CN113891329A - Frequency spectrum monitoring method and system based on multi-hop forwarding of unmanned aerial vehicle - Google Patents
Frequency spectrum monitoring method and system based on multi-hop forwarding of unmanned aerial vehicle Download PDFInfo
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Abstract
The invention provides a frequency spectrum monitoring method and a frequency spectrum monitoring system based on unmanned aerial vehicle multi-hop forwarding, wherein the method comprises the steps of obtaining link connection relations of all nodes in the whole ad hoc network; calculating the expected transmission times required by each node for sending the data packet from the node to the node which is connected with each node by a single link; selecting the shortest link path from a source node to a terminal node; judging whether the actual packet loss rate is greater than the standard packet loss rate or not; if so, reducing the sampling rate of the frequency spectrum data of the target source node; if not, improving the sampling rate of the frequency spectrum data of the target source node; judging whether the actual throughput is greater than the standard throughput; if so, improving the sampling rate of the frequency spectrum data of the target source node; and if not, reducing the sampling rate of the frequency spectrum data of the target source node. By adopting the scheme, the problems that the packet loss rate of the spectrum data transmitted in the link is increased and the throughput of the link establishment is reduced due to the intermittent establishment of the link are solved.
Description
Technical Field
The invention belongs to the technical field of frequency spectrum monitoring, and particularly relates to a frequency spectrum monitoring method and system based on unmanned aerial vehicle multi-hop forwarding.
Background
With the development of communication technology, wireless frequency devices are increasing, and in order to enhance the management and maintain the security of the electromagnetic spectrum, relevant departments in the country use monitoring devices to monitor and manage the electromagnetic spectrum in an all-round manner. The traditional frequency spectrum monitoring equipment is generally positioned on the ground, such as a ground monitoring vehicle and a monitoring station, and the frequency spectrum monitoring result is easily influenced by adverse factors such as barrier shielding, environmental restriction, multipath effect interference and the like. Therefore, the unmanned aerial vehicle can be used for carrying the frequency spectrum monitoring device, so that the frequency spectrum monitoring is carried out in the air, and the accuracy of the frequency spectrum monitoring is improved.
At present, a plurality of unmanned aerial vehicles are usually used for carrying a spectrum monitoring device to establish link connection with a ground station to form an ad hoc network, that is, each unmanned aerial vehicle only establishes a single link with the ground station, monitored spectrum data is sent to the ground station through the link, and the ground station performs corresponding processing on the spectrum data.
However, in an ad hoc network formed by a plurality of unmanned aerial vehicles and ground stations, the unmanned aerial vehicles can change the flight speed and the positions of the unmanned aerial vehicles at any time, the ad hoc network keeps mobility, and intermittent establishment of each link is caused, namely, one link is reestablished after short interruption. The intermittent establishment of the link results in an increase in the packet loss rate of the spectrum data transmitted in the link and a decrease in the throughput of the link establishment.
Disclosure of Invention
The invention provides a frequency spectrum monitoring method and system based on unmanned aerial vehicle multi-hop forwarding, which can be used for solving the problems that in the prior art, due to the intermittent establishment of a link, the packet loss rate of frequency spectrum data transmitted in the link is increased and the throughput of the link is reduced.
In a first aspect, the invention provides a frequency spectrum monitoring method based on multi-hop forwarding of an unmanned aerial vehicle, wherein the method is applied to a plurality of frequency spectrum monitoring devices, and the plurality of frequency spectrum monitoring devices are respectively configured on a plurality of unmanned aerial vehicles to obtain a plurality of nodes; the system comprises a frequency spectrum monitoring device, a frequency spectrum monitoring system and a control system, wherein the frequency spectrum monitoring device is configured on an unmanned aerial vehicle to form a node; a plurality of nodes form an ad hoc network;
the frequency spectrum monitoring method comprises the following steps:
dividing n nodes into n-m-1 source nodes, m relay nodes and a terminal node; wherein n is the total number of all nodes, and m is the total number of relay nodes; the source node is used for collecting frequency spectrum data and sending the collected frequency spectrum data to the relay node, and the relay node is used for receiving the frequency spectrum data collected by the source node and sending the received frequency spectrum data collected by the source node to the terminal node;
acquiring each node and a node which is connected with each node by a single link, wherein the single link indicates that only two nodes exist on one link;
sending each node and the node which is connected with each node through a single link to the ad hoc network until each node acquires the link connection relation of all nodes in the whole ad hoc network;
calculating the expected transmission times required by each node for sending the data packet from the node to the node which is connected with each node by a single link;
selecting a single link with the least expected transmission times on a plurality of paths from the source node to the terminal node, and sequentially forming a shortest link path from the source node to the terminal node;
acquiring standard packet loss rate of the frequency spectrum data received by the terminal node and standard throughput of a link according to the shortest link path from the source node to the terminal node; the standard packet loss rate is the packet loss rate of the terminal node for normally receiving the spectrum data, and the standard throughput is the throughput of a link for normally receiving the spectrum data by the terminal node;
acquiring the actual packet loss rate of the target source node transmitting the frequency spectrum data to the terminal node and the actual throughput from the terminal node to the target source node;
judging whether the actual packet loss rate is greater than the standard packet loss rate or not;
if so, reducing the sampling rate of the frequency spectrum data of the target source node;
if not, improving the sampling rate of the frequency spectrum data of the target source node;
judging whether the actual throughput is greater than the standard throughput;
if so, improving the sampling rate of the frequency spectrum data of the target source node;
and if not, reducing the sampling rate of the frequency spectrum data of the target source node.
