CN110149671B - Routing method of unmanned aerial vehicle swarm network - Google Patents
Routing method of unmanned aerial vehicle swarm network Download PDFInfo
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- CN110149671B CN110149671B CN201910453390.0A CN201910453390A CN110149671B CN 110149671 B CN110149671 B CN 110149671B CN 201910453390 A CN201910453390 A CN 201910453390A CN 110149671 B CN110149671 B CN 110149671B
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- H04L1/00—Arrangements for detecting or preventing errors in the information received
- H04L1/0078—Avoidance of errors by organising the transmitted data in a format specifically designed to deal with errors, e.g. location
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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
- H04W40/023—Limited or focused flooding to selected areas of a network
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- H04W—WIRELESS COMMUNICATION NETWORKS
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- H04W84/02—Hierarchically pre-organised networks, e.g. paging networks, cellular networks, WLAN [Wireless Local Area Network] or WLL [Wireless Local Loop]
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Abstract
The invention provides a routing method of an unmanned aerial vehicle swarm network, and aims to provide a routing method which is low in route maintenance cost, high in efficiency and excellent in accuracy. The invention is realized by the following technical scheme: forming a mesh network among all the ordinary forwarding nodes through a wireless communication link to finish data packet transmission; when a common forwarding unmanned aerial vehicle node enters a new sub-domain, a local controller is automatically identified by receiving Beacon Beacon messages, the process that the common node joins in a sub-domain network is completed, then the common node periodically reports self position information, speed information and neighbor information to the local controller, and the local controller generates a local network view information base; when the data plane has a data transmission requirement, the data plane initiates a routing request to the control plane, the control plane divides the path into two conditions of cross-domain and intra-domain according to the current network view information, and the global controller and the local controller assist in completing the selection of the forwarding path respectively and guide the data plane to complete the data transmission.
Description
Technical Field
The invention belongs to the technical field of Unmanned Aerial Vehicle (UAV) network communication, and particularly relates to a routing method for a software defined drone swarm network.
Background
With the continuous development of the technology level, the unmanned aerial vehicle technology can more simply acquire required information compared with the traditional mode by virtue of the characteristics of unique flexibility, low cost and the like, so that the unmanned aerial vehicle technology gradually permeates various industries, such as city management, agriculture, emergency rescue and relief, video shooting and the like in the civil field. The unmanned plane swarm is a group consisting of tens to hundreds of small-size and low-cost unmanned planes, and the unmanned plane swarm completes a preset task under the control command of the ground by taking the performance of a single platform as the basis and the cooperative energy among the platforms as the support.
The Ad-Hoc mobile Ad-Hoc network belongs to a centerless network, does not depend on any fixed communication infrastructure, and thus is widely used. In the field of aerial aircrafts, by using an Ad-Hoc mobile Ad-Hoc Network technology for reference, a Flying Ad-Hoc Network (FANET) concept is proposed, the Flying Ad-Hoc Network is an information mobile Ad-Hoc Network which takes an aerial aircraft as a communication node, and similar to the Ad-Hoc mobile Ad-Hoc Network, the FANET also does not need the support of any fixed communication facility, and the Network can be autonomously established and managed at any time and any place, so that the efficient communication between the aircraft nodes is realized. The flight ad hoc network can be classified into an unmanned system ad hoc network, an aviation ad hoc network, an ad hoc network and the like according to the type of the aircraft. The basic idea of swarm unmanned system networking is as follows: the unmanned aerial vehicles fly in a bee colony mode, the communication of the unmanned aerial vehicles does not depend on basic communication facilities such as a ground control station or a satellite completely, the unmanned aerial vehicles are used as network nodes, the nodes can transmit command instructions mutually, data such as perception situation, health condition and information collection are exchanged, and a wireless mobile network is established through automatic connection. Each node in the network has the functions of a transceiver and a router, and forwards data to a node farther away in a multi-hop mode. The unmanned aerial vehicle ad hoc network adopts technologies such as dynamic networking and wireless relay to realize interconnection and intercommunication among unmanned aerial vehicles, has the self-organizing and self-repairing capabilities and the advantages of high efficiency and rapid networking, and can meet the application requirements of the unmanned aerial vehicles under specific conditions. The traditional Ad-Hoc network aims at establishing peer-to-peer connection, and the unmanned aerial vehicle Ad Hoc network also needs to establish peer-to-peer connection for the coordination and cooperation functions of the unmanned aerial vehicle; secondly, some nodes also need to act as central nodes for data collection in the network, functioning similarly to a wireless sensor network, and therefore need to support traffic aggregation. In practical applications of drones, the entire network may be heterogeneous interconnected. Unlike MANET random movement and VANET restricted to highway movement, the drone node also has its own unique law of motion. In some applications with multiple drones, a preference is given to selecting global path planning, in which case the drones move regularly; however, the flight path of the automated drone is not predetermined and the flight plan may be altered during operation. The unmanned aerial vehicle network is a wireless mobile communication system with large dynamic change under the influence of the external flying environment, the moving speed of the nodes is obviously improved compared with that of the conventional MANET nodes, and the network topology changes frequently due to the acceleration of the node speed, so that the unmanned aerial vehicle nodes can join or leave the network at any time, and the unmanned aerial vehicle network is required to respond to and process the change of the topology in time. The network topology structure of the unmanned aerial vehicle networking and the network architecture of the mobile Ad-Hoc network have necessary connection, and a layered distributed control structure is adopted. The unmanned aerial vehicle Ad-Hoc network inherits some characteristics of the Ad-Hoc mobile Ad-Hoc network, such as no center, multiple hops, self-organization and the like, can carry out self-organization and self-management on the network, and the route between network nodes is generally composed of multiple hops, has a certain bandwidth and can carry out data transmission in a certain range. In addition, the unmanned aerial vehicle self-organizing network also has some self characteristics: (1) The most obvious difference between the unmanned aerial vehicle ad hoc network and the traditional ad hoc network is the high-speed movement of the nodes and the high dynamic change of the network topology, the high-speed movement of the unmanned aerial vehicle can cause the high dynamic change of the topology when the speed of the unmanned aerial vehicle is 30-460 km/h, and thus, the network connectivity and the protocol performance are seriously influenced. Meanwhile, communication failure of the unmanned aerial vehicle platform and instability of the line-of-sight communication link can also cause link interruption and topology updating. (2) The sparsity of nodes and the heterogeneity of a network, unmanned aerial vehicle nodes are distributed in a dispersed manner in the air, the distances among the nodes are mostly several kilometers, and the density of the nodes in a certain airspace is low, so that the network connectivity is a remarkable problem. (3) The uniqueness of a network target, images, audio, video and the like included in service data have the characteristics of large transmission data volume, diversified data structures, high delay sensitivity and the like, and corresponding QoS needs to be ensured. (4) Due to the particularity of the mobile model, the mobile model can have important influence on routing protocols, mobility management and the like of the Ad-Hoc network, and the unmanned aerial vehicle is limited in load, energy and volume, so that the computing capacity of the unmanned aerial vehicle is determined to be invaluable.
