CN115396975B - Networking low-delay high-speed data transmission method for unmanned aerial vehicle cluster system - Google Patents
Networking low-delay high-speed data transmission method for unmanned aerial vehicle cluster system Download PDFInfo
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Abstract
The invention discloses a networking low-delay high-speed data transmission method for an unmanned aerial vehicle cluster system, and belongs to the field of unmanned aerial vehicle cluster data transmission and communication. The implementation method of the invention comprises the following steps: according to the multi-task comprehensive characteristics of the unmanned aerial vehicle cluster, unmanned aerial vehicle nodes are clustered according to task types such as visible light monitoring, infrared shooting, radar detection, material delivery and the like, so that the single network routing overhead of the unmanned aerial vehicle cluster is reduced; after clustering, clusters are interacted through cluster head connection, an improved Ad hoc network DSDV routing protocol is designed in the clusters, and throughput is used as a DSDV routing protocol link metric; and the network bandwidths of all clusters are dynamically proportioned according to the information transmission requirement of task types and the channel environment sensing result, so that the network scale and the topology structure are simplified through a clustering algorithm, the problems that the processing capacity requirement of nodes is increased and the processing time delay is increased when the network scale is enlarged by the traditional prior routing algorithm are solved, smaller transmission time delay is ensured, and excessive consumption of network resources is avoided.
Description
Technical Field
The invention relates to a networking low-delay high-speed data transmission method of an unmanned aerial vehicle cluster system, and belongs to the field of unmanned aerial vehicle cluster data transmission and communication.
Background
In the actual task process of the unmanned aerial vehicle cluster, along with the change of task stages, new nodes are added and original nodes are withdrawn continuously, so that the network topology is dynamically changed at any moment, and the important problems of how to control routing overhead and reduce delay and ensure the real-time performance, success rate and robustness of data transmission under the conditions of rapid topology change and rapid node increase are solved; meanwhile, each unmanned plane node bears different task roles and is adjusted in real time according to task processes, and how to flexibly allocate channel resources according to different demands of different tasks on data transmission capacity and improve transmission efficiency is also a difficult problem to be solved urgently.
Disclosure of Invention
Aiming at the problems in the prior art, the invention mainly aims to provide a networking low-delay high-speed data transmission method of an unmanned aerial vehicle cluster system, which is used for clustering unmanned aerial vehicle nodes according to task types such as visible light monitoring, infrared shooting, radar detection, material delivery and the like according to the comprehensive characteristics of unmanned aerial vehicle cluster multitasking, so that the single network routing overhead of the unmanned aerial vehicle cluster is reduced; after clustering, clusters are interacted through cluster head connection, an improved Ad hoc network DSDV routing protocol is designed in the clusters, and throughput is used as a DSDV routing protocol link metric; and the network bandwidths of all clusters are dynamically proportioned in real time according to the information transmission requirement of task types and the channel environment sensing result, so that the network scale and the topology structure are simplified through a clustering algorithm, the problems that the processing capacity requirement of nodes is increased and the processing time delay is increased when the network scale is enlarged by the traditional prior routing algorithm are solved, smaller transmission time delay is ensured, and excessive consumption of network resources is avoided.
In order to achieve the above purpose, the invention adopts the following technical scheme:
according to the networking low-delay high-speed data transmission method of the unmanned aerial vehicle cluster system, according to task types or task combination clustering of unmanned aerial vehicle nodes, according to task planning or similar enhancement or heterogeneous complementation, the single network scale of the unmanned aerial vehicle cluster is reduced, so that the routing protocol overhead and delay are reduced, network bandwidth resources of each cluster are allocated according to the load information characteristics of large information quantity such as visible light monitoring, radar detection and the like, small information quantity such as infrared shooting, material transportation and the like as required, networking transmission efficiency is improved, meanwhile, a link measurement standard taking throughput as a route is adopted to replace an simplistic Bellman-ford shortest distance path algorithm, network bandwidth fluctuation is restrained under a complex wireless channel, and transmission robustness is improved.
