Unmanned cluster hierarchical networking system and multi-source tree routing protocol implementation method

Abstract

The invention discloses an unmanned cluster hierarchical networking system and a multi-source tree routing protocol implementation method, the method adopts a hierarchical networking form to construct a tree topology, and comprises the steps of constructing the tree topology by taking at least one cluster head node as a root node, forming a transmission path of a far-end node, the cluster head node and a manned node, and establishing a multi-source tree routing; selecting an optimal father node as a relay node of an uplink path by adopting a shortest path first and link quality assisted routing measurement strategy; an uplink routing table is established through periodically broadcasting source tree information, and a downlink routing table is established through tree-shaped routing information feedback maintenance; and establishing and maintaining the multi-source tree topology by using an uplink routing table, a downlink routing table and a point-to-point routing table according to the requirements of uplink multi-source data convergence, downlink multicast transmission and end-to-end unicast transmission. According to the method, flexible networking, rapid reconstruction and dynamic resource allocation can be met, and the method has the advantages of low routing storage overhead and low calculation overhead.

Description

Technical Field

[0001] The present invention relates to the technical field of wireless ad hoc network communication, in particular to an unmanned cluster hierarchical networking system and a method for implementing a multi-source tree routing protocol. Background Art

[0002] In the current context of cross-domain joint operations across land, sea, and air, manned-unmanned collaborative networking requires scalable hierarchical clustering self-organizing networking technology to achieve dynamic topology control, wireless resource management, and network capacity improvement in large-scale self-organizing networks. The high-speed mobility, limited energy consumption, dynamic inter-platform links, and mission-oriented nature of unmanned platforms pose new challenges to clustering mechanisms in large-scale unmanned swarm self-organizing networks.

[0003] On the one hand, small formation task subnets for intelligence reconnaissance, target guidance, attack and defense missions constitute a multi-task alliance networking architecture, requiring compatible task clustering technology to form a hierarchical clustered network. On the other hand, cross-domain and cross-cluster transmission technology is required between multiple task clusters to support inter-cluster task coordination. For example, real-time transmission of target indication information is required between the target guidance cluster and the attack and defense cluster to ensure the rapid closure of the kill chain from sensor to shooter.

[0004] Multi-hop routing technologies based on MANETs can be categorized into three types based on forwarding mode: unicast routing, multicast routing, and multipath routing. Unicast routing is the most commonly used routing protocol in MANETs, and includes table-driven, reactive, hybrid, and location-assisted routing.

[0005] Among them, table-driven routing protocols use spanning tree algorithms to establish and maintain routing tables for all nodes in the entire network. Examples include Destination Sequenced Distance Vector Routing (DSDV), Optimal Link State Routing (OLSR), and Fish-eye State Routing (FSR). These protocols are suitable for scenarios where network topology dynamics are less variable. Reactive routing protocols, such as Dynamic Source Routing (DSR), Ad hoc On-demand Distance Vector Routing (AODV), and Temporally Ordered Routing Algorithm (TORA), do not require periodic broadcasting of topology information. Instead, they search for routes only when a node sends a packet request. This allows them to better adapt to network topology changes and reduce routing maintenance overhead. However, the biggest drawback of reactive routing is that the end-to-end transmission delay of data packets cannot be guaranteed.

[0006] Hybrid-structured partitioned and hierarchical routing protocols combine the advantages of low latency of table-driven routing and low overhead of reactive routing, making them suitable for large-scale ad hoc networks. Examples include the Zone Routing Protocol (ZRP), Clusterhead Gateway Switch Routing (CGSR), and Hierarchy State Routing (HSR). Geolocation-based routing, such as Location Aided Routing (LAR), Distance Routing Effect Algorithm for Mobility (DREAM), and Greedy Perimeter Stateless Routing (GPSR), enhances routing accuracy by adding location information to implement directional routing.

