CN114339946A - Wireless ultraviolet light assisted unmanned aerial vehicle covert data acquisition method - Google Patents
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Abstract
A wireless ultraviolet light assisted unmanned aerial vehicle covert data acquisition method comprises the following steps: 1) clustering the sensor network according to the deployment condition of the sensor nodes, selecting an initial clustering center, and taking a sensor node closest to the clustering center as an initial cluster head node; 2) when the unmanned aerial vehicle is in a data acquisition task, calculating the relative distance and the residual energy of each sensor node in the cluster, determining a cluster head node in the next round of data acquisition task, and broadcasting the cluster head information of a new round in the cluster through the original cluster head node; 3) carrying an ultraviolet MIMO model on the unmanned aerial vehicle and the sensor node by adopting an ultraviolet communication model; 4) establishing an ultraviolet light communication link between the unmanned aerial vehicle and the cluster head node to realize the hidden data acquisition of the unmanned aerial vehicle; the method has the advantages of low background noise, strong anti-electromagnetic interference capability, low eavesdropping, omnidirectionality, capability of being used for non-direct-view communication and no need of capturing, aiming and tracking.
Description
Technical Field
The invention belongs to the technical field of mobile interconnection and communication, and particularly relates to a wireless ultraviolet light assisted unmanned aerial vehicle covert data acquisition method.
Background
In a battlefield environment, acquiring battlefield information and collecting battlefield information are one of the most important tasks. Traditional data collection methods use static sensors and internet of things gateways to forward the collected data to a data center. However, in a complex battlefield environment, when an enemy utilizes technical means such as electromagnetic interference and camouflage, the traditional wireless sensing solutions can expose the defects thereof, and cause deceptive interference and communication paralysis to the enemy. In recent years, unmanned aerial vehicle assisted data acquisition is considered to be an advanced data acquisition method.
One of the advantages of drones is their altitude when operating, which brings the dominant position of the line-of-sight connection in drone communication. Unmanned aerial vehicle can expand the network coverage through deploying at this area developments, improves more detection equipment's quality of service, consequently is suitable for the deployment of military application data acquisition, and this makes unmanned aerial vehicle auxiliary communication more have the prospect in the aspect of performance and cost efficiency. The unmanned aerial vehicle auxiliary wireless sensor network can meet the high requirements of a data acquisition technology on flexibility, expandability and reliability. Therefore, there are many cases of using unmanned aerial vehicles, such as dangerous missions in military fields of battlefield information collection, information feedback, danger assessment, electronic countermeasure, and the like. In the scene of auxiliary data acquisition of the unmanned aerial vehicle, the unmanned aerial vehicle can execute a data acquisition task on sensing equipment deployed in a remote area lacking communication coverage by virtue of the mobility of the unmanned aerial vehicle, so that the transmission distance limit of the sensing equipment is overcome, the energy consumption of the sensing equipment is reduced, and the service life of a sensing network is prolonged. In these cases, drone tracking ground monitoring devices may be deployed and communicate with, including wireless sensor nodes or actuators. In a real battlefield environment, the unmanned aerial vehicle needs to complete a data collection task by means of a secret communication mode and return data to a data center safely and reliably. However, a secret communication method needs to be found to accomplish the secret collection of the data of the ground monitoring equipment.
Disclosure of Invention
In order to overcome the defects of the prior art, the invention aims to provide a wireless ultraviolet light assisted unmanned aerial vehicle covert data acquisition method, wherein in a sensor network data monitoring and collecting task, a larger network is clustered into a plurality of separated monitoring areas, and a plurality of sensors are responsible for sensing information in each area; the sensor node transmits the collected information to the cluster head node in a single-hop transmission or multi-hop transmission mode; then, fusing data of the sensor nodes by the cluster head nodes; the unmanned aerial vehicle emits from the data center, and data collection is carried out at cluster head nodes of each partition area respectively; ultraviolet rays in a 'solar blind' waveband are adopted between the unmanned aerial vehicle and the sensor node as a transmission carrier to realize covert data acquisition; and finally, the unmanned aerial vehicle safely and secretly returns the collected data to the data center for processing in a flying mode.
