WO2021056636A1 - 一种基于消息订阅的无人机集群组网方法、装置和系统 - Google Patents
一种基于消息订阅的无人机集群组网方法、装置和系统 Download PDFInfo
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W24/00—Supervisory, monitoring or testing arrangements
- H04W24/02—Arrangements for optimising operational condition
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W24/00—Supervisory, monitoring or testing arrangements
- H04W24/04—Arrangements for maintaining operational condition
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/02—Services making use of location information
- H04W4/023—Services making use of location information using mutual or relative location information between multiple location based services [LBS] targets or of distance thresholds
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/02—Services making use of location information
- H04W4/029—Location-based management or tracking services
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/30—Services specially adapted for particular environments, situations or purposes
- H04W4/40—Services specially adapted for particular environments, situations or purposes for vehicles, e.g. vehicle-to-pedestrians [V2P]
- H04W4/46—Services specially adapted for particular environments, situations or purposes for vehicles, e.g. vehicle-to-pedestrians [V2P] for vehicle-to-vehicle communication [V2V]
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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
- H04W84/20—Master-slave selection or change arrangements
Definitions
- the invention relates to an unmanned aerial vehicle cluster, SDN, and topic publishing and subscribing system, and particularly relates to the determination of master control and slave control nodes when the unmanned aerial vehicle cluster is networked.
- UAV networks usually need to set up two roles, master control and slave control, to provide support for the business. For example, when flying in a UAV cluster formation, a certain UAV is required as the master control and other UAVs as the slave control, in order to realize the control of the UAV cluster formation flight.
- the master control role and the slave control role in the UAV network are usually manually designated in advance before the UAV network is established.
- the drone network needs to be flexible, adaptive, and intelligent in terms of network topology, bandwidth, and load. Sex and control ability.
- the UAV network in this scenario is usually a self-organizing network.
- the self-organizing network should choose autonomously when determining the master and slave roles, and it is impossible to manually specify.
- the problem to be solved by the present invention is to realize the autonomous selection of master control and slave control roles in a self-organized UAV network.
- a drone cluster networking method based on message subscription includes the following steps:
- S1 Start the publication of the main control recommended topic message of its own node and receive the subscription of the main control recommended topic information from other drone nodes, and at the same time subscribe and receive the main control recommended topic information published by other drone nodes;
- S2 Search for newly joined drones, and store the searched node information of the newly joined drones in the node information database; the node information includes location information of the drones;
- S3 Calculate the central node according to the location information of each node information in the node information database, so that the sum of the distances from the central node to other nodes is the smallest;
- the step S6 further includes: if the own node is a slave node, and the own node is recommended as the master drone node number and total If the ratio of the number of drone nodes exceeds the preset value, the node will be recommended as the master and the recommended number of drone nodes to form the master node confirmation message is released through the master control recommended theme information, and at the same time Receive the master node confirmation information issued by the other drone nodes through the master control recommended topic message, if within a limited time, fail to receive the other drone nodes published through the master control recommended topic message
- the master node confirms the information, and then switches its own node from the slave node to the master node; if its own node is the master node, and its node is recommended to be the number of drone nodes and the total number of drone nodes If the ratio is less than the preset value, it will receive the master node confirmation information issued by the other drone nodes through the master control recommendation topic message. If within the preset value, it will receive the master node confirmation information issued
- the step S3 further includes: updating the location information of each UAV node in the node information database at a certain time interval, and according to the When the time interval or the drone node is added or deleted, the central node is calculated according to the location information of each node information in the node information database, so that the sum of the distances from the central node to other nodes is the smallest.
- the device includes the following modules:
- M1 used to: start the publication of the main control recommendation topic message of its own node and receive the subscription of the main control recommendation topic information of other drone nodes, and at the same time subscribe and receive the main control recommendation published by each other drone node Subject information;
- the node information includes location information of the drones
- M3 is used to: calculate the central node according to the location information of each node information in the node information database, so that the sum of the distances from the central node to other nodes is the smallest;
- M4 used to: use the calculated central node as the recommended master control node to publish through the master recommended topic information
- M5 is used to: after receiving the recommended master control node published by each other drone node through the master control recommendation topic message, count the number of drone nodes whose own node is recommended as the master control;
- M6 If the ratio of the number of drone nodes recommended to be the master to the total number of drone nodes exceeds the preset value, then switch the own node to the master node, otherwise switch to the slave node node.
