A multifunctional resource scheduling system and method for multi-faceted phased array radar communication

Abstract

The present invention adopts a co-frequency time-division method under the working mechanism of the existing four-sided phased array radar system, utilizes some auxiliary array surfaces and main array surfaces of the multi-sided phased array to share time resources with the perception task, transmits directional narrow-beam communication signals, completes data communication networking between group nodes, and sends data generated in the perception cycle in a timely manner during the communication cycle of adjacent array surfaces, so as to achieve the purpose of real-time data sharing perception, synchronous analysis and efficient data communication among multiple nodes through high-speed, high-bandwidth and low-latency data transmission.

Description

Technical Field

[0001] The present invention belongs to the intersection field of radar shared data perception and wireless communication, and specifically relates to a resource scheduling system and method for mobile four-sided phased array radar perception and communication. Background Art

[0002] In certain specialized domestic applications, mobile multi-antenna sensor perception systems typically utilize four arrays fixed to a vehicle in four directions, providing 360° omnidirectional coverage (90°×4), for all-around target perception. Mission requirements dictate that, in addition to the perception and analysis performed by a single node, collaborative perception and analysis tasks must also be performed across multiple nodes within and even between groups. While the integration of radar and communications is a key development direction in sensor perception technology, high-bandwidth, low-latency, real-time, network-wide shared perception and analysis technologies are still in their infancy.

[0003] To achieve shared perception and analysis among group nodes, wireless data links must be established for data transmission. Typically, dedicated communication equipment is installed on each node to aggregate and transmit sensor data and analysis results from that node to other nodes in the group. Alternatively, without dedicated communication equipment, the sensor data and analysis results from that node can be modulated into a sensor radio frequency beam and transmitted to other nodes in the group for data aggregation and sharing.

[0004] Multi-antenna sensors have high transmit and receive power, can track multiple targets, and perform highly comprehensive sensing tasks. This requires high-speed, high-bandwidth, and low-latency data transmission channels between each node in the group.

[0005] To avoid interference from the sensors' transmitted and received radio frequency, solutions equipped with proprietary communication equipment must operate in a frequency band different from the sensor's operating frequency. Data transmission must be completed using omnidirectional communication with other nodes. This results in a higher frequency range within the area, hindering wireless spectrum quiet management within the mission area and making it more susceptible to detection and interference. If communication is performed in a frequency band that matches the sensor's operating frequency, the sensors' directional and omnidirectional scanning operation can easily cause frequency interference between perception and communication. Furthermore, the separation of the communication and perception systems makes resource coordination difficult, resulting in low reliability and utilization.

[0006] If a solution without dedicated communication equipment is used, using a shared waveform for both sensing and communication, the data link bandwidth is limited, resulting in a low data rate. This makes it difficult to achieve the expected system network performance for exchanging and aggregating large amounts of data, such as those required for multi-antenna sensor sensing, and for data sharing and analysis. Furthermore, the differences in the operating mechanisms of sensor sensing tasks and data communication services limit available data communication resources, making it difficult to meet the requirements for high-speed, high-bandwidth, and low-latency data transmission. Summary of the Invention

[0007] The purpose of the present invention is to adopt a co-frequency time-division method under the working mechanism of the existing four-sided phased array radar system, utilize part of the auxiliary array surface and the main array surface of the multi-sided phased array to share time resources with the perception task, transmit directional narrow-beam communication signals, complete data communication networking between group nodes, and send data generated in a perception cycle in a timely manner in adjacent communication cycles, so as to achieve the purpose of real-time data sharing perception, synchronous analysis and efficient data communication among multiple nodes through high-speed, high-bandwidth and low-latency data transmission.

[0008] The technical solution of the present invention is to use a small number of multi-antenna sensor antennas as communication function antennas, and work with the perception function array antennas using system resource time division, frequency division, and space division scheduling to complete multi-node real-time data sharing perception and low-latency, high-bandwidth data sharing process.

[0009] In the system network, a single cluster supports 10 communication nodes, each equipped with four antenna arrays. In addition to the array antennas normally used for sensing, a smaller portion of each array antenna is used for communication, providing an agile, directional, narrow 10° beam within a 90° or 120° range. All nodes in the cluster utilize a TDMA synchronous communication system, with the network-wide clock referenced by the BeiDou clock input and the node's own clock source.

[0010] Taking the node pointing direction as a reference, the left front antenna array is defined as array 1, and the clockwise directions are array 2, array 3, and array 4, respectively. A sensing and communication scheduling cycle is defined as 100ms. Figure 1 As shown in the figure, with the system base clock time T as the reference point, T~(T+X ms) is the communication cycle window between fronts 1 and 3. During this cycle, fronts 1 and 3 communicate. At the same time, fronts 2 and 4 are in a sensing state. (T+Xms)~(T+100ms) is the communication cycle window between fronts 2 and 4. During this cycle, fronts 2 and 4 communicate. At the same time, fronts 1 and 3 are in a sensing state.