In order to achieve the purpose, the invention adopts the technical scheme that: a wireless ultraviolet light assisted unmanned aerial vehicle covert data acquisition method comprises the following steps:
step 1, clustering a sensor network by using a K-means clustering algorithm according to the deployment condition of sensor nodes, selecting an initial clustering center, wherein the sensor node closest to the clustering center is an initial cluster head node;
step 3, in order to prevent the data information acquired by the sensor node from being illegally stolen by an enemy in the acquisition process, an ultraviolet light communication model is adopted, and the requirement of secret data acquisition between the unmanned aerial vehicle and the sensor node is met by carrying an ultraviolet light MIMO model on the unmanned aerial vehicle and the sensor node;
and 4, establishing an ultraviolet light communication link between the unmanned aerial vehicle and the cluster head node to realize the covert data acquisition of the unmanned aerial vehicle.
The step 1 specifically comprises the following steps:
step 1.1, in a wireless sensor network, a sensor node collects information and executes a corresponding task, and once the sensor node with known initial energy is deployed, the coordinate position of the node is fixed and does not change any more; this embodiment sets n static sensor nodes S to S1,s2,…,snRandomly and uniformly deploying in a wireless sensor network range with the size of W, and initializing a communication distance of a sensor node to be R; clustering nodes which are distributed randomly and uniformly by using a K-means clustering algorithm, so that each sensor node can communicate with other nodes in a cluster to obtain a set C (C) containing K clusters1,c2,…,ckWherein the number of cluster members of each cluster is cn(k) The clustering number k of the sensors is calculated according to the formula (1) and the formula (2), and k is [ k1, k2 ]]The integer value within the interval is,
step 1.2, randomly selecting a sensor node as an initial clustering center point from all sensor nodes in the range W of the wireless sensor network by using an unmanned aerial vehicle, calculating the shortest distance dis(s) from each sensor node in the range W to the clustering center by the unmanned aerial vehicle through the known position label information of the sensor node, calculating the probability P that each sensor node is selected as the next clustering center by using formula (3), wherein the farther the sensor node is from the current clustering center point, the more likely the sensor node is selected as the next clustering center,
step 1.3, repeating step 1.2 until k initial clustering centers are selected;
step 1.4, calculating the distance from each sensor node to k initial clustering centers in the wireless sensor network range, distributing the sensor nodes to the cluster where the clustering center with the minimum distance is located according to the distance, recalculating the clustering center of each cluster by using the formula (4),
and step 1.5, repeating the step 1.4 until the position of the selected clustering center is not changed, wherein the sensor node closest to the clustering center is the initial cluster head node.
The step 2 specifically comprises the following steps:
step 2.1, after the sensor nodes are clustered through the initial clustering in the step 1, the clustering condition and the position of the nodes are fixed, so that the unmanned aerial vehicle only needs to calculate the relative distance d (i) of each node in a cluster by using the formula (5) when performing a network data collection task, the calculation burden of the unmanned aerial vehicle is reduced,
wherein s isi,sjRespectively represent ith node (x) in the clustera,ya,za) And the jth node (x)b,yb,zb)，d(si,sj) Representing the Euclidean distance between nodes determined by equation (6), dmRepresenting the maximum Euclidean distance between the current node and other nodes;
step 2.2, a schematic diagram of the unmanned aerial vehicle assisted wireless sensor network data acquisition is shown in fig. 2, in a round of data collection task, a sensor node transmits sensed data and residual energy to a cluster head node belonging to the sensor node, the cluster head node is responsible for performing in-cluster data fusion and sending aggregated data information and residual energy information of the cluster head node to the unmanned aerial vehicle, the sensor node with large residual energy and small distance from the current cluster head node is used as a cluster head node in the next round of data collection task, and the sensor node alternately bears task load through periodic cluster head node replacement, so that energy consumption balance is realized;
and 2.3, the unmanned aerial vehicle sends the identity information of the new round of cluster head nodes to the current cluster head node, the current cluster head node broadcasts the identity information of the new round of cluster head nodes in the cluster, the new round of cluster head nodes distribute time slots for other nodes in the cluster in a time division multiple access mode, and the sensor nodes send the collected information and the residual energy information of the sensor nodes to the new cluster head nodes through the distributed time slots.