Further, calculating the expected number of transmissions required by each node to send a data packet from itself to a node having a single link connection with each node itself, includes:
the expected number of transmissions required by each node to send a data packet from itself to a node having a single link connection with each node itself is calculated according to the following formula:
wherein ETX is an expected number of transmissions required for each node to send a data packet from itself to a node making a single link connection with each node itself;
the probability that a data packet sent for each node in one hop is received by a node which performs single link connection with each node; ρ is the probability that each node receives an ACK packet sent by a node connected with the node itself through a single link.
Further, the acquiring a standard packet loss rate of the frequency spectrum data received by the terminal node and a standard throughput of the link according to the shortest link path from the source node to the terminal node includes:
according to the shortest link path from the source node to the terminal node, acquiring the packet loss rate of the normally received spectrum data of the terminal node and the throughput of the link for multiple times under the target sampling rate;
averaging the packet loss rates of the frequency spectrum data normally received by the terminal nodes obtained for multiple times to obtain a standard packet loss rate;
and averaging the throughputs of the links for acquiring the frequency spectrum data normally received by the terminal node for multiple times to obtain the standard throughputs of the links.
In a second aspect, the invention provides a frequency spectrum monitoring system based on multi-hop forwarding of an unmanned aerial vehicle, which comprises a plurality of frequency spectrum monitoring devices, wherein the plurality of frequency spectrum monitoring devices are respectively configured on a plurality of unmanned aerial vehicles to obtain a plurality of nodes; the system comprises a frequency spectrum monitoring device, a frequency spectrum monitoring system and a control system, wherein the frequency spectrum monitoring device is configured on an unmanned aerial vehicle to form a node; a plurality of nodes form an ad hoc network;
the spectrum monitoring system further comprises:
the system comprises a dividing module, a transmitting module and a receiving module, wherein the dividing module is used for dividing n nodes into n-m-1 source nodes, m relay nodes and a terminal node; wherein n is the total number of all nodes, and m is the total number of relay nodes; the source node is used for collecting frequency spectrum data and sending the collected frequency spectrum data to the relay node, and the relay node is used for receiving the frequency spectrum data collected by the source node and sending the received frequency spectrum data collected by the source node to the terminal node;
the first acquisition module is used for acquiring each node and nodes which are connected with each node by a single link, wherein the single link indicates that only two nodes are arranged on one link;
the sending module is used for sending each node and the nodes which are connected with each node through a single link into the ad hoc network until each node acquires the link connection relation of all the nodes in the whole ad hoc network;
the calculation module is used for calculating the expected transmission times required for each node to send the data packet from the node to the node which is connected with each node by a single link;
a selection module, configured to select a single link with the smallest expected transmission times on multiple paths from a source node to a terminal node, and sequentially form a shortest link path from the source node to the terminal node;
the second acquisition module is used for acquiring the standard packet loss rate of the frequency spectrum data received by the terminal node and the standard throughput of the link according to the shortest link path from the source node to the terminal node; the standard packet loss rate is the packet loss rate of the terminal node for normally receiving the spectrum data, and the standard throughput is the throughput of a link for normally receiving the spectrum data by the terminal node;
the third obtaining module is used for obtaining the actual packet loss rate of the frequency spectrum data sent to the terminal node by the target source node and the actual throughput from the terminal node to the target source node;
the first judging module is used for judging the actual packet loss rate and the standard packet loss rate;
the first sampling rate reduction module is used for reducing the sampling rate of the frequency spectrum data of the target source node under the condition that the first judgment module determines that the actual packet loss rate is greater than the standard packet loss rate;
the first sampling rate improving module is used for improving the sampling rate of the frequency spectrum data of the target source node under the condition that the first judging module determines that the actual packet loss rate is smaller than the standard packet loss rate;
the second judging module is used for judging the actual throughput and the standard throughput;
the second sampling rate improving module is used for improving the sampling rate of the frequency spectrum data of the target source node under the condition that the second judging module determines that the actual throughput is greater than the standard throughput;
and the second sampling rate reduction module is used for reducing the sampling rate of the frequency spectrum data of the target source node under the condition that the second judgment module determines that the actual throughput is less than the standard throughput.