[0007] Existing planar-based self-organizing routing protocols cannot address network expansion, multicast transmission, and long-range relay transmission, and cannot support large-scale manned and unmanned collaborative networking. This is primarily manifested in the following: Existing manned and unmanned platform networking communication systems use self-organizing networking technology for dynamic topology control, primarily including mesh networking, cluster networking, and hierarchical networking. Mesh network topology uses a flat networking approach, supporting end-to-end interconnection across the entire network, but with high routing overhead and limited network scalability; hierarchical networking uses a self-recommendation algorithm to dynamically generate a virtual backbone network, supporting network expansion, but with high routing maintenance overhead; and tree routing uses hierarchical networking to generate tree-like routing, which has low routing overhead and supports multi-hop expansion, multicast, and directional transmission. Summary of the Invention

[0008] Therefore, the purpose of the present invention is to provide an unmanned cluster hierarchical networking system and a multi-source tree routing protocol implementation method to meet the needs of flexible, mobile, autonomous and collaborative network topology control and the needs of resource allocation for scale expansion. The clusters are connected in series through cluster heads and their communication links to achieve inter-cluster communication, which can meet the functions of flexible networking, rapid reconstruction and dynamic resource allocation.

[0009] In order to achieve the above object, the present invention provides a method for implementing a multi-source tree routing protocol, characterized in that a tree topology is constructed in a hierarchical networking form, comprising the following steps:

[0010] S1. Build a tree topology with at least one cluster head node as the root node, form a transmission path from remote node to cluster head node to occupied node, establish a single-source tree routing, define multiple source nodes, and form a multi-source tree routing topology;

[0011] S2, adopt the shortest path priority and link quality (CQI) assisted routing metric strategy to select the best parent node as the relay node of the uplink path;

[0012] S3. Establish an upstream routing table by periodically broadcasting source tree information (STI), and establish a downstream routing table through tree routing information (TRI) feedback maintenance; in accordance with the requirements of upstream multi-source data aggregation, downstream multicast transmission and end-to-end unicast transmission, use the upstream routing table, downstream routing table and point-to-point routing table to establish and maintain a multi-source tree topology.

[0013] Further preferably, in S2, the shortest path priority and link quality (CQI)-assisted routing metric strategy includes: a node receiving routing broadcast information of multiple relay nodes performs relay optimization by comparing the number of hops from the previous hop to the source node, and selects the node with the least hops as the candidate parent node of the node. If there are multiple candidate parent nodes, the node with the best link quality (CQI) is preferentially selected as the parent node of the node.

[0014] Further preferably, the packet format of the source tree information (STI) includes information type, root node identifier, sending node identifier and hop number field. The STI information is triggered by the source node to broadcast multiple hops. After receiving the broadcast information, the relay nodes at all levels update and forward it in sequence until it reaches the network edge node.

[0015] Further preferably, the packet format of the tree routing information (TRI) includes the number of child nodes and the child node identification field. The TRI information is triggered by the edge node, and the relay nodes at all levels update and forward it in sequence according to the uplink path until it reaches the source node.

[0016] Further preferably, when the source tree information (STI) is periodically broadcast to establish an uplink routing table, a tree topology is established according to the following process;

[0017] In the signaling broadcast phase, the signaling broadcast of the source tree broadcast information (STI) is triggered by the synchronization time slot scheduling signal. The source end packages the root node ID, local node ID, and hop count information into the STI signaling packet in the first synchronization time slot and broadcasts it.

[0018] In the receiving and processing phase, nodes within one hop from the source node receive the STI signaling packet in the first synchronization time slot and perform receiving processing;

[0019] In the relay forwarding phase, in the next relay time slot (n+1) corresponding to the hop number (n) of the current node, the updated source tree broadcast information is packaged and a delay jitter is randomly selected for broadcast transmission. If the hop number n of the current node reaches the designed maximum value (n=N), the multi-hop broadcast is stopped.

[0020] Further preferably, when the downlink routing table is established through tree routing information (TRI) feedback maintenance, the signaling processing process includes three stages: uplink unicast, reception processing and relay forwarding;

[0021] In the uplink unicast phase, the signaling broadcast of the tree routing information (TRI) is triggered by the feedback slot scheduling signal. The end node packages the root node ID, local node ID and hop count information into the TRI signaling packet in the first feedback slot, searches for the uplink route, and unicasts it to the parent node.