The step 3 specifically comprises the following steps:
3.1, in order to prevent information from being illegally stolen by an enemy in the acquisition process, solar blind waveband ultraviolet rays in short-wave ultraviolet rays are used as a transmission carrier to meet the requirement of secret data acquisition between an unmanned aerial vehicle and a sensor node, ozone molecules in the atmosphere have a strong absorption effect on the solar blind waveband ultraviolet rays in sunlight, the low-altitude space-domain ultraviolet rays in the waveband can be approximately considered to have no background interference noise, and other interference sources are difficult to implement remote interference, so that the solar blind wireless ultraviolet rays can meet the requirement of secret data acquisition between the unmanned aerial vehicle and the sensor node;
3.2, the ultraviolet communication system is divided into a transmitting system and a receiving system, the transmitting system modulates the original signal generated by the information source into a form suitable for transmission in a channel, and then loads the modulated information on an ultraviolet carrier through a driving circuit to send the information into an atmospheric channel; the receiving system is responsible for receiving ultraviolet light signals, carrying out photoelectric conversion on the signals and recovering corresponding original signals through a demodulation circuit; the transmitting end mainly comprises an ultraviolet transmitting light source and a light source drive part; the receiving end comprises an optical focusing system, a filtering system and a photoelectric detector;
3.3, when the unmanned aerial vehicle and the cluster head node communicate by using wireless ultraviolet light, the ultraviolet light transceiving devices carried on the unmanned aerial vehicle and the sensor node are generally in a non-coplanar state, and the unmanned aerial vehicle can find the optimal communication angle with the cluster head node in the flight process by adopting a hemispherical ultraviolet light MIMO device; an omnidirectional optical receiver is installed at the top end of the hemispherical wireless ultraviolet MIMO model, the surface of the hemispherical wireless ultraviolet MIMO model comprises M wefts and N warps, ultraviolet LEDs are installed at the intersection of each weft and each warp, each LED is numbered according to the position of the corresponding weft, and the light beam can be reflected relative to the direction of a node.
The step 4 specifically comprises the following steps:
step 4.1, the hemispherical ultraviolet MIMO devices carried on the unmanned aerial vehicle and the sensor nodes are provided with unique node ID numbers; the unmanned aerial vehicle generates a request information frame, and sequentially sends M and N request information frames containing the latitudinal coding and the longitudinal coding according to the latitudinal scanning mode and the longitudinal scanning mode until a response information frame of the unmanned aerial vehicle responded by a corresponding cluster head node is received;
step 4.2, the cluster head node receives the request information frame through the omnidirectional receiver, the cluster head node receiving the request information of the unmanned aerial vehicle forms a group of direction coordinates by the warp direction and weft direction codes with the strongest receiving signals sent by the same unmanned aerial vehicle, the information is sent by the LED at the position of the unmanned aerial vehicle, the cluster head node needs to send a response information frame which needs to send the request information back, the sending mode is completely the same as the mode in the step 4.1, and the sending is stopped until the confirmation information frame is received;
step 4.3, after receiving the response information frame sent by the cluster head node in the step 4.2, the unmanned aerial vehicle in the step 4.1 can confirm the directional coordinate of the cluster head node relative to the unmanned aerial vehicle, and at this moment, the unmanned aerial vehicle has found the cluster head node unidirectionally, and the unmanned aerial vehicle needs to generate a confirmation information frame and directly sends the confirmation information frame through the directional coordinate of the cluster head node in the step 4.2 without scanning;
step 4.4, after the cluster head node in the step 4.2 receives the confirmation information frame, the direction coordinate of the unmanned aerial vehicle relative to the node in the step 4.1 can be obtained, and at the moment, the two parties find each other and successfully establish a communication link between the unmanned aerial vehicles;
step 4.5, because the frequency of scanning and sending the information frame is fast, a communication link between the unmanned aerial vehicle and the cluster head node can be established fast, and the subsequent communication can be carried out only on the established link; where ID1 is the node ID number that sent the information frame; ID2 is the node ID number that received the information frame; f is an information type identification code; d is weft/warp coding; c is an information check bit; l is a directional coordinate; d1 is a weft/warp identification code; d2 is weft/warp coding; l1 is weft encoding; l2 is warp coding;
step 4.6, because a new cluster head node is elected in each round of data collection task, when the relative position between the cluster head and the unmanned aerial vehicle is changed, the communication link with the strongest signal established before is also changed, after the cluster head node is changed, the unmanned aerial vehicle can continuously send request information to the new cluster head node in a sequential scanning mode, and the cluster head node receiving the request information sends response information by taking the initiating node as a target node; after the initiating node receives the response information, the direction of the receiving node relative to the initiating node is determined according to the LED number of the response frame; then, the unmanned aerial vehicle and the cluster head node mutually send confirmation information, an optimal LED pair is selected according to the received light intensity, and a communication link between the unmanned aerial vehicle and the new cluster head node is established;
and 4.7, realizing the secret transmission of information between the unmanned aerial vehicle and the cluster head node according to an ultraviolet communication link established between the unmanned aerial vehicle and the cluster head node, and enabling the unmanned aerial vehicle which completes the data acquisition task to safely and secretly return the collected data to the data center for processing in a flying mode.