- the module M6 is also used for: if the own node is a slave node, and the own node is recommended as the master drone node number and If the ratio of the total number of drone nodes exceeds the pre-set value, the node's own node is recommended as the master and the recommended number of drone nodes constitute the master node confirmation message to be released through the master control recommended theme information, At the same time, it receives the master node confirmation information issued by other drone nodes through the master recommended topic message, if within a limited time, it fails to receive the other drone nodes to publish through the master recommended topic message If the master node of the master node confirms the information, it will switch its own node from the slave node to the master node; if its own node is the master node, and its own node is recommended to be the number of drone nodes and total number of drone nodes If the ratio is less than the preset value, it will receive the master node confirmation information issued by
- the module M3 is also used to update the location information of each drone node in the node information database at a certain time interval, and according to If the time interval or the drone node is added or deleted, the central node is calculated according to the location information of each node information in the node information database, so that the sum of the distances from the central node to other nodes is the smallest.
- each unmanned aerial vehicle corresponds to one unmanned aerial vehicle node; each unmanned aerial vehicle node includes the following Module:
- M1 used to: start the publication of the main control recommendation topic message of its own node and receive the subscription of the main control recommendation topic information of other drone nodes, and at the same time subscribe and receive the main control recommendation published by each other drone node Subject information;
- the node information includes location information of the drones
- M3 is used to: calculate the central node according to the location information of each node information in the node information database, so that the sum of the distances from the central node to other nodes is the smallest;
- M4 used to: use the calculated central node as the recommended master control node to publish through the master recommended topic information
- M5 is used to: after receiving the recommended master control node published by each other drone node through the master control recommendation topic message, count the number of drone nodes whose own node is recommended as the master control;
- M6 If the ratio of the number of drone nodes recommended to be the master to the total number of drone nodes exceeds the preset value, then switch the own node to the master node, otherwise switch to the slave node node.
- the module M6 is also used for: if its own node is a slave node, and its own node is recommended as the master drone node number and If the ratio of the total number of drone nodes exceeds the pre-set value, the node's own node is recommended as the master and the recommended number of drone nodes constitute the master node confirmation message to be released through the master control recommended theme information, At the same time, it receives the master node confirmation information issued by other drone nodes through the master recommended topic message, if within a limited time, it fails to receive the other drone nodes to publish through the master recommended topic message If the master node of the master node confirms the information, it will switch its own node from the slave node to the master node; if its own node is the master node, and its own node is recommended to be the number of drone nodes and the total number of drone nodes If the ratio is less than the preset value, it will receive the master node
- the module M3 is also used to update the position information of each unmanned aerial vehicle node in the node information database at a certain time interval, and according to If the time interval or the drone node is added or deleted, the central node is calculated according to the location information of each node information in the node information database, so that the sum of the distances from the central node to other nodes is the smallest.
- the determined master control node is always the geographic center, so that when the master control node and the slave control node perform business interactions, the data transmission cost consumed is minimal , The transmission power consumption is the smallest, and the transmission delay is the smallest.
- the present invention uses the mechanism of message subscription and publishing to determine the master control node.
- middlewares that support message subscription and publishing, such as distributed DDS (Data Distribution Service) network and MQTT (Message Queue Telemetry Transport) middleware that support message subscription. Release, so the implementation is simple, and the scalability and robustness are better.
- the present invention uses the master control node confirmation mechanism to avoid conflict problems in the election process of the master control node.
- the present invention updates the election mechanism of the master control node on a regular basis, so that it can recover by itself in the event of an abnormality in the network.
- Fig. 1 is an architecture diagram of the UAV node system of the present invention.
- This embodiment is an unmanned aerial vehicle cluster networking system based on message subscription, which is composed of several unmanned aerial vehicles. Each drone corresponds to a drone node.
- the self-organizing network is realized through wireless communication between the drones and distributed SDN (Software Defined Network).
- the unmanned aerial vehicle cluster networking involved in the present invention refers to the part where the master drone is determined after the unmanned aerial vehicle joins the network during the self-organizing network networking process.
- the process of adding the drone to the network in the self-organizing network networking process is familiar to those skilled in the art, and it is not within the scope of the present invention, and there is no need to repeat it in this specification.
- each drone of this embodiment includes a message subscription publishing module 100, a node information tracking module 200, and a master-slave node election The module 300 and the master-slave node switching control module 400.