The task types comprise visible light monitoring, infrared shooting, radar detection and material transportation.
The invention discloses a networking low-delay high-speed data transmission method of an unmanned aerial vehicle cluster system, which comprises the following steps:
step 1: determining the number and the scale of clusters according to the task types of nodes in the unmanned aerial vehicle clusters, and presetting the network bandwidth of each cluster;
step 2: designing a clustering DSDV routing algorithm, distributing network bandwidth for each cluster according to task type requirements, reducing the information maintenance quantity of each node routing table, improving network performance, and enhancing network ductility; the clustering DSDV routing algorithm specifically comprises the following steps: (1) and (3) neighbor node establishment: nodes in the preliminary clustering planning range send a Hello packet to the neighbor nodes, the Hello packet nodes are received, feedback channel environment is well perceived (meeting preset requirements), and the nodes are brought into the neighbor node list; (2) cluster preference: finding out nodes in all two hops of the head node, checking neighbor node tables of the nodes, selecting the node as a cluster head when the neighbor of a certain node is larger than the neighbor number of the current head node, setting the hop number h=0 of the node, and determining a cluster number; (3) boundary node determination: the node with the hop number h=2 to the cluster head is taken as the boundary node of the cluster, the non-clustered neighbor node of the boundary node is taken as the head node, and if all the neighbor nodes of the boundary node are clustered successfully, the process is skipped to (5); (4) determination of a scattered node: checking a neighbor node list of the first node, if the neighbor node list of the first node is not empty, jumping to the step (2), and continuing the clustering operation; otherwise, setting the hop number h=3 from the node to the cluster head, marking the cluster head field as the cluster head field of the neighbor node, indicating that the node is a hidden node of the cluster, namely a scattered node, and jumping to (3); (5) and (3) forming a network topological structure and a clustering DSDV routing protocol according to the steps (1) to (5), wherein cluster heads are selected only within two hops in the network topological structure, and clusters are connected and interacted through the cluster heads after clustering, so that network transmission delay is reduced.
The clustering DSDV route planning is established, the throughput of the node is used as a measurement standard of a link, the space distance is not used as a path selection basis, the influence of factors such as multipath, organism shielding and the like on the signal transmission quality is fully considered, and the network resource consumed when the network temporarily establishes the relay node is optimized. For three topologies: (1) no relay forwarding node exists from a source node to a destination node, (2) one relay forwarding node exists from the source node to the destination node, and (3) two relay forwarding nodes exist from the source node to the destination node, wherein the throughput calculation comprises the following steps:
according to the transmit power P of known nodes s Obtaining the signal receiving power P of the node r The method comprises the following steps:
wherein d is s-d Is the distance from the transmitting node to the receiving node, -a is the path attenuation parameter, S is the transmitting signal of unit power, n s-d If the free loss L is node noise, the calculation formula of the free loss L in the wireless channel is as follows:
the unmanned aerial vehicle cluster has free loss and shielding and multipath in the actual flight task, and the probability of normal operation of a typical aviation Rayleigh channel fading model link is further obtained as follows:
N 0 is a complex gaussian random variable variance subject to rayleigh distribution. And (3) making:
the calculation formula of the normal working probability of the link of the topological structure (1) is as follows:
the calculation formula of the normal working probability of the link of the topological structure (2) is as follows:
wherein d s-R For the distance d of the transmitting node S to the relay forwarding node R R-d Is the distance from the relay forwarding node R to the receiving node D.
The calculation formula of the normal working probability of the link of the topological structure (3) is as follows:
wherein d s-R1 For the distance d of the transmitting node S to the relay forwarding node R1 R1-d D is the distance from the relay forwarding node R1 to the receiving node D s-R2 For the distance d of the transmitting node S to the relay forwarding node R2 R2-d Is the distance from the relay forwarding node R2 to the receiving node D.