[0011] Due to back-wave interference, the opposite arrays need to maintain simultaneous transmission and reception. The value range of X is flexibly configured based on the requirements of the perception and communication tasks. The default is 50ms for perception and 50ms for communication. The specific perception and communication time depends on the resource negotiation results of the source node, destination node, and forwarding node in the communication task requirements. Within this 100ms working cycle, the perception and communication tasks occupy time resources respectively to perform time-sharing work to avoid co-frequency interference problems, such as Figure 2 In the system perception and communication process, the data generated in any perception cycle will be promptly sent to the target neighboring node for data sharing in the next adjacent communication cycle.

[0012] In order to ensure that the nodes in the group can maintain synchronous operation and the system communication and perception resource patterns are controllable, the system is designed with time T and T+n×100ms as the start time of the communication working cycle, that is, all nodes in the network follow each perception and communication scheduling cycle of 100ms to switch the perception and communication array.

[0013] The present invention relates to a multi-faceted phased array radar communication multifunctional resource scheduling system, comprising: multi-antenna sensor nodes, an integrated scheduling module, a high-speed data transmission and modulation and demodulation module, a network management module, and a perception management module; each node has multiple antenna array surfaces, and some auxiliary array surfaces are selected from the sensor main array surface as communication antennas, namely communication auxiliary array antennas, which provide an agile directional narrow beam; the rear end of the communication auxiliary array antenna is connected to the high-speed data transmission and modulation and demodulation module to complete basic wireless communication functions; multiple high-speed data transmission and modulation and demodulation modules are connected to the network management module; the sensor array surface is connected to the beamforming module and the perception management module, and is controlled together with the network management module by the perception and communication integrated scheduling module.

[0014] The agile directional narrow beam is a 10° narrow beam with an agile pointing range of 90° or 120°. All nodes in the group are synchronized communication systems, and the network-wide synchronized clock references the Beidou clock input and the node's own clock source.

[0015] In order to ensure that the nodes in the group can maintain synchronous operation and the system communication and perception resource rules are controllable, the system is designed with time T and T+n×Kms as the start time of the communication working cycle, that is, all nodes in the network follow each perception and communication scheduling cycle K milliseconds to switch the perception and communication array, where T is the system reference clock, n is a positive integer, and a perception and communication scheduling cycle is K milliseconds.

[0016] When each node has four antenna arrays, with the node pointing direction as a reference, the left front antenna array is defined as array 1, and the clockwise directions are array 2, array 3, and array 4, respectively. A sensing and communication scheduling cycle is defined as 100ms. Figure 1As shown in the figure, with the system base clock time T as the reference point, T~(T+X ms) is the communication cycle window between fronts 1 and 3. During this cycle, fronts 1 and 3 communicate. At the same time, fronts 2 and 4 are in a sensing state. (T+Xms)~(T+100ms) is the communication cycle window between fronts 2 and 4. During this cycle, fronts 2 and 4 communicate. At the same time, fronts 1 and 3 are in a sensing state.

[0017] Due to back-wave interference, the opposite arrays need to maintain simultaneous transmission and reception. The value range of X is flexibly configured based on the requirements of the perception and communication tasks. The default is 50ms for perception and 50ms for communication. The specific perception and communication time depends on the resource negotiation results of the source node, destination node, and forwarding node in the communication task requirements. For the same antenna array, within this 100ms working cycle, the perception and communication tasks occupy time resources separately to perform time-sharing work, so as to avoid multi-task conflicts. Figure 2 In the system perception and communication process, the data generated in any perception cycle will be sent to the target neighboring node in a timely manner during the communication cycle of the adjacent array for data sharing.

[0018] The present invention relates to a multi-functional resource scheduling method for multi-faceted phased array radar communication, comprising the following steps:

[0019] Step 1: The node has multiple antenna arrays. Sensor perception and communication share the same antenna array. At the same time, perception and communication occupy different arrays.

[0020] Step 1.1: The node has multiple array surfaces. For each sensor main array surface, select some auxiliary array surfaces as communication antennas, namely communication auxiliary array antennas.

[0021] Step 1.2: The back end of the communication auxiliary array antenna is connected to the high-speed data transmission and modulation and demodulation module to complete the basic wireless communication function.

[0022] Step 1.3: Multiple high-speed data transmission and modulation and demodulation modules connected to multiple communication auxiliary array antennas are connected to the network management module.

[0023] Step 1.4: The sensor array is connected to the beamforming module, and is controlled together with the network management module by the integrated perception and communication scheduling module.

[0024] Step 1.5: At the same time, perception and communication occupy different array surfaces. When each sensor node has four antenna array surfaces, with the node pointing direction as a reference, the left front antenna array surface is defined as array surface 1, and the clockwise direction is array surface 2, array surface 3, and array surface 4. A perception and communication scheduling period is defined as Kms. Taking the system base clock time T as the reference point, T~(T+X ms) is the communication cycle window of array surfaces 1 and 3. During this period, array surfaces 1 and 3 communicate; at the same time, array surfaces 2 and 4 are in the perception state; (T+Xms)~(T+Kms) is the communication cycle window of array surfaces 2 and 4. During this period, array surfaces 2 and 4 communicate; at the same time, array surfaces 1 and 3 are in the perception state.

