WO2021036055A1 - 一种应用在集群无人机通信中的路由方法 - Google Patents
一种应用在集群无人机通信中的路由方法 Download PDFInfo
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- WO2021036055A1 WO2021036055A1 PCT/CN2019/121119 CN2019121119W WO2021036055A1 WO 2021036055 A1 WO2021036055 A1 WO 2021036055A1 CN 2019121119 W CN2019121119 W CN 2019121119W WO 2021036055 A1 WO2021036055 A1 WO 2021036055A1
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W40/00—Communication routing or communication path finding
- H04W40/02—Communication route or path selection, e.g. power-based or shortest path routing
- H04W40/04—Communication route or path selection, e.g. power-based or shortest path routing based on wireless node resources
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W40/00—Communication routing or communication path finding
- H04W40/24—Connectivity information management, e.g. connectivity discovery or connectivity update
- H04W40/248—Connectivity information update
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W40/00—Communication routing or communication path finding
- H04W40/24—Connectivity information management, e.g. connectivity discovery or connectivity update
- H04W40/30—Connectivity information management, e.g. connectivity discovery or connectivity update for proactive routing
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W40/00—Communication routing or communication path finding
- H04W40/24—Connectivity information management, e.g. connectivity discovery or connectivity update
- H04W40/32—Connectivity information management, e.g. connectivity discovery or connectivity update for defining a routing cluster membership
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W84/00—Network topologies
- H04W84/18—Self-organising networks, e.g. ad-hoc networks or sensor networks
Definitions
- the present invention is suitable for the field of cluster drones, and the specific content relates to a routing method applied in cluster drone communications.
- the mobile ad hoc network is developed from the basis of the wireless packet network. It is an unlimited network with the advantages of "no center, self-organization, multi-hop routing, and dynamic topology". All nodes in the network have equal status, and there is no need to set up any central control node. In other words, when most of the nodes are damaged, the remaining nodes can still self-organize to complete the link transmission.
- the routing protocol is to quickly and efficiently establish a communication path for the nodes that need to communicate.
- the routing protocol is one of the main problems in the study of mobile ad hoc networks.
- Mobile autonomous networks are mainly divided into flat routing protocols and hierarchical routing protocols.
- the idea of flat routing is relatively simple. It is mainly that all nodes have equal status and no special nodes, but its network scale will be limited and its scalability is not good.
- the main structure of hierarchical routing is the clustering structure. The main idea is to divide each node into different clusters, and the nodes inside and outside the cluster specify different functions. The cluster head nodes need to be selected in different clusters, and nodes belonging to multiple clusters at the same time are gateway nodes. Generally, active routing protocols are used in areas, and reactive routing protocols are used between areas.
- the transmission path is that the nodes in the cluster send to the cluster head, the cluster head sends to the gateway, and the gateway sends to the cluster heads of other clusters again, until it is sent to the target node.
- cluster heads are pre-designated or elected by nodes in the cluster, and multiple cluster heads can form a cluster again upwards to form a higher-level network structure.
- the purpose of the present invention is to propose a routing method applied in cluster UAV communication, and a hierarchical routing method that can perform efficient and reliable communication in large-scale mobile nodes.
- the present invention provides the following technical solutions.
- a routing method applied in cluster UAV communication includes the following steps:
- each cluster is weighted by using energy, node connectivity, relative mobility, and relative distance, and cluster heads are elected according to the weighted results, and the cluster head node with the largest weight is selected as the cluster head node;
- the clustering algorithm based on weights for delimiting clusters specifically includes the following steps:
- Each node broadcasts a HELLO message to obtain neighbor information.
- the energy, node degree, relative mobility and relative distance of the node are used for weighting.