Further, the calculation module includes:
a calculating unit, configured to calculate an expected number of transmissions required for each node to send a data packet from itself to a node connected to each node itself by a single link, according to the following formula:
wherein ETX is an expected number of transmissions required for each node to send a data packet from itself to a node making a single link connection with each node itself;
the probability that a data packet sent for each node in one hop is received by a node which performs single link connection with each node; ρ is the probability that each node receives an ACK packet sent by a node connected with the node itself through a single link.
Further, the second obtaining module includes:
the acquisition unit is used for acquiring the packet loss rate of the normally received spectrum data of the terminal node and the throughput of the link for multiple times under the target sampling rate according to the shortest link path from the source node to the terminal node;
the first average value taking module is used for taking an average value of the packet loss rates of the normally received frequency spectrum data of the terminal nodes obtained for multiple times to obtain a standard packet loss rate;
and the second average value taking module is used for taking the average value of the throughput of the link for obtaining the frequency spectrum data normally received by the terminal node for multiple times to obtain the standard throughput of the link.
The invention provides a frequency spectrum monitoring method and a frequency spectrum monitoring system based on unmanned aerial vehicle multi-hop forwarding, wherein the method comprises the steps of dividing n nodes into n-m-1 source nodes, m relay nodes and a terminal node; wherein n is the total number of all nodes, and m is the total number of relay nodes; the source node is used for collecting frequency spectrum data and sending the collected frequency spectrum data to the relay node, and the relay node is used for receiving the frequency spectrum data collected by the source node and sending the received frequency spectrum data collected by the source node to the terminal node; acquiring each node and a node which is connected with each node by a single link, wherein the single link indicates that only two nodes exist on one link; sending each node and the node which is connected with each node through a single link to the ad hoc network until each node acquires the link connection relation of all nodes in the whole ad hoc network; calculating the expected transmission times required by each node for sending the data packet from the node to the node which is connected with each node by a single link; selecting a single link with the least expected transmission times on a plurality of paths from the source node to the terminal node, and sequentially forming a shortest link path from the source node to the terminal node; acquiring standard packet loss rate of the frequency spectrum data received by the terminal node and standard throughput of a link according to the shortest link path from the source node to the terminal node; the standard packet loss rate is the packet loss rate of the terminal node for normally receiving the spectrum data, and the standard throughput is the throughput of a link for normally receiving the spectrum data by the terminal node; acquiring the actual packet loss rate of the target source node transmitting the frequency spectrum data to the terminal node and the actual throughput from the terminal node to the target source node; judging the actual packet loss rate and the standard packet loss rate; if the actual packet loss rate is greater than the standard packet loss rate, reducing the sampling rate of the frequency spectrum data of the target source node; if the actual packet loss rate is smaller than the standard packet loss rate, the sampling rate of the frequency spectrum data of the target source node is increased; judging the actual throughput and the standard throughput; if the actual throughput is greater than the standard throughput, the sampling rate of the frequency spectrum data of the target source node is increased; and if the actual throughput is less than the standard throughput, reducing the sampling rate of the frequency spectrum data of the target source node. By adopting the scheme, the source node can adjust the sampling rate of the frequency spectrum data according to the packet loss rate of the frequency spectrum data received by the terminal node and the throughput of the link, and the problems that the packet loss rate of the frequency spectrum data transmitted in the link is increased and the throughput of the link is reduced due to intermittent establishment of the link are solved.