[0022] In the receiving and processing stage, the node that receives the tree routing information (TRI) performs receiving and processing, records the source node and its child nodes as child nodes, and incrementally updates the downlink routing table to add a downlink routing entry;

[0023] In the relay forwarding stage, all child nodes of the current node are queried and encapsulated into the tree routing information (TRI) one by one, and unicasted in the next hop feedback time slot to the parent node at the previous level; the uplink feedback of the tree routing information (TRI) and the incremental update of the downlink routing table are completed until the root node ends.

[0024] The present invention also provides an unmanned cluster hierarchical networking communication system for implementing the above-mentioned multi-source tree routing protocol, including the following four-layer network architecture: core layer network, backbone layer network, physical cluster network, and logical cluster network;

[0025] The core layer network is deployed in a safe area as manned nodes, which are used for remote control, telemetry, networking control and task allocation of all unmanned nodes;

[0026] The backbone network is deployed in the competition area and is composed of elected cluster head nodes to form regional coverage for all unmanned nodes;

[0027] The physical cluster network is deployed within the communication coverage of the cluster head in the combat zone, and is used to execute combat tasks distributed by manned nodes or cluster head nodes, so that cluster members can occupy the shared channel in the cluster in a time-sharing manner under TDMA resource planning to share situation, perform relative ranging, and return telemetry information;

[0028] The logical cluster network is composed of cluster head nodes that are elected to perform task division, member acceptance judgment, and the establishment, maintenance and closing of task subnets.

[0029] The unmanned cluster hierarchical networking system and multi-source tree routing protocol implementation method disclosed in this application have at least the following advantages over the existing technology:

[0030] 1. The unmanned cluster layered networking system adopted in this application performs network layering based on communication coverage and resilience and anti-destruction requirements, including four layers: core layer, backbone layer, physical clustering, and logical clustering. They are deployed in the safety zone, competition zone, engagement zone, and mission execution zone respectively. It supports multi-level network coverage, flexible networking control, and task-driven networking functions, allowing the network to support cross-domain and cross-cluster transmission and partitioned service exchange.

[0031] 2. The unmanned cluster layered networking system proposed in this application uses multi-channel resources to support multi-layer network coverage and partitioned service exchange, and has network control, broadcast distribution, multicast transmission and relay transmission functions, allowing support for networked measurement and control, remote intelligence feedback, intra-cluster situation sharing and cross-domain and cross-cluster service transmission.

[0032] The multi-source tree routing protocol proposed in this application uses a hierarchical networking approach to construct a tree topology, forming a transmission path from remote node to cluster head node to manned node, supporting the distribution of measurement and control information and the return of service information. Compared to mesh network routing, multi-source tree routing only requires maintaining routing tables from remote nodes to cluster heads and from cluster heads to manned nodes. This has the advantages of low routing storage and computational overhead, making it beneficial for low-cost computing on small, low-cost unmanned platforms. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] Figure 1 This is a schematic diagram of the hierarchical cluster networking structure of the unmanned cluster hierarchical networking system proposed by the present invention.

[0034] Figure 2 This is a schematic diagram of path connections in the multi-source tree routing protocol implementation method proposed in the present invention.

[0035] Figure 3 This is the tree topology establishment process of the present invention.

[0036] Figure 4 Schematic diagram of the tree topology maintenance process of the present invention. DETAILED DESCRIPTION

[0037] The present invention is further described in detail below with reference to the accompanying drawings and specific embodiments.

[0038] like Figure 1 As shown, the hierarchical network topology of the unmanned cluster networking communication system provided by an embodiment of one aspect of the present invention is divided into a four-layer networking architecture, including: a core layer network, a backbone layer network, a physical cluster network and a logical cluster network. The functional composition of each layer of the network is described as follows.