- the calculation of the weight is as follows:
- w p + w c + w m + w d 1
- w p is the weight of node energy
- P is the node energy
- w c is the weight of node connectivity
- C is the number of neighboring nodes
- w m is the relative node
- M is the value of relative mobility
- the value of M is calculated according to the GPS of the drone. If it is similar to the movement direction of the surrounding n nodes, the higher the value, otherwise the lower the value, the value of M
- D is set to half of the number of nearest nodes
- w d is the sum of the distances of n nodes
- the method for selecting the auxiliary cluster head node is specifically as follows:
- the cluster head After the cluster head is selected successfully, the cluster head sends a HELLO message, and other nodes wait for the message:
- the value of C is set to 10, that is, when the number of connections around the cluster head exceeds 10, the selection of auxiliary cluster head nodes is performed;
- the auxiliary cluster head node sends a HELLO message to the cluster to ensure that the nodes in the cluster are connected to the auxiliary cluster head node;
- Reactive routing lookups are performed between the two cluster heads, and if data packets from the same node are received, they are discarded;
- the nodes in the cluster adopt flat-type proactive routing as the local route, and the cluster head node adopts the DV mechanism, that is, each node in the cluster not only saves the distance to all other cluster heads and vector routing information, but also retains the local routing table information;
- each node in the cluster When searching for routes, if the destination node is in the local area, it will be sent directly by the local route; if there is a neighboring node in the cluster, it will be sent to the neighboring node; otherwise, the cluster head information sent to the destination node will be sent by the AODV route to make the cluster
- the first information is relayed; if the cluster of the destination node contains two cluster heads, they are sent separately; when the relay node receives the same information, the current information is discarded; if the destination node receives the information from the cluster head node, The current route is retained, and the route of other nodes in the cluster is discarded; the steps of updating the cluster head node are also included:
- the new node When the new node receives the HELLO broadcast from the cluster head node, it actively joins the cluster;
- the node and the auxiliary cluster head node are compared with the weight, and the one with the larger weight is regarded as the new auxiliary cluster head node, and the auxiliary cluster head node becomes the node in the cluster; if the auxiliary cluster head node is updated, the new auxiliary cluster head The node broadcasts within the cluster to determine the node that assists the cluster head node to communicate;
- the auxiliary cluster head node When the weight of the auxiliary cluster head node is greater than the weight of the cluster head node, the auxiliary cluster head node becomes the cluster head node, finds the next new auxiliary cluster head node, and broadcasts within the cluster to complete the update of the cluster head node;
- the cluster head node moves to other clusters, the cluster head node with the larger weight is updated to the new cluster head node, and the cluster head node with the smaller weight is added to the cluster as a node in the cluster; the cluster's auxiliary The cluster head node compares with the node to generate a new auxiliary cluster head node; if the auxiliary cluster head node is updated, it will broadcast in the cluster to determine the node that the auxiliary cluster head node communicates with.
- the present invention also provides a routing method applied in cluster UAV communication, including the following steps:
- each cluster is weighted by using energy, node connectivity, relative mobility, and relative distance, and cluster heads are elected according to the weighted results, and the cluster head node with the largest weight is selected as the cluster head node;
- Reactive routing lookups are performed between the two cluster heads, and if data packets from the same node are received, they are discarded.
- the clustering algorithm based on weights for delimiting clusters specifically includes the following steps:
- Each node broadcasts a HELLO message to obtain neighbor information.
- the energy, node degree, relative mobility and relative distance of the node are used for weighting.
- the calculation of the weight is as follows:
- w p + w c + w m + w d 1
- w p is the weight of node energy
- P is the node energy
- w c is the weight of node connectivity
- C is the number of neighboring nodes
- w m is the relative node
- M is the value of relative mobility
- the value of M is calculated according to the GPS of the drone. If it is similar to the movement direction of the surrounding n nodes, the higher the value, otherwise the lower the value, the value of M
- D is set to half of the number of nearest nodes
- w d is the sum of the distances of n nodes
- weight values use machine learning training to give different values, and the node with the higher weight is selected as the cluster head to form a cluster.
- the method for selecting the auxiliary cluster head node is specifically as follows:
- the cluster head After the cluster head is selected successfully, the cluster head sends a HELLO message, and other nodes wait for the message:
- the auxiliary cluster head node sends a HELLO message to the cluster to ensure that the nodes in the cluster are connected to the auxiliary cluster head node.
