A data transmission method and device, a clustering method and device of a network architecture

Abstract

This invention provides a data transmission method, apparatus, and a clustering method and apparatus for a network architecture, relating to the field of communication technology. The method includes: sending a resource reservation request to a first primary cluster head node; and, upon receiving a reservation confirmation message broadcast by the first primary cluster head node including resource allocation information, sending communication data to the first primary cluster head node and / or a first secondary cluster head node according to the reservation confirmation message. The solution of this invention, by setting a secondary cluster head node within each cluster to handle intra-cluster data forwarding, allows the primary cluster head node to only perform resource reservation and inter-cluster data forwarding. Furthermore, member nodes only need to maintain the state information of the primary cluster head node, secondary cluster head node, and one-hop neighbor member nodes within the same cluster, without needing to maintain the state information of all nodes within the cluster. This reduces the workload of the cluster head nodes and solves the problem of low overall network throughput caused by high network traffic at the cluster head node due to a large number of nodes within the cluster.

Description

Technical Field

[0001] This invention relates to the field of communication technology, and in particular to a data transmission method, apparatus, and clustering method and apparatus for network architecture. Background Technology

[0002] With technological advancements, clustered network architectures are becoming increasingly prevalent. Multiple nodes are grouped into a cluster, and each cluster has a cluster head (CH) selected by a specific algorithm. This CH is responsible for managing the cluster members (CM) and allocating resources. Multiple cluster head nodes form a higher-level network structure, while the cluster members form a lower-level network structure. Each node within a cluster can communicate directly, while inter-cluster communication is handled by the cluster head node. Therefore, in clustered networks, the cluster head node is responsible for managing cluster members, allocating resources, and forwarding between clusters. When there are many cluster members, the workload of the cluster head node becomes very heavy, resulting in high network traffic at the cluster head node, which can easily create a bottleneck and lead to lower overall network throughput. Summary of the Invention

[0003] The purpose of this invention is to provide a data transmission method, apparatus, and clustering method and apparatus for a network architecture, in order to solve the problem that in the prior art, when there are many member nodes in a cluster, the workload of the cluster head node is very heavy, resulting in large network traffic at the cluster head node and low overall throughput of the network architecture.

[0004] To achieve the above objectives, embodiments of the present invention provide a data transmission method applied to a first member node, comprising:

[0005] Send a resource reservation request to the first primary cluster head node;

[0006] After receiving the reservation confirmation message including resource allocation information broadcast by the first primary cluster head node, communication data is sent to the first primary cluster head node and / or the first secondary cluster head node according to the reservation confirmation message;

[0007] Wherein, the first primary cluster head node is a node belonging to the same cluster as the first member node; the first secondary cluster head node is a node belonging to the same cluster as the first member node; the resource allocation information is determined based on the status information of at least one second member node and the status information of the first secondary cluster head node and / or the status information of the first primary cluster head node; the second member node is a node belonging to the same cluster or a different cluster as the first member node, and the second member node is used to receive the communication data.

[0008] Optionally, sending a resource reservation request to the first primary cluster head node includes:

[0009] The resource reservation request is sent to the first master cluster head node on the first sub-channel of the first preset frequency band.

[0010] Sending communication data to the first primary cluster head node and / or the first secondary cluster head node according to the reservation confirmation message includes:

[0011] According to the reservation confirmation message, the communication data is sent to the first primary cluster head on the first sub-channel of the first preset frequency band, and / or the communication data is sent to the first secondary cluster head node on the second sub-channel of the first preset frequency band.

[0012] To achieve the above objectives, embodiments of the present invention provide a data transmission method applied to a first primary cluster head node, comprising:

[0013] Receive the resource reservation request from the first member node;

[0014] Based on the resource reservation request, determine the status information of at least one second member node, the status information of the first sub-cluster head node, and / or the status information of the first primary cluster head node, and determine the resource allocation information; the first sub-cluster head node is a node belonging to the same cluster as the first primary cluster head node; the second primary cluster head node is a node belonging to a different cluster than the first primary cluster head node; the second member node is a node belonging to the same cluster or a different cluster as the first member node;

[0015] The broadcast includes a reservation confirmation message containing the resource allocation information.