[0025] Step 1.6: Time-division scheduling of the communication auxiliary array antennas, control message interaction between nodes, and shared data transmission.

[0026] Step 2: For the same array, the node sensing task and the communication task are time-divided to occupy different time periods to avoid mutual interference between the sensing radio frequency and the communication radio frequency.

[0027] Step 2.1: The integrated scheduling module compiles the working time cycle of the perception task and the communication task, and controls the working sequence of the perception and communication tasks.

[0028] Step 2.2: The perception management module completes inter-node perception coordination according to the perception task requirements and the work timing strategy formulated by the integrated scheduling module.

[0029] Step 2.3: The network management module completes the system resource negotiation between nodes in the network according to the communication network service requirements, formulates the communication work sequence and reports it to the integrated scheduling module, and completes the communication data sharing according to the work sequence strategy formulated by the integrated scheduling module.

[0030] Step 3: During the communication cycle, system resource allocation is divided into static resources and dynamic resources.

[0031] Some time slots are permanently allocated for system control, network maintenance, and service resource negotiation. These time slots are static resources that exist permanently. Other unallocated resources are dynamic service resources, and their use depends on the results of service resource negotiation between nodes.

[0032] Step 3.1: A radio frame is 100ms long, of which the first 10ms (radio subframe 0) is a static resource used for network establishment and maintenance.

[0033] In step 3.2, all time slots with even number are sent as packet control messages. Time slots with odd number and time slot resources in radio subframes 1, 2, 3, and 4 are dynamic resources and can be used to allocate service resources.

[0034] Step 3.3: The time slot resources of radio subframes 5, 6, 7, 8, and 9 are used as sensor sensing working cycles.

[0035] In step 3.4, the perception and communication scheduling period for arrays 1 and 3 differs by 50ms from that for arrays 2 and 4. This ensures that when arrays 1 and 3 are communicating, arrays 2 and 4 are in their perception working period; and when arrays 1 and 3 are perceiving, arrays 2 and 4 are in their communication working period.

[0036] Step 4: Negotiation process of dynamic network resources: The integrated scheduling module triggers the local network management module according to the network service demand, and the local node initiates the resource negotiation process to the destination node.

[0037] During the process, depending on the network topology and routing selection, it may pass through a forwarding node or go directly to the destination node.

[0038] Step 4.1: At the service triggering node, the wireless resource management module receives a service warning from the integrated scheduling module, which includes service parameters: service type and destination node ID.

[0039] Step 4.2: The radio resource management module allocates a radio access bearer RABid for the service. The RABid includes service triggering node information and service type.

[0040] Step 4.3. Then use the destination node ID to call the routing protocol. The routing protocol returns the routing set: routing domain ID, local interface address, next hop node ID, next hop interface address. This call can return the routing set of 1 / 3 array domain and 2 / 4 array domain (the selection strategy of the routing set is determined by the routing protocol). The 1 / 3 array domain is the communication cycle of the 1st and 3rd array domains, and the 2 / 4 array domain is the communication cycle of the 2nd and 4th array domains.

[0041] Step 4.4: The radio resource management module uses the service type of RABid to map it to the wireless parameters required for the service QoS: the number of time slots required by the service and the modulation and coding level; it then uses the locally recorded radio resource occupancy status of the local interface address (the time slots used by the fixed occupied broadcast channel and the previously allocated service channel cannot be occupied again) to allocate the time slot resources used by this service.

[0042] Step 4.5: The wireless resource management module then organizes the resource allocation request message and sends the resource request message to the antenna array corresponding to the local interface address in the physical broadcast channel of the 1 / 3 array domain and the 2 / 4 array domain of this node (the next hop node and all nodes in the array broadcast space can receive it).

[0043] In step 4.6, after receiving the broadcast message, the node detects a radio resource request message and forwards it to the radio resource management module. If the node is not the destination node for this resource allocation, the radio resource management module suspends the resource allocation process and does not initiate resource allocation for the service triggered by the node until the resource allocation is complete. As a forwarding node, the module returns a resource allocation failure message to the resource allocation node on the previous hop, effectively blocking the resource allocation process within one hop.

[0044] Step 4.7: When this node is the destination node for this resource allocation, check whether the time slot resource status of this port on this node is consistent with the status in the received message. If they are consistent, give priority to using the time slot resource recommended by the previous hop node. If they are inconsistent, give priority to allocating the time slot resource that both parties consider to be idle.

[0045] Step 4.8: When the local idle resources cannot meet the needs of this hop, resource allocation fails, and the source node of the previous hop returns a resource allocation failure (with the specific failure reason), and the resource allocation process ends at this node.

[0046] Step 4.9: When the resources at the previous hop meet the requirements and the service destination node is the current node, a resource allocation response message (carrying the allocated resource information) is returned to the previous hop node.