- the message subscription publishing module 100 is used to publish messages on the specific topic to other drone nodes that subscribe to messages on the specific topic.
- the message subscription publishing module 100 may be implemented based on a distributed DDS (Data Distribution Service) network, or may be based on MQTT (Message Queue Telemetry Transport) middleware.
- MQTT Message Queue Telemetry Transport
- the realization of message subscription and publishing based on the distributed DDS network and MQTT middleware is familiar to those skilled in the art, and will not be repeated in this specification.
- the message subscription publishing module 100 is also used to:
- each drone node needs to create a main control recommendation topic, and at the same time subscribe to other drones’ messages about the main control recommendation topic, so that each drone can receive information about the main control published by other drones. Control the message of the recommended topic.
- the node information tracking module 200 maintains a node information database, which records the node information of each drone that joins the network, and the node information includes at least the MAC address of the drone and the location information of the drone.
- the location information of the drone is obtained by the GPS module equipped with each drone. GPS, also known as the Global Positioning System, is familiar to those skilled in the art, and will not be repeated in this specification.
- the node information tracking module 100 is used for:
- searching for drones newly added to the network and “monitoring drones that have moved out of the network” are realized through the process of self-organizing network networking.
- the master-slave node election module 300 is used to elect the master node and finally determine the master node, including:
- the own node is a slave node, and the ratio of the number of drone nodes recommended to be the master to the total number of drone nodes exceeds the preset value, the own node is recommended to be the master and The recommended number of drone nodes constitutes the master node confirmation information that is released through the master recommended topic information, and receives the master node confirmation information published by other drone nodes through the master recommended topic message, if within a limited time If it fails to receive the master control node confirmation information issued by the other drone nodes through the master control recommendation topic message, the master-slave node switching control module 400 switches its own node from a slave node to a master node.
- the own node is the master node and the ratio of the number of drone nodes recommended to be the master node to the total number of drone nodes is less than the pre-set value, it will receive other drone nodes through the master node. If the confirmation information of the master control node published by the control recommended topic message is received within a limited time, the confirmation information of the master control node published by the drone node through the master recommended topic message is received, then the master-slave node switching control module 400 will The own node is switched from the master node to the slave node.
- the drone After the drone joins the self-organizing network, it initializes the message subscription publishing module 100 and the node information tracking module 200.
- Initialize the message subscription publishing module 100 that is, the aforementioned step S1, start the publication of the main control recommended topic message of its own node and receive the subscription of the main control recommended topic information from other drone nodes, and at the same time subscribe and receive other unmanned The main control recommended topic information published by the machine node.
- the node information tracking module 200 is initialized, that is, the node information of each drone in the current self-organizing network is loaded into the node information database, then the node information tracking is started, and the position tracking timer is started.
- Node information tracking is to search for drones that have newly joined the network and monitor drones that have moved out of the network.
- the node information of the newly searched drone added to the network is stored in the node information database; when the searched drone moves out of the network, then The node information of the UAV that moves out of the network is removed from the node information database.
- the position tracking timer is used to track and refresh the position information of each drone in the node information database at a certain time interval.
- the time interval here is generally 20-40 minutes.
- the master-slave node election module 300 is driven to perform the master node election. If the node information database changes during the node information tracking process, that is, a new drone that has joined the network is searched for during the node information tracking process, or the drone is searched to move out of the network. That is, the master-slave node election module 300 conducts the election of the master node.
- the first is to search for a drone that has newly joined the network; the second is to search for a drone that has moved out of the network After; the third is after the position tracking timer refreshes the position information of each UAV in the node information database.
- the master-slave node election module 300 elects the master node, and finally determines the specific steps of the master node as follows:
- S6S2 If the ratio between the number of drone nodes recommended to be the master and the total number of drone nodes exceeds the preset value, the node will be recommended as the master and the recommended number of drone nodes The confirmation information of the composed master control node is released through the main control recommended topic information, and then the master control node confirmation information published by the other drone nodes through the master recommended topic message is received.
- the master node confirmation information includes the recommended number of drone nodes.
- S6S4 If within a limited time, receive the master node confirmation information issued by other drone nodes through the master control recommendation topic message, compare the recommended number of drone nodes in the master node confirmation information, if The number of recommended drone nodes for which the own node is recommended as the master is the largest, and the master-slave node switching control module 400 switches the own node from the slave node to the master node; otherwise, the master node election process is ended.