[0016] Optionally, the method further includes:

[0017] Receive communication data sent by the first member node;

[0018] Based on the reservation confirmation message, the communication data is sent to at least one third member node;

[0019] The third member node is a node in the second member node that belongs to a different cluster than the first member node.

[0020] Optionally, the resource reservation request includes:

[0021] The ID of the first member node, the number of reserved time slots, and the ID of the second member node.

[0022] Optionally, the resource allocation information includes:

[0023] The cluster ID of the first member node, the cluster ID of the second member node, the transmission time slot of the first member node, the reception time slot of the second member node, and the idle status information of the first sub-cluster head node and / or the idle status information of the first primary cluster head node and / or the status information of the second primary cluster head node.

[0024] Optionally, sending the communication data to at least one third member node according to the reservation confirmation message includes:

[0025] The communication data is sent to the second primary cluster head node and then forwarded to at least one of the third member nodes through the second primary cluster head node;

[0026] The second primary cluster head node is a node belonging to a different cluster than the first primary cluster head node.

[0027] Optionally, receiving the resource reservation request from the first member node includes:

[0028] The resource reservation request is received on the first sub-channel of the first preset frequency band;

[0029] Sending the communication data to the second master cluster head node includes:

[0030] The communication data is sent to the second master cluster head node on the second preset frequency band.

[0031] Optionally, the method further includes:

[0032] The system receives confirmation messages sent by member nodes within the cluster at preset intervals. These confirmation messages are used to determine that the member node and the first master cluster head node belong to the same cluster.

[0033] To achieve the above objectives, embodiments of the present invention provide a data transmission method applied to a first sub-cluster head node, comprising:

[0034] Receive the resource allocation information reservation confirmation message broadcast by the first primary cluster head node;

[0035] Receive communication data sent by the first member node;

[0036] The communication data is sent to at least one fourth member node according to the reservation confirmation message;

[0037] Wherein, the first primary cluster head node and the first member node are both nodes belonging to the same cluster as the first secondary cluster head node, and the fourth member node is a node among the second member nodes that belongs to the same cluster as the first secondary cluster head node.

[0038] Optionally, receiving communication data sent by the first member node includes:

[0039] The communication data sent by the first member node is received on the second sub-channel of the first preset frequency band;

[0040] Sending the communication data to at least one fourth member node according to the reservation confirmation message includes:

[0041] The communication data is transmitted to at least one of the fourth member nodes on the second sub-channel of the first preset frequency band.

[0042] To achieve the above objectives, embodiments of the present invention provide a network architecture, including:

[0043] At least two clusters;

[0044] Each cluster includes:

[0045] A primary cluster head node, a secondary cluster head node, and at least one member node;

[0046] The primary cluster head node is used to confirm resource allocation information based on the reservation information received from the first member node, and to broadcast a reservation confirmation message including the resource allocation information within the cluster; and

[0047] Forward the received communication data from the first member node to the third member node;

[0048] The secondary cluster head is used to forward the communication data received from the first member node to the fourth member node;

[0049] The third member node is a node belonging to a different cluster than the first member node; the fourth member node is a node belonging to the same cluster as the first member node.

[0050] To achieve the above objectives, embodiments of the present invention provide a clustering method for a network architecture, applied to the network architecture described above, comprising:

[0051] Obtain the total number of nodes in the network architecture;

[0052] A first calculation model is determined for calculating the intra-cluster data throughput of a first cluster in the network architecture; the first cluster is any cluster in the network architecture.

[0053] A second computational model is determined for calculating the inter-cluster data throughput between a first cluster and at least one second cluster; the second cluster is a different cluster from the first cluster.

[0054] The cluster layout in the network architecture is determined based on the total number of nodes in the network architecture, the first calculation model, and the second calculation model.