[0047] Step 4.10: When the previous resource meets the requirements and the service destination node is not this node, the wireless resource management module allocates the radio bearer RABid on the next link, calls the routing module to allocate the next hop route of the service, and allocates the wireless resources of the next hop node according to the node routing method; then broadcasts the wireless resource request message to the area where the next hop node is located.

[0048] Step 4.11: After receiving the broadcast, the next hop repeats the above negotiation process until the service destination node is the current node and returns an allocation response message to the previous hop; or returns a failed allocation response message if the resources cannot meet the needs.

[0049] The process of establishing a narrow beam negotiation service is as follows:

[0050] (1) The integrated scheduling module sends a "service establishment request message" to the network management module. The network management module queries the routing table according to the service destination node number and obtains the routing information to the destination node. The routing information contains the next hop node number. The wireless resource management in the network management module pre-allocates the wireless resources of the service according to the QoS information of the service. After the allocation is successful, it organizes a "wireless resource allocation request message" and sends the message to the next hop node in a targeted manner when the narrow beam between itself and the next hop node is transmitted;

[0051] (2) After receiving the "Radio Resource Allocation Request Message", the next-hop node sends a "Service Establishment Indication Message" to the integrated scheduling module to indicate the arrival of a new service. The pre-allocated resource information in the message is then verified and compared with the resource information of the current node. If there is no conflict, the pre-allocated resources of the previous hop are used. If there is a resource conflict, the conflicting resources need to be adjusted to meet the overall service resource requirements. The adjusted resource information status is marked. If there is still a next hop on the route, resources are allocated on the next hop. After the allocation of resources at this node and the next hop is completed, the network management module organizes a "Radio Resource Allocation Response Message" to notify the node that initiated the request of the wireless resources to be used at this end. This message is sent using a directional narrow beam. The sending process is the same as described above.

[0052] (3) After receiving the "Wireless Resource Allocation Response Message", the network management module of the service initiating node compares its own pre-allocated resources and allocates resources to the next-hop node. After confirming that the next-hop allocated resources are available, the final selected resources are broadcasted to the next-hop node using the message "Wireless Resource Allocation Confirmation Message". After the resource allocation process is completed, the network management module of the service source node returns the "Service Establishment Response Message" to the integrated scheduling module; the network management modules on the service forwarding node and the service destination node send the "Service Establishment Confirmation Message" to the integrated scheduling module.

[0053] (4) After the above resource allocation process, the wireless resources are negotiated and the integrated scheduling module in each node and the network management module have prepared various paths and resources for data transmission; the integrated scheduling module of the source node can start sending services.

[0054] This invention enables the establishment of a self-organizing network among groups of 10 or fewer nodes using sensor antenna arrays via directional narrow beams in the same frequency band, and enables high-speed data transmission between any nodes using directional RF beams. The network establishment and communication processes effectively reduce the probability of detection and interference; the system operation effectively reduces the problem of co-frequency interference between perception and communication tasks within the network system. During the system perception and communication process, data generated with a 50ms time granularity within any perception cycle is promptly transmitted to the target neighboring node for data sharing within the next adjacent 50ms communication cycle. Simultaneously, combined with high-speed transmission modulation and demodulation and an efficient system resource allocation mechanism, a high-speed, high-bandwidth, low-latency real-time data transmission channel is provided between group nodes, achieving the goal of high-speed data sharing, perception, and analysis between nodes. BRIEF DESCRIPTION OF THE DRAWINGS

[0055] Figure 1 Perception communication scheduling cycle division

[0056] Figure 2 Perception and communication scheduling cycle arrangement

[0057] Figure 3 Functional framework of perception and communication collaborative system

[0058] Figure 4 Resource allocation and scheduling process

[0059] Figure 5 Narrow beam negotiation service establishment process DETAILED DESCRIPTION

[0060] The technical solutions provided by the present invention will be described in detail below with reference to specific embodiments. It should be understood that the following specific embodiments are only used to illustrate the present invention and are not used to limit the scope of the present invention.

[0061] The technical solution of the present invention is to use a small number of multi-antenna sensor antennas as communication function antennas, and work with the perception function array antennas using system resource time division, frequency division, and space division scheduling to complete multi-node real-time data sharing perception and low-latency, high-bandwidth data sharing process.

[0062] In the system network, a single cluster supports 10 communication nodes, each equipped with four antenna arrays. In addition to the array antennas normally used for sensing, a small portion of each array antenna is used for communication, providing an agile, directional, narrow 10° beam within a 90° or 120° range. All nodes in the cluster operate in a synchronous communication system, with the network-wide clock referenced by the Beidou clock input and the node's own clock source.