The data transmission rate of the source node is R o The normal operation probability of the link when the transmitting node S directly reaches the receiving node D is that
The network throughput of the topology (1) in this case is:
when there is an intermediate node y reaching the destination node, the normal operation probability of the link is
Topology (2) network throughput is:
if there are two intermediate nodes y1, y2 from the source node to the destination node, the normal working probability of the link is
Topology (3) network throughput is:
for a given source node and a given destination node, the throughput is defined as the minimum value received by each node in the path, and the throughput of each hop in the link is maximized, so that the overall throughput of the network is improved, and high-speed low-delay network transmission is realized:
η max ＝max{η s,d ,η s,y,d ,η s,y1,y2,d equation 11
Further comprising the step 3: the Ad hoc network clustering DSDV routing protocol designed according to the step 2 adopts throughput as a DSDV routing protocol link metric; and each cluster of network bandwidth is dynamically proportioned in real time according to the information transmission requirement of task types and the channel environment sensing result, so that the network scale and the topology structure are simplified through a clustering algorithm, the single network scale of the unmanned aerial vehicle cluster is reduced, the routing protocol overhead and the routing protocol delay are reduced, the network bandwidth resources of each cluster are allocated as required, the networking transmission efficiency is improved, the network bandwidth fluctuation can be restrained under a complex wireless channel, and the transmission robustness is improved.
The beneficial effects are that:
1. according to the networking low-delay high-speed data transmission method of the unmanned aerial vehicle cluster system, unmanned aerial vehicle nodes are clustered according to task types such as visible light monitoring, infrared shooting, radar detection and material delivery according to the comprehensive characteristics of unmanned aerial vehicle cluster multitasking, the network scale and the topology structure are simplified through a clustering algorithm, and the single network routing overhead of the unmanned aerial vehicle cluster is reduced; after clustering, clusters are interacted through cluster head connection, an improved Ad hoc network DSDV routing protocol is designed in the clusters, throughput is used as a DSDV routing protocol link metric, and the transmission stability of the wireless network is improved; and the network bandwidth of each cluster is dynamically proportioned in real time according to the information transmission requirement of the task type and the channel environment sensing result, so that the invalid occupation and excessive consumption of network resources are avoided, the problems of increased processing capacity requirements and processing delay increase of nodes when the network scale of the traditional prior routing algorithm is enlarged are solved, and smaller transmission delay and higher transmission efficiency are ensured.
2. The invention discloses a networking low-delay high-speed data transmission method of an unmanned aerial vehicle cluster system, which aims at the characteristics of multifunction integration and multitasking integration of unmanned aerial vehicle clusters, clusters according to task types or task combinations of unmanned aerial vehicle nodes, and enhances or is heterogeneous complementary according to task planning or the like, thereby reducing the single network scale of the unmanned aerial vehicle clusters, reducing the routing protocol overhead and delay, and distributing network bandwidth resources of each cluster according to requirements according to the characteristics of large information volume such as visible light monitoring, radar detection and the like, small information volume such as infrared shooting, material transportation and the like, and improving the networking transmission efficiency.
3. According to the networking low-delay high-speed data transmission method of the unmanned aerial vehicle cluster system, based on the beneficial effect 2, the link measurement standard taking throughput as a route is adopted to replace an simplistic Bellman-ford shortest distance path algorithm, network bandwidth fluctuation is restrained under complex wireless channels such as shielding, multipath and the like, and the transmission robustness is improved.
4. According to the networking low-delay high-speed data transmission method of the unmanned aerial vehicle cluster system, clusters are managed according to task types and task stages on the basis of beneficial effects 1 and 2, network topology can be simplified, transmission delay is reduced, control instantaneity is improved, and aircraft safety is improved; meanwhile, the transmission quality and the node distance are jointly considered, throughput is adopted as a DSDV routing protocol link measurement standard, the method is more suitable for complex wireless channel environments of unmanned aerial vehicle clusters, and the robustness of the network is improved; and the bandwidths of the clusters and the intra-cluster networks are dynamically proportioned according to the information transmission requirement of the task types of the clusters, so that the hierarchical hybrid topology structure of the local area network scale is simplified through a clustering algorithm, the problems that the processing capacity requirement of the node is increased and the processing time delay is increased when the network scale is enlarged by the traditional prior routing algorithm are solved, the smaller transmission time delay is ensured, and the excessive consumption of network resources is avoided.