The invention has the beneficial effects that:
aiming at the problem that an unmanned aerial vehicle assists a wireless sensor network to carry out data acquisition tasks in a complex battlefield environment, the reliability of data acquisition is influenced by considering the low secrecy of a traditional data acquisition method, and a wireless ultraviolet light-assisted unmanned aerial vehicle secrecy data acquisition method is provided; the method of the invention carries out safety protection on the acquired data, and reduces the energy consumption of the sensor nodes while realizing safe and secret data transmission by carrying out a clustering management mechanism on the wireless sensor network.
The invention uses an auxiliary information communication means with strong anti-interference capability to carry out information interaction. The wireless ultraviolet communication mainly adopts ultraviolet light in a solar blind waveband (200-280 nm) as a carrier for information transmission, and information transmission is carried out by scattering of ultraviolet light by molecules, aerosol, dust and other particles in the atmosphere. Compared with the traditional communication mode, the wireless ultraviolet communication has the advantages of small background noise, strong anti-electromagnetic interference capability, low wiretapping, omnidirectionality, capability of being used for non-direct-view communication, no need of capturing, aiming and tracking and the like, and has obvious potential military application. Due to a special information transmission principle, the ultraviolet communication can be applied to the situations of scheduling, exercise, command of battles and the like of each army in an electromagnetic silence environment, can be combined with a conventional traditional communication mode to realize reliable communication under various extreme environments, can be widely applied to local military confidential communication special for the air-sea three-force military, or can be used as a supplement of other communication means under specific conditions, and has special use value and practical significance for future war and modernized national defense.
Drawings
FIG. 1 is a system model diagram of the intra-cluster routing of the present invention.
Fig. 2 is a schematic diagram of data acquisition of an unmanned aerial vehicle-assisted wireless sensor network according to the invention.
Fig. 3 is a block diagram of the ultraviolet light communication system of the present invention.
Fig. 4 is a diagram of a hemispherical wireless ultraviolet MIMO model according to the present invention.
Fig. 5 is a diagram of an information frame structure of the present invention.
FIG. 6 is a flow chart of the method of the present invention.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings and specific embodiments.
A wireless ultraviolet light assisted unmanned aerial vehicle covert data acquisition method comprises the following steps:
referring to fig. 6, in step 1, after the sensor nodes are deployed, clustering is performed on the sensor network by using a K-means clustering algorithm, an initial clustering center is selected, and a sensor node closest to the clustering center is an initial cluster head node; the method comprises the following specific steps:
step 1.1, in a wireless sensor network, a sensor node collects information and executes a corresponding task, and once the sensor node with known initial energy is deployed, the coordinate position of the node is fixed and does not change any more; this embodiment sets n static sensor nodes S to S1,s2,…,snRandomly and uniformly deploying in a wireless sensor network range with the size of W, and initializing a communication distance of a sensor node to be R; clustering nodes which are distributed randomly and uniformly by using a K-means clustering algorithm so that each sensor node can communicate with other nodes in the cluster, and obtaining a set C (C) containing K clusters as shown in fig. 11,c2,…,ckWherein the number of cluster members of each cluster is cn(k) The clustering number k of the sensors is calculated according to the formula (1) and the formula (2), and k is [ k1, k2 ]]The integer value within the interval is,
step 1.2, randomly selecting a sensor node as an initial clustering center point from all sensor nodes in the range W of the wireless sensor network by using an unmanned aerial vehicle, calculating the shortest distance dis(s) from each sensor node in the range W to the clustering center by the unmanned aerial vehicle through the known position label information of the sensor node, calculating the probability P that each sensor node is selected as the next clustering center by using formula (3), wherein the farther the sensor node is from the current clustering center point, the more likely the sensor node is selected as the next clustering center,
step 1.3, repeating step 1.2 until k initial clustering centers are selected;
step 1.4, calculating the distance from each sensor node to k initial clustering centers in the wireless sensor network range, distributing the sensor nodes to the cluster where the clustering center with the minimum distance is located according to the distance, recalculating the clustering center of each cluster by using the formula (4),
step 1.5, repeating the step 1.4 until the position of the selected clustering center is not changed, wherein the sensor node closest to the clustering center is the initial cluster head node;
and 2.1, after the sensor nodes are clustered through the initial clustering in the step 1, the clustering condition and the clustering position of the nodes are fixed, so that the unmanned aerial vehicle only needs to calculate the relative distance d (i) of each node in a cluster once by using the formula (5) when carrying out a network data collection task, and the calculation burden of the unmanned aerial vehicle is reduced.