The network topology structure of the swarm unmanned system is based on the characteristics of the mobile Ad-Hoc network, and the architecture of the unmanned network is based on the architecture of TCP/IP, and necessary simplification, modification and expansion are carried out according to the characteristics of the architecture. Routing communication is the premise and the basis of unmanned aerial vehicle collaborative mission planning, and particularly in an unstable unmanned aerial vehicle network, the reliability of routing has important significance. In a low-speed environment, the nodes mostly move relatively at a low speed, and in some cases, the position relationship between the nodes is even relatively static. Therefore, a routing method based on topology can be adopted in the scenes to obtain better effect. However, the topology of the unmanned aerial vehicle network changes rapidly, which may cause that a routing method based on the topology cannot construct a reliable routing path, thereby affecting the routing performance. In addition, since high-speed movement is the most important feature of the drone network, the generated topology changes frequently, so that it is difficult for the topology-based routing method to maintain routing paths to ensure routing performance. Therefore, a method with reasonable design is needed, the influence of rapid change of the network topology of the unmanned aerial vehicle on the routing communication is effectively reduced, and the reliability of communication between the unmanned aerial vehicles is ensured. Currently, in Ad-Hoc mobile Ad-Hoc networks, routing protocols widely applied include an optimized link state routing protocol (OLSR), a Destination node sequence Distance Vector routing protocol (DSDV), and an Ad-Hoc On-demand Distance Vector routing protocol (AODV). In the above protocol, the OLSR routing protocol is a standardized table-driven optimized link state routing protocol proposed by ietfmann working group for wireless Ad-Hoc networks, and introduces a concept of Multipoint relay (MPR) by periodically broadcasting two Control messages, namely a HELLO packet and a TC (Topology Control) packet, and only the MPR node can forward routing information, so that the whole network node can establish a complete network Topology map. However, the OLSR protocol needs to broadcast Hello packets periodically to discover neighbor nodes, and cannot respond in time when a link is disconnected. DSDV adopts a Bellman-Ford algorithm to effectively solve the problem of a routing loop, updates a routing table in a mode of using a node serial number, and improves the efficiency of route discovery, but DSDV completes the establishment of global topology through periodic interaction routing information among nodes, cannot discover the update of link state in time, is not suitable for a network with frequent topology change, has high route maintenance cost, and is easy to cause broadcast storms. AODV realizes the routing from a source node to a destination node by maintaining a dynamic routing table, belongs to an on-demand routing method, initiates a routing discovery and maintenance process only when in communication demand, and the nodes do not need to store routing table information, can effectively reduce routing overhead and save network resources, but needs to complete the routing discovery and maintenance first when in communication demand, thereby increasing the end-to-end time delay of the network, and when the network scale becomes large, the routing discovery process easily causes a broadcast storm phenomenon. In a common low-speed Ad-Hoc wireless mobile organization network, the routing protocols can show good performance after experimental verification. However, when the moving speed of the node is increased, the performance of the protocol cannot meet the requirements after the network topology structure changes frequently. Therefore, on the basis of the conventional routing protocol, related optimization improvement schemes are proposed, such as a link optimization state routing algorithm based on a prediction mechanism, an AODV routing algorithm based on an optimization neighbor discovery mechanism, a multi-path OLSR routing algorithm based on load balancing, and the like. Compared with the traditional routing protocol, the improved schemes have certain improvement on reliability and routing efficiency. However, in the unmanned aerial vehicle network with dynamically changed topology height, the traditional distributed self-organizing network nodes naturally have the characteristics of difficult cooperation, long connection time and the like, so that the optimization effect is improved to a limited extent.
