CN-120786526-B - Networking method and system based on unmanned aerial vehicle cluster topology dynamic evolution

CN120786526BCN 120786526 BCN120786526 BCN 120786526BCN-120786526-B

Abstract

The invention discloses a networking method and a networking system based on unmanned aerial vehicle cluster topology dynamic evolution, wherein the method comprises the steps that each unmanned aerial vehicle node monitors a message sent by a neighbor node in a wireless channel and records message information of the neighbor node; the method comprises the steps of enabling a consumer node to select a networking method to be used according to whether a route in a routing table is invalid or not and initiate a data acquisition request, enabling an intermediate node to select an applicable networking method and forward the data acquisition request according to whether the route in the routing table is invalid or not, recording a data request path, enabling a provider node to receive the data acquisition request and return a data packet to an upstream intermediate node along the data request path, enabling the intermediate node to update the routing table according to the data packet and return the data packet to the consumer node along the data request path, and updating route invalid time facing an unmanned aerial vehicle network to realize evolution of the unmanned aerial vehicle cluster networking method. According to the invention, each node in the unmanned aerial vehicle cluster can dynamically adjust the networking method according to the topology change, so that the self-adaption to the environment is realized.

Inventors

WANG ZHIYUAN
DENG LIYOU
ZHANG SHAN
LUO HONGBIN

Assignees

北京航空航天大学

Dates

Publication Date: 20260512
Application Date: 20250714

Claims (6)

1. The networking method based on the unmanned aerial vehicle cluster topology dynamic evolution is characterized by comprising the following steps of: S1, each unmanned plane node monitors messages sent by neighbor nodes in a wireless channel and records message information of the neighbor nodes; S2, the data consumer nodes in each transmission pair select a networking method to be used according to whether routes in a routing table fail or not and initiate a data acquisition request; S3, the intermediate node in each transmission pair selects an applicable networking method according to whether the route in the routing table fails or not, forwards the data acquisition request, and records a data request path; S4, the data provider node of each transmission pair receives the data acquisition request and returns a data packet to the upstream intermediate node along the data request path; S5, the intermediate node of each transmission pair updates the routing table according to the data packet, and returns the data packet to the data consumer node along the data request path; S6, extracting networking strategies based on cluster topology dynamic evolution by characterizing cluster topology dynamic property of the unmanned aerial vehicle network, and calculating neighbor set change rates according to the message information, wherein the method for calculating the neighbor set change rates comprises the following steps: Wherein, the Representing the rate of change of the set of neighbors, Representing the set of neighbor nodes heard in the t-th time slot, The difference set operation of the set is represented, The modulo operation of the set is represented, Representing a time interval for each time slot; s7, guiding each unmanned aerial vehicle according to the networking strategy, and updating the route failure time by utilizing the neighbor set change rate to realize the evolution of an unmanned aerial vehicle cluster networking method, wherein the method for updating the route failure time comprises the following steps: Wherein, the Indicating the time to failure of the route after the update, Indication interval Is used for the projection function of (a), Represents the maximum value of the route failure time, delta represents the evolution step length of the route failure time, Representing the rate of change of the actual value of the neighbor set rate of change of the last two adjacent time slots, W represents the sliding window size, Representing the actual value of the neighbor set change rate.
2. The networking method based on unmanned aerial vehicle cluster topology dynamic evolution according to claim 1, wherein S2 comprises: If the data content identification in the routing table is invalid, the data consumer node initiates the data acquisition request by adopting a broadcasting method; and if the data content identifier in the routing table is valid, the data consumer node initiates the data acquisition request in a unicast mode according to the next hop host identifier in the routing entry.
3. The networking method based on unmanned aerial vehicle cluster topology dynamic evolution according to claim 1, wherein S3 comprises: After receiving the data acquisition request, the intermediate node on the transmission path records the request path of the data acquisition request to a pending request table, and then the intermediate node extracts a first data content identifier from the data acquisition request, selects a networking method to be used according to the validity of the first data content identifier in the routing table, and forwards the data acquisition request: if the first data content identifier in the routing table fails, the intermediate node forwards the data acquisition request in a broadcasting mode; And if the first data content identifier in the routing table is valid, the intermediate node forwards the data acquisition request by adopting a unicast method according to the next hop host identifier in the routing entry.
4. A networking method based on unmanned aerial vehicle cluster topology dynamic evolution according to claim 3, wherein S4 comprises: and after receiving the data acquisition request, the data provider node extracts the first data content identifier in the data acquisition request and generates the corresponding data packet, and then the data provider node returns the data packet to the last hop node of the data acquisition request in a unicast mode.
5. The method for networking based on unmanned aerial vehicle cluster topology dynamic evolution according to claim 4, wherein S5 comprises: And after receiving the returned data packet, the intermediate node positioned on the transmission path searches a next-hop node of a data return path in the undetermined request table according to the first data content identifier, forwards the data packet to the searched node in a unicast mode, and circularly forwards the data packet until the data packet returns to the data consumer node.
6. A networking system based on unmanned aerial vehicle cluster topology dynamic evolution, wherein the system applies the method of any one of claims 1-5, and the networking system comprises a monitoring module, a request initiating module, a request forwarding module, a request returning module, a data packet returning module, a change rate calculating module and a networking method evolution module; the monitoring module monitors messages sent by neighbor nodes in a wireless channel by utilizing each unmanned aerial vehicle node and records message information of the neighbor nodes; The request initiating module selects a networking method to be used according to whether a route in a routing table is invalid or not by utilizing the data consumer nodes in each transmission pair and initiates a data acquisition request; The request forwarding module selects an applicable networking method according to whether the route in the routing table is invalid or not by utilizing the intermediate node in each transmission pair, forwards the data acquisition request and records a data request path; The request return module receives the data acquisition request by using the data provider node of each transmission pair and returns a data packet to the upstream intermediate node along the data request path; the data packet returning module updates the routing table according to the data packet by using the intermediate node of each transmission pair, and returns the data packet to the data consumer node along the data request path; The change rate calculation module is oriented to the representation cluster topology dynamics of the unmanned aerial vehicle network to refine a networking strategy based on cluster topology dynamics evolution, and calculates neighbor set change rates according to the message information; And the networking method evolution module guides each unmanned aerial vehicle according to the networking strategy, and updates the route failure time by utilizing the neighbor set change rate so as to realize the evolution of the unmanned aerial vehicle cluster networking method.