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In order to more clearly explain the technical solution of the present application, the drawings needed to be used in the embodiments will be briefly described below, and it is obvious to those skilled in the art that other drawings can be obtained according to the drawings without creative efforts.
Fig. 1 is a schematic flowchart of a frequency spectrum monitoring method based on multi-hop forwarding of an unmanned aerial vehicle according to an embodiment of the present invention;
fig. 2 is a schematic structural diagram of a frequency spectrum monitoring system based on multi-hop forwarding of an unmanned aerial vehicle according to an embodiment of the present invention;
fig. 3 is a schematic view of a flight trajectory of multiple unmanned aerial vehicles during multi-hop forwarding according to an embodiment of the present invention.
Detailed Description
The present invention will now be described in further detail with reference to the accompanying drawings.
It should be noted that the terms "upper", "lower", "left", "right", "front", "back", etc. used in the present invention are for clarity of description only, and are not intended to limit the scope of the present invention, and the relative relationship between the terms and the terms is not limited by the technical contents of the essential changes.
As shown in fig. 1, the present invention provides a spectrum monitoring method based on multi-hop forwarding of an unmanned aerial vehicle, where the method is applied to multiple spectrum monitoring devices, and the multiple spectrum monitoring devices are respectively configured on multiple unmanned aerial vehicles to obtain multiple nodes; the system comprises a frequency spectrum monitoring device, a frequency spectrum monitoring system and a control system, wherein the frequency spectrum monitoring device is configured on an unmanned aerial vehicle to form a node; a plurality of nodes form an ad hoc network.
The frequency spectrum monitoring equipment is provided with a Raspberry Pi 4B development board of an ARM processor core as system hardware, and the development board is small in size, low in power consumption and cost and suitable for serving as a verification prototype platform for ad hoc network development. An onboard wireless network card based on IEEE 802.11 supports 2.4GHz and 5GHz channels, and can be realized by using the wireless network card as a physical layer and an MAC layer of a system. The raspberry pie is a small computer and can be used for burning a system, and a Debian system with a 5.10Linux kernel is selected as an embedded system in the system. After the system is burned, the network card is configured in an ad hoc mode to work in an ad hoc network mode, and then a routing protocol is configured. And after configuration is completed, the configuration information is loaded on the unmanned aerial vehicle and is used as a part of ad hoc network nodes to form an ad hoc network system.
The frequency spectrum monitoring method comprises the following steps:
step S101, dividing n nodes into n-m-1 source nodes, m relay nodes and a terminal node; wherein n is the total number of all nodes, and m is the total number of relay nodes; the source node is used for collecting frequency spectrum data and sending the collected frequency spectrum data to the relay node, and the relay node is used for receiving the frequency spectrum data collected by the source node and sending the received frequency spectrum data collected by the source node to the terminal node.
In the step, the terminal nodes are arranged at one side close to the ground station, so that the receiving condition of the collected frequency spectrum data can be observed in time conveniently, and the frequency spectrum data is processed correspondingly according to the task requirement. The relay node is arranged in the maximum communication distance range of the two nodes, so that the acquired spectrum data can not be lost due to the fact that the maximum communication distance is exceeded. And the source end node plans the flight route of the unmanned aerial vehicle in advance according to the topographic characteristics of the acquired frequency spectrum data area. As shown in fig. 3, the source-end drone can optionally periodically collect spectral data in a coordinated manner for the monitored area in a straight, rectangular, circular trajectory.
Step S102, each node and the node which is connected with each node by a single link are obtained, wherein the single link indicates that only two nodes exist on one link.
Step S103, each node and the nodes which are connected with each node through a single link are sent to the ad hoc network until each node obtains the link connection relation of all the nodes in the whole ad hoc network.
In this step, each node periodically broadcasts a message, encapsulates the node information which performs single link connection with each node in the message and broadcasts the message to the ad hoc network, and any node continues to forward the message to the ad hoc network after receiving the message. And the node acquires the node information which is connected with the single link from the received message, and encapsulates the acquired node information which is connected with the single link into the message at the next broadcasting time point to be continuously broadcasted to the ad hoc network. Furthermore, each node can obtain the topology structure of the whole network, i.e. the link connection relationship of all nodes in the whole ad hoc network, from the received message.
Step S104, calculating the expected transmission times required by each node to send the data packet from the node to the node connected with each node by a single link.