- the value of C is set to 10, that is, when the number of connections around the cluster head exceeds 10, the selection of auxiliary cluster head nodes is performed.
- the nodes in the cluster adopt flat proactive routing as the local routing, and the cluster head node adopts the DV mechanism, that is, each node in the cluster saves the distance to all other cluster head nodes and vector routing information, as well as the local routing table information ;
- the route is searched, if the destination node is local, the local route is used to send; if there is a neighboring node in the cluster, it is sent to the neighboring node; otherwise, the AODV route is used to send the cluster head information to the destination node to make
- the cluster head information is relayed; if the cluster of the destination node contains two cluster heads, they are sent separately; when the relay node receives the same information, the current information is discarded; if the destination node receives the information from the cluster head node , The current route is retained, and the route of other nodes in the cluster is discarded.
- the new node When the new node receives the HELLO broadcast from the cluster head node, it actively joins the cluster;
- the node and the auxiliary cluster head node are compared with the weight, and the one with the larger weight is regarded as the new auxiliary cluster head node, and the auxiliary cluster head node becomes the node in the cluster; if the auxiliary cluster head node is updated, the new auxiliary cluster
- the head node performs intra-cluster broadcast to determine the node that assists the cluster head node to communicate;
- the auxiliary cluster head node When the weight of the auxiliary cluster head node is greater than the weight of the cluster head node, the auxiliary cluster head node becomes the cluster head node, finds the next new auxiliary cluster head node, and broadcasts within the cluster to complete the update of the cluster head node;
- the cluster head node moves to other clusters, the cluster head node with a large weight is updated to be a new cluster head node, and the cluster head node with a small weight is added to the cluster as a node in the cluster; the auxiliary cluster head of the cluster The node compares with the node to generate a new auxiliary cluster head node; if the auxiliary cluster head node is updated, it will broadcast in the cluster to determine the node that the auxiliary cluster head node can communicate with.
- the present invention has the following beneficial effects:
- the routing of the present invention integrates mature plane routing in multi-level routing, adopts routing ideas based on multi-level routing protocols, integrates mature plane routing in multi-level routing, and makes routing easy to understand and apply.
- the node weight is calculated by weighting the energy, node connectivity, relative mobility and relative distance of the node, and the largest weight is selected as the cluster head.
- the present invention creatively proposes that the auxiliary cluster head node is activated only when the adjacent nodes of the cluster head node are greater than a certain number. On the one hand, the robustness of the communication system is improved. On the other hand, the auxiliary cluster head also reduces the update of the cluster head and avoids the overhead.
- the routing method uses auxiliary cluster head nodes, which can improve the robustness of the communication system and reduce the overhead of updating cluster heads; use weights to elect cluster head nodes to obtain better communication; this method can be used in UAV ad hoc networks Enough to provide better communication performance. It provides better communication performance for the unmanned aerial vehicle ad hoc network with rapidly changing topological structure.
- the use of node energy with different weights, node connectivity, relative mobility of nodes and relative distance of nodes further enables the routing method to cope with different complex topologies and improves the robustness of the system.
- the present invention has good communication performance, and is suitable for large-scale topologically changing scenes such as drone clusters.
- Figure 1 is a schematic diagram of a routing method used in cluster UAV communication.
- Figure 2 is a schematic diagram of three different routing modes of the present invention.
- the routing method of the present invention is applied to cluster UAV communication, including the use of composite routing, each cluster is weighted by using energy, node connectivity, relative mobility and relative distance, and under the result of weighting processing, Election is used to select the cluster head, and the node with the largest weight is selected as the cluster head node. When the number of nodes in the cluster is greater than a certain number, a cluster head is used again through the election just now. Reactive routing lookups are performed between the two cluster heads, and if data packets from the same node are received, they are discarded.
- the present invention mainly integrates plane routing in multi-level routing and uses weights to elect cluster heads, and introduces auxiliary cluster head nodes. It provides better communication performance for the unmanned aerial vehicle ad hoc network with rapidly changing topological structure.