Wherein s isi,sjRespectively represent ith node (x) in the clustera,ya,za) And the jth node (x)b,yb,zb)，d(si,sj) Representing the Euclidean distance between nodes determined by equation (6), dmRepresenting the maximum Euclidean distance between the current node and other nodes;
step 2.2, a schematic diagram of the unmanned aerial vehicle assisted wireless sensor network data acquisition is shown in fig. 2, in a round of data collection task, a sensor node transmits sensed data and residual energy to a cluster head node belonging to the sensor node, and sends aggregated data information and residual energy information of nodes in a cluster to the unmanned aerial vehicle, the sensor node with large residual energy and small distance from the current cluster head node is used as a cluster head node in the next round of data collection task, and the sensor node alternately bears task load through periodic cluster head node replacement, so that energy consumption balance is realized;
step 2.3, the unmanned aerial vehicle sends the identity information of the new round of cluster head nodes to the current cluster head node, the current cluster head node broadcasts the identity information of the new round of cluster head nodes in the cluster, the new round of cluster head nodes distribute time slots for other nodes in the cluster in a time division multiple access mode, and the sensor nodes send the collected information and the residual energy information of the sensor nodes to the new cluster head nodes through the distributed time slots;
step 3, in order to prevent the information from being illegally stolen by an enemy in the acquisition process, the embodiment adopts an ultraviolet light communication model, and the requirement of secret data acquisition between the unmanned aerial vehicle and the sensor node is met by carrying an ultraviolet light MIMO model on the unmanned aerial vehicle and the sensor node; the method comprises the following specific steps:
step 3.1, in order to prevent information from being illegally stolen by an enemy in the acquisition process, in the embodiment, the solar blind waveband ultraviolet in the short-wave ultraviolet is used as a transmission carrier to meet the requirement of acquiring the covert data between the unmanned aerial vehicle and the sensor node, ozone molecules in the atmosphere have a strong absorption effect on the solar blind waveband ultraviolet in sunlight, the low-altitude space-domain solar waveband ultraviolet can be approximately considered to have no background interference noise, and other interference sources are difficult to implement remote interference, so that the solar blind wireless ultraviolet can meet the requirement of acquiring the covert data between the unmanned aerial vehicle and the sensor node;
step 3.2, fig. 3 is a structural diagram of an ultraviolet communication system, the ultraviolet communication system is divided into a transmitting system and a receiving system, the transmitting system modulates original signals generated by an information source into a form suitable for transmission in a channel, and then loads modulated information on an ultraviolet carrier through a driving circuit to send the information into an atmospheric channel; the receiving system is responsible for receiving ultraviolet light signals, carrying out photoelectric conversion on the signals and recovering corresponding original signals through a demodulation circuit; the transmitting end mainly comprises an ultraviolet transmitting light source and a light source drive part; the receiving end comprises an optical focusing system, a filtering system and a photoelectric detector;
3.3, when the unmanned aerial vehicle and the cluster head node communicate by using wireless ultraviolet light, the ultraviolet light transceiving devices carried on the unmanned aerial vehicle and the sensor node are generally in a non-coplanar state, and the unmanned aerial vehicle can find the optimal communication angle with the cluster head node in the flight process by adopting a hemispherical ultraviolet light MIMO device; the hemispherical wireless ultraviolet MIMO model is shown in FIG. 4, an omnidirectional optical receiver is arranged at the top end, the surface comprises M wefts and N warps, an ultraviolet LED is arranged at the intersection of each weft and each warp, each LED is numbered according to the position of the corresponding weft, and the light beam can be reflected relative to the direction of a node;
step 4, establishing an ultraviolet light communication link between the unmanned aerial vehicle and the cluster head node to realize the hidden data acquisition of the unmanned aerial vehicle, and specifically:
step 4.1, the hemispherical ultraviolet MIMO devices carried on the unmanned aerial vehicle and the sensor nodes are provided with unique node ID numbers; the unmanned aerial vehicle generates a request information frame, and sequentially sends M and N request information frames containing the latitudinal coding and the longitudinal coding according to the latitudinal scanning mode and the longitudinal scanning mode until a response information frame of the unmanned aerial vehicle responded by a corresponding cluster head node is received;