Drawings
FIG. 1 is a flowchart of a clustering algorithm in accordance with the present invention;
FIG. 2 is a network topology formed after clustering according to the present invention;
FIG. 3 illustrates the path transmission from a source node to a destination node under various conditions of the present invention;
FIG. 4 is a graph of network throughput versus routing protocol of the present invention;
FIG. 5 is a graph showing the comparison of network delays in a 10-node to 290-node network environment according to the present invention;
fig. 6 is a diagram showing the comparison of the network routing protocol overhead from 10 nodes to 290 nodes according to the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention more clear, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. It will be apparent that the described embodiments are some, but not all, embodiments of the invention. All other embodiments, which can be made by a person skilled in the art without creative efforts, based on the described embodiments of the present invention fall within the protection scope of the present invention.
Example 1
As shown in fig. 1, the networking low-delay high-speed data transmission method for the unmanned aerial vehicle cluster system disclosed in the embodiment specifically comprises the following implementation steps:
step 1: clustering unmanned aerial vehicle nodes according to task types according to the characteristic of unmanned aerial vehicle cluster multi-task integration, determining the number and the scale of the clusters, and presetting network bandwidths of all clusters;
step 2: designing a clustering DSDV routing algorithm, distributing network bandwidth for each cluster according to task type requirements, reducing the information maintenance quantity of each node routing table, improving network performance, and enhancing network ductility; the clustering DSDV routing algorithm specifically comprises the following steps: (1) and (3) neighbor node establishment: nodes in the preliminary clustering planning range send a Hello packet to the neighbor nodes, the Hello packet nodes are received, feedback channel environment is well perceived (meeting preset requirements), and the nodes are brought into the neighbor node list; (2) cluster preference: finding out nodes in all two hops of the head node, checking neighbor node tables of the nodes, selecting the node as a cluster head when the neighbor of a certain node is larger than the neighbor number of the current head node, setting the hop number h=0 of the node, and determining a cluster number; (3) boundary node determination: the node with the hop number h=2 to the cluster head is taken as the boundary node of the cluster, the non-clustered neighbor node of the boundary node is taken as the head node, and if all the neighbor nodes of the boundary node are clustered successfully, the process is skipped to (5); (4) determination of a scattered node: checking a neighbor node list of the first node, if the neighbor node list of the first node is not empty, jumping to the step (2), and continuing the clustering operation; otherwise, setting the hop number h=3 from the node to the cluster head, marking the cluster head field as the cluster head field of the neighbor node, indicating that the node is a hidden node of the cluster, namely a scattered node, and jumping to (3); (5) and (3) forming a network topological structure and a clustering DSDV routing protocol according to the steps (1) to (5), wherein cluster heads are selected only within two hops in the network topological structure, and clusters are connected and interacted through the cluster heads after clustering, so that network transmission delay is reduced.
Example 2
As shown in fig. 2, the networking low-delay high-speed data transmission method of the unmanned aerial vehicle cluster system disclosed in the embodiment is applied to four tasks of material delivery, infrared shooting, visible light monitoring and radar detection, and adopts a clustered DSDV routing algorithm to form network topology connection. According to step 1, unmanned aerial vehicle nodes are divided into 4 clusters according to task types, namely a material delivery cluster, an infrared shooting cluster, a visible light monitoring cluster and a radar detection cluster, wherein the material delivery cluster comprises 12 nodes, the infrared shooting cluster comprises 8 nodes, the visible light monitoring cluster comprises 10 nodes and the radar detection cluster comprises 7 nodes, compared with 37 nodes of a single network, the single cluster size is reduced through a mixed clustering networking structure, the nodes except for the scattering nodes are controlled within 2 hops, and the routing overhead and the transmission delay are reduced.