The traditional mobile self-organizing network adopts a mode of routing according to needs or a mode of routing according to a table, and completes the processes of route discovery and route maintenance by a mode of broadcasting mutual node information among nodes by using a flooding strategy through a distributed network management method. Due to the high-speed movement of the node and the acquisition of the periodic neighbor information, when the positions of the neighbor and the target are changed, the problem of routing temporary blindness can be caused. The routing temporal blindness means that the position information of the neighbor node obtained by beacon exchange or other methods is inaccurate, so that the forwarding node selects the failed neighbor as the next-hop route to cause communication interruption, but the upstream forwarding node cannot know the route interruption, and the success rate of data transmission is greatly reduced when the routing temporal blindness problem is serious. After the moving mode of the unmanned aerial vehicle cluster is determined, corresponding routing protocols of the unmanned aerial vehicle cluster also need to be adjusted correspondingly, and the traditional routing protocols cannot meet the requirements of the clustered unmanned aerial vehicle. The unmanned aerial vehicle cluster is required to timely and effectively transmit the reconnaissance data back, and the connectivity of the unmanned aerial vehicle cluster is kept as much as possible so as to achieve the real-time control of the base station control center. This requires that the routing protocol be able to provide sufficient bandwidth to support the transmission of images, video, control commands, etc. In addition, load balance needs to be fully considered in the routing of the unmanned aerial vehicle cluster routing protocol, so that performance bottleneck is avoided, the robustness and the anti-interference capability of the network are improved, and the survival time of the network is prolonged. The traditional mobile self-organizing network, no matter routing on demand or routing on a table, completes the processes of route discovery and route maintenance by using a flooding strategy in a mode of broadcasting mutual node information among nodes through a distributed network management method, and when the network scale is large, the generated route maintenance cost is large and a broadcast storm is easily caused.
Software Defined Networking (SDN) is a new Network architecture with a centralized Network management logic that has emerged in recent years. Unlike a traditional network, the SDN advocates separation of control and forwarding, decouples a data plane and a control plane, has a control plane with a centralized logic, and implements programmable control on the data plane through a unified and open southbound interface. The control plane bears the responsibility of collecting network state information, makes an optimal routing decision for data forwarding based on the whole network state information, and then uniformly issues the optimal routing decision to the data plane; the data plane is only responsible for completing data packet transmission according to the issued forwarding strategy and does not manage the network any more. In this way, the control plane can uniformly manage network resources, more efficient and optimized selection is made on network resource allocation and routing selection, and the data plane only needs to forward data according to a routing strategy issued by the control plane without finding and maintaining a route, so that the efficiency of overall data transmission is improved. At present, a software defined network is mainly applied to a commercial wired network, because the channel state of the wired network is stable and reliable, the states of a CPU (central processing unit) and an available memory of equipment and the like are mainly concerned in the process of collecting and reporting the data plane state, and the problem of channel bandwidth is not required to be concerned. However, in the drone swarm environment, information such as the moving speed and the position of the nodes changes all at any moment, which causes network topology to be variable, complexity of the air wireless communication environment, unstable wireless communication links between the nodes, and even disconnection, which may occur, and uncertainty in the network environment. Therefore, it is obviously unfeasible to directly set commercial SDNs into the drone network environment. At present, most of research of SDN in the field of wireless Ad-Hoc mobile Ad-Hoc networks still stays at the theoretical level, and few cases can be referred.
Disclosure of Invention
Aiming at the problems existing in the prior art, the invention provides a hierarchical software-defined unmanned aerial vehicle swarm network (SD-UAVNET) routing selection method which is lower in routing maintenance cost, higher in efficiency and better in accuracy by combining with a software-defined network idea.
In order to solve the technical problem, the invention provides an unmanned aerial vehicle swarm network routing method, which is characterized by comprising the following steps: the unmanned plane swarm network deeply fuses a software defined network and an unmanned plane network environment, and is divided into a data plane consisting of common forwarding unmanned plane nodes and a control plane consisting of a local controller and a global controller. The ordinary nodes form an MESH MESH network through a wireless communication link to complete data packet transmission; the control plane collects and manages network information and formulates routing strategies according to communication requirements. When the ordinary forwarding unmanned aerial vehicle node enters a new sub-domain, the local controller automatically identifies the local controller by receiving the Beacon Beacon frame, and immediately completes the process of adding the ordinary node into the sub-domain network, then the ordinary node periodically reports the position information, the speed information, the neighbor information and the node attribute information of the ordinary node to the local controller, the local controller updates a local network view information base, and the global controller controls all the local controllers and is responsible for maintaining the global network view information; when the data plane has a service transmission requirement, the data plane initiates a routing request to the control plane, and the control plane calculates complete path information of each hop from the source node to the destination node in a source routing (also called display routing) mode based on the stored network view information to complete the selection of the forwarding path. The control plane divides the request path into two types of cross-domain path and intra-domain path, and the two types of cross-domain path and intra-domain path are respectively responsible for the global controller and the local controller to guide the data plane to complete data transmission.
Compared with the traditional mobile ad hoc network routing protocol, the method has the following beneficial effects.
The routing overhead is smaller. The invention combines the traditional routing method according to the table and the routing method according to the need, adopts the method of software definition unmanned aerial vehicle network SD-UAVNET, and centrally manages the network information through the controller, the common node only needs to periodically report the self information to the local controller, when the service requirement exists, the local controller completes the selection of the forwarding path according to the stored local routing table information, the common node only needs to complete the data forwarding according to the issued routing strategy, the routing table information does not need to be stored, the interaction of the routing update information among the common nodes is avoided, and the system routing overhead is reduced. The method solves the defects that the traditional mobile self-organizing network completes the route discovery and the route maintenance by using a mode of broadcasting mutual node information among nodes by using a flooding strategy through distributed network management, and when the network scale is large, the generated route maintenance cost is high, and a broadcast storm is easily caused.
The invention adopts a network abstraction method to abstract a sub-domain network into a logic node for reducing the excessive occupation of control information on wireless channel bandwidth to the characteristic of the shortage of wireless link resources of an unmanned aerial vehicle network, hides the details in the sub-domain network, and only presents the form of one logic node for a global controller. The internal details of the intra-domain network are hidden, so that the occupation of the network topology data on the control channel bandwidth can be reduced, and the safety of the regional network can be improved. In the abstract mode, the local controller only needs to report the node information of the controller and the node information of the boundary in the subdomain to the global controller. And the global controller generates a global logic network view according to the abstract network view information. When a cross-domain transmission demand exists, the global controller only needs to send the information of boundary nodes of each sub-domain passing through the cross-domain path to each local controller, and then each local controller independently finishes the planning of the routing in each domain, thereby reducing the data volume of control information and simplifying the path calculation process.