- the use of node energy with different weights, node connectivity, relative mobility of nodes and relative distance of nodes further enables the routing method to cope with different complex topologies and improves the robustness of the system.
- the delineation of clusters is based on the clustering algorithm of weights.
- Each node broadcasts a HELLO message to obtain neighbor information.
- the calculation of the weight is:
- w p +w c +w m +w d 1.
- w p is the weight of the node energy
- P is the node energy.
- w c is the weight of node connectivity
- C is the number of neighboring nodes
- w m is the weight of the relative mobility of the node
- M is the value of relative mobility
- the value of M can be calculated according to the GPS of the drone. If it is similar to the movement direction of n nodes around, the value is higher, otherwise the value is lower, and M is the sum of n values.
- D can be set to half the number of nearest nodes.
- w d is the sum of the distances of n nodes.
- Four of the weight values can be given different values using machine learning training. The node with the highest weight is selected as the cluster head. Form a cluster.
- the cluster head After the cluster head is selected successfully, the cluster head sends a HELLO message, and other nodes wait for the message. If others receive the HELLO message, they will join the cluster to complete the construction of the cluster. Calculate the value of the cluster head C. If the value of C of the cluster head is greater than 1, the node with the second highest weight before is selected as the auxiliary cluster head node. The value of C is set to 10, that is, when the number of connections around the cluster head exceeds 10, the selection of auxiliary cluster head nodes is performed. The auxiliary cluster head node sends a HELLO message to the cluster to ensure that the nodes in the cluster can be connected to the auxiliary cluster head node.
- the nodes in the cluster adopt flat-type proactive routing as the local routing, and the cluster head node adopts the DV mechanism, that is, each node in the cluster saves the distance to all other cluster heads and vector routing information, as well as the local routing table. information.
- searching for a route if the destination node is local, it will be sent directly by the local route. If there is a neighboring node in the cluster, it will be sent to the neighboring node. Otherwise, use AODV to route the cluster head information sent to the destination node to facilitate the relay of the cluster head information. If the cluster group of the destination node contains two cluster heads, they are sent separately. When the relay node receives the same information, it discards the current information. If the destination node receives the information from the cluster head node, the current route is retained, and the route of another cluster point is discarded.
- a new node When a new node receives the broadcast HELLO from the cluster head node, it actively joins the cluster. The node and the auxiliary cluster head node are compared with the weight, and the one with the larger weight is regarded as the new auxiliary cluster head node, and the auxiliary cluster head node becomes the node in the cluster group. If the auxiliary cluster head node is updated, the new auxiliary cluster head node will broadcast within the cluster to determine the nodes that the auxiliary cluster head node can communicate with.
- the auxiliary cluster head node becomes the cluster head node, find the next new auxiliary cluster head node, and broadcast in the cluster to complete the update of the cluster head node .
- the cluster head node with the larger weight is updated to the new cluster head node, and the cluster head node with the smaller weight is added to the cluster as a node in the cluster.
- the auxiliary cluster head node of the cluster is compared with the node, and a new auxiliary cluster head node is generated. If the auxiliary cluster head node is updated, it is broadcast within the cluster to determine the nodes that the auxiliary cluster head node can communicate with.
- This routing method elects cluster heads based on weights to form clusters.
- the dual cluster head design enhances the reliability of communication and reduces the update frequency of cluster head nodes. Its characteristics are suitable for UAV cluster scenarios with rapidly changing topologies.
- Figure 1 shows the cluster head update when the weight of the cluster head node is smaller than the auxiliary cluster head node.
- the square is the node in the new cluster group, and the star represents the previous auxiliary cluster head, and it is the current cluster head.
- the diamond represents the previous cluster head. Circles indicate nodes leaving the cluster.
- Figure 2 shows three different routing methods.