Example 3
In the networking low-delay high-speed data transmission method of the unmanned aerial vehicle cluster system, throughput of nodes is used as a measurement standard of a link when a clustered DSDV route planning is established, the space distance is not used as a path selection basis, influence of factors such as multipath and organism shielding on signal transmission quality is fully considered, and network resources consumed when a relay node is temporarily established in a network are optimized. As shown in fig. 3, for three topologies: (1) no relay forwarding node exists from a source node to a destination node, (2) one relay forwarding node exists from the source node to the destination node, and (3) two relay forwarding nodes exist from the source node to the destination node, wherein the throughput calculation comprises the following steps:
according to the transmit power P of known nodes s Obtaining the signal receiving power P of the node r The method comprises the following steps:
wherein d is s-d Is the distance from the transmitting node to the receiving node, -a is the path attenuation parameter, S is the transmitting signal of unit power, n s-d If the free loss L is node noise, the calculation formula of the free loss L in the wireless channel is as follows:
the unmanned aerial vehicle cluster has free loss and shielding and multipath in the actual flight task, and the probability of normal operation of a typical aviation Rayleigh channel fading model link is further obtained as follows:
N 0 is a complex gaussian random variable variance subject to rayleigh distribution. And (3) making:
the calculation formula of the normal working probability of the link of the topological structure (1) is as follows:
the calculation formula of the normal working probability of the link of the topological structure (2) is as follows:
wherein d s-R For the distance d of the transmitting node S to the relay forwarding node R R-d Is the distance from the relay forwarding node R to the receiving node D.
The calculation formula of the normal working probability of the link of the topological structure (3) is as follows:
wherein d s-R1 For the distance d of the transmitting node S to the relay forwarding node R1 R1-d D is the distance from the relay forwarding node R1 to the receiving node D s-R2 For the distance d of the transmitting node S to the relay forwarding node R2 R2-d Is the distance from the relay forwarding node R2 to the receiving node D.
The data transmission rate of the source node is R o The normal operation probability of the link when the transmitting node S directly reaches the receiving node D is that
The network throughput of the topology (1) in this case is:
when there is an intermediate node y reaching the destination node, the normal operation probability of the link is
Topology (2) network throughput is:
if there are two intermediate nodes y1, y2 from the source node to the destination node, the normal working probability of the link is
Topology (3) network throughput is:
for a given source node and a given destination node, the throughput is defined as the minimum value received by each node in the path, and the throughput of each hop in the link is maximized, so that the overall throughput of the network is improved, and high-speed low-delay network transmission is realized:
η max ＝max{η s,d ,η s,y,d ,η s,y1,y2,d equation 11
Example 4
The embodiment discloses a networking low-delay high-speed data transmission method of an unmanned aerial vehicle cluster system, which comprises the following steps: the Ad hoc network clustering DSDV routing protocol designed according to the step 2 adopts throughput as a DSDV routing protocol link metric; and dynamically matching network bandwidths of all clusters according to the information transmission requirements of task types and channel environment sensing results, inhibiting network bandwidth fluctuation under a complex wireless channel, improving the networking transmission efficiency and maximizing the network throughput, as shown in fig. 4. Under the dynamic change of multipath channel coefficients of 0.1-0.8, setting packet length of 1024 bytes in a UDP multicast mode, increasing the number of network nodes by 10-290 step by step, and displaying simulation results: by introducing relay node auxiliary information transmission among clusters, and adopting a link measurement standard taking throughput as a route, when the number of unmanned aerial vehicle cluster nodes is 128, compared with MDSPV protocol, the network throughput is improved by about 40%.