The routing efficiency is higher. The invention adopts a layered and domain-divided control mode, divides the unmanned plane swarm network into a plurality of sub-domains, is independently managed by a plurality of local controllers, and is managed by a global controller. When a service transmission requirement exists, firstly, judging that the communication is intra-domain communication or cross-domain communication, if the communication is intra-domain communication, directly finishing the communication by a local controller without passing through a global controller; when the cross-domain transmission is carried out, the global controller selects all local controllers on the cross-domain path based on the global topology information, and then each local controller completes the routing in each domain. Through a layered controller management mechanism, the load of the controller can be effectively reduced, the design complexity of the controller is reduced, the control overhead is reduced, and the routing efficiency is improved.
The routing accuracy is better. In the working process of the software defined unmanned aerial vehicle swarm network routing method, the high dynamic property of the unmanned aerial vehicle network is considered, and the minimum Expected Transmission times (ETX) between nodes and the relative speed information of the nodes of the unmanned aerial vehicle can be combined to be used as the quantization standard of the quality indication of the communication link between the nodes. Compared with the traditional mobile ad hoc network, the relay hop count among the nodes is mostly used as a measurement standard, the relative speed information among the nodes is used as the calculation weight of the ETX (v) value, the link quality change trend caused by the dynamics among the nodes can be more accurately represented, and the method is more suitable for the dynamic characteristics of the unmanned aerial vehicle swarm network.
Drawings
Fig. 1 is a schematic diagram of module functional division of the routing principle of the drone swarm network of the invention.
Fig. 2 is a schematic diagram of the application environment of fig. 1.
Fig. 3 is a flowchart of the operation of fig. 1.
Fig. 4 is a format diagram of a Beacon frame and a neighbor discovery frame of a common node of the control node of fig. 1.
Fig. 5 is a format diagram of a general node information report frame, a partial view abstract information report frame of fig. 1.
Fig. 6 is a schematic diagram of a local network abstraction of fig. 1.
Fig. 7 is a format diagram of a route request frame, a route reply frame, and a data packet frame of fig. 1.
Fig. 8 is a schematic diagram of the cross-domain routing shortest path search of fig. 1.
In order to make the technical problems, technical solutions and key points to be solved by the present invention clearer, the present invention will be further described with reference to the accompanying drawings and specific embodiments.
Detailed Description
Refer to fig. 1 and 2. According to the invention, the unmanned plane swarm network deeply fuses a software defined network and an unmanned plane network environment, and is divided into a data plane consisting of common forwarding unmanned plane nodes and a control plane consisting of a local controller and a global controller, and a MESH network is formed among the common nodes through a wireless communication link to complete data packet transmission; the control plane collects and manages network information and formulates routing strategies according to communication requirements. The local controller periodically broadcasts Beacon Beacon frames in a sub-domain network to guide each common forwarding node to join the sub-domain network, when the common forwarding unmanned aerial vehicle node enters a new sub-domain, the local controller is automatically identified by receiving the Beacon Beacon message frames, the process that the common node joins the sub-domain network is immediately completed, then the common node periodically reports the position information, the speed information, the neighbor information and the node attribute information of the common node to the local controller, and the local controller generates an updated local network view information base; the global controller is used for controlling all the local controllers and is responsible for maintaining global network view information; when the data plane has a service transmission requirement, the data plane sends a routing request to the control plane, the control plane divides the path into two types of cross-domain path and intra-domain path according to the current network view information, the global controller and the local controller finish the selection of the forwarding path respectively, and the data plane is guided to finish the data transmission. When the routing request is a cross-domain request, the global controller selects all local controllers on a cross-domain path based on the global topology information, and then each local controller completes the selection of the routing in each domain.
The software-defined drone swarm network (SD-UAVNET) divides drone nodes into common forwarding nodes of a data plane and controllers of a control plane according to functions. The data plane mainly completes two functions of data forwarding and node information reporting, and the control plane mainly completes collection, maintenance and management of network information and formulation of routing strategies and has two roles of a local controller and a global controller. The local controller mainly completes the collection of local network information in the sub-domain network and the formulation of a routing strategy in the domain, and the global controller is responsible for the establishment of a global logic view information base and the calculation of a cross-domain path. The common node periodically collects the self position information, the motion information and the neighbor information, and reports the collected information to the local controller through the control channel. And the local controller receives and processes the uploaded information of the common nodes, and generates and updates a local network view. The specific treatment process comprises the following steps: the local controller obtains the space coordinates of the current node according to the node position information and calculates the distance between different nodes; predicting the position of a node at the next updating according to the motion information, and whether the motion directions among the nodes are opposite or opposite; and constructing a node adjacency matrix in the subdomain according to the neighbor table information. In order to reduce the occupation of the local view information on the control channel bandwidth, the local controller performs abstract processing on the local network view before reporting the global controller. And the global controller processes the abstract view information reported by each local controller to generate or update a global network logic view.
