MK. The bases (modules) are pairwise prime numbers p _i,1 , p _i,2 , …, p _i,k , such that Mi<P _i , where

The numbers m _i,j are represented in any way, for example, in binary

number system.

Let's represent M _i as a vector:

цифр

For

numbers

Let m _i,1 , m _i,2 , …, m _i,k be non-negative integers:

Тогда числа m_i,1, m_i,2, …, m_i,k можно объявить символами МК некоторого, заранее неизвестного числа X_i≥0, которое изоморфно Mi. Следовательно X_i=(m_i,1, m_i,2, …, m_i,k)_MK, где

j=1, 2, …, k.Let us take a set of pairwise simple modules p _i,1 , p _i,2 , …, p _i,k such that M _i <P _i , where

Then the numbers m _i,1 , m _i,2 , …, m _i,k can be declared as MC symbols of some unknown number X _i ≥0, which is isomorphic to Mi. Hence X _i =(m _i,1 , m _i,2 , …, m _i,k ) _MK , where

j=1, 2, …, k.

On the basis of the Chinese remainder theorem [Bukhshtab A.A. Number theory. - M.: Lan, 2015. Pp. 123] comparison system:

has a unique solution X _i if the above conditions are met. The only solution to this system gives the expression:

Where

According to [Boyarinov I.M. Noise-immune coding of numerical information. - M.: Nauka, 1983. Pp. 50-51; Akushsky I.Ya., Yuditsky D.I. Modular arithmetic in residual classes. - M.: Sov. Radio, 1968. Pp. 158-160] the operation of expanding the modular code by introducing r redundant bases p _i,k+1 , …, p _i,k+r and obtaining r check symbols:

assuming that

The MK extension makes it possible to generate a code capable of detecting and correcting corrupted code symbols. The presence (absence) of detectable errors in the received sequence is determined by the condition [Akushsky I.Ya., Yuditsky D.I. Modular arithmetic in residual classes. - M.: Sov. Radio, 1968. Pp. 158-160]:

- число, которое было получено на приемной стороне после передачи числа X_i по каналу с помехами;

Where

- the number that was received on the receiving side after the transmission of the number X _i through the channel with noise;

MK metric - minimum code distance Dmin - weight of the difference between two code combinations (KK) MK. The ability of the MC to reliably detect and/or correct q-fold errors is determined accordingly:

q _detect ≤D _min -1 and q _correct ≤2 ^-1 (D _min -1)

q-fold error is understood as an arbitrary distortion of q MC symbols.

Implementation of the invention

Consider a group of RTSs fragmented into clusters and combined into a radio network (Fig. 1). At the same time, at least n=k+r RTSs in each cluster and all RTSs in adjacent clusters have symmetrical addressing, which differs only in the common cluster address. So, for example, in two adjacent clusters a and b, and a≠b, each i-th robotic tool of cluster a is uniquely associated with the i-th robotic tool of cluster b. Thus, a parallel communication channel is formed between the RTSs of clusters a and b (Fig. 2).

A link control leader is appointed in the cluster. It is assumed that all RTSs are equal in terms of their hardware and software capabilities, and each is capable of performing the functions of a leader (clustering and leader selection algorithms are not considered and are assumed to be given). With a significant change in the conditions for the functioning of the RTS or the failure of the cluster leader, the leader selection algorithm is launched and a new leader is appointed.

(фото-, видеоданные). Размер

может ограничиваться, например, временным интервалом (временем сбора данных) или территориально (выход за рамки указанного квадрата местности, в границах которого функционирует данный кластер в настоящий момент времени).

кодируют многозначным избыточным кодом на представительском уровне эталонной модели взаимодействия открытых систем (фиг. 3).The i-th RTS in the a-th cluster performs the function of collecting data

(photo-, video data). Size

may be limited, for example, by a time interval (time of data collection) or territorially (going beyond the specified square of the area within the boundaries of which this cluster operates at the present time).

encoded with a multivalued redundant code at the representative level of the reference model of open systems interaction (Fig. 3).

многозначным избыточным кодом на примере МК.Consider the data encoding procedure

multi-valued redundant code on the example of MK.

