CN113596768A - Unmanned cluster networking communication method - Google Patents
Unmanned cluster networking communication method Download PDFInfo
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- CN113596768A CN113596768A CN202110666944.2A CN202110666944A CN113596768A CN 113596768 A CN113596768 A CN 113596768A CN 202110666944 A CN202110666944 A CN 202110666944A CN 113596768 A CN113596768 A CN 113596768A
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- 238000004891 communication Methods 0.000 title claims abstract description 46
- 230000006855 networking Effects 0.000 title claims abstract description 30
- 238000000034 method Methods 0.000 title claims abstract description 25
- 238000010586 diagram Methods 0.000 claims description 8
- 230000008439 repair process Effects 0.000 abstract description 5
- 238000001514 detection method Methods 0.000 description 4
- 230000008569 process Effects 0.000 description 4
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 4
- 238000005516 engineering process Methods 0.000 description 3
- 230000005540 biological transmission Effects 0.000 description 2
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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]
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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
- H04W40/00—Communication routing or communication path finding
- H04W40/02—Communication route or path selection, e.g. power-based or shortest path routing
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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
- H04W40/20—Communication route or path selection, e.g. power-based or shortest path routing based on geographic position or location
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W40/00—Communication routing or communication path finding
- H04W40/24—Connectivity information management, e.g. connectivity discovery or connectivity update
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W40/00—Communication routing or communication path finding
- H04W40/24—Connectivity information management, e.g. connectivity discovery or connectivity update
- H04W40/248—Connectivity information update
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W84/00—Network topologies
- H04W84/18—Self-organising networks, e.g. ad-hoc networks or sensor networks
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Abstract
The invention discloses an unmanned cluster networking communication method, which presets an unmanned cluster networking topology structure chart by analyzing an unmanned cluster work task in advance. The load of the unmanned cluster network can be reasonably distributed, and the stability of the unmanned cluster network structure is kept. By adding the network access request message and the network access permission/designation message receiving and sending control of the unmanned node, the unmanned cluster network structure can be flexibly allocated, and the adjustment and the repair of the unmanned cluster network communication are realized.
Description
Technical Field
The invention relates to the field of unmanned cluster communication, in particular to an unmanned cluster networking communication method.
Background
Since the operating efficiency and the intelligence level of the single-platform unmanned system can not meet the task application requirements gradually, in order to improve the operating efficiency and the intelligence level of the unmanned system, an unmanned cluster technology in which a plurality of unmanned platforms form a cluster is developed, and an unmanned cluster communication networking technology is one of the key technologies.
The existing unmanned trunking communication networking mode mainly comprises communication networking methods such as star networking, mesh ad hoc networking, layered hybrid networking and the like. The networking methods are either fixed in networking mode and cannot be flexibly adjusted, or the networking mode is too random, so that the communication load of a single platform is easily overlarge. The communication resources of each platform of the unmanned cluster cannot be allocated and efficiently utilized.
Disclosure of Invention
The invention provides an unmanned cluster networking communication method in order to solve the problems that the communication resources of each platform cannot be effectively distributed in the original unmanned cluster networking mode and the utilization rate of data transmission bandwidth is improved. The method can reasonably distribute the load of the unmanned cluster network and improve the stability of the unmanned cluster network structure. The unmanned cluster network structure can be flexibly adjusted, and the rapid repair of unmanned cluster network communication is realized.
The object of the present invention is achieved by the following technical means.
1. An unmanned cluster networking communication method is characterized in that: the communication method comprises the following steps:
s1, generating a task networking topological structure diagram according to the approximate working area, electromagnetic environment and data traffic of each platform of the unmanned cluster;
s2, downloading the task networking topology structure diagram to each platform node;
s3, expanding each platform of the unmanned cluster according to tasks, and establishing connection transceiving data by using a preset wireless network topological structure;
s4, a certain platform of the unmanned cluster causes network route interruption due to faults, the disconnection terminal node platform identifies the interruption state, and sends a request for reestablishing route broadcast to an external broadcast;
s5, the platform in the unmanned cluster receives the broadcast and forwards the data to the control station;
s6, after receiving the request reconstruction message, the control station appoints a new routing node;
s7, the appointed node route sends the network access agreement message to the broken circuit terminal node platform;
and S8, the broken terminal node modifies the routing table, establishes a new wireless network topology structure and accesses the network again.
Preferably, a wireless network topology structure diagram is preset according to the working position of each platform of the unmanned cluster, and the unmanned cluster is expanded according to tasks and then preferentially uses the preset wireless network topology structure to carry out data communication.
Preferably, the unmanned cluster platform judges whether the communication link between the unmanned cluster platform and the cluster control station is interrupted or not according to the routing parameters and the received state data.
Preferably, when the unmanned cluster platform generates communication interruption, the disconnection terminal node initiates a network re-access application, and the cluster control station determines the breakpoint access node according to the received network access application and the forwarding platform information.
Preferably, the unmanned cluster control station sends the permission/appointed network access information to the disconnection node through the appointed node, reconstructs a wireless network topology structure and realizes the restoration of unmanned cluster network communication.
The invention has the beneficial effects that: before the unmanned cluster executes tasks, a topological structure diagram of the unmanned cluster wireless network is generated in advance according to parameters such as the geographical position, the electromagnetic environment, the data flow and the like of the unmanned platform, wherein the parameters are approximately worked. And the unmanned platform loads the network topology structure chart and preferentially uses the network topology chart for networking communication in the task execution process. The problems that in the self-networking process of the unmanned platform, the network topology structure is uncertain, and the network node flow cannot be controlled are solved. When a certain node of the unmanned cluster fails, the circuit breaking node can establish a new routing relation through the network access application message and the network access allowing/designating message, so that the rapid recovery of unmanned cluster communication and the flexible modification of a network topology structure are realized.