The local controller includes: the local view information base, a routing strategy making unit and a routing information collecting unit are connected with the local view information base. The routing strategy making unit comprises a routing updating module and a routing issuing module connected with the updating module, and the routing information collecting unit comprises a local network view management module and a network state information monitoring module. The local network view information base comprises all node information tables and node adjacency tables in a sub-domain, wherein the node information tables comprise all common forwarding node information and node address information in the sub-domain, node function information of whether the node is a boundary node, longitude and latitude information of indicating the position of the node, node speed and direction information and neighbor address information of the node. The node adjacency list is an inter-node connection matrix, element values in the matrix are quality values of communication links between two nodes, and if the two nodes are not adjacent nodes, the values are infinite. The local network view management module acquires information such as the position, speed, neighborhood and node attribute of each unmanned aerial vehicle node of a collected data plane through the network state information monitoring module, generates local network view information, generates or updates a communication routing table between each node in a sub-domain network based on the real-time local network view information, performs abstraction processing on the local view information and periodically reports the information to the global controller. When a common node in the domain has a routing request, the routing update module issues the latest required routing information through the routing issuing module, and the local controller calculates the complete information of each hop of path from the request source node to the destination node in the way of source routing (also called display routing) in the domain routing, and issues the information to the data plane to guide the data packet transmission, thereby completing the selection of the forwarding path. .
The global controller comprises a global network view management module which is responsible for managing and maintaining global network view information and a global view information database for storing information. And the global network view management module collects the abstract view information of the local network reported by each local controller to generate a global logic network view, and the global network view information base comprises all the node information of the local controllers in the network and all the boundary node information in the control subdomain of each local controller. When a cross-domain routing request exists on a data plane, the local controllers do not have corresponding processing strategies, the global controller is required to issue the boundary node information of each sub-domain passing through the cross-domain path to each local controller by means of the view information of the global logic network, then each local controller is used for completing the selection of forwarding nodes of the intra-domain path, and the formulation of the cross-domain routing strategy is completed. Global controllers require greater processing and memory capacity than local controllers, so global controllers are typically served by ground servers to provide efficient and reliable services, while local controllers are served by airborne drone nodes with significant computational power.
See fig. 3. The whole network is divided into a common forwarding node of a data plane and a controller of a control plane according to functions. The data plane common forwarding node is responsible for data transmission and node information reporting; the control plane controller is responsible for network view management and forwarding strategy formulation, collects information of each node, generates a global network view, when the data plane has a data transmission requirement, the data plane sends a routing request to the control plane, the control plane sends a routing reply message based on the stored network view information, guides the data plane to finish data transmission, and ends routing. The specific working flow comprises the following steps:
and step S101, completing role distribution and network initialization according to the node function. Firstly, initializing a data plane, and generating a common forwarding node neighbor table which comprises all node sets which can communicate with the common node within a one-hop communication range of the common node and the corresponding link quality. The control plane initialization comprises local controller initialization and global controller initialization, and the local network view information base comprises a subordinate node information table and a node adjacency table. The subordinate node information table comprises all common forwarding node information in a subdomain, and comprises node address information, node function information of whether the node is a boundary node, longitude and latitude information indicating the position of the node, node speed and direction information and all neighbor address information of the node; the node adjacency list is an inter-node connection matrix, element values in the matrix are quality values of communication links between two nodes, and if the two nodes are not neighbor nodes, the values are infinite. The global network view information base comprises all local controller node information in the network and all boundary node information in each local controller control subdomain.
And step S102, after the network is initialized, the local controller periodically broadcasts Beacon Beacon frames for guiding the common nodes to join the sub-domain network. After receiving the Beacon frame, the ordinary forwarding node analyzes the local controller information, applies for adding the information into a sub-domain, periodically broadcasts neighbor discovery messages in a hop communication range of the ordinary forwarding node, is used for establishing a node neighbor table, judges whether neighbor discovery messages from other sub-domains are received or not, and marks the node attribute as a boundary node attribute when the node receives the neighbor discovery messages from other sub-domains.
And step S103, the common node periodically collects self position information (longitude and latitude), motion information (speed and direction), neighbor table information and node attribute information, and reports the collected information to the local controller through the control channel. And the local controller receives and processes the uploaded information of the common nodes, and generates and updates a local network view. The specific process is as follows: the local controller obtains the space coordinates of the current node according to the node position information and calculates the distance between different nodes; predicting the position of a node at the next updating according to the motion information, and whether the motion directions among the nodes are opposite or opposite; and constructing a node adjacency matrix in the subdomain according to the neighbor table information. And then, in order to reduce the occupation of the local view information on the control channel bandwidth, the local controller abstracts the local network view and reports the abstracted local network view to the global controller. And the global controller processes the abstract view information reported by each local controller and updates the global network view. And judging whether a data transmission request exists by the common node of the data plane, if so, jumping to the step S104, and if not, returning to continue to acquire the information of the common node.
And step S104, after the common node finishes information reporting, monitoring whether the common node has a data transmission requirement. If yes, the common node sends routing request information reaching the destination node to the local controller, and the local controller analyzes the routing request information and judges whether the routing request information is a cross-domain request. If the request is an intra-domain request, the local controller constructs an ETX (v) optimal intra-domain path from the request node to the destination node by using the expected transmission times ETX (v) of the relative speed weight value between the nodes as path cost according to a local network view, the intra-domain path calculates complete path information of each hop from the request source node to the destination node by the local controller in a source routing (also called display routing) mode, and sends the complete routing information to the request node in a routing return frame mode to guide the request node to complete the transmission of data packets. If the routing request is a cross-domain request, the local controller reports the request to the global controller, the global controller calculates a cross-domain path according to global view information, the cross-domain path information is sent to the local controllers passing through all the cross-domain paths in a reply message mode, the local controller constructs an optimal intra-domain path by taking ETX (v) as the path cost according to the local view information, the optimal path information is sent to the request node in a routing reply information mode, the request node forwards a data packet to a next hop node according to the routing information, whether the next hop node is in a neighbor table is judged, and if the next hop node is not in the neighbor table, the local controller returns to initiate a routing request process to the local controller to which the next hop node belongs again; and if the next hop node is judged to be in the neighbor table, directly forwarding the data packet to the next hop node, and continuing forwarding the next hop node according to the routing information until the next hop node is forwarded to the destination node, ending the routing and finishing the data packet transmission.