In this step, the expected number of transmissions required for each node to send a packet from itself to a node connected to each node itself by a single link is calculated according to the following formula:
wherein ETX is an expected number of transmissions required for each node to send a data packet from itself to a node making a single link connection with each node itself;
the probability that a data packet sent for each node in one hop is received by a node which performs single link connection with each node; ρ is the probability that each node receives an ACK packet sent by a node connected with the node itself through a single link.
And step S105, selecting the single link with the least expected transmission times on a plurality of paths from the source node to the terminal node, and forming the shortest link path from the source node to the terminal node in sequence.
Step S106, according to the shortest link path from the source node to the terminal node, acquiring the standard packet loss rate of the frequency spectrum data received by the terminal node and the standard throughput of the link; the standard packet loss rate is a packet loss rate of the terminal node for normally receiving the spectrum data, and the standard throughput is a throughput of a link for normally receiving the spectrum data by the terminal node.
In the step, firstly, according to the shortest link path from a source node to a terminal node, the packet loss rate and the link throughput of the terminal node for normally receiving the spectrum data are obtained for multiple times under a target sampling rate; then, averaging the packet loss rates of the frequency spectrum data normally received by the terminal nodes obtained for multiple times to obtain a standard packet loss rate; and finally, averaging the throughputs of the links for acquiring the frequency spectrum data normally received by the terminal node for multiple times to obtain the standard throughputs of the links.
Step S107, acquiring the actual packet loss rate of the target source node sending the spectrum data to the terminal node and the actual throughput from the terminal node to the target source node.
Step S108, judging whether the actual packet loss rate is greater than the standard packet loss rate.
And step S109, if yes, reducing the sampling rate of the frequency spectrum data of the target source node.
And step S110, if not, increasing the sampling rate of the frequency spectrum data of the target source node.
Step S111, determining whether the actual throughput is greater than the standard throughput.
And step S112, if so, increasing the sampling rate of the frequency spectrum data of the target source node.
And step S113, if not, reducing the sampling rate of the frequency spectrum data of the target source node.
In steps S108-S110, for example, when the actual packet loss rate is greater than the standard packet loss rate by 5%, a down-sampling coefficient 2 is usednN is 1, 2, 3, … …, n, and the sampling rate of the spectrum data of the source node is reduced, i.e. each time the sampling rate is reduced, the sampling rate is divided by 2 on the basis of the original sampling rate. And continuously acquiring the current actual packet loss rate, and repeating the step if the current actual packet loss rate is still 5 percent higher than the standard packet loss rate.
Under the condition that the actual packet loss rate is less than 5 percent of the standard packet loss rate, the up-sampling coefficient is 2nAnd n is 1, 2, 3, … …, n, increasing the sampling rate of the frequency spectrum data of the source node, namely, increasing the sampling rate by multiplying 2 on the basis of the original sampling rate each time, continuously acquiring the current actual packet loss rate, and repeating the step if the current actual packet loss rate is still 5 percent greater than the standard packet loss rate, but the upper limit of the increased sampling rate is the sampling rate set at the initial stage of the source node.
In steps S111-S113, for example, when the actual throughput is greater than the standard throughput of 2Mbit/sec, the actual throughput is up-sampled by a factor of 2nAnd n is 1, 2, 3, … …, n, the sampling rate of the frequency spectrum data of the source node is increased, namely, the sampling rate is increased every time by multiplying 2 on the basis of the original sampling rate, the current actual throughput is continuously obtained, if the current actual throughput is still greater than the standard throughput by 2Mbit/sec, the step is repeated, but the upper limit of the increased sampling rate is the sampling rate set at the initial stage of the source node.
In the case that the actual throughput is smaller than the standard throughput, the down-sampling coefficient is 2nN is 1, 2, 3, … …And n, reducing the sampling rate of the frequency spectrum data of the source node, namely, dividing the sampling rate by 2 on the basis of the original sampling rate every time, continuously acquiring the current actual throughput, and repeating the step if the current actual throughput is still less than the standard throughput of 2 Mbit/sec.
The source node can adjust the sampling rate of the frequency spectrum data according to the packet loss rate of the frequency spectrum data received by the terminal node and the throughput of the link, and the problems that the packet loss rate of the frequency spectrum data transmitted in the link is increased and the throughput of the link is reduced due to intermittent establishment of the link are solved.