- the triangles represent nodes belonging to two clusters. The first one is the local route in the cluster. The second is to find the neighboring node as the target cluster node through the local route, and reach it directly without passing through the cluster head node. The third is to use neighboring nodes to relay. The neighboring nodes send to the cluster head and the auxiliary cluster head at the same time. The auxiliary cluster head cannot be reached and the line is interrupted. The cluster head continues to forward to the next relay node, and then completes the link.
- the invention adopts the routing idea based on the multi-level routing protocol, and integrates the mature plane routing in the multi-level routing, so that the routing is easy to understand and apply.
- the node weight is calculated by weighting the energy, node connectivity, relative mobility and relative distance of the node, and the largest weight is selected as the cluster head.
- the present invention creatively proposes that the auxiliary cluster head node is activated only when the adjacent nodes of the cluster head node are greater than a certain number. On the one hand, the robustness of the communication system is improved. On the other hand, the auxiliary cluster head also reduces the update of the cluster head and avoids the overhead.
- the invention has good communication performance and is suitable for scenes with large topological changes such as drone clusters and the like.
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- 一种应用在集群无人机通信中的路由方法,其特征在于,包括以下步骤:使用复合路由,对每个簇群通过使用能量、节点连接度、相对运动性以及相对距离进行加权,依据加权结果选举出簇首,选取权值最大的作为簇首节点;所述簇群的划定基于权值的分簇算法,具体包括以下步骤:每个节点广播HELLO消息,用来获取邻居信息,使用节点的能量、节点度、相对运动性以及相对距离进行加权,其中权值的计算为:W=w p*P+w c*C+w m*M+w d*D其中w p+w c+w m+w d=1,w p为节点能量的权重,P为节点能量,w c为节点连接度的权重,C是临近节点的个数,w m为节点相对运动性的权重,M为相对运动性的值,M的值根据无人机的GPS来计算得出,若与周围n个节点运动方向相似,则值越高,否则值越低,M值为n个值的和;D设定为最近节点数目的一半;w d为n节点的距离的和;其中四个权重值使用机器学习训练来给定不同的值,选定权值高的节点的为簇首,构成一个簇群;当簇群内节点大于设定数目时,再选举出一个辅助簇首节点;所述辅助簇首节点的选择方法具体为:在簇首选定成功后,簇首发送HELLO消息,其他节点等待消息:若其他接收到HELLO消息,加入该簇,完成簇的构建,计算簇首C的值,若簇首的C值大于l,选择之前权值次高的节点作为辅助簇首节点;其中,所述的C值设定为10,即当簇首周围连接数目超过10个,进行辅助簇首节点的选择;辅助簇首节点往簇内发送HELLO消息,确保簇内节点与辅助簇首节点相连;两个簇首之间分别进行反应式路由查找,若接收到来自相同节点的数据包,则丢弃;所述反应式路由查找具体步骤如下:簇群内节点采用平面式先应式路由作为本地路由,簇首节点采用DV机制,即每个簇群内节点既保存到其他所有簇首的距离以及矢量路由信息,也保留本 