[0063] Taking the node pointing direction as a reference, the left front antenna array is defined as array 1, and the clockwise directions are array 2, array 3, and array 4, respectively. A sensing and communication scheduling cycle is defined as 100ms. Figure 1 As shown in the figure, with the system base clock time T as the reference point, T~(T+X ms) is the communication cycle window between fronts 1 and 3. During this cycle, fronts 1 and 3 communicate. At the same time, fronts 2 and 4 are in a sensing state. (T+Xms)~(T+100ms) is the communication cycle window between fronts 2 and 4. During this cycle, fronts 2 and 4 communicate. At the same time, fronts 1 and 3 are in a sensing state.

[0064] Due to back-wave interference, the opposite arrays need to maintain simultaneous transmission and reception. The value range of X is flexibly configured based on the requirements of the perception and communication tasks. The default is 50ms for perception and 50ms for communication. The specific perception and communication time depends on the resource negotiation results of the source node, destination node, and forwarding node in the communication task requirements. For the same antenna array, within this 100ms working cycle, the perception and communication tasks occupy time resources separately to perform time-sharing work, so as to avoid multi-task conflicts. Figure 2 In the system perception and communication process, the data generated in any perception cycle will be sent to the target neighboring node in a timely manner during the communication cycle of the adjacent array for data sharing.

[0065] In order to ensure that the nodes in the group can maintain synchronous operation and the system communication and perception resource patterns are controllable, the system is designed with time T and T+n×100ms as the start time of the communication working cycle, that is, all nodes in the network follow each perception and communication scheduling cycle of 100ms to switch the perception and communication array.

[0066] The present invention relates to a multi-faceted phased array radar communication multi-functional resource scheduling system, comprising multi-antenna sensor nodes. Each node has four antenna arrays. In addition to the array antennas normally used for sensing, a small portion of each array antenna is used for communication, providing an agile, directional 10° narrow beam within a 90° or 120° range. All nodes in the group utilize a TDMA synchronous communication system, and the network-wide synchronized clock references the Beidou clock input and the node's own clock source.

[0067] Taking the node pointing direction as a reference, the left front antenna array is defined as array 1, and the clockwise directions are array 2, array 3, and array 4, respectively. A sensing and communication scheduling cycle is defined as 100ms. Figure 1 As shown in the figure, with the system base clock time T as the reference point, T~(T+X ms) is the communication cycle window between fronts 1 and 3. During this cycle, fronts 1 and 3 communicate. At the same time, fronts 2 and 4 are in a sensing state. (T+Xms)~(T+100ms) is the communication cycle window between fronts 2 and 4. During this cycle, fronts 2 and 4 communicate. At the same time, fronts 1 and 3 are in a sensing state.

[0068] Due to back-wave interference, the opposite arrays need to maintain simultaneous transmission and reception. The value range of X is flexibly configured based on the requirements of the perception and communication tasks. The default is 50ms for perception and 50ms for communication. The specific perception and communication time depends on the resource negotiation results of the source node, destination node, and forwarding node in the communication task requirements. For the same antenna array, within this 100ms working cycle, the perception and communication tasks occupy time resources separately to perform time-sharing work, so as to avoid multi-task conflicts. Figure 2 In the system perception and communication process, the data generated in any perception cycle will be sent to the target neighboring node in a timely manner during the communication cycle of the adjacent array for data sharing.

[0069] In order to ensure that the nodes in the group can maintain synchronous operation and the system communication and perception resource patterns are controllable, the system is designed with time T and T+n×100ms as the start time of the communication working cycle, that is, all nodes in the network follow each perception and communication scheduling cycle of 100ms to switch the perception and communication array.

[0070] The present invention relates to a multi-functional resource scheduling method for multi-faceted phased array radar communication, comprising the following steps:

[0071] Step 1: The node has multiple antenna arrays. Sensor perception and communication share the same antenna array. At the same time, perception and communication occupy different arrays.

[0072] Step 1.1: The node has multiple array surfaces. For each sensor main array surface, select some auxiliary array surfaces as communication antennas, namely communication auxiliary array antennas.

[0073] Step 1.2: The back end of the communication auxiliary array antenna is connected to the high-speed data transmission and modulation and demodulation module to complete the basic wireless communication function.

[0074] Step 1.3: Multiple high-speed data transmission and modulation and demodulation modules connected to multiple communication auxiliary array antennas are connected to the network management module.

[0075] Step 1.4: The sensor array is connected to the beamforming module, and is controlled together with the network management module by the integrated perception and communication scheduling module.

[0076] Step 1.5: At the same time, perception and communication occupy different array surfaces. When each sensor node has four antenna array surfaces, with the node pointing direction as a reference, the left front antenna array surface is defined as array surface 1, and the clockwise direction is array surface 2, array surface 3, and array surface 4. A perception and communication scheduling period is defined as Kms. Taking the system base clock time T as the reference point, T~(T+X ms) is the communication cycle window of array surfaces 1 and 3. During this period, array surfaces 1 and 3 communicate; at the same time, array surfaces 2 and 4 are in the perception state; (T+Xms)~(T+Kms) is the communication cycle window of array surfaces 2 and 4. During this period, array surfaces 2 and 4 communicate; at the same time, array surfaces 1 and 3 are in the perception state.

