CN-116546583-B - Unmanned aerial vehicle ad hoc network routing method and system based on energy balance under QoS (quality of service) guarantee

Abstract

The invention relates to a route control technology in wireless communication, in particular to an unmanned aerial vehicle self-organizing network route method and a system based on energy balance under QoS guarantee, when a source node needs to send a data packet, a route request is sent, the estimated time of the maximum propagation route hop count is waited, after the cut-off time is reached, and constructing an fitness function according to four constraint parameters such as link retention time, residual energy, congestion degree and hop count according to a path table of a destination node established by the route reply received in the waiting period, quickly and accurately obtaining an fitness value of each path, and selecting a path with the maximum fitness value as an optimal path to transmit data. The invention solves the problems of small throughput, large premature death of partial node energy consumption, poor packet delivery rate and the like of the existing unmanned aerial vehicle ad hoc network routing algorithm, and ensures the continuous, effective and timely data transmission of the unmanned aerial vehicle.

Inventors

• JIANG YANG
• WANG HUAMIN
• FENG ZHIRUI
• Tan Shuya
• WU YUCHENG
• HUANG TIANCONG

Assignees

• 重庆大学

Dates

Publication Date

20260505

Application Date

20230511

Claims (6)

1. 1. The unmanned aerial vehicle ad hoc network routing method based on energy balance under QoS guarantee is characterized by comprising the following steps of: S1, a source node sends a routing request; s2, the source node receives the route reply packet within the maximum hop count propagation time; s3, the source node extracts the preset index parameters corresponding to each path with the received route reply packet and calculates an adaptation value; s4, the source node selects a path with the maximum adaptation value as a main path to carry out data transmission; the preset index parameters comprise minimum residual energy, minimum link holding time, maximum congestion degree and hop count corresponding to each path; In the step S3, the following steps are carried out: calculating an adaptation value of the path p i Wherein: Represents the minimum remaining energy after normalization of path p i , Represents the minimum link retention time for path p i , Represents the maximum congestion degree of the path p i , The number of hops of the path p i is indicated, 、 、 And Respectively the weight coefficients of the corresponding indexes, and ; After receiving a route request sent by a source node, a destination node sets a current node coordinate position, a speed vector, a minimum link holding time, a minimum residual energy and a maximum congestion degree in a fed-back route reply packet; After receiving the route reply packet, the intermediate node calculates the link retention time according to the coordinate positions and the speed vectors of the current node and the sending node, updates the route reply packet by using the minimum link retention time of the sending node and the current node, updates the route reply packet by using the minimum residual energy of the sending node and the current node, and updates the route reply packet by using the maximum congestion degree of the sending node and the current node.
2. 2. The unmanned aerial vehicle ad hoc network routing method based on energy balance under QoS guarantee according to claim 1, wherein the intermediate node: Calculating the link retention time, wherein r represents the communication range of the node, and the node Is the coordinates of (a) The speeds of the corresponding shafts are respectively The coordinates of the node N are The speeds of the corresponding shafts are respectively Intermediate variable , , , , , 。
3. 3. The unmanned aerial vehicle ad hoc network routing method based on energy balance under QoS guarantee according to claim 1, wherein each node follows Calculating the residual energy after the time T 0 , For the initial energy of the node, Representing the energy consumed in the range of time T 0 , =1 To 6, status corresponds to one of IDLE state (IDLE), channel IDLE assessment state (CCA BUSY), transmit state (Tx), receive state (Rx), channel switch state (Switching), sleep state (Sleep), And The power and the working current are respectively corresponding to Statusi states, and U is the rated voltage of node working; Working time of Statusi state, total working time 。
4. 4. A method for unmanned aerial vehicle ad hoc network routing under QoS guarantee based on energy balance according to claim 1 or 3, wherein the following is adopted Minimum residual energy for path p i The normalization processing is carried out, the processing method comprises the following steps of, Representing a path The energy of any one of the above nodes, The energy is initialized for the node.
5. 5. The unmanned aerial vehicle ad hoc network routing method based on energy balancing under QoS guarantee according to claim 1, wherein the ratio of the number of packets buffered in the MAC layer interface queue to the maximum length of the interface queue is used as a measure for the current node congestion degree.
6. 6. An unmanned aerial vehicle self-organizing network communication system is characterized in that a plurality of unmanned aerial vehicles are arranged in the system, wireless data transmission can be carried out between any two unmanned aerial vehicles through a self-organizing network, and a data transmission path is selected by adopting the unmanned aerial vehicle self-organizing network routing method based on energy balance under the QoS guarantee of any one of claims 1-5 during data transmission.