[0039] (1) Core layer network

[0040] The core network, comprised of manned nodes such as helicopters and ground control stations, is deployed in a secure area and is responsible for remote control, telemetry, networking control, and task allocation for all unmanned nodes. Manned nodes implement a networked measurement and control model for remote control and telemetry of unmanned nodes. Manned nodes connect to cluster heads, which then perform multi-hop broadcasting, reducing bandwidth requirements for measurement and control channels.

[0041] Manned nodes use dedicated control channels to control the cluster network and distribute network control information to the cluster head node, supporting tasks driven networking, dynamic resource allocation and adaptive frequency planning.

[0042] Manned nodes use a logical clustering approach to assign tasks to unmanned clusters, distributing task information to a group of execution units in a multicast manner, and supporting functions such as task subnet establishment, task subnet maintenance, and task subnet shutdown.

[0043] In addition, multiple manned nodes can use core network connections for tactical interconnection and network control signaling interaction, supporting online mission planning, subnet merging / separation, mission handover and other functions.

[0044] (2) Backbone network

[0045] The backbone network consists of cluster head nodes dynamically selected by the cluster network. It is deployed in the competition area and within the communication coverage of manned nodes. It is responsible for member management, resource management and routing management of the cluster network, as well as inter-cluster communication.

[0046] The inter-cluster communication of the backbone layer network uses dedicated channels, supports air relay and backbone network connection, forms regional coverage of all unmanned nodes, and meets the tactical coordination and business transmission needs across domains and clusters.

[0047] (3) Physical clustering network

[0048] The physical cluster network consists of cluster members that share a set of wireless channel resources, are deployed in the combat area, are within the communication coverage of the cluster head, and are responsible for executing combat tasks distributed by manned nodes or cluster head nodes.

[0049] Cluster members occupy the shared channel within the cluster in a time-sharing manner under TDMA resource planning to share situation information and perform relative ranging, while also supporting the backhaul of telemetry information and business information such as pictures / videos.

[0050] (4) Logical clustering network

[0051] When the physical clustering network is large, cluster members can be grouped into tasks and perform multiple combat missions simultaneously. Task-oriented member groupings form a logical cluster network, differentiated by multicast addresses. Multicast security mechanisms are used within the group to share task information, while shielding it from members outside the cluster.

[0052] The logical cluster network is managed by manned nodes or cluster head nodes to perform task division, member admission and security control, and supports functions such as task subnet establishment, task subnet maintenance and task subnet shutdown.

[0053] like Figure 2 As shown in the figure, after establishing the unmanned cluster networking communication system described in the above embodiment, how to implement hierarchical cluster networking is of paramount importance. To this end, this embodiment describes in detail the specific process of constructing a tree topology through hierarchical networking. The blue line in the figure represents the path of data sent by source node 2, the red line represents the path of data sent by source node 1, and the gray line represents the same path for source nodes 1 and 2.

[0054] This application proposes a method for implementing a multi-source tree routing protocol, which uses a hierarchical networking form to construct a tree topology, including the following steps:

[0055] S1. Build a tree topology with at least one cluster head node as the root node, form a transmission path from remote node to cluster head node to occupied node, establish a single-source tree routing, define multiple source nodes, and form a multi-source tree routing topology;

[0056] It should be noted that the source tree-based routing protocol (TRP) mainly constructs a tree topology through periodic signaling broadcasts (STI: Source Tree Information) of the root node. The next-level node selects the parent node as the forwarding node of the upstream path (UAV-helicopter) by prioritizing the path metric with the minimum number of hops. After the broadcast transmission process is completed, a multi-level networking tree routing table is formed.

[0057] According to business transmission requirements, the downlink path of source tree routing supports multi-hop multicast transmission from source node to end node, and the uplink path supports multi-source data aggregation from end node to source node, and also extends support to point-to-point data transmission from end node to end node.

[0058] Based on single-source tree routing, multiple source nodes can be defined to form a multi-source tree routing structure to support "multi-machine, multi-control" networking applications. Multi-source tree routing has multiple source nodes, allowing for multi-source node command and control mission backup or task succession according to different mission phases, meeting the needs of application scenarios such as remote launch, command and control handover, and formation flying in coordinated control with unmanned aircraft.