[0055] Optionally, the first calculation model is related to the total number of nodes in the first cluster, the data transmission time of the sub-cluster head node, and the average length of the first data packet;

[0056] Wherein, the first data packet is an intra-cluster communication data packet of the first cluster;

[0057] The second calculation model is related to the total number of nodes in the network architecture, the total number of clusters in the network architecture, the number of master nodes that are simultaneously in the transmitting state, the number of clusters adjacent to the first cluster, the data transmission period of the master cluster head node in the first cluster, and the probability that the master cluster head node in the first cluster is in the transmitting state.

[0058] Optionally, determining the cluster layout in the network architecture based on the total number of nodes in the network architecture, the first computing model, and the second computing model includes:

[0059] Based on the total number of nodes in the network architecture, the first calculation model, and the second calculation model, the number of clusters in the network architecture and the maximum number of nodes in each cluster are determined.

[0060] To achieve the above objectives, embodiments of the present invention provide a data transmission apparatus applied to a first member node, comprising:

[0061] The first sending module is used to send a resource reservation request to the first master cluster head node;

[0062] The second sending module is used to send communication data to the first primary cluster head node and / or the first secondary cluster head node according to the reservation confirmation message broadcast by the first primary cluster head node, which includes resource allocation information;

[0063] Wherein, the first primary cluster head node is a node belonging to the same cluster as the first member node; the first secondary cluster head node is a node belonging to the same cluster as the first member node; the resource allocation information is determined based on the status information of at least one second member node and the status information of the first secondary cluster head node and / or the status information of the first primary cluster head node; the second member node is a node belonging to the same cluster or a different cluster as the first member node, and the second member node is used to receive the communication data.

[0064] To achieve the above objectives, embodiments of the present invention provide a data transmission apparatus applied to a first primary cluster head node, comprising:

[0065] The first receiving module is used to receive resource reservation requests from the first member node;

[0066] The first determining module is used to determine the status information of at least one second member node, the status information of a first sub-cluster head node, and / or the status information of a first primary cluster head node based on the resource reservation request, and to determine resource allocation information; the first sub-cluster head node is a node belonging to the same cluster as the first primary cluster head node; the second primary cluster head node is a node belonging to a different cluster than the first primary cluster head node; the second member node is a node belonging to the same cluster or a different cluster as the first member node;

[0067] The broadcast module is used to broadcast a reservation confirmation message that includes the resource allocation information.

[0068] To achieve the above objectives, embodiments of the present invention provide a data transmission apparatus applied to a first sub-cluster head node, comprising:

[0069] The second receiving module is used to receive the resource allocation information reservation confirmation message broadcast by the first master cluster head node;

[0070] The third receiving module is used to receive communication data sent by the first member node;

[0071] The third sending module is used to send the communication data to at least one fourth member node according to the reservation confirmation message;

[0072] Wherein, the first primary cluster head node and the first member node are both nodes belonging to the same cluster as the first secondary cluster head node, and the fourth member node is a node among the second member nodes that belongs to the same cluster as the first secondary cluster head node.

[0073] To achieve the above objectives, embodiments of the present invention provide a clustering device for a network architecture, applied to the network architecture described above, comprising:

[0074] The acquisition module is used to acquire the total number of nodes in the network architecture;

[0075] The second determining module is used to determine a first calculation model for calculating the intra-cluster data throughput of the first cluster in the network architecture; the first cluster is any cluster in the network architecture;

[0076] The third determining module is used to determine a second calculation model for calculating the inter-cluster data throughput between the first cluster and at least one second cluster; the second cluster is a different cluster from the first cluster;

[0077] The fourth determining module is used to determine the cluster layout in the network architecture based on the total number of nodes in the network architecture, the first calculation model, and the second calculation model.

[0078] To achieve the above objectives, embodiments of the present invention provide a mobile terminal, including a transceiver, a processor, a memory, and a program or instructions stored in the memory and executable on the processor; when the processor executes the program or instructions, it implements the data transmission method described above.

[0079] To achieve the above objectives, embodiments of the present invention provide a readable storage medium having a program or instructions stored thereon, which, when executed by a processor, implement the steps in the data transmission method described above.