Description

Unmanned aerial vehicle ad hoc network routing method and system based on energy balance under QoS (quality of service) guarantee Technical Field The invention relates to a routing control technology in wireless communication, in particular to an unmanned aerial vehicle ad hoc network routing method and system based on energy balance under QoS guarantee. Background The flight ad hoc network (Flying Ad Hoc Network, FANET) is a special mobile ad hoc network, and the flight ad hoc network using an Unmanned Aerial Vehicle (UAV) as a network node is also called an unmanned aerial vehicle ad hoc network, and each node in the unmanned aerial vehicle ad hoc network can be freely networked for data exchange. Compared with the traditional mobile ad hoc network, the vehicle-mounted ad hoc network and the wireless sensor network, the unmanned aerial vehicle ad hoc network has the characteristics of multi-hop, ad hoc, no center and the like, and also has the characteristics of limited bandwidth, high-speed movement, rapid topology change and the like. The FANETs routing algorithm research in the prior art shows good performance in terms of energy and stability, but the unmanned aerial vehicle nodes in the cluster network are required to adapt to higher moving speed and network topology with frequent change, and the load and energy consumption of the nodes on the path are balanced. At present, FANETs routing technology capable of supporting the practical application has little research. Therefore, how to design an unmanned aerial vehicle ad hoc network routing protocol which is efficient and adapts to the characteristics of the unmanned aerial vehicle is a current urgent problem to be solved. Disclosure of Invention In view of the above, the invention firstly provides an unmanned aerial vehicle self-organizing network routing method based on energy balance under QoS guarantee aiming at the characteristics of high unmanned aerial vehicle node density, fast topology change, high real-time performance and the like, solves the problems of poor self-adaption, unreliable, early death of partial nodes and the like of the existing FANETs routing protocol, and ensures the energy balance and service quality of unmanned aerial vehicle nodes. In order to achieve the above purpose, the specific technical scheme adopted by the invention is as follows: An unmanned aerial vehicle ad hoc network routing method based on energy balance under QoS guarantee comprises the following steps: S1, a source node sends a routing request; s2, the source node receives the route reply packet within the maximum hop count propagation time; s3, the source node extracts the preset index parameters corresponding to each path with the received route reply packet and calculates an adaptation value; s4, the source node selects a path with the maximum adaptation value as a main path to carry out data transmission; The preset index parameters comprise minimum residual energy, minimum link holding time, maximum congestion degree and hop count corresponding to each path. Optionally, in step S3, the following steps are performed: An adaptation value F (p i) of the path p i is calculated, wherein E (p i) represents the minimum remaining energy after normalization processing of the path p i, HT (p i) represents the minimum link retention time of the path p i, C (p i) represents the maximum congestion degree of the path p i, H (p i) represents the hop count of the path p i, ω 1、ω2、ω3 and ω 4 are weight coefficients of the corresponding indices, respectively, and ω 1+ω2+ω3+ω4 =1. Optionally, after receiving the route request sent by the source node, the destination node sets the current node coordinate position, the speed vector, the minimum link holding time, the minimum residual energy and the maximum congestion degree in the fed back route reply packet. Optionally, after receiving the route reply packet, the intermediate node calculates the link retention time according to the coordinate positions and the speed vectors of the current node and the sending node, updates the route reply packet by using the minimum link retention time of the sending node and the current node, updates the route reply packet by using the minimum residual energy of the sending node and the current node, and updates the route reply packet by using the maximum congestion degree of the sending node and the current node. Further, the intermediate node follows: Calculating the link retention time, wherein r represents the communication range of the node, the coordinate of the node M is (x 1,y1,z1), the speed of each axis is (v 1x,v1y,v1z), the coordinate of the node N is (x 2,y2,z2), the speed of each axis is (v 2x,v2y,v2z), and the intermediate variable a＝x2-x1,b＝v2x-v1x,c＝y2-y1,d＝v2y-v1y,e＝z2-z1,f＝v2z-v1z. Optionally, each node calculates the remaining energy E current,Einital after the time T 0 is calculated according to E current＝Einital-E0 as the initial energy of the node,The energy consu