[0059] S2, adopt the shortest path priority and link quality (CQI) assisted routing metric strategy to select the best parent node as the relay node of the uplink path;

[0060] To prioritize relay nodes for the upstream path, source tree routing uses a strategy based on shortest path priority and link quality as a routing metric. A node that receives routing information from multiple relay nodes compares the number of hops from the previous hop to the source node and selects the node with the fewest hops as its candidate parent. If there are multiple candidate parent nodes, the node with the best link quality index (CQI) is prioritized as the parent node.

[0061] The shortest path first path optimization strategy based on link quality assistance can realize the optimal forwarding path for relay transmission and ensure the highly reliable transmission of measurement and control information of unmanned platforms.

[0062] S3. Establish an upstream routing table by periodically broadcasting source tree information (STI), and establish a downstream routing table through tree routing information (TRI) feedback maintenance; in accordance with the requirements of upstream multi-source data aggregation, downstream multicast transmission and end-to-end unicast transmission, use the upstream routing table, downstream routing table and point-to-point routing table to establish and maintain a multi-source tree topology.

[0063] Source-tree-based tree routing features three optional routing table entries: an upstream routing table, a downstream routing table, and a point-to-point routing table. In measurement and control backhaul applications, each node only needs to maintain the upstream routing table to meet the requirements of upstream multi-source information aggregation and downstream multicast transmission. Furthermore, the downstream routing table can meet the needs of point-to-point weapon control information transmission. The point-to-point routing table can also meet the needs of tactical-level collaborative information transmission between unmanned platforms, such as collaborative positioning and collaborative guidance.

[0064]

[0065] (a) Uplink routing table entry

[0066]

[0067] (b) Downstream routing table entry

[0068]

[0069] (c) Point-to-point routing table entries

[0070] Compared with mesh and cluster networking routing protocols, tree routing has the advantages of short response time, low routing overhead, support for directional networking, rapid reconstruction, multicast transmission and data aggregation, and is suitable for medium-scale unmanned collaborative networking communications and collaborative control applications.

[0071] Compared with mesh network routing, multi-source tree routing only needs to maintain routing tables from remote nodes to cluster head nodes and from cluster head nodes to manned nodes. It has the advantages of low routing storage overhead and low computing overhead, which is conducive to low-overhead computing of miniaturized, low-cost unmanned platforms.

[0072] Tree routing establishes uplink and downlink routes through periodic signaling broadcasts, which mainly include two types of signaling information: source tree broadcast information (STI: Source Tree Information) and tree routing information (TRI: Tree_basedRoutingInformation).

[0073] Source Tree Information (STI) is used to establish the initial topology and build the upstream routing table. STI information is triggered by a multi-hop broadcast from the source node. Relay nodes at all levels receive the broadcast information and forward it in turn, eventually reaching the network edge. The STI information packet format is shown in Table 1.

[0074]

[0075] Table 1 STI information packet format

[0076] The STI information packet length is 3 bytes, and the fields are defined as follows:

[0077] a) Information type: 4-bit encoding is used to identify the information type, 0001 means STI

[0078] b) Root node identification: 8-bit encoding is used to identify the root node number, and the encoding capacity is 256

[0079] c) Sending node identification: 8-bit encoding is used to identify the sending node, and the encoding capacity is 256

[0080] d) Hop count: 4-bit encoding is used to identify the number of hops from the sending node to the source node. The encoding capacity is 15

[0081] Tree Routing Information (TRI) is used to maintain the tree topology and build the downstream routing table. TRI information is triggered by edge nodes, and relay nodes at all levels update and forward it sequentially along the upstream path until it reaches the source node. The TRI information packet format is shown in Table 2 below.