[0077] Step 1.6: Time-division scheduling of the communication auxiliary array antennas, control message interaction between nodes, and shared data transmission.

[0078] Step 2: For the same array, the node sensing task and the communication task are time-divided to occupy different time periods to avoid mutual interference between the sensing radio frequency and the communication radio frequency.

[0079] Step 2.1: The integrated scheduling module compiles the working time cycle of the perception task and the communication task, and controls the working sequence of the perception and communication tasks.

[0080] Step 2.2: The perception management module completes inter-node perception coordination according to the perception task requirements and the work timing strategy formulated by the integrated scheduling module.

[0081] Step 2.3: The network management module completes the system resource negotiation between nodes in the network according to the communication network service requirements, formulates the communication work sequence and reports it to the integrated scheduling module, and completes the communication data sharing according to the work sequence strategy formulated by the integrated scheduling module.

[0082] Step 3: During the communication cycle, system resource allocation is divided into static resources and dynamic resources.

[0083] Some time slots are permanently allocated for system control, network maintenance, and service resource negotiation. These time slots are static resources that exist permanently. Other unallocated resources are dynamic service resources, and their use depends on the results of service resource negotiation between nodes.

[0084] Step 3.1: A radio frame is 100ms long, of which the first 10ms (radio subframe 0) is a static resource used for network establishment and maintenance.

[0085] In step 3.2, all time slots with even number are sent as packet control messages. Time slots with odd number and time slot resources in radio subframes 1, 2, 3, and 4 are dynamic resources and can be used to allocate service resources.

[0086] Step 3.3: The time slot resources of radio subframes 5, 6, 7, 8, and 9 are used as sensor sensing working cycles.

[0087] In step 3.4, the perception and communication scheduling period for arrays 1 and 3 differs by 50ms from that for arrays 2 and 4. This ensures that when arrays 1 and 3 are communicating, arrays 2 and 4 are in their perception working period; and when arrays 1 and 3 are perceiving, arrays 2 and 4 are in their communication working period.

[0088] Step 4: Negotiation process of dynamic network resources: The integrated scheduling module triggers the local network management module according to the network service demand, and the local node initiates the resource negotiation process to the destination node.

[0089] During the process, depending on the network topology and routing selection, it may pass through a forwarding node or go directly to the destination node.

[0090] Step 4.1: At the service triggering node, the wireless resource management module receives a service warning from the integrated scheduling module, which includes service parameters: service type and destination node ID.

[0091] Step 4.2: The radio resource management module allocates a radio access bearer RABid for the service. The RABid includes service triggering node information and service type.

[0092] Step 4.3. Then use the destination node ID to call the routing protocol. The routing protocol returns the routing set: routing domain ID, local interface address, next hop node ID, next hop interface address. This call can return the routing set of 1 / 3 array domain and 2 / 4 array domain (the selection strategy of the routing set is determined by the routing protocol). The 1 / 3 array domain is the communication cycle of the 1st and 3rd array domains, and the 2 / 4 array domain is the communication cycle of the 2nd and 4th array domains.

[0093] Step 4.4: The radio resource management module uses the service type of RABid to map it to the wireless parameters required for the service QoS: the number of time slots required by the service and the modulation and coding level; it then uses the locally recorded radio resource occupancy status of the local interface address (the time slots used by the fixed occupied broadcast channel and the previously allocated service channel cannot be occupied again) to allocate the time slot resources used by this service.

[0094] Step 4.5: The wireless resource management module then organizes the resource allocation request message and sends the resource request message to the antenna array corresponding to the local interface address in the physical broadcast channel of the 1 / 3 array domain and the 2 / 4 array domain of this node (the next hop node and all nodes in the array broadcast space can receive it).

[0095] In step 4.6, after receiving the broadcast message, the node detects a radio resource request message and forwards it to the radio resource management module. If the node is not the destination node for this resource allocation, the radio resource management module suspends the resource allocation process and does not initiate resource allocation for the service triggered by the node until the resource allocation is complete. As a forwarding node, the module returns a resource allocation failure message to the resource allocation node on the previous hop, effectively blocking the resource allocation process within one hop.

[0096] Step 4.7: When this node is the destination node for this resource allocation, check whether the time slot resource status of this port on this node is consistent with the status in the received message. If they are consistent, give priority to using the time slot resource recommended by the previous hop node. If they are inconsistent, give priority to allocating the time slot resource that both parties consider to be idle.

[0097] Step 4.8: When the local idle resources cannot meet the needs of this hop, resource allocation fails, and the source node of the previous hop returns a resource allocation failure (with the specific failure reason), and the resource allocation process ends at this node.

[0098] Step 4.9: When the resources at the previous hop meet the requirements and the service destination node is the current node, a resource allocation response message (carrying the allocated resource information) is returned to the previous hop node.