As shown in fig. 2, the present invention further provides a spectrum monitoring system based on multi-hop forwarding of an unmanned aerial vehicle, including a plurality of spectrum monitoring devices, which are respectively configured on a plurality of unmanned aerial vehicles to obtain a plurality of nodes; the system comprises a frequency spectrum monitoring device, a frequency spectrum monitoring system and a control system, wherein the frequency spectrum monitoring device is configured on an unmanned aerial vehicle to form a node; a plurality of nodes form an ad hoc network.
The spectrum monitoring system further comprises:
a dividing module 1101, configured to divide n nodes into n-m-1 source nodes, m relay nodes, and a terminal node; wherein n is the total number of all nodes, and m is the total number of relay nodes; the source node is used for collecting frequency spectrum data and sending the collected frequency spectrum data to the relay node, and the relay node is used for receiving the frequency spectrum data collected by the source node and sending the received frequency spectrum data collected by the source node to the terminal node.
A first obtaining module 1102, configured to obtain each node and a node performing a single link connection with each node, where the single link indicates that there are only two nodes on one link.
A sending module 1103, configured to send each node and the node performing single link connection with each node to the ad hoc network until each node obtains link connection relationships of all nodes in the entire ad hoc network.
A calculating module 1104 for calculating an expected number of transmissions required by each node to send the data packet from itself to the node connected to each node itself by the single link.
A selecting module 1105, configured to select a single link with the smallest expected transmission times on multiple paths from the source node to the terminal node, and sequentially form a shortest link path from the source node to the terminal node.
A second obtaining module 1106, configured to obtain, according to the shortest link path from the source node to the terminal node, a standard packet loss rate of the frequency spectrum data received by the terminal node and a standard throughput of the link; the standard packet loss rate is a packet loss rate of the terminal node for normally receiving the spectrum data, and the standard throughput is a throughput of a link for normally receiving the spectrum data by the terminal node.
A third obtaining module 1107, configured to obtain an actual packet loss rate of the target source node sending the spectrum data to the terminal node and an actual throughput of the terminal node to the target source node.
The first determining module 1108 is configured to determine the actual packet loss rate and the standard packet loss rate.
A first sampling rate reduction module 1109, configured to reduce the sampling rate of the frequency spectrum data of the target source node when the first determination module determines that the actual packet loss rate is greater than the standard packet loss rate.
A first sampling rate increasing module 1110, configured to increase a sampling rate of the spectrum data of the target source node when the first determining module determines that the actual packet loss rate is smaller than the standard packet loss rate.
And a second determining module 1111, configured to determine the actual throughput and the standard throughput.
A second sampling rate increasing module 1112, configured to increase the sampling rate of the spectrum data of the target source node if the second determining module determines that the actual throughput is greater than the standard throughput.
And a second sampling rate reduction module 1113, configured to reduce the sampling rate of the spectrum data of the target source node when the second determination module determines that the actual throughput is smaller than the standard throughput.
Optionally, the calculation module includes:
a calculating unit, configured to calculate an expected number of transmissions required for each node to send a data packet from itself to a node connected to each node itself by a single link, according to the following formula:
wherein ETX is an expected number of transmissions required for each node to send a data packet from itself to a node making a single link connection with each node itself;
the probability that a data packet sent for each node in one hop is received by a node which performs single link connection with each node; ρ is the probability that each node receives an ACK packet sent by a node connected with the node itself through a single link.
Optionally, the second obtaining module includes:
and the obtaining unit is used for obtaining the packet loss rate of the normally received spectrum data of the terminal node and the throughput of the link for multiple times under the target sampling rate according to the shortest link path from the source node to the terminal node.
The first average value taking module is used for averaging the packet loss rates of the normally received frequency spectrum data of the terminal nodes obtained for multiple times to obtain the standard packet loss rate.
And the second average value taking module is used for taking the average value of the throughput of the link for obtaining the frequency spectrum data normally received by the terminal node for multiple times to obtain the standard throughput of the link.
The same and similar parts in the various embodiments in this specification may be referred to each other. In particular, for the system embodiment, since it is substantially similar to the method embodiment, the description is simple, and the relevant points can be referred to the description in the method embodiment.
The above is only a preferred embodiment of the present invention, and the protection scope of the present invention is not limited to the above-mentioned embodiments, and all technical solutions belonging to the idea of the present invention belong to the protection scope of the present invention. It should be noted that modifications and embellishments within the scope of the invention may be made by those skilled in the art without departing from the principle of the invention.