[0082]

[0083] Table 2 TRI information packet format

[0084] The TRI information packet length uses variable length coding, and the fields are defined as follows:

[0085] a) Information type: 4-bit encoding is used to identify the information type, 0010 means TRI

[0086] b) Root node identification: 8-bit encoding is used to identify the root node number, and the encoding capacity is 256

[0087] c) Sending node identification: 8-bit encoding is used to identify the sending node, and the encoding capacity is 256

[0088] d) Hop count: 4-bit encoding is used to identify the number of hops from the sending node to the source node. The encoding capacity is 15

[0089] e) Number of child nodes: 8-bit encoding is used to identify the number of child nodes of the sending node

[0090] f) Subnode identification: 8-bit encoding is used to identify the subnode number

[0091] The helicopter performs measurement and control of the UAV, which only requires downlink multicast transmission and does not require maintenance of the downlink routing table. Therefore, only the source tree broadcast information needs to be transmitted. The lightweight source tree broadcast information design ensures the low latency and low overhead characteristics of source tree routing.

[0092] Furthermore, in the logical channel based on the TDMA access mechanism, the tree topology processing performs the relay timing scheduling of the source tree broadcast information (STI) in the order of time slots, which can avoid the broadcast storm problem caused by repeated signaling broadcast and packet collision in the mesh network topology update.

[0093] like Figure 3 As shown in Figure 1, tree routing establishes upstream routing through source tree information broadcast (STI). The tree topology establishment process is divided into three stages: signaling broadcast, reception and processing, and relay forwarding:

[0094] (1) Signaling broadcast

[0095] The signaling broadcast of the source tree broadcast information (STI) is triggered by the synchronization time slot scheduling signal. The source end packages the root node ID, local node ID and hop count information into the STI signaling packet in the first synchronization time slot and broadcasts it.

[0096] (2) Receiving and processing

[0097] Nodes within one hop of the source node receive the STI signaling packet in the first synchronization timeslot and perform reception processing, which mainly includes the following processing steps:

[0098] 1) During physical layer reception, link quality is measured based on the pilot signal to obtain the Channel Quality Indication (CQI), which corresponds to the received signal-to-noise ratio (SNR) and has a value range of 0 to 31.

[0099] 2) When receiving at the link layer, parse the received data and record the sending node ID and hop count;

[0100] 3) Update the uplink routing table, select the node corresponding to the best CQI received in this time slot as the parent node, and form an uplink routing table entry.

[0101] (3) Relay forwarding

[0102] In the next relay time slot (n+1) corresponding to the hop number (n) of this node, the updated source tree broadcast information is packaged, a delay jitter is randomly selected, and broadcasted;

[0103] If the number of hops n of this node reaches the designed maximum value (n=N), the multi-hop broadcast will be stopped.

[0104] like Figure 4 As shown in Figure 1, in the extended application mode, source tree routing uses the feedback channel to unicast tree routing information (TRI) uplink to update the downlink routing table. The signaling process includes three stages: uplink unicast, reception processing, and relay forwarding:

[0105] (1) Signaling broadcast

[0106] The signaling broadcast of the tree routing information (TRI) is triggered by the feedback slot scheduling signal. The end node packages the root node ID, local node ID and hop count information into the TRI signaling packet in the first feedback slot, searches for the upstream route, and unicasts it to the parent node.

[0107] (2) Receiving and processing

[0108] The node that receives the tree routing information (TRI) performs reception processing, records the source node and its child nodes as child nodes, and incrementally updates the downstream routing table, adding a downstream routing entry;

[0109] (3) Relay forwarding

[0110] Query all child nodes of the current node, encapsulate them one by one into the tree routing information (TRI), and send them unicast in the next hop feedback time slot to the parent node at the previous level;

[0111] The upstream feedback of the tree routing information (TRI) and the incremental update of the downstream routing table end at the root node.

[0112] The transmission mode and functions of tree routing are reflected in:

[0113] Tree routing provides dynamic routing and relay transmission between helicopters and drones. It is mainly used to carry remote control, telemetry, image transmission, electronic reconnaissance and other services, and supports transmission modes such as downlink multicast, uplink aggregation and downlink unicast.

[0114] (1) Downlink multicast

[0115] Downlink multicast transmission mainly carries broadcast remote control information. The root node initiates the broadcast, and after receiving and processing the information at each level of the multicast group (cluster), the child nodes are relayed and broadcast.