[0099] Step 4.10: When the previous resource meets the requirements and the service destination node is not this node, the wireless resource management module allocates the radio bearer RABid on the next link, calls the routing module to allocate the next hop route of the service, and allocates the wireless resources of the next hop node according to the node routing method; then broadcasts the wireless resource request message to the area where the next hop node is located.

[0100] Step 4.11: After receiving the broadcast, the next hop repeats the above negotiation process until the service destination node is the current node and returns an allocation response message to the previous hop; or returns a failed allocation response message if the resources cannot meet the needs.

[0101] The process of establishing a narrow beam negotiation service is as follows:

[0102] (1) The integrated scheduling module sends a "service establishment request message" to the network management module. The network management module queries the routing table according to the service destination node number and obtains the routing information to the destination node. The routing information contains the next hop node number. The wireless resource management in the network management module pre-allocates the wireless resources of the service according to the QoS information of the service. After the allocation is successful, it organizes a "wireless resource allocation request message" and sends the message to the next hop node in a targeted manner when the narrow beam between itself and the next hop node is transmitted;

[0103] (2) After receiving the "Radio Resource Allocation Request Message", the next-hop node sends a "Service Establishment Indication Message" to the integrated scheduling module to indicate the arrival of a new service. The pre-allocated resource information in the message is then verified and compared with the resource information of the current node. If there is no conflict, the pre-allocated resources of the previous hop are used. If there is a resource conflict, the conflicting resources need to be adjusted to meet the overall service resource requirements. The adjusted resource information status is marked. If there is still a next hop on the route, resources are allocated on the next hop. After the allocation of resources at this node and the next hop is completed, the network management module organizes a "Radio Resource Allocation Response Message" to notify the node that initiated the request of the wireless resources to be used at this end. This message is sent using a directional narrow beam. The sending process is the same as described above.

[0104] (3) After receiving the "Wireless Resource Allocation Response Message", the network management module of the service initiating node compares its own pre-allocated resources and allocates resources to the next-hop node. After confirming that the next-hop allocated resources are available, the final selected resources are broadcasted to the next-hop node using the message "Wireless Resource Allocation Confirmation Message". After the resource allocation process is completed, the network management module of the service source node returns the "Service Establishment Response Message" to the integrated scheduling module; the network management modules on the service forwarding node and the service destination node send the "Service Establishment Confirmation Message" to the integrated scheduling module.

[0105] (4) After the above resource allocation process, the wireless resources are negotiated and the integrated scheduling module in each node and the network management module have prepared various paths and resources for data transmission; the integrated scheduling module of the source node can start sending services.

[0106] The above description is only the best specific implementation method of the present invention, but the scope of protection of the present invention is not limited thereto. Any changes or replacements that can be easily thought of by any technician familiar with this technical field within the technical scope disclosed by the present invention should be covered by the scope of protection of the present invention.

[0107] The contents not described in detail in the specification of the present invention belong to the common knowledge of professionals in this field.

Claims

1. A multi-functional resource scheduling method for multi-faceted phased array radar communication, characterized in that: The steps of this method are as follows: Step 1: The node has multiple antenna arrays. Sensor perception and communication share the same antenna array. At the same time, perception and communication occupy different arrays. Step 2: For the same array, the node sensing task and the communication task are divided into different time periods to avoid mutual interference between the sensing radio frequency and the communication radio frequency. Step 3: During the communication cycle, system resource allocation is divided into static resources and dynamic resources; Some time slot resources are configured to be used for system control, network maintenance, and service resource negotiation. These time slot resources exist as static resources for a long time. Other unallocated resources are used as dynamic service resources. Whether they are used or not depends on the service resource negotiation results between nodes. Step 4: The negotiation process of dynamic network resources is triggered by the integrated scheduling module according to the network service demand. The local node initiates the resource negotiation process with the destination node. During the process, depending on the network topology and routing selection, it may pass through a forwarding node or go directly to the destination node.

2. The method according to claim 1, characterized in that Step 1 includes the following steps: Step 1.1: The node has multiple arrays. For each sensor main array, select some auxiliary arrays as communication antennas, i.e., communication auxiliary array antennas. Step 1.2: The back end of the communication auxiliary array antenna is connected to the high-speed data transmission and modulation and demodulation module to complete the basic wireless communication function; Step 1.3, multiple high-speed data transmission and modulation and demodulation modules connected to multiple communication auxiliary array antennas are connected to the network management module; Step 1.4: The sensor array is connected to the beamforming module, which is controlled together with the network management module by the integrated perception and communication scheduling module. Step 1.5: At the same time, perception and communication occupy different antenna arrays. When each sensor node has four antenna arrays, the left front antenna array is defined as array 1, with the node pointing direction as the reference. Then, in a clockwise direction, arrays 2, 3, and 4 are defined. A perception and communication scheduling period of Kms is defined. Taking time T of the system base clock as the reference point, T ~ (T + Xms) is the communication cycle window of arrays 1 and 3. During this period, arrays 1 and 3 communicate. At the same time, arrays 2 and 4 are in the perception state. (T + Xms) ~ (T + Kms) is the communication cycle window of arrays 2 and 4. During this period, arrays 2 and 4 communicate. At the same time, arrays 1 and 3 are in the perception state. The value range of X is flexibly configured and divided according to the requirements of the perception and communication tasks. The specific perception and communication occupancy time depends on the resource negotiation results of the source node, destination node, and forwarding node in the communication task requirements. Step 1.6: Time-division scheduling of the communication auxiliary array antennas, control message interaction between nodes, and shared data transmission.