Example 5
According to the networking low-delay high-speed data transmission method of the unmanned aerial vehicle cluster system, disclosed by the embodiment, the network scale and the topology structure are simplified through cluster clustering management, the multi-hop forwarding hop count is controlled, and the network transmission delay and delay fluctuation are effectively reduced, as shown in fig. 5. Under the dynamic change of multipath channel coefficients of 0.1-0.8, setting packet length of 1024 bytes in a UDP multicast mode, increasing the number of network nodes by 10-290 step by step, and displaying simulation results: when the number of unmanned aerial vehicle cluster network nodes is small, the advantages of the clustering DSDV protocol are not obvious, and even slightly inferior to MDSDV. However, as the network scale increases, the advantages of the protocol are gradually highlighted, when the network scale of the unmanned aerial vehicle cluster reaches 128, the clustered DSDV routing protocol is about 12ms lower than the network delay of the DSDV protocol and about 4ms lower than the network delay of the MDDV protocol, and as the network scale increases, the network delay is stable, the network delay is obviously smaller than the DSDV and the MDDV, the average delay is less than or equal to 30ms, the requirement of the conventional unmanned aerial vehicle for measuring and controlling the transmission delay is less than or equal to 50ms, and the unmanned aerial vehicle is more beneficial to the control safety of the unmanned aerial vehicle.
Example 6
According to the networking low-delay high-speed data transmission method of the unmanned aerial vehicle cluster system, disclosed by the embodiment, the network scale and the topology structure are simplified through cluster clustering management, the number of single cluster nodes is controlled, the path state in a cluster is reduced, the condition that a single cluster maintains a routing table is avoided being too huge, and the routing protocol overhead is reduced, as shown in fig. 6. Under the dynamic change of multipath channel coefficients of 0.1-0.8, setting packet length 1024Byte in a UDP multicast mode, wherein the number of clusters is less than or equal to 10, the number of network nodes is increased gradually from 10 to 290, and simulation results show that the DSDV routing protocol increases gradually with the increase of the number of network nodes, the number of routing tables maintained by each node increases gradually, and the network routing cost increases rapidly; the MDSPV protocol routing cost is also increased sharply along with the increase of the number of nodes, when the number of nodes exceeds 130, the routing cost exceeds 40%, the network utilization rate is too low, and network resources are used for maintaining a huge routing table for each node; in contrast, the clustering DSDV protocol adopts cluster heads to solve the heavy burden of each node routing table, the routing table maintained by routing members in each cluster cannot be obviously influenced along with the increase of the number of nodes, the routing cost of the nodes is relatively stable, and when the number of nodes of the unmanned aerial vehicle cluster is 128, compared with the DSDV protocol and the MDSDV protocol, the routing cost is reduced by about 40%, the transmission efficiency is improved, and the unmanned aerial vehicle cluster is convenient to expand in a large scale.
While the foregoing is directed to embodiments of the present invention, other and further embodiments of the invention may be devised without departing from the basic scope thereof, and the scope thereof is determined by the claims that follow.
Claims (2)
1. A networking low-delay high-speed data transmission method of an unmanned aerial vehicle cluster system is characterized by comprising the following steps of: comprises the following steps of the method,
step 1: determining the number and the scale of clusters according to the task types of nodes in the unmanned aerial vehicle clusters, and presetting the network bandwidth of each cluster;
step 2: designing a clustering DSDV routing algorithm, distributing network bandwidth for each cluster according to task type requirements, reducing the information maintenance quantity of each node routing table, improving network performance, and enhancing network ductility; the clustering DSDV routing algorithm specifically comprises the following steps: (1) and (3) neighbor node establishment: nodes in the preliminary clustering planning range send a Hello packet to the neighbor nodes, the Hello packet nodes are received, feedback channel environment is well perceived, and the nodes are brought into the neighbor node list; (2) cluster preference: finding out nodes in all two hops of a head node, checking neighbor node tables of the nodes, selecting the node as a cluster head when the neighbor of a certain node is larger than the neighbor number of the current head node, setting the hop number h=0 of the node, and determining a cluster number; (3) boundary node determination: the node with the hop number h=2 to the cluster head is taken as the boundary node of the cluster, the non-clustered neighbor node of the boundary node is taken as the head node, and if all the neighbor nodes of the boundary node are clustered successfully, the process is skipped to (5); (4) determination of a scattered node: checking a neighbor node list of the first node, if the neighbor node list of the first node is not empty, jumping to the step (2), and continuing the clustering operation; otherwise, setting the hop number h=3 from the node to the cluster head, marking the cluster head field as the cluster head field of the neighbor node, indicating that the node is a hidden node of the cluster, namely a scattered node, and jumping to (3); (5) and (3) forming a network topological structure and a clustering DSDV routing protocol according to the steps (1) to (5), wherein cluster heads are selected only within two hops in the network topological structure, and clusters are connected and interacted through the cluster heads after clustering, so that network transmission delay is reduced.