[0116] (2) Uplink Convergence

[0117] Uplink aggregation transmission mainly carries telemetry information from child nodes at all levels. By querying the uplink routing table, it is sent to the parent node in sequence and finally converged to the root node.

[0118] (3) Downlink unicast

[0119] Downstream unicast transmission mainly carries point-to-point remote control information, which is initiated by the root node, and is sent to the next hop node in sequence by querying the downlink routing table, and finally transmitted to the terminal child node.

[0120] The innovative features of the unmanned cluster hierarchical networking system and multi-source tree routing protocol described in the present invention include:

[0121] (1) The unmanned cluster layered networking system is based on the communication coverage and resilience requirements. The network is layered, including the core layer, backbone layer, physical clustering, and logical clustering. They are deployed in the safety zone, competition zone, engagement zone, and mission execution zone respectively, supporting multi-level network coverage, flexible networking control, and mission-driven networking functions.

[0122] (2) An unmanned cluster hierarchical networking system uses multi-channel resources to support multi-layer network coverage and partitioned service exchange, and has network control, broadcast distribution, multicast transmission and relay transmission functions, allowing support for networked measurement and control, remote intelligence return, intra-cluster situation sharing and cross-domain and cross-cluster service transmission.

[0123] (3) The multi-source tree routing protocol uses a hierarchical networking method to construct a tree topology, forming a transmission path from remote node to cluster head node to manned node, supporting measurement and control information distribution and business information backhaul. Compared to mesh network routing, multi-source tree routing only needs to maintain routing tables from remote nodes to cluster head nodes and from cluster head nodes to manned nodes. It has the advantages of low routing storage overhead and low computational overhead, which is conducive to low-overhead computing for small, low-cost unmanned platforms.

[0124] The beneficial effects of the unmanned cluster hierarchical networking system and multi-source tree routing protocol described in the present invention include:

[0125] (1) The unmanned cluster layered networking system performs network layering based on communication coverage and resilience and anti-destruction requirements, including four layers: core layer, backbone layer, physical clustering, and logical clustering. These layers are deployed in the safety zone, competition zone, engagement zone, and mission execution zone respectively. It supports multi-level network coverage, flexible networking control, and task-driven networking functions, allowing the network to support cross-domain and cross-cluster transmission and partitioned service exchange.

[0126] (2) An unmanned cluster hierarchical networking system uses multi-channel resources to support multi-layer network coverage and partitioned service exchange, and has network control, broadcast distribution, multicast transmission and relay transmission functions, allowing support for networked measurement and control, remote intelligence return, intra-cluster situation sharing and cross-domain and cross-cluster service transmission.

[0127] (3) The multi-source tree routing protocol uses a hierarchical networking method to construct a tree topology, forming a transmission path from remote node to cluster head node to manned node, supporting measurement and control information distribution and business information backhaul. Compared to mesh network routing, multi-source tree routing only needs to maintain routing tables from remote nodes to cluster head nodes and from cluster head nodes to manned nodes. It has the advantages of low routing storage overhead and low computational overhead, which is conducive to low-overhead computing for small, low-cost unmanned platforms.

[0128] Obviously, the above embodiments are merely examples for clarity of explanation and are not intended to limit the implementation methods. Those skilled in the art will readily appreciate that other variations or modifications based on the above descriptions are possible. It is not necessary and impossible to enumerate all implementation methods here. Obvious variations or modifications arising therefrom remain within the scope of protection of the present invention.

Claims

1. A method for implementing a multi-source tree routing protocol, characterized in that: The tree topology is constructed using a hierarchical networking approach, which includes the following steps: S1. Build a tree topology with at least one cluster head node as the root node, form a transmission path from remote node to cluster head node to occupied node, establish a single-source tree routing, define multiple source nodes, and form a multi-source tree routing topology; S2, adopt the shortest path priority and link quality (CQI) assisted routing metric strategy to select the best parent node as the relay node of the uplink path; S3. Establish an upstream routing table by periodically broadcasting source tree information (STI), and establish a downstream routing table through tree routing information (TRI) feedback maintenance; in accordance with the requirements of upstream multi-source data aggregation, downstream multicast transmission and end-to-end unicast transmission, use the upstream routing table, downstream routing table and point-to-point routing table to establish and maintain a multi-source tree topology.