Description

Networking method and system based on unmanned aerial vehicle cluster topology dynamic evolution Technical Field The invention belongs to the technical field of unmanned aerial vehicle ad hoc networks, and particularly relates to a networking method and system based on unmanned aerial vehicle cluster topology dynamic evolution. Background In recent years, with the rapid development of low-altitude communication technology, many applications are increasingly in need of wide-area coverage, high mobility, and stable communication capability. As an important component of the low-altitude communication network, the unmanned aerial vehicle self-organizing network (unmanned aerial vehicle cluster) has wide application prospect in the fields of emergency communication, environment monitoring, military reconnaissance, intelligent transportation and the like by virtue of the advantages of flexible deployment, wide area coverage and high maneuverability. However, since unmanned aerial vehicle clusters have high mobility, multi-hop transmission, etc., their data traffic transmission topologies exhibit highly dynamic changes, and cluster topology features have time-varying characteristics. For example, in an application scenario where unmanned aerial vehicle cluster pairs fly, the cluster topology is more stable, while in an application scenario where unmanned aerial vehicle cluster formation switches, the cluster topology is more dynamic. The time-varying nature of the cluster topology puts higher demands on the environmental adaptability and data transmission reliability of the networking method. Under the high dynamic topology environment, the transmission path changes rapidly, so that the traditional networking method with the host as the center is difficult to maintain stable routing, and the data packet is easy to lose. In contrast, the content-centric networking approach does not rely on pre-maintained stable transmission paths, and can better accommodate dynamic topologies. However, in low dynamic topology environments, the additional routing overhead and redundant data forwarding introduced by such methods may increase the risk of packet collisions, thereby reducing transmission efficiency. In order to enable an unmanned aerial vehicle cluster to keep stable and efficient data transmission in a topology characteristic time-varying environment, the invention discloses a networking method based on unmanned aerial vehicle cluster topology dynamic evolution. According to the method, the unmanned aerial vehicle is used for observing the topology dynamics of the cluster, the route failure time in the routing table is dynamically adjusted, and a networking method with strong adaptability in the current environment is selected according to the effectiveness of route entries, so that the method has the time-varying self-adaptive capacity on the topology characteristics, and the stability and the efficiency of data transmission are effectively improved. Disclosure of Invention The invention aims to solve the defects in the prior art, and provides the following scheme: a networking method based on unmanned aerial vehicle cluster topology dynamic evolution comprises the following steps: S1, each unmanned plane node monitors messages sent by neighbor nodes in a wireless channel and records message information of the neighbor nodes; s2, consumer nodes in each transmission pair select a networking method to be used according to whether routes in a routing table fail or not and initiate a data acquisition request; S3, the intermediate node in each transmission pair selects an applicable networking method according to whether the route in the routing table fails or not, forwards the data acquisition request, and records a data request path; S4, the provider node of each transmission pair receives the data acquisition request and returns a data packet to the upstream intermediate node along the data request path; S5, the intermediate node of each transmission pair updates the routing table according to the data packet, and returns the data packet to the consumer node along the data request path; s6, extracting networking strategies based on cluster topology dynamic evolution by characterizing cluster topology dynamic of the unmanned aerial vehicle network, and calculating neighbor set change rate according to the message information; S7, guiding each unmanned aerial vehicle according to the networking strategy, and updating the route failure time by utilizing the neighbor set change rate to realize the evolution of the unmanned aerial vehicle cluster networking method. Preferably, the S2 includes: If the data content identification in the routing table is invalid, the consumer node initiates the data acquisition request by adopting a broadcasting method; and if the data content identifier in the routing table is valid, the consumer node initiates the data acquisition request in a unicast mode according to the next hop host ident