представляется вектором и декомпозируется на k частей

которые принимаются целыми неотрицательными числами (1) и рассматриваются, как символы МК некоторого

по системе попарно простых модулей р₁, p₂, …, p_k, «⎟” - символ конкатенации. Далее выполняют операцию расширения МК, вводя избыточные основания p_k+1, …, p_k+r по правилу (3) и получая проверочные символы:

represented as a vector and decomposed into k parts

which are accepted as non-negative integers (1) and are considered as symbols of the MC of some

according to the system of pairwise simple modules р ₁ , p ₂ , …, p _k , “⎟” - concatenation symbol. Next, the MC expansion operation is performed by introducing redundant bases p _k+1 , …, p _k+r according to rule (3) and obtaining check symbols:

Having formed the RMC symbols, the RTS of the cluster distributes them among the rest of the RTS of the cluster, where they are stored until the command for their transmission is received.

An example for five RTSs in a cluster is shown in FIG. 4, where the data are presented in the RMC with a length of CC n=k+r: with three information (k=3) and two check symbols (r=2).

в виде частей

сохраняются в запоминающих устройствах (ЗУ) робототехнических средств кластера. При этом потеря одного из РТС (вследствие воздействия внутренних или внешних дестабилизирующих факторов) приводит к потере символов РМК на известных позициях в КК. Следовательно, исправляющая способность кода возрастает до: q_испр≤D_min-1.Thus distributed data

in the form of parts

are stored in the storage devices (memory) of the cluster robotic facilities. In this case, the loss of one of the RTSs (due to the influence of internal or external destabilizing factors) leads to the loss of RMC symbols at known positions in the spacecraft. Therefore, the corrective ability of the code increases to: q _correct ≤D _min -1.

Let's consider a number of scenarios of possible developments in case of failure of one of the RTS cluster.

Scenario 1. Failure of the RTS that stores the check symbols of the RMC, and its replacement with another RTS is not provided.

In this case, the cluster leader requests in the memory located on its board, from the RTS that store information symbols, the following data:

Вычисляет

и заново представив его в РМК с оптимальными характеристиками (зависит от интенсивности воздействия дестабилизирующих факторов), перераспределяет символы РМК между оставшимися РТС кластера.

Calculates

and re-presenting it in the RCM with optimal characteristics (depending on the intensity of the impact of destabilizing factors), redistributes the RCM symbols among the remaining RTCs of the cluster.

Scenario 2. Failure of the RTS storing the check symbols of the RMK, and its replacement with another RTS is provided.

Вычисляет

по правилу (2), рассчитывает утраченный символ РМК

d - номер потерянного РТС, d=k+1, …, k+r. По включении в состав кластера нового РТС передает ему для хранения полученный символ

In this case, the leader requests copies of the symbols from the memory located on his board:

Calculates

according to rule (2), calculates the lost RMC symbol

d - number of the lost RTS, d=k+1, …, k+r. Upon inclusion in the cluster of a new RTS, it transfers the received symbol to it for storage

Scenario 3. Failure of the RTS storing RMK information symbols and its replacement with another RTS is not provided.

Выполняет процедуру восстановления утраченного символа РМК согласно [Акушский И.Я., Юдицкий Д.И. Модулярная арифметика в остаточных классах. - М.: Сов. Радио, 1968. Стр. 161-166]. Вычисляет

и заново представив его в РМК с оптимальными характеристиками (зависит от интенсивности воздействия дестабилизирующих факторов), перераспределяет символы РМК между работоспособными РТС кластера.When this scenario is implemented, the leader requests the following symbols from the operational RTS in the memory located on its board:

Performs the procedure for restoring the lost RMK symbol according to [Akushsky I.Ya., Yuditsky D.I. Modular arithmetic in residual classes. - M.: Sov. Radio, 1968. Pp. 161-166]. Calculates

and re-presenting it in the RCM with optimal characteristics (depending on the intensity of the impact of destabilizing factors), redistributes the RCM symbols between the efficient RTS of the cluster.

Scenario 4. Failure of the RTS storing RMK information symbols, and its replacement with another RTS is envisaged.