- S6M1 If the ratio between the number of drone nodes recommended as the master and the total number of drone nodes exceeds the preset value, the maximum number of nodes in the self-organizing network will be taken as the recommended number of drone nodes and The own node is recommended to be the master node and the confirmation information is released through the master control recommendation theme information, and then the master node election process ends. Obviously, at this time, when other drone nodes receive the confirmation information of the master control node, since the recommended number of drone nodes is the maximum number of nodes in the self-organizing network, it is impossible to have slaves under the aforementioned step S6S4. The control node is switched to the master control node.
- S6M2 If the ratio of the number of drone nodes recommended by the own node as the master control to the total number of drone nodes is less than the pre-set value, then it will receive the master control released by the other drone nodes through the master recommendation topic message Node confirmation information.
- the "limited time” in the above steps S6S3, S6S4, S6M3, and S6M4 generally takes a value of 1 to 2 minutes.
- the "pre-set value” in the above steps S6S1, S6S2, S6M1, and S6M2 is generally set to 0.5 to 0.7.
- the "pre-set value" in the slave node can be distinguished from the "pre-set value” in the master node. For example, the "pre-set value” in steps S6S1 and S6S2 is set to 0.55 , And the "pre-set value” in steps S6M1 and S6M2 is set to 0.7. This differentiated setting can reduce the change of the master node.
Abstract
Description
Claims (9)
- 一种基于消息订阅的无人机集群组网方法,其特征在于,包括以下步骤:S1:启动自身节点的主控推荐主题消息发布并接收其他各个无人机节点的对该主控推荐主题信息的订阅,同时订阅并接收其他各个无人机节点的发布的主控推荐主题信息;S2:搜索新加入的无人机,并将所搜索到的新加入的无人机的节点信息存入节点信息库;所述节点信息包括无人机的位置信息;S3:根据所述节点信息库内各个节点信息的位置信息计算出中心节点,使得中心节点至其他各个节点的距离总和最小;S4:将所计算得到的中心节点作为推荐主控节点通过所述主控推荐主题信息进行发布;S5:接收到其他各个无人机节点通过所述主控推荐主题消息发布的推荐主控节点后进行统计自身节点被推荐为主控的无人机节点数;S6:若自身节点被推荐为主控的无人机节点数和总无人机节点数的比值超过预先设定的值,则将自身节点切换成主控节点,否则切换成从控节点。
- 如权利要求1所述的基于消息订阅的无人机集群组网方法,其特征在于,所述步骤S6还包括:若自身节点为从控节点,且自身节点被推荐为主控的无人机节点数和总无人机节点数的比值超过预先设定的值,则将自身节点被推荐为主控和所推荐的无人机节点数组成主控节点确认信息通过所述主控推荐主题信息进行发布,同时接收其他各个无人机节点通过所述主控推荐主题消息发布的主控节点确认信息,若在限定的时间内,未能接收到其他各个无人机节点通过所述主控推荐主题消息发布的主控节点确认信息,则将自身节点由从控节点切换成主控节点;若自身节点为主控节点,且自身节点被推荐为主控的无人机节点数和总无人机节点数的比值小于预先设定的值,则接收其他各个无人机节点通过所述主控推荐主题消息发布的主控节点确认信息,若在所述限定的时间内,接收到有无人机节点通过所述所述主控推荐主题消息发布的主控节点确认信息,则将自身节点由主控节点切换成从控节点。