See fig. 4. The frame format of the common node neighbor discovery message is the same as that of a Beacon frame of a local controller, and the common node neighbor discovery message comprises fields such as a frame control field, a frame sequence number, an address field, a frame priority, a check bit and the like, wherein the frame control field comprises a frame type, a safety enabling mark and a response mark. The difference is that the source controller identifier and the source node address in the address domain in the Beacon frame are both local controller addresses, the source controller identifier in the neighbor discovery message frame is the local controller address to which the source controller identifier belongs, when a new node is not connected to the network, the field is empty, and the source node address is a common node address for broadcasting the message.
See fig. 5. The format of the common node information report data packet reported by the common node to the local controller and the format of the local view abstract information report data packet reported by the local controller to the global controller. The common node information report data packet contains self information of nodes such as longitude, latitude, altitude, speed, neighbors and the like, and the local view abstract information report frame contains boundary node information and local controller information in a regional network.
See fig. 6. In this embodiment, for a network scenario in which the link resource of the wireless network of the unmanned aerial vehicle is insufficient, the excessive occupation of the bandwidth of the control channel by the amount of the network view information data is reduced, and meanwhile, the security and privacy of the sub-domain network are improved. A network abstraction method is adopted to abstract the sub-domain network into a form of one logic node, the details in the sub-domain network are hidden, and the global controller is only presented in the form of one logic node. The internal details of the intra-domain network are hidden, so that the occupation of the network topology data on the control channel bandwidth can be reduced, and the safety of the regional network can be improved. In the abstract mode, the local controller only needs to report the node information of the controller and the boundary node information in the sub-domain to the global controller. And the global controller generates a global logic network view according to the abstract network view information. When a cross-domain transmission requirement exists, the global controller only needs to issue the information of boundary nodes of each sub-domain passing through the cross-domain path to each local controller, and then each local controller independently finishes the planning of the route in each sub-domain, so that the data volume of control information can be reduced, and the route calculation process is simplified.
See fig. 7. The common node routing request data packet comprises request source node information and destination node information; the route reply frame adopts a route display mode, and the local controller calculates complete path information of each hop, so that the route reply message frame comprises all relay node addresses from a request node to a destination node planned by the controller; the data message frame encapsulates the routing information and data packets sent down by the control plane, and the load field of the data message frame comprises the routing information and the actual data payload part required by the message transmission.
In this embodiment, the minimum Expected Transmission Count (ETX) between nodes is used as a route judgment basis, and in fact, a path requiring the minimum Expected Transmission Count in the whole process of transmitting the packet to the destination node is selected as the optimal route. ETX is to measure the transmission amount required by each bidirectional link by using packet loss rate, and ETX is to select the link with the maximum throughput from point to point as the optimal route. The ETX value of a link is a prediction of the amount of data traffic required to send a packet using that link. The calculation of ETX uses the forward transmission rate and the reverse transmission rate of a communication link between nodes, wherein the forward transmission rate phi is the probability that a data packet of a sender successfully reaches a receiver; the reverse transmission rate ρ is the probability of the successful arrival of the receiver ACK reply message at the sender. Probability of failed transmission of data packet is p lost =1- ρ · Φ, where the default link layer transmission employs an automatic retransmission mechanism. Assuming that the probability that a packet will be successfully transmitted from node i to node j over k attempts is P (k), since each attempt to transmit a packet is a bernoulli test, there is P (k) = P lost k-1 ×(1-p lost ) Then the average ETX of the expected traffic for successful transmission of a packet from node i to node j is
Thus, can obtain
Thus two formulae are subtracted, have
Because of p lost Not less than 1 and therefore has
The forward transmission rate phi and the reverse transmission rate p are calculated by means of the neighbor discovery packet.
Each common node periodically broadcasts a neighbor discovery packet, then counts the number of the received neighbor discovery packets broadcast by each neighbor node in a sliding time window (the time length is integral multiple of the broadcast period of the neighbor discovery packet), and nominally transmits the neighbor discovery packets to a local controller according to the link quality information of a neighbor table, and the local controller can calculate the ETX between every two common nodes based on the information. In an alternative embodiment, the local controller belongs to the common nodes a and B, the length of the sliding window is 10 times of the broadcast period of the neighbor discovery packet, and in the time window, a receives 8 neighbor discovery packets broadcast by B, and B receives 7 neighbor discovery packets broadcast by a, then the local controller may calculate the ETX value from a to B to be 1/0.8 × 0.7=1.78. Similarly, the local control can calculate the ETX values of all links between every two nodes in the sub-domain. In summary, the path R is composed of a series of nodes D 1 ,D 2 ,D 3 ,……,D L Formed of, wherein each sub-segment can be represented as [ D ] i ,D i+1 ]The total length of the path is L, then R's ETX R Has a value of
Aiming at the high-speed moving characteristic of nodes of the unmanned aerial vehicle, the relative moving speed between the nodes is combined with the expected transmission times, the speed and the direction information of the nodes of the unmanned aerial vehicle are considered, when the data plane has the service transmission requirement, the control plane aims at the dynamic characteristic of the unmanned aerial vehicle, the speed and the direction information of the nodes of the unmanned aerial vehicle are combined with the minimum expected transmission times ETX between the nodes, and the relative speed between the nodes is taken as the ETX R (v) Weighted value of (2), ETX with node relative velocity as weight R (v) The value serves as a link routing criterion. ETX with relative speed between nodes as weight R (v) The value can be expressed as
Wherein v is ij Representing node D i 、D j Beta is a non-negative integer, phi (D) i ,D j ) Representing node D i And D j Forward transmission rate between, ρ (D) i ,D j ) Representing node D i And D j And a reverse transmission rate therebetween. If node D i And node D j Moving in the same direction, the relative velocity v ij Is negative, then node D is calculated i 、D j ETX of (1) in (2) R The speed weight of (2) is less than 1; if node D i And node D j Going backwards, node D i 、D j ETX of (1) in (2) R Is greater than 1. It can be derived that ETX takes relative speed between nodes as weight R When the value is used as the routing standard of the link between the nodes, the link quality indication of the two nodes going towards each other is better than that of the two nodes going towards each other, even if the two nodes have the same forward transmission rate and reverse transmission rate, the link quality indication accords with the practical application scene of the unmanned aerial vehicle network.