[0080] The beneficial effects of the above-described technical solution of the present invention are as follows:

[0081] The data transmission method of this invention sets up a secondary cluster head node within each cluster. The primary cluster head node only needs to perform resource reservation and inter-cluster data forwarding, while intra-cluster data transmission is forwarded through the secondary cluster head node. Furthermore, member nodes only need to maintain the state information of the primary and secondary cluster head nodes within the same cluster, as well as the state information of one-hop neighbor member nodes, without needing to maintain the state information of all nodes within the cluster. This reduces the workload of the cluster head node and avoids the problem of low overall network throughput caused by high network traffic at the cluster head node due to a large number of nodes within the cluster. Attached Figure Description

[0082] Figure 1 This is a flowchart illustrating the data transmission method applied to the first member node according to an embodiment of the present invention;

[0083] Figure 2 This is a schematic diagram of frequency band division in the data transmission method of this invention.

[0084] Figure 3 This is a flowchart illustrating the data transmission method applied to the first primary cluster head node according to an embodiment of the present invention;

[0085] Figure 4 This is a flowchart illustrating the data transmission method applied to the first sub-cluster head node according to an embodiment of the present invention;

[0086] Figure 5 This is a schematic diagram of the structure of a communication frame in the data transmission method of an embodiment of the invention;

[0087] Figure 6 This is a schematic diagram of the network architecture according to an embodiment of the present invention;

[0088] Figure 7 This is a flowchart illustrating the clustering method of the network architecture according to an embodiment of the present invention;

[0089] Figure 8 This is a Markov chain for communication between master cluster head nodes in the network architecture of this embodiment of the invention;

[0090] Figure 9 This is a schematic diagram of the distribution of clusters for parallel communication in the network architecture of an embodiment of the present invention;

[0091] Figure 10 This is a schematic diagram of a data transmission device applied to a first member node according to an embodiment of the present invention;

[0092] Figure 11 This is a schematic diagram of a data transmission device applied to the first primary cluster head node according to an embodiment of the present invention;

[0093] Figure 12 This is a schematic diagram of a data transmission device applied to a first sub-cluster head node according to an embodiment of the present invention;

[0094] Figure 13 This is a schematic diagram of a clustering device for a network architecture according to an embodiment of the present invention;

[0095] Figure 14 This is a schematic diagram of the structure of a terminal device according to an embodiment of the present invention. Detailed Implementation

[0096] To make the technical problems, technical solutions and advantages of the present invention clearer, a detailed description will be given below in conjunction with the accompanying drawings and specific embodiments.

[0097] It should be understood that the phrase "one embodiment" or "an embodiment" throughout the specification means that a specific feature, structure, or characteristic related to the embodiment is included in at least one embodiment of the invention. Therefore, "in one embodiment" or "in an embodiment" appearing throughout the specification do not necessarily refer to the same embodiment. Furthermore, these specific features, structures, or characteristics can be combined in any suitable manner in one or more embodiments.

[0098] In various embodiments of the present invention, it should be understood that the sequence number of each process described below does not imply the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of the present invention.

[0099] In addition, the terms "system" and "network" are often used interchangeably in this article.

[0100] In the embodiments provided in this application, it should be understood that "B corresponding to A" means that B is associated with A, and B can be determined based on A. However, it should also be understood that determining B based on A does not mean determining B solely based on A; B can also be determined based on A and / or other information.

[0101] like Figure 1 As shown, a data transmission method according to an embodiment of the present invention, applied to a first member node, includes the following steps:

[0102] Step 101: Send a resource reservation request to the first primary cluster head node.

[0103] It should be noted that each cluster includes: a primary cluster head (PCH), a secondary cluster head (SCH), and at least one cluster member (CM).

[0104] Optionally, the resource reservation request includes:

[0105] The ID of the first member node, the number of reserved time slots, and the ID of the second member node.