Claims (6)
1. A frequency spectrum monitoring method based on multi-hop forwarding of an unmanned aerial vehicle is characterized in that the method is applied to a plurality of frequency spectrum monitoring devices, and the plurality of frequency spectrum monitoring devices are respectively configured on a plurality of unmanned aerial vehicles to obtain a plurality of nodes; the system comprises a frequency spectrum monitoring device, a frequency spectrum monitoring system and a control system, wherein the frequency spectrum monitoring device is configured on an unmanned aerial vehicle to form a node; a plurality of nodes form an ad hoc network;
the frequency spectrum monitoring method comprises the following steps:
dividing n nodes into n-m-1 source nodes, m relay nodes and a terminal node; wherein n is the total number of all nodes, and m is the total number of relay nodes; the source node is used for collecting frequency spectrum data and sending the collected frequency spectrum data to the relay node, and the relay node is used for receiving the frequency spectrum data collected by the source node and sending the received frequency spectrum data collected by the source node to the terminal node;
acquiring each node and a node which is connected with each node by a single link, wherein the single link indicates that only two nodes exist on one link;
sending each node and the node which is connected with each node through a single link to the ad hoc network until each node acquires the link connection relation of all nodes in the whole ad hoc network;
calculating the expected transmission times required by each node for sending the data packet from the node to the node which is connected with each node by a single link;
selecting a single link with the least expected transmission times on a plurality of paths from the source node to the terminal node, and sequentially forming a shortest link path from the source node to the terminal node;
acquiring standard packet loss rate of the frequency spectrum data received by the terminal node and standard throughput of a link according to the shortest link path from the source node to the terminal node; the standard packet loss rate is the packet loss rate of the terminal node for normally receiving the spectrum data, and the standard throughput is the throughput of a link for normally receiving the spectrum data by the terminal node;
acquiring the actual packet loss rate of the target source node transmitting the frequency spectrum data to the terminal node and the actual throughput from the terminal node to the target source node;
judging whether the actual packet loss rate is greater than the standard packet loss rate or not;
if so, reducing the sampling rate of the frequency spectrum data of the target source node;
if not, improving the sampling rate of the frequency spectrum data of the target source node;
judging whether the actual throughput is greater than the standard throughput;
if so, improving the sampling rate of the frequency spectrum data of the target source node;
and if not, reducing the sampling rate of the frequency spectrum data of the target source node.
2. The method for spectrum monitoring according to claim 1, wherein calculating the expected number of transmissions required by each node to transmit a data packet from itself to a node having a single link connection with each node itself comprises:
the expected number of transmissions required by each node to send a data packet from itself to a node having a single link connection with each node itself is calculated according to the following formula:
wherein ETX is an expected number of transmissions required for each node to send a data packet from itself to a node making a single link connection with each node itself;
the probability that a data packet sent for each node in one hop is received by a node which performs single link connection with each node; ρ is the probability that each node receives an ACK packet sent by a node connected with the node itself through a single link.
3. The method for spectrum monitoring according to claim 1, wherein the obtaining a standard packet loss rate of the spectrum data received by the terminal node and a standard throughput of the link according to the shortest link path from the source node to the terminal node comprises:
according to the shortest link path from the source node to the terminal node, acquiring the packet loss rate of the normally received spectrum data of the terminal node and the throughput of the link for multiple times under the target sampling rate;
averaging the packet loss rates of the frequency spectrum data normally received by the terminal nodes obtained for multiple times to obtain a standard packet loss rate;
and averaging the throughputs of the links for acquiring the frequency spectrum data normally received by the terminal node for multiple times to obtain the standard throughputs of the links.