In the workflow of the software-defined unmanned aerial vehicle swarm network routing method, when a data plane has a cross-domain routing request, a control plane needs the assistance of a global controller. The main functions of the global controller comprise the construction of a global logic abstract network view and the selection of cross-domain routing. The global logic view is represented by a directed graph (G, V) method, a point V set of the directed graph represents boundary nodes in each sub-domain network, and the boundary nodes are reported by a local controller; the set of edges G of the directed graph represents the connection relationship between the border nodes. When the global controller receives a cross-domain routing request reported by the local controllers, the global controller searches the shortest path from a request source node subdomain to a destination node subdomain by using an extent-first search algorithm by means of directed graph information, all subdomain boundary nodes through which the shortest path passes are sent to the corresponding local controllers in a reply message mode according to a sequence, and then each local controller independently completes routing planning in each domain. And the global controller marks the edge set of the cross-domain path to indicate that the path is occupied, and detects whether the path is occupied or not while searching the path when other service requests exist. If the request is occupied, a bypassing way is adopted, other paths are considered, if only one path exists from the current request source sub-field to the target sub-field and the path is occupied, the request is temporarily suspended until the transmission of the data packet of the current occupied path is finished, and then the route is planned.
See fig. 8. Fig. 8 is an exemplary diagram of the cross-domain routing shortest path search according to the present invention. In an alternative embodiment, a network map is divided into 4 x 4 grids, each managed independently by a local controller. If a cross-domain communication requirement from a certain node in the sub-domain 1 to a certain node in the sub-domain 16 exists at a certain moment, the global controller constructs a shortest path 1-2-3-4-8-12-16 (shown by a solid line in the figure) from the sub-domain 1 to the sub-domain 16 according to the real-time global network directed graph information, and marks the shortest path; meanwhile, a certain node in the sub-domain 1 generates a cross-domain demand to a certain node in the sub-domain 3 at the moment, and when the global controller searches for the shortest path, finds that the shortest path 1-2-3 is occupied, and plans a 'shortest' path (a dotted line in the figure) of 1-5-6-7-3 by adopting a bypassing way. The local controllers select the ETX with the minimum link according to the ETX (v) value between the nodes in each subdomain internal path selection R (v) The value is taken as the optimal intra-domain path.
The foregoing is merely a preferred embodiment of the invention, which is intended to be illustrative and not limiting. It will be understood by those skilled in the art that many variations, modifications, and even equivalents may be made thereto within the spirit and scope of the invention as defined in the claims, but all of which fall within the scope of the invention.
Claims (10)
1. An unmanned aerial vehicle swarm network routing method is characterized by comprising the following steps: the unmanned plane swarm network deeply fuses a software defined network and an unmanned plane network environment, the unmanned plane swarm network is divided into a data plane consisting of common forwarding unmanned plane nodes and a control plane consisting of a local controller and a global controller, and an MESH MESH network is formed among the common nodes through wireless communication links to finish data packet transmission; the control plane collects and manages network information and completes the formulation of a routing strategy according to communication requirements; the local controller periodically broadcasts Beacon Beacon frames in a subdomain network administered by the local controller to guide each common forwarding node to join the subdomain network, the local network view management module acquires position, speed, neighbor and node attribute information of each unmanned aerial vehicle node of a data plane through the network state information monitoring module to generate local network view information, a communication routing table among all nodes in the subdomain network is generated or updated based on the real-time local network view information, the local network view management module abstracts the local view information and periodically reports the abstracted local view information to the global controller, when the common node in the subdomain has a routing request, the routing update module issues latest required routing information through the routing issuing module, the routing information in the subdomain adopts a source routing mode, the local controller calculates complete information of each hop path from the source node to a destination node and issues the routing information to the data plane to guide data transmission, and the data plane packages the routing information and data groups together for forwarding; after the information reporting is completed by the common node, monitoring whether the common node has a data transmission requirement, if so, sending routing request information reaching a destination node to the local controller to which the common node belongs, analyzing the routing request information by the local controller, judging whether the routing request information is a cross-domain request, if the routing request information is an intra-domain request, using the expected transmission times ETX (v) of relative speed weights among the nodes as path cost by the local controller according to a local network view, constructing an optimal intra-domain path of the ETX (v) from the request node to the destination node, calculating complete per-hop path information from the request source node to the destination node by the intra-domain path in a source routing mode by the local controller, sending the complete routing information to the request node in a routing reply frame mode, and guiding the request node to complete the data packet transmission; if the routing request is a cross-domain request, the local controller reports the request to the global controller, the global controller calculates a cross-domain path according to global view information, the cross-domain path information is sent to the local controllers passing through all the cross-domain paths in a reply message mode, the local controller constructs an optimal intra-domain path by taking ETX (v) as the path cost according to the local view information, the optimal path information is sent to the request node in a routing reply information mode, the request node forwards a data packet to a next hop node according to the routing information, whether the next hop node is in a neighbor table is judged, and if the next hop node is not in the neighbor table, the local controller returns to initiate a routing request process to the local controller to which the next hop node belongs again; if the next hop node is judged to be in the neighbor table, the data packet is directly forwarded to the next hop node, the next hop node continues to forward according to the routing information until the next hop node is forwarded to the destination node, the routing is finished, the data packet transmission is completed, an intra-domain optimal path is constructed through a local controller based on the relative speed and the expected transmission times during intra-domain data transmission, and a cross-domain optimal path is constructed through a global controller and the local controller based on the expected transmission times during cross-domain data transmission, so that accurate and efficient routing selection is realized; when a common forwarding unmanned aerial vehicle node enters a new sub-domain, a local controller is automatically identified by receiving Beacon Beacon message frames, the process that the common node joins in a sub-domain network is immediately completed, then the common node periodically reports self position information, speed information, neighbor information and node attribute information to the local controller, and the local controller generates a local network view information base; the global controller controls all local controllers and is responsible for maintaining global network view information; when a cross-domain routing request exists on a data plane, the local controllers have no corresponding processing strategy, the global controller issues each sub-domain boundary node information passing through the cross-domain path to each local controller by means of the global logic network view information, and then each local controller completes the selection of an intra-domain path forwarding node to complete the formulation of the cross-domain routing strategy; when the data plane has a service transmission requirement, the data plane sends a routing request to the control plane, the control plane divides the path into two types of cross-domain path and intra-domain path according to the current network view information, and the global controller and the local controller assist in completing the selection of a forwarding path and guide the data plane to complete data transmission; .