step 4.2, the cluster head node receives the request information frame through the omnidirectional receiver, the cluster head node receiving the request information of the unmanned aerial vehicle forms a group of direction coordinates by the warp direction and weft direction codes with the strongest receiving signals sent by the same unmanned aerial vehicle, the information is sent by the LED at the position of the unmanned aerial vehicle, the cluster head node needs to send a response information frame which needs to send the request information back, the sending mode is completely the same as the mode in the step 4.1, and the sending is stopped until the confirmation information frame is received;
step 4.3, after receiving the response information frame sent by the cluster head node in the step 4.2, the unmanned aerial vehicle in the step 4.1 can confirm the directional coordinate of the cluster head node relative to the unmanned aerial vehicle, and at this moment, the unmanned aerial vehicle has found the cluster head node unidirectionally, and the unmanned aerial vehicle needs to generate a confirmation information frame and directly sends the confirmation information frame through the directional coordinate of the cluster head node in the step 4.2 without scanning;
step 4.4, after the cluster head node in the step 4.2 receives the confirmation information frame, the direction coordinate of the unmanned aerial vehicle relative to the node in the step 4.1 can be obtained, and at the moment, the two parties find each other and successfully establish a communication link between the unmanned aerial vehicles;
step 4.5, because the frequency of scanning and sending the information frame is fast, a communication link between the unmanned aerial vehicle and the cluster head node can be established fast, and the subsequent communication can be carried out only on the established link; the structure of each information frame is shown in fig. 5, wherein ID1 is the node ID number that transmits the information frame; ID2 is the node ID number that received the information frame; f is the information type identification code (01: request information frame; 10: response information frame; 11: acknowledgement information frame); d is weft/warp coding; c is an information check bit; l is a directional coordinate; d1 is the weft/warp identification code (1100: weft; 0011: warp); d2 is weft/warp coding; l1 is weft encoding; l2 is warp coding;
step 4.6, because a new cluster head node is elected in each round of data collection task, when the relative position between the cluster head and the unmanned aerial vehicle is changed, the communication link with the strongest signal established before is also changed, after the cluster head node is changed, the unmanned aerial vehicle can continuously send request information to the new cluster head node in a sequential scanning mode, and the cluster head node receiving the request information sends response information by taking the initiating node as a target node; after the initiating node receives the response information, the direction of the receiving node relative to the initiating node is determined according to the LED number of the response frame; then, the unmanned aerial vehicle and the cluster head node mutually send confirmation information, an optimal LED pair is selected according to the received light intensity, and a communication link between the unmanned aerial vehicle and the new cluster head node is established;
and 4.7, realizing the secret transmission of information between the unmanned aerial vehicle and the cluster head node according to an ultraviolet communication link established between the unmanned aerial vehicle and the cluster head node, and enabling the unmanned aerial vehicle which completes the data acquisition task to safely and secretly return the collected data to the data center for processing in a flying mode.
Claims (5)
1. A wireless ultraviolet light assisted unmanned aerial vehicle covert data acquisition method is characterized by comprising the following steps:
step 1, clustering a sensor network by using a K-means clustering algorithm according to the deployment condition of sensor nodes, selecting an initial clustering center, wherein the sensor node closest to the clustering center is an initial cluster head node;
step 2, when the unmanned aerial vehicle carries out a data acquisition task, calculating the relative distance and the residual energy of each sensor node in the cluster, determining cluster head nodes in the next round of data acquisition task, and broadcasting the cluster head information of a new round in the cluster through the original cluster head nodes;
step 3, in order to prevent the data information acquired by the sensor node from being illegally stolen by an enemy in the acquisition process, an ultraviolet light communication model is adopted, and the requirement of secret data acquisition between the unmanned aerial vehicle and the sensor node is met by carrying an ultraviolet light MIMO model on the unmanned aerial vehicle and the sensor node;
and 4, establishing an ultraviolet light communication link between the unmanned aerial vehicle and the cluster head node to realize the covert data acquisition of the unmanned aerial vehicle.