Выполняет процедуру восстановления утраченного символа РМК согласно [Акушский И.Я., Юдицкий Д.И. Модулярная арифметика в остаточных классах. - М.: Сов. Радио, 1968. Стр. 161-166]. По прибытии в состав кластера нового РТС передает ему для хранения восстановленный символ.In this case, the leader requests copies of symbols from the working RTS on the memory placed on its board:

Performs the procedure for restoring the lost RMK symbol according to [Akushsky I.Ya., Yuditsky D.I. Modular arithmetic in residual classes. - M.: Sov. Radio, 1968. Pp. 161-166]. Upon arrival to the cluster, the new RS transfers the restored symbol to it for storage.

Scenario 5. Failure of the RTS leader that stores the RMK parity symbols.

The procedure for selecting a new leader is launched. Then, depending on the conditions, scenarios 1 or 2 are executed.

Scenario 6. Failure of the RTS leader, which stores RMC information symbols.

In this case, the procedure for selecting a new leader is launched. Then, depending on the conditions, scenarios 3 or 4 are executed.

Thus, the representation of data by a multi-valued redundant code and their distributed storage in a cluster makes it possible to ensure the security of data at the stage of their storage, with the loss of no more than D _min -1 RTS of the cluster.

When a command is received to transfer the stored data to another cluster or to the control point through other clusters, the leader initializes the procedure for choosing a one-dimensional route (routing protocols are assumed to be specified and are not considered in this method).

Having built a one-dimensional route, the leader sends it to all RTSs of the cluster and gives the command to send the requested data. The one-dimensional route is, for example, an enumeration of the addresses (numbers) of the relay clusters and the destination cluster, for example: 1→2→7→10, as shown in FIG. 5. Then, each PTC of the source cluster transmits data along the specified route, addressing them to the PTC with a symmetric address in the next cluster. For example, the i-th RTS of the first cluster broadcasts its part of the requested data to the i-th RTS of the second cluster, then the seventh cluster, and so on. Thus, a multidimensional route is formed with parallel transmission of the requested data.

Before sending its part of the RTS cluster data, at the link layer of the reference model of open systems interaction, the data is encoded with the link layer code:

G - порождающая матрица помехоустойчивого кода канального уровня; N - длина кодовой комбинации кода канального уровня.where j=1, 2, …, k+r;

G is the generating matrix of the noise-correcting code of the link layer; N is the length of the codeword of the link layer code.

последовательно предаются по одномерным маршрутам (фиг. 6).Further, code combinations

sequentially transmitted along one-dimensional routes (Fig. 6).

Thus, the cluster in one time interval transmits one RMK word in parallel (along the multidimensional route), each symbol of which is represented by a link layer error-correcting code (Fig. 7).

выполняют процедуру декодирования кода канального уровня, при необходимости восстанавливают искаженные символы, получая последовательность символов РМК:

Декодируют РМК согласно (2), вычисляют

и проверяют правило (4). Символы «*» и «**» означают вероятностный характер возникновения ошибки в принятой последовательности и получения неверного символа кода при декодировании соответственно. Если неравенство (4) не выполнено, то приступают к поиску и исправлению искаженных символов [Акушский И.Я., Юдицкий Д.И. Модулярная арифметика в остаточных классах. - М.: Сов. Радио, 1968. Стр. 161-166]. Выполнение неравенства означает, что последовательность принята верно.On the receiving side (Fig. 6), having received code combinations

perform the procedure for decoding the code of the link layer, if necessary, restore the distorted symbols, obtaining a sequence of RMK symbols:

Decode RMK according to (2), calculate

and check the rule (4). The symbols "*" and "**" mean the probabilistic nature of the occurrence of an error in the received sequence and the receipt of an incorrect code symbol during decoding, respectively. If inequality (4) is not met, then they start searching for and correcting distorted characters [Akushsky I.Ya., Yuditsky D.I. Modular arithmetic in residual classes. - M.: Sov. Radio, 1968. Pp. 161-166]. The fulfillment of the inequality means that the sequence is accepted correctly.

получатель выполняет конкатенацию информационных символов МК, вычисляя запрошенные данные:Further, discarding redundant characters

the receiver performs the concatenation of the MK information symbols, calculating the requested data:

The proposed method can operate in two modes: in the mode with data relaying only at the physical level of the reference model of open systems interaction or in the mode with data relaying and intermediate error correction in data at the representative level of the reference model of open systems interaction.