- 如权利要求1所述的基于消息订阅的无人机集群组网方法,其特征在于,所述步骤S3还包括:按照一定的时间间隔更新所述节点信息库中各个无人机节点的位置信息,并根据该时间间隔或者无人机节点加入或删除,则根据所述节点信息库内各个节点信息的位置信息计算出中心节点,使得中心节点至其他各个节点的距离总和最小。
- 一种基于消息订阅的无人机集群组网装置,其特征在于,该装置包括以下模块:M1,用于:启动自身节点的主控推荐主题消息发布并接收其他各个无人机节点的对该主控推荐主题信息的订阅,同时订阅并接收其他各个无人机节点的发布的主控推荐主题信息;M2,用于:搜索新加入的无人机,并将所搜索到的新加入的无人机的节点信息存入节点信息库;所述节点信息包括无人机的位置信息;M3,用于:根据所述节点信息库内各个节点信息的位置信息计算出中心节点,使得中心节点至其他各个节点的距离总和最小;M4,用于:将所计算得到的中心节点作为推荐主控节点通过所述主控推荐主题信息进行发布;M5,用于:接收到其他各个无人机节点通过所述主控推荐主题消息发布的推荐主控节点后进行统计自身节点被推荐为主控的无人机节点数;M6,用于:若自身节点被推荐为主控的无人机节点数和总无人机节点数的比值超过预先设定的值,则将自身节点切换成主控节点,否则切换成从控节点。
- 如权利要求4所述的基于消息订阅的无人机集群组网装置,其特征在于,所述模块M6还用于:若自身节点为从控节点,且自身节点被推荐为主控的无人机节点数和总无人机节点数的比值超过预先设定的值,则将自身节点被推荐为主控和所推荐的无人机节点数组成主控节点确认信息通过所述主控推荐主题信息进行发布,同时接收其他各个无人机节点通过所述主控推荐主题消息发布的主控节点确认信息,若在限定的时间内,未能接收到其他各个无人机节点通过所述主控推荐主题消息发布的主控节点确认信息,则将自身节点由从控节点切换成主控节点;若自身节点为主控节点,且自身节点被推荐为主控的无人机节点数和总无人机节点数的比值小于预先设定的值,则接收其他各个无人机节点通过所述主控推荐主题消息发布的主控节点确认信息,若在所述限定的时间内,接收到有无人机节点通过所述所述主控推荐主题消息发布的主控节点确认信息,则将自身节点由主控节点切换成从控节点。
- 如权利要求4所述的基于消息订阅的无人机集群组网装置,其特征在于,所述模块M3还用于:按照一定的时间间隔更新所述节点信息库中各个无人机节点的位置信息,并根据该时间间隔或者无人机节点加入或删除,则根据所述节点信息库内各个节点信息的位置信息计算出中心节点,使得中心节点至其他各个节点的距离总和最小。
- 一种基于消息订阅的无人机集群组网系统,其特征在于,该系统由若干台无人机所组成;每台无人机对应一个无人机节点;每个无人机节点包括以下模块:M1,用于:启动自身节点的主控推荐主题消息发布并接收其他各个无人机节点的对该主控推荐主题信息的订阅,同时订阅并接收其他各个无人机节点的发布的主控推荐主题信息;M2,用于:搜索新加入的无人机,并将所搜索到的新加入的无人机的节点信息存入节点信息库;所述节点信息包括无人机的位置信息;M3,用于:根据所述节点信息库内各个节点信息的位置信息计算出中心节点,使得中心节点至其他各个节点的距离总和最小;M4,用于:将所计算得到的中心节点作为推荐主控节点通过所述主控推荐主题信息进行发布;M5,用于:接收到其他各个无人机节点通过所述主控推荐主题消息发布的推荐主控节点后进行统计自身节点被推荐为主控的无人机节点数;M6,用于:若自身节点被推荐为主控的无人机节点数和总无人机节点数的比值超过预先设定的值,则将自身节点切换成主控节点,否则切换成从控节点。
- 如权利要求7所述的基于消息订阅的无人机集群组网系统,其特征在于,所述模块M6还用于:若自身节点为从控节点,且自身节点被推荐为主控的无人机节点数和总无人机节点数的比值超过预先设定的值,则将自身节点被推荐为主控和所推荐的无人机节点数组成主控节点确认信息通过所述主控 推荐主题信息进行发布,同时接收其他各个无人机节点通过所述主控推荐主题消息发布的主控节点确认信息,若在限定的时间内,未能接收到其他各个无人机节点通过所述主控推荐主题消息发布的主控节点确认信息,则将自身节点由从控节点切换成主控节点;若自身节点为主控节点,且自身节点被推荐为主控的无人机节点数和总无人机节点数的比值小于预先设定的值,则接收其他各个无人机节点通过所述主控推荐主题消息发布的主控节点确认信息,若在所述限定的时间内,接收到有无人机节点通过所述所述主控推荐主题消息发布的主控节点确认信息,则将自身节点由主控节点切换成从控节点。
- 如权利要求7所述的基于消息订阅的无人机集群组网系统,其特征在于,所述模块M3还用于:按照一定的时间间隔更新所述节点信息库中各个无人机节点的位置信息,并根据该时间间隔或者无人机节点加入或删除,则根据所述节点信息库内各个节点信息的位置信息计算出中心节点,使得中心节点至其他各个节点的距离总和最小。
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