Drawings
Fig. 1, flow chart of unmanned cluster communication networking;
FIG. 2 is a schematic diagram of a topology of an unmanned trunked communication network;
FIG. 3 is a flow chart of unmanned cluster communication network open circuit repair;
fig. 4 is a schematic diagram of unmanned cluster communication disconnection repairing.
Detailed Description
In order to make the technical problems, technical solutions and advantageous effects to be solved by the present invention clearer and clearer, the present invention is described below with reference to the accompanying drawings and embodiments. The specific embodiments described herein are merely illustrative of the invention and do not delimit the invention.
The embodiment of the invention discloses an unmanned cluster networking communication method, which presets an unmanned cluster networking topology structure chart by analyzing an unmanned cluster work task in advance. The load of the unmanned cluster network can be reasonably distributed, and the stability of the unmanned cluster network structure is kept. By adding the network access request message and the network access permission/designation message receiving and sending control of the unmanned node, the unmanned cluster network structure can be flexibly allocated, and the adjustment and the repair of the unmanned cluster network communication are realized.
Referring to fig. 1, when we receive a task of underwater object detection using unmanned clusters. The task of the unmanned cluster needs to be analyzed according to the requirement of the task, and the number, the type, the communication contact mode and the like of the unmanned cluster are determined. According to the method disclosed by the invention, the working geographic position, electromagnetic environment and transmission data flow of each platform of the cluster are analyzed in the process of task analysis, and the network structure topological graph of the task is obtained according to the analysis result. Referring to fig. 2, the task needs two unmanned air clusters and a water surface cluster to work cooperatively, wherein the unmanned air cluster is composed of 3 unmanned aerial vehicles, and the unmanned aerial vehicles respectively perform functions of water surface interference detection, detection area management and control, communication relay and the like. The water surface cluster is composed of three unmanned boats and one unmanned aerial vehicle, the unmanned boats respectively execute functions of underwater target cooperative detection, underwater target identification and verification and the like, and the unmanned aerial vehicle is mainly used for functions of communication relay and the like. According to the method disclosed by the invention, the two clusters are respectively connected with the control station through the two routing links, so that the communication resources of the unmanned nodes can be effectively utilized, and the problem of overlarge communication load of a single node caused by unstable network topology structure in the ad hoc network method is avoided.
In the process of task execution of the unmanned cluster, various abnormal conditions inevitably occur, which requires that the network structure of the unmanned cluster can be flexibly changed. According to the method of the invention, referring to fig. 3 and 4, when one unmanned ship S2 in the water surface cluster fails, the rear unmanned ship S1 platform determines whether the upper node fails according to the status information of the receiving communication device. When the unmanned ship S1 platform judges the superior node is in fault, the superior node broadcasts and sends the request network access information to the outside. After receiving the information sent by the unmanned ship S1, other adjacent unmanned platforms A1, A2 and S3 forward the information to the unmanned cluster control station. The unmanned cluster control station is evaluated to determine that the nearest unmanned aerial vehicle A2 of the unmanned vehicle S1 can assume the role of network connection with the unmanned vehicle S1. Therefore, the unmanned cluster control designated drone a2 sends an allow/designate inbound message to the unmanned boat S1. Agreeing to the network entry request of unmanned boat S1. The unmanned vehicle S1 receives the permission/designation entry message to modify the local routing table, and sets the unmanned vehicle a2 as the upper communication node. And restoring the interrupted network by the unmanned aerial vehicle A2 to finish the repair of the unmanned cluster communication network.
It should be understood that equivalent substitutions and changes to the technical solution and the inventive concept of the present invention should be made by those skilled in the art to the protection scope of the appended claims.
Claims (5)
1. An unmanned cluster networking communication method is characterized in that: the communication method comprises the following steps:
s1, generating a task networking topological structure diagram according to the approximate working area, electromagnetic environment and data traffic of each platform of the unmanned cluster;
s2, downloading the task networking topology structure diagram to each platform node;
s3, expanding each platform of the unmanned cluster according to tasks, and establishing connection transceiving data by using a preset wireless network topological structure;
s4, a certain platform of the unmanned cluster causes network route interruption due to faults, the disconnection terminal node platform identifies the interruption state, and sends a request for reestablishing route broadcast to an external broadcast;
s5, the platform in the unmanned cluster receives the broadcast and forwards the data to the control station;
s6, after receiving the request reconstruction message, the control station appoints a new routing node;
s7, the appointed node route sends the network access agreement message to the broken circuit terminal node platform;
and S8, the broken terminal node modifies the routing table, establishes a new wireless network topology structure and accesses the network again.
2. The unmanned-cluster networking communication method of claim 1, wherein: and a wireless network topology structure chart is preset according to the working position of each platform of the unmanned cluster, and the unmanned cluster preferentially uses the preset wireless network topology structure to carry out data communication after being unfolded according to tasks.
3. The unmanned-cluster networking communication method of claim 1, wherein: and the unmanned cluster platform judges whether the communication link between the unmanned cluster platform and the cluster control station is interrupted or not according to the routing parameters and the received state data.
4. The unmanned-cluster networking communication method of claim 1, wherein: and under the condition that the unmanned cluster platform generates communication interruption, the disconnection terminal node initiates a network re-access application, and the cluster control station determines a breakpoint access node according to the received network access application and the forwarding platform information.
5. The unmanned-cluster networking communication method of claim 1, wherein: and the unmanned cluster control station sends the permission/appointed network access information to the circuit breaking node through the appointed node, reconstructs a wireless network topology structure and realizes the restoration of the unmanned cluster network communication.
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