выполняет процедуру декодирования кода канального уровня, при необходимости восстанавливает искаженные символы, получая последовательность символов РМК:

Декодирует РМК согласно (2), вычисляет

и проверяет правило (4). Если (4) не выполнено, то получатель приступает к поиску и исправлению искаженных символов [Акушский И.Я., Юдицкий Д.И. Модулярная арифметика в остаточных классах. - М.: Сов. Радио, 1968. Стр. 161-166]. Выполнение неравенства означает, что последовательность принята верно.In the mode with data relaying only at the physical layer of the reference model of open systems interaction, intermediate relay clusters receive data and forward them further along the route. In this case, only the final recipient, having received the code combinations

performs the procedure for decoding the code of the link layer, if necessary, restores distorted symbols, receiving a sequence of RMK symbols:

Decodes RMK according to (2), calculates

and checks the rule (4). If (4) is not satisfied, then the recipient proceeds to search for and correct distorted characters [Akushsky I.Ya., Yuditsky D.I. Modular arithmetic in residual classes. - M.: Sov. Radio, 1968. Pp. 161-166]. The fulfillment of the inequality means that the sequence is accepted correctly.

получатель выполняет конкатенацию информационных символов МК, вычисляя запрошенные данные:Further, discarding redundant symbols

the receiver performs the concatenation of the MK information symbols, calculating the requested data:

путем конкатенации выполняется только на узле-получателе (фиг. 6).In the mode with data relaying and intermediate error correction in data at the representative level of the reference model of open systems interaction, the stages of decoding and correction of MRC symbols described above are performed on all relay clusters. After that, the data is re-encoded by the RMK and the link layer code, and transmitted further along the route (Fig. 8). However, the final recovery

by concatenation is performed only on the receiving node (Fig. 6).

Thus, redundant coding and distributed data storage in a cluster can increase the level of noise immunity of the radio network of the RTS group under the influence of destabilizing factors, and data transmission along parallel routes can increase the data transfer rate.

Claims (3)

1. A method for parallel data transmission in self-organizing radio networks of groups of robots, which consists in the fact that groups of robots are fragmented into clusters, in each cluster one of the robots is appointed as the leader of communication control, which calculates the data transmission route from its cluster to the recipient cluster, clusters for one communication session can act as a source, or a recipient, or a data relay, characterized in that each cluster contains at least k + r robotic tools, in adjacent clusters "a" and "b" each i-th robotic tool cluster "a" is assigned to the i-th robotic tool of the cluster "b", thus forming a parallel communication channel between adjacent clusters "a" and "b", each i-th robotic tool of the cluster "a" collected target data

are represented by the vector

and break into pieces

so that

these parts are encoded at the representative level of the reference model of interaction of open systems with a multivalued redundant code, code symbols

are evenly distributed between the storage devices located on the boards of the robotic means of the cluster "a" for storage and, if necessary, transmission, when performing the procedure for transmitting the stored code symbols, the data about the route that the leader built is transmitted to all robotic means of the cluster "a", further, the code symbols to be transmitted are transmitted by all robotic means of cluster "a" to the recipient along parallel one-dimensional routes between robotic means of the same name in other clusters, on the receiving side, at the representative level of the reference model of open systems interaction, decoding of the multivalued redundant code is performed, if necessary restore erroneous or erased code characters, getting

then, discarding the check characters, perform the concatenation

restoring the transmitted target data

2. The method according to claim 1, characterized in that in the event of a failure of no more than D _min -1 robotic means of one cluster, the cluster leader performs a request to transfer multi-valued redundant code symbols from the operable robotic means of the cluster to a memory device located on its board, after receiving symbols of a multi-valued redundant code, the cluster leader performs the procedure for restoring erroneous or erased symbols, restores the target data as a whole, then re-encodes the target data with a multi-valued redundant code and redistributes the received code symbols between the memory devices located on the boards of the operable robotic means of the cluster. 3. The method according to claim 1, characterized in that the procedure for transmitting target data can be carried out in two modes: in the mode with retransmission of target data only at the physical layer of the reference model of open systems interaction or in the mode with retransmission of target data and intermediate error correction in the target data at the representative level of the reference model of open systems interaction.

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