3. The method according to claim 1, characterized in that Step 2 includes the following steps: Step 2.1: The integrated scheduling module compiles the working time cycle of the perception task and the communication task, and controls the working sequence of perception and communication; Step 2.2: The perception management module completes inter-node perception coordination according to the perception task requirements and the work timing strategy formulated by the integrated scheduling module; Step 2.3: The network management module completes the system resource negotiation between nodes in the network according to the communication network service requirements, formulates the communication work sequence and reports it to the integrated scheduling module, and completes the communication data sharing according to the work sequence strategy formulated by the integrated scheduling module.

4. The method according to claim 1, wherein Step 3 includes the following steps: Step 3.1: A radio frame is 100ms long, of which the first 10ms, radio subframe 0, is a static resource used for network establishment and maintenance. Step 3.2: All time slots with even numbers are sent as packet control messages; time slots with odd numbers and time slot resources in radio subframes 1, 2, 3, and 4 are dynamic resources and can be used to allocate service resources; Step 3.3: The time slot resources of radio subframes 5, 6, 7, 8, and 9 are used as sensor sensing working cycles; In step 3.4, the perception and communication scheduling period of arrays 1 and 3 differs by 50ms from the perception and communication scheduling period of arrays 2 and 4. This ensures that when arrays 1 and 3 are communicating, arrays 2 and 4 are in the perception working period; and when arrays 1 and 3 are perceiving, arrays 2 and 4 are in the communication working period.

5. The method according to claim 1, wherein Step 4 includes the following steps: Step 4.1: At the service triggering node, the wireless resource management module receives a service warning from the integrated scheduling module, which includes service parameters: service type and destination node ID. Step 4.2: The radio resource management module allocates a radio access bearer (RABid) for the service. The RABid contains service triggering node information and service type. Step 4.3: Then, use the destination node ID to call the routing protocol. The routing protocol returns a routing set: routing domain ID, local interface address, next-hop node ID, and next-hop interface address. This call can return routing sets for the 1 / 3 array domain and the 2 / 4 array domain. The routing set selection strategy is determined by the routing protocol. The 1 / 3 array domain refers to the communication cycles of the 1st and 3rd array domains, and the 2 / 4 array domain refers to the communication cycles of the 2nd and 4th array domains. Step 4.4: The radio resource management module uses the service type in the RABid to map it to the radio parameters required for the service QoS: the number of time slots required by the service and the modulation and coding level. It then uses the locally recorded radio resource occupancy information of the local interface address to determine whether the time slots used by the fixed broadcast channel and previously allocated service channels can no longer be occupied, and allocates the time slot resources for this service. Step 4.5: The wireless resource management module organizes the resource allocation request message and sends it to the antenna array corresponding to the local interface address on the physical broadcast channel of the 1 / 3 array domain and the 2 / 4 array domain of the local node, so that the next hop node and all nodes in the array broadcast space can receive it. Step 4.6: After receiving the broadcast message, the node finds a radio resource request message in the broadcast message and forwards the message to the radio resource management module; If the local node is not the destination node for this resource allocation, the wireless resource management module suspends the resource allocation process and does not initiate the resource allocation process for the service triggered by this node until the resource allocation is completed. When acting as a forwarding node, the wireless resource management module returns a resource allocation failure message to the resource allocation node on the previous hop, thus blocking the resource allocation process within one hop. Step 4.7: When the current node is the destination node for this resource allocation, check whether the timeslot resource status of the current port on the current node is consistent with the status in the received message. If they are consistent, prioritize using the timeslot resource recommended by the previous hop node. If they are inconsistent, prioritize allocating the timeslot resource that both parties consider idle. Step 4.8: When the local idle resources cannot meet the needs of this hop, resource allocation fails, and the source node of the previous hop returns a resource allocation failure message with the specific failure reason, and the resource allocation process ends at this node; Step 4.9: When the resources at the previous hop meet the requirements and the service destination node is the current node, a resource allocation response message is returned to the previous hop node, which carries the allocated resource information; Step 4.10: If the resource requirement of the previous link is met and the destination node of the service is not the current node, the radio resource management module allocates a radio bearer identifier (RABid) on the next link, calls the routing module to allocate the next-hop route for the service, and allocates the radio resource of the next-hop node according to the node routing method; then, the radio resource request message is broadcast to the area where the next-hop node is located; Step 4.11: After receiving the broadcast, the next hop repeats the above negotiation process until the service destination node is the current node and returns an allocation response message to the previous hop; or returns a failed allocation response message if the resources cannot meet the needs.

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