2. The drone swarm network routing method of claim 1, characterized in that: the local controller comprises a local view information base, a routing strategy making unit and a routing information collecting unit, wherein the routing strategy making unit and the routing information collecting unit are connected with the local view information base, the routing strategy making unit comprises a routing updating module and a routing issuing module connected with the updating module, and the routing information collecting unit comprises a local network view management module and a network state information monitoring module connected with the local network view management module.
3. The drone swarm network routing method of claim 1, wherein: the local network view information base comprises all node information tables and node adjacency tables in a sub-domain, the node information tables contain all common forwarding node information in the sub-domain, and specifically comprise node address information, node function information of whether boundary nodes exist, longitude and latitude information indicating positions of nodes, node speed and direction information and neighbor address information of the nodes, the node adjacency tables are connection matrixes between the nodes, element values in the matrixes are communication link quality values between two nodes, and if the two nodes are not adjacent nodes, the values are infinite.
4. The drone swarm network routing method of claim 1, wherein: the local controller obtains the space coordinate of the current node according to the node position information, calculates the distance between different nodes, predicts the node position at the next updating according to the motion information, and predicts whether the motion direction between the nodes is opposite or opposite; and constructing a node adjacency matrix in the sub-domain according to the neighbor table information, and then abstracting the local network view by the local controller to reduce the occupation of the local view information on the control channel bandwidth and reporting to the global controller. And the global controller processes the abstract view information reported by each local controller and updates the global network view.
5. The drone swarm network routing method of claim 1, wherein: the global controller comprises a global network view management module which is responsible for managing and maintaining global network view information and a global view information database for storing information; the global network view management module collects the abstract view information of the local network reported by each local controller to generate a global logic network view, and the global network view information base is responsible for storing the global logic network view and specifically comprises all the node information of the local controllers in the network and all the boundary node information in the control subdomain of each local controller.
6. The drone swarm network routing method of claim 1, wherein: the whole network is divided into a common forwarding node of a data plane and a controller of a control plane according to functions, wherein the common forwarding node of the data plane is responsible for data transmission and node information reporting; the control plane controller is responsible for network view management and forwarding strategy formulation, collects information of each node, generates a global network view, when the data plane has a data transmission requirement, the data plane sends a routing request to the control plane, the control plane sends a routing reply message based on the stored network view information, guides the data plane to finish data transmission, and ends routing.
7. The drone swarm network routing method of claim 1, characterized in that: the method comprises the following steps that a common node periodically collects position information, motion information and neighbor information of the common node, the collected information is reported to a local controller through a control channel, the local controller receives and processes the uploaded information of the common node, and a local network view is generated and updated, wherein the specific processing process comprises the following steps: the local controller obtains the space coordinate of the current node according to the node position information and calculates the distance between different nodes; predicting the position of a node at the next updating according to the motion information, and whether the motion directions among the nodes are opposite or opposite; and constructing a node adjacency matrix in the subdomain according to the neighbor table information.
8. The drone swarm network routing method of claim 1, wherein: initializing a data plane, and generating a common forwarding node neighbor table which comprises all node sets which can communicate with the common node within a one-hop communication range and the corresponding link quality.
9. The drone swarm network routing method of claim 1, wherein: after the network is initialized, periodically broadcasting Beacon Beacon frames by the local controller, and guiding common nodes to join a sub-domain network; after receiving the Beacon frame, the ordinary forwarding node analyzes the local controller information, applies for adding the information into a sub-domain, periodically broadcasts neighbor discovery messages in a hop communication range of the ordinary forwarding node, is used for establishing a node neighbor table, judges whether neighbor discovery messages from other sub-domains are received or not, and marks the node attribute as a boundary node attribute when the node receives the neighbor discovery messages from other sub-domains.
10. The drone swarm network routing method of claim 1, wherein: when the global controller receives a cross-domain routing request reported by the local controllers, the global controller searches for the shortest path from a request source node subdomain to a destination node subdomain by using an extent-first search algorithm by means of directed graph information, all subdomain boundary nodes through which the shortest path passes are sequentially sent to the corresponding local controllers in the form of reply messages, and then each local controller independently completes routing planning in each domain.
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