地路由表信息;当路由寻找时,若目的节点在本地,则直接利用本地路由发送;若有临近节点为该簇群,则发送给临近节点;否则,利用AODV路由发送到目的节点的簇首信息,以使簇首信息进行中继;若目的节点的簇群包含有两个簇首,则分别发送;当中继节点接收到相同的信息时,则抛弃当前信息;若目的节点接收的来自簇首节点的信息,则保留当前路由,且抛弃另外簇内节点的路由;还包括簇首节点的更新步骤:当新节点接收到有簇头节点的广播HELLO的时候,主动加入该簇群;将该节点与辅助簇首节点做权值比价,将权值大的作为新的辅助簇首节点,辅助簇首节点成为该簇群内节点;若更新辅助簇首节点,则新的辅助簇首节点作簇内广播,确定辅助簇首节点通信的节点;当辅助簇首节点的权值大于簇首节点的权值时,辅助簇首节点成为簇首节点,查找下一个新的辅助簇首节点,并作簇内广播以完成簇首节点的更新;当簇首节点移动到其他簇时,将权值较大的簇首节点更新为新的簇首节点,簇首节点权值较小的作为该簇群内的节点加入该簇;该簇的辅助簇首节点与该节点比较,产生新的辅助簇首节点;若更新辅助簇首节点则作簇内广播,以确定辅助簇首节点通信的节点。
- 一种应用在集群无人机通信中的路由方法,其特征在于,包括以下步骤:使用复合路由,对每个簇群通过使用能量、节点连接度、相对运动性以及相对距离进行加权,依据加权结果选举出簇首,选取权值最大的作为簇首节点;当簇群内节点大于设定数目时,再选举出一个辅助簇首节点;两个簇首之间分别进行反应式路由查找,若接收到来自相同节点的数据包,则丢弃。
- 根据权利要求2所述的应用在集群无人机通信中的路由方法,其特征在于,簇群的划定基于权值的分簇算法,具体包括以下步骤:每个节点广播HELLO消息,用来获取邻居信息,使用节点的能量、节点度、 相对运动性以及相对距离进行加权,其中权值的计算为:W=w p*P+w c*C+w m*M+w d*D其中w p+w c+w m+w d=1,w p为节点能量的权重,P为节点能量,w c为节点连接度的权重,C是临近节点的个数,w m为节点相对运动性的权重,M为相对运动性的值,M的值根据无人机的GPS来计算得出,若与周围n个节点运动方向相似,则值越高,否则值越低,M值为n个值的和;D设定为最近节点数目的一半;w d为n节点的距离的和;其中四个权重值使用机器学习训练来给定不同的值,选定权值高的节点的为簇首,构成一个簇群。
- 根据权利要求3所述的应用在集群无人机通信中的路由方法,其特征在于,辅助簇首节点的选择方法具体为:在簇首选定成功后,簇首发送HELLO消息,其他节点等待消息:若其他接收到HELLO消息,加入该簇,完成簇的构建,计算簇首C的值,若簇首的C值大于l,选择之前权值次高的节点作为辅助簇首节点;辅助簇首节点往簇内发送HELLO消息,确保簇内节点与辅助簇首节点相连。
- 根据权利要求4所述的应用在集群无人机通信中的路由方法,其特征在于,所述的C值设定为10,即当簇首周围连接数目超过10个,进行辅助簇首节点的选择。
- 根据权利要求2所述的应用在集群无人机通信中的路由方法,其特征在于,反应式路由查找具体步骤如下:簇群内节点采用平面式先应式路由作为本地路由,簇首节点采用DV机制,即每个簇群内节点既保存到其他所有簇首的距离以及矢量路由信息,也保留本地路由表信息;当路由寻找时,若目的节点在本地,则直接利用本地路由发送;若有临近节点为该簇群,则发送给临近节点;否则,利用AODV路由发送到目 的节点的簇首信息,以使簇头信息进行中继;若目的节点的簇群包含有两个簇首,则分别发送;当中继节点接收到相同的信息时,则抛弃当前信息;若目的节点接收的来自簇首节点的信息,则保留当前路由,且抛弃另外簇内节点的路由。
- 根据权利要求2所述的应用在集群无人机通信中的路由方法,其特征在于,还包括簇首节点的更新步骤:当新节点接收到有簇头节点的广播HELLO的时候,主动加入该簇群;将该节点与辅助簇首节点做权值比价,将权值大的作为新的辅助簇首节点,辅助簇首节点成为该簇群内节点;若更新辅助簇首节点,则新的辅助簇首节点作簇内广播,确定辅助簇首节点通信的节点;当辅助簇首节点的权值大于簇首节点的权值时,辅助簇首节点成为簇首节点,查找下一个新的辅助簇首节点,并作簇内广播以完成簇首节点的更新;当簇首节点移动到其他簇时,将权值较大的簇首节点更新成为新的簇首节点,簇首节点权值较小的作为该簇群内的节点加入该簇;该簇的辅助簇首节点与该节点比较,产生新的辅助簇首节点;若更新辅助簇首节点则作簇内广播,以确定辅助簇首节点可以通信的节点。
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