Establishing a clustered DSDV route plan, taking the throughput of the node as a measurement standard of a link, not taking the space distance as a path selection basis, but fully considering the influence of factors such as multipath, organism shielding and the like on the signal transmission quality, and optimizing network resources consumed when the network temporarily establishes a relay node; for three topologies: (1) no relay forwarding node exists from a source node to a destination node, (2) one relay forwarding node exists from the source node to the destination node, and (3) two relay forwarding nodes exist from the source node to the destination node, wherein the throughput calculation comprises the following steps:
according to the transmit power P of known nodes s Obtaining the signal receiving power P of the node r The method comprises the following steps:
wherein d is s-d Is the distance from the transmitting node to the receiving node, -a is the path attenuation parameter, S is the transmitting signal of unit power, n s-d If the free loss L is node noise, the calculation formula of the free loss L in the wireless channel is as follows:
the unmanned aerial vehicle cluster has free loss and shielding and multipath in the actual flight task, and the probability of normal operation of a typical aviation Rayleigh channel fading model link is further obtained as follows:
N 0 complex gaussian random variable variance for obeying the rayleigh distribution; and (3) making:
the calculation formula of the normal working probability of the link of the topological structure (1) is as follows:
the calculation formula of the normal working probability of the link of the topological structure (2) is as follows:
wherein d s-R For the distance d of the transmitting node S to the relay forwarding node R R-d The distance from the relay forwarding node R to the receiving node D is the distance;
the calculation formula of the normal working probability of the link of the topological structure (3) is as follows:
wherein d s-R1 For the distance d of the transmitting node S to the relay forwarding node R1 R1-d D is the distance from the relay forwarding node R1 to the receiving node D s-R2 For the distance d of the transmitting node S to the relay forwarding node R2 R2-d Distance from the relay forwarding node R2 to the receiving node D;
the data transmission rate of the source node is R o The normal operation probability of the link when the transmitting node S directly reaches the receiving node D is that
The network throughput of the topology (1) in this case is:
when there is an intermediate node y reaching the destination node, the normal operation probability of the link is
Topology (2) network throughput is:
if there are two intermediate nodes y1, y2 from the source node to the destination node, the normal working probability of the link is
Topology (3) network throughput is:
for a given source node and a given destination node, the throughput is defined as the minimum value received by each node in the path, and the throughput of each hop in the link is maximized, so that the overall throughput of the network is improved, and high-speed low-delay network transmission is realized:
η max ＝max{η s,d ,η s,y,d ,η s,y1,y2,d equation 11
2. The method for networked low-latency high-speed data transmission of unmanned aerial vehicle cluster system according to claim 1, wherein the method comprises the following steps: the method also comprises a step 3 of adopting throughput as a DSDV routing protocol link metric according to the Ad hoc network clustering DSDV routing protocol designed in the step 2; and each cluster of network bandwidth is dynamically proportioned in real time according to the information transmission requirement of task types and the channel environment sensing result, so that the network scale and the topology structure are simplified through a clustering algorithm, the single network scale of the unmanned aerial vehicle cluster is reduced, the routing protocol overhead and the routing protocol delay are reduced, the network bandwidth resources of each cluster are allocated as required, the networking transmission efficiency is improved, the network bandwidth fluctuation can be restrained under a complex wireless channel, and the transmission robustness is improved.
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