[0106] In one embodiment of the present invention, the frame format of the resource reservation request is shown in Table 1:

[0107] Table 1

[0108] Frame control Number CID ID Position Velocity Power ReID FCS

[0109] Here, "Number" represents the number of time slots reserved by the first member node from the first master cluster head node, including the number of dynamic time slots required for inter-cluster communication and the number of time slots required for intra-cluster communication; ReID is the ID of the corresponding communication receiver (the second member node). Additionally, the frame also includes the ID information of the first member node and status information containing the first member node's position, velocity, and remaining power.

[0110] Step 102: After receiving the reservation confirmation message including resource allocation information broadcast by the first primary cluster head node, send communication data to the first primary cluster head node and / or the first secondary cluster head node according to the reservation confirmation message;

[0111] Wherein, the first primary cluster head node is a node belonging to the same cluster as the first member node; the first secondary cluster head node is a node belonging to the same cluster as the first member node; the resource allocation information is determined based on the status information of at least one second member node and the status information of the first secondary cluster head node and / or the status information of the first primary cluster head node; the second member node is a node belonging to the same cluster or a different cluster as the first member node, and the second member node is used to receive the communication data.

[0112] In one embodiment of the present invention, the resource allocation information is determined based on the state information of at least one second member node, the state information of the first sub-cluster head node, and / or the state information of the first primary cluster head node. This can be understood as follows:

[0113] The resource allocation information is determined by the idle status information of the first primary cluster head node and / or the idle status information of the first secondary cluster head node and / or the idle status information of the second primary cluster head node, as well as the idle time slots of the at least one second member node.

[0114] Optionally, sending communication data to the first primary cluster head node and / or the first secondary cluster head node according to the reservation confirmation message includes:

[0115] Based on the reservation confirmation message, determine whether the at least one second member node is a node belonging to the same cluster as the first member node;

[0116] If all of the at least one second member node belongs to the same cluster as the first member node, then communication data is sent to the first sub-cluster head node.

[0117] If all of the at least one second member nodes belong to different clusters than the first member node, then communication data is sent to the first main cluster head node.

[0118] If the at least one second member node includes both nodes belonging to the same cluster as the first member node and nodes belonging to different clusters from the first member node, then communication data is sent to the first primary cluster head node and the first secondary cluster head node.

[0119] The data transmission method of this invention sets up a secondary cluster head node within each cluster. The primary cluster head node only needs to perform resource reservation and inter-cluster data forwarding, while intra-cluster data transmission is forwarded through the secondary cluster head node. Furthermore, member nodes only need to maintain the state information of the primary cluster head node, secondary cluster head node, and one-hop neighbor member nodes within the same cluster, without needing to maintain the state information of all nodes within the cluster. This reduces the workload of the cluster head node and avoids the problem of low overall network throughput caused by high network traffic at the cluster head node due to a large number of nodes within the cluster.

[0120] Optionally, sending a resource reservation request to the first primary cluster head node includes:

[0121] The resource reservation request is sent to the first master cluster head node on the first sub-channel of the first preset frequency band.

[0122] Sending communication data to the first primary cluster head node and / or the first secondary cluster head node according to the reservation confirmation message includes:

[0123] According to the reservation confirmation message, the communication data is sent to the first primary cluster head node on the first sub-channel of the first preset frequency band, and / or the communication data is sent to the first secondary cluster head node on the second sub-channel of the first preset frequency band.

[0124] In one embodiment of the present invention, the entire frequency band of the clustered network architecture is divided into three frequency bands, such as... Figure 2 As shown, the frequency bands are represented by f1 (third preset frequency band), f2 (first preset frequency band), and f3 (second preset frequency band), respectively. The communication scenarios for each frequency band are summarized below:

[0125] f1: The intra-cluster communication frequency band, which is also the one-hop broadcast frequency band for member nodes. Since the one-hop broadcast range is relatively small, this frequency band can be used among member nodes within the cluster, and different clusters can share the same frequency band.

[0126] f2: Intra-cluster communication frequency band. The communication frequency bands of two adjacent clusters are different. Each cluster's