2. The method for acquiring the covert data of the wireless ultraviolet light-assisted unmanned aerial vehicle according to claim 1, wherein the step 1 specifically comprises the following steps:
step 1.1, in the wireless sensor network, the sensor node collects information and executesIn a corresponding task, once the sensor node with known initial energy is deployed, the coordinate position of the node is fixed and does not change any more; this embodiment sets n static sensor nodes S to S1,s2,…,snRandomly and uniformly deploying in a wireless sensor network range with the size of W, and initializing a communication distance of a sensor node to be R; clustering nodes which are distributed randomly and uniformly by using a K-means clustering algorithm, so that each sensor node can communicate with other nodes in a cluster to obtain a set C (C) containing K clusters1,c2,…,ckWherein the number of cluster members of each cluster is cn(k) The clustering number k of the sensors is calculated according to the formula (1) and the formula (2), and k is [ k1, k2 ]]The integer value within the interval is,
step 1.2, randomly selecting a sensor node as an initial clustering center point from all sensor nodes in the range W of the wireless sensor network by using an unmanned aerial vehicle, calculating the shortest distance dis(s) from each sensor node in the range W to the clustering center by the unmanned aerial vehicle through the known position label information of the sensor node, calculating the probability P that each sensor node is selected as the next clustering center by using formula (3), wherein the farther the sensor node is from the current clustering center point, the more likely the sensor node is selected as the next clustering center,
step 1.3, repeating step 1.2 until k initial clustering centers are selected;
step 1.4, calculating the distance from each sensor node to k initial clustering centers in the wireless sensor network range, distributing the sensor nodes to the cluster where the clustering center with the minimum distance is located according to the distance, recalculating the clustering center of each cluster by using the formula (4),
and step 1.5, repeating the step 1.4 until the position of the selected clustering center is not changed, wherein the sensor node closest to the clustering center is the initial cluster head node.
3. The method for acquiring the covert data of the wireless ultraviolet light-assisted unmanned aerial vehicle according to claim 1, wherein the step 2 specifically comprises the following steps:
step 2.1, after the sensor nodes are clustered through the initial clustering in the step 1, the clustering condition and the position of the nodes are fixed, so that the unmanned aerial vehicle only needs to calculate the relative distance d (i) of each node in a cluster by using the formula (5) when performing a network data collection task, the calculation burden of the unmanned aerial vehicle is reduced,
wherein s isi,sjRespectively represent ith node (x) in the clustera,ya,za) And the jth node (x)b,yb,zb)，d(si,sj) Representing the Euclidean distance between nodes determined by equation (6), dmRepresenting the maximum Euclidean distance between the current node and other nodes;
step 2.2, in a round of data collection task, the sensor nodes transmit the sensed data and residual energy to cluster head nodes belonging to the sensor nodes, the cluster head nodes are responsible for carrying out intra-cluster data fusion and sending converged data information and residual energy information of the intra-cluster nodes to the unmanned aerial vehicle, the sensor nodes with large residual energy and small distance from the current cluster head nodes are used as cluster head nodes in the next round of data collection task, and the sensor nodes are enabled to bear task loads in turn through periodic cluster head node replacement, so that energy consumption balance is realized;
and 2.3, the unmanned aerial vehicle sends the identity information of the new round of cluster head nodes to the current cluster head node, the current cluster head node broadcasts the identity information of the new round of cluster head nodes in the cluster, the new round of cluster head nodes distribute time slots for other nodes in the cluster in a time division multiple access mode, and the sensor nodes send the collected information and the residual energy information of the sensor nodes to the new cluster head nodes through the distributed time slots.