2. The method for implementing a multi-source tree routing protocol according to claim 1, wherein: In S2, the shortest path priority and link quality (CQI)-assisted routing metric strategy includes: a node that receives routing broadcast information from multiple relay nodes performs relay optimization by comparing the number of hops from the previous hop to the source node, and selects the node with the fewest hops as the candidate parent node of the node. If there are multiple candidate parent nodes, the node with the best link quality (CQI) is preferentially selected as the parent node of the node.

3. The method for implementing a multi-source tree routing protocol according to claim 1, wherein: The packet format of the source tree information (STI) includes information type, root node identifier, sending node identifier and hop number field. The STI information is triggered by the source node to broadcast multiple hops. After receiving the broadcast information, the relay nodes at all levels update and forward it in sequence until it reaches the network edge node.

4. The method for implementing a multi-source tree routing protocol according to claim 1, wherein: The packet format of the tree routing information (TRI) includes the number of child nodes and the child node identification field. The TRI information is triggered by the edge node, and the relay nodes at all levels update and forward it in sequence according to the uplink path until it reaches the source node.

5. The method for implementing a multi-source tree routing protocol according to claim 3, wherein: When the source tree information (STI) is periodically broadcast to establish an uplink routing table, a tree topology is established according to the following process; In the signaling broadcast phase, the signaling broadcast of the source tree broadcast information (STI) is triggered by the synchronization time slot scheduling signal. The source end packages the root node ID, local node ID, and hop count information into the STI signaling packet in the first synchronization time slot and broadcasts it. In the receiving and processing phase, nodes within one hop from the source node receive the STI signaling packet in the first synchronization time slot and perform receiving processing; In the relay forwarding phase, in the next relay time slot (n+1) corresponding to the hop number (n) of the current node, the updated source tree broadcast information is packaged and a delay jitter is randomly selected for broadcast transmission. If the hop number n of the current node reaches the designed maximum value (n=N), the multi-hop broadcast is stopped.

6. The method for implementing a multi-source tree routing protocol according to claim 3, wherein: When the downlink routing table is established through tree routing information (TRI) feedback maintenance, the signaling processing process includes three stages: uplink unicast, reception processing and relay forwarding; In the uplink unicast phase, the signaling broadcast of the tree routing information (TRI) is triggered by the feedback slot scheduling signal. The end node packages the root node ID, local node ID and hop count information into the TRI signaling packet in the first feedback slot, searches for the uplink route, and unicasts it to the parent node. In the receiving and processing stage, the node that receives the tree routing information (TRI) performs receiving and processing, records the source node and its child nodes as child nodes, and incrementally updates the downlink routing table to add a downlink routing entry; In the relay forwarding stage, all child nodes of the current node are queried and encapsulated into the tree routing information (TRI) one by one, and unicasted in the next hop feedback time slot to the parent node at the previous level; the uplink feedback of the tree routing information (TRI) and the incremental update of the downlink routing table are completed until the root node ends.

7. A clustered hierarchical networking communication system with or without human intervention, characterized in that: Used to implement the multi-source tree routing protocol described in any one of claims 1 to 6 above, including the following four-layer network architecture: core layer network, backbone layer network, physical cluster network, and logical cluster network; The core layer network is deployed in a safe area as manned nodes, which are used for remote control, telemetry, networking control and task allocation of all unmanned nodes; The backbone network is deployed in the competition area and is composed of elected cluster head nodes to form regional coverage for all unmanned nodes; The physical cluster network is deployed within the communication coverage of the cluster head in the combat zone, and is used to execute combat tasks distributed by manned nodes or cluster head nodes, so that cluster members can occupy the shared channel in the cluster in a time-sharing manner under TDMA resource planning to share situation, perform relative ranging, and return telemetry information; The logical cluster network is composed of cluster head nodes that are elected to perform task division, member acceptance judgment, and the establishment, maintenance and closing of task subnets.

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