4. A frequency spectrum monitoring system based on multi-hop forwarding of an unmanned aerial vehicle is characterized by comprising a plurality of frequency spectrum monitoring devices, wherein the frequency spectrum monitoring devices are respectively configured on a plurality of unmanned aerial vehicles to obtain a plurality of nodes; the system comprises a frequency spectrum monitoring device, a frequency spectrum monitoring system and a control system, wherein the frequency spectrum monitoring device is configured on an unmanned aerial vehicle to form a node; a plurality of nodes form an ad hoc network;
the spectrum monitoring system further comprises:
the system comprises a dividing module, a transmitting module and a receiving module, wherein the dividing module is used for dividing n nodes into n-m-1 source nodes, m relay nodes and a terminal node; wherein n is the total number of all nodes, and m is the total number of relay nodes; the source node is used for collecting frequency spectrum data and sending the collected frequency spectrum data to the relay node, and the relay node is used for receiving the frequency spectrum data collected by the source node and sending the received frequency spectrum data collected by the source node to the terminal node;
the first acquisition module is used for acquiring each node and nodes which are connected with each node by a single link, wherein the single link indicates that only two nodes are arranged on one link;
the sending module is used for sending each node and the nodes which are connected with each node through a single link into the ad hoc network until each node acquires the link connection relation of all the nodes in the whole ad hoc network;
the calculation module is used for calculating the expected transmission times required for each node to send the data packet from the node to the node which is connected with each node by a single link;
a selection module, configured to select a single link with the smallest expected transmission times on multiple paths from a source node to a terminal node, and sequentially form a shortest link path from the source node to the terminal node;
the second acquisition module is used for acquiring the standard packet loss rate of the frequency spectrum data received by the terminal node and the standard throughput of the link according to the shortest link path from the source node to the terminal node; the standard packet loss rate is the packet loss rate of the terminal node for normally receiving the spectrum data, and the standard throughput is the throughput of a link for normally receiving the spectrum data by the terminal node;
the third obtaining module is used for obtaining the actual packet loss rate of the frequency spectrum data sent to the terminal node by the target source node and the actual throughput from the terminal node to the target source node;
the first judging module is used for judging the actual packet loss rate and the standard packet loss rate;
the first sampling rate reduction module is used for reducing the sampling rate of the frequency spectrum data of the target source node under the condition that the first judgment module determines that the actual packet loss rate is greater than the standard packet loss rate;
the first sampling rate improving module is used for improving the sampling rate of the frequency spectrum data of the target source node under the condition that the first judging module determines that the actual packet loss rate is smaller than the standard packet loss rate;
the second judging module is used for judging the actual throughput and the standard throughput;
the second sampling rate improving module is used for improving the sampling rate of the frequency spectrum data of the target source node under the condition that the second judging module determines that the actual throughput is greater than the standard throughput;
and the second sampling rate reduction module is used for reducing the sampling rate of the frequency spectrum data of the target source node under the condition that the second judgment module determines that the actual throughput is less than the standard throughput.
5. The spectrum monitoring system of claim 4, wherein the calculation module comprises:
a calculating unit, configured to calculate an expected number of transmissions required for each node to send a data packet from itself to a node connected to each node itself by a single link, according to the following formula:
wherein ETX is an expected number of transmissions required for each node to send a data packet from itself to a node making a single link connection with each node itself;
the probability that a data packet sent for each node in one hop is received by a node which performs single link connection with each node; ρ is the probability that each node receives an ACK packet sent by a node connected with the node itself through a single link.
6. The spectrum monitoring system of claim 4, wherein the second acquisition module comprises:
the acquisition unit is used for acquiring the packet loss rate of the normally received spectrum data of the terminal node and the throughput of the link for multiple times under the target sampling rate according to the shortest link path from the source node to the terminal node;
the first average value taking module is used for taking an average value of the packet loss rates of the normally received frequency spectrum data of the terminal nodes obtained for multiple times to obtain a standard packet loss rate;
and the second average value taking module is used for taking the average value of the throughput of the link for obtaining the frequency spectrum data normally received by the terminal node for multiple times to obtain the standard throughput of the link.
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| CN116260734A (en) * | 2023-03-23 | 2023-06-13 | 南京航空航天大学 | Unmanned plane cluster self-adaptive data acquisition method and system for spectrum reconnaissance |
| CN117014363A (en) * | 2023-01-10 | 2023-11-07 | 广州精天信息科技股份有限公司 | Data communication method and device of parachuting system and electronic equipment |
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| CN117014363A (en) * | 2023-01-10 | 2023-11-07 | 广州精天信息科技股份有限公司 | Data communication method and device of parachuting system and electronic equipment |
| CN117014363B (en) * | 2023-01-10 | 2024-03-19 | 广州精天信息科技股份有限公司 | Data communication method and device of parachuting system and electronic equipment |
| CN116260734A (en) * | 2023-03-23 | 2023-06-13 | 南京航空航天大学 | Unmanned plane cluster self-adaptive data acquisition method and system for spectrum reconnaissance |
| CN116260734B (en) * | 2023-03-23 | 2023-10-13 | 南京航空航天大学 | Unmanned plane cluster self-adaptive data acquisition method and system for spectrum reconnaissance |
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