4. The method for acquiring the covert data of the wireless ultraviolet light-assisted unmanned aerial vehicle according to claim 1, wherein the step 3 specifically comprises the following steps:
3.1, in order to prevent information from being illegally stolen by an enemy in the acquisition process, solar blind waveband ultraviolet rays in short-wave ultraviolet rays are used as a transmission carrier to meet the requirement of secret data acquisition between an unmanned aerial vehicle and a sensor node, ozone molecules in the atmosphere have a strong absorption effect on the solar blind waveband ultraviolet rays in sunlight, the low-altitude space-domain ultraviolet rays in the waveband can be approximately considered to have no background interference noise, and other interference sources are difficult to implement remote interference, so that the solar blind wireless ultraviolet rays can meet the requirement of secret data acquisition between the unmanned aerial vehicle and the sensor node;
3.2, the ultraviolet communication system is divided into a transmitting system and a receiving system, the transmitting system modulates the original signal generated by the information source into a form suitable for transmission in a channel, and then loads the modulated information on an ultraviolet carrier through a driving circuit to send the information into an atmospheric channel; the receiving system is responsible for receiving ultraviolet light signals, carrying out photoelectric conversion on the signals and recovering corresponding original signals through a demodulation circuit; the transmitting end mainly comprises an ultraviolet transmitting light source and a light source drive part; the receiving end comprises an optical focusing system, a filtering system and a photoelectric detector;
3.3, when the unmanned aerial vehicle and the cluster head node communicate by using wireless ultraviolet light, the ultraviolet light transceiving devices carried on the unmanned aerial vehicle and the sensor node are generally in a non-coplanar state, and the unmanned aerial vehicle can find the optimal communication angle with the cluster head node in the flight process by adopting a hemispherical ultraviolet light MIMO device; an omnidirectional optical receiver is installed at the top end of the hemispherical wireless ultraviolet MIMO model, the surface of the hemispherical wireless ultraviolet MIMO model comprises M wefts and N warps, ultraviolet LEDs are installed at the intersection of each weft and each warp, each LED is numbered according to the position of the corresponding weft, and the light beam can be reflected relative to the direction of a node.
5. The method for acquiring the covert data of the wireless ultraviolet light-assisted unmanned aerial vehicle according to claim 1, wherein the step 4 specifically comprises the following steps:
step 4.1, the hemispherical ultraviolet MIMO devices carried on the unmanned aerial vehicle and the sensor nodes are provided with unique node ID numbers; the unmanned aerial vehicle generates a request information frame, and sequentially sends M and N request information frames containing the latitudinal coding and the longitudinal coding according to the latitudinal scanning mode and the longitudinal scanning mode until a response information frame of the unmanned aerial vehicle responded by a corresponding cluster head node is received;
step 4.2, the cluster head node receives the request information frame through the omnidirectional receiver, the cluster head node receiving the request information of the unmanned aerial vehicle forms a group of direction coordinates by the warp direction and weft direction codes with the strongest receiving signals sent by the same unmanned aerial vehicle, the information is sent by the LED at the position of the unmanned aerial vehicle, the cluster head node needs to send a response information frame which needs to send the request information back, the sending mode is completely the same as the mode in the step 4.1, and the sending is stopped until the confirmation information frame is received;
step 4.3, after receiving the response information frame sent by the cluster head node in the step 4.2, the unmanned aerial vehicle in the step 4.1 can confirm the directional coordinate of the cluster head node relative to the unmanned aerial vehicle, and at this moment, the unmanned aerial vehicle has found the cluster head node unidirectionally, and the unmanned aerial vehicle needs to generate a confirmation information frame and directly sends the confirmation information frame through the directional coordinate of the cluster head node in the step 4.2 without scanning;
step 4.4, after the cluster head node in the step 4.2 receives the confirmation information frame, the direction coordinate of the unmanned aerial vehicle relative to the node in the step 4.1 can be obtained, and at the moment, the two parties find each other and successfully establish a communication link between the unmanned aerial vehicles;
step 4.5, because the frequency of scanning and sending the information frame is fast, a communication link between the unmanned aerial vehicle and the cluster head node can be established fast, and the subsequent communication can be carried out only on the established link; where ID1 is the node ID number that sent the information frame; ID2 is the node ID number that received the information frame; f is an information type identification code; d is weft/warp coding; c is an information check bit; l is a directional coordinate; d1 is a weft/warp identification code; d2 is weft/warp coding; l1 is weft encoding; l2 is warp coding;
step 4.6, because a new cluster head node is elected in each round of data collection task, when the relative position between the cluster head and the unmanned aerial vehicle is changed, the communication link with the strongest signal established before is also changed, after the cluster head node is changed, the unmanned aerial vehicle can continuously send request information to the new cluster head node in a sequential scanning mode, and the cluster head node receiving the request information sends response information by taking the initiating node as a target node; after the initiating node receives the response information, the direction of the receiving node relative to the initiating node is determined according to the LED number of the response frame; then, the unmanned aerial vehicle and the cluster head node mutually send confirmation information, an optimal LED pair is selected according to the received light intensity, and a communication link between the unmanned aerial vehicle and the new cluster head node is established;
and 4.7, realizing the secret transmission of information between the unmanned aerial vehicle and the cluster head node according to an ultraviolet communication link established between the unmanned aerial vehicle and the cluster head node, and enabling the unmanned aerial vehicle which completes the data acquisition task to safely and secretly return the collected data to the data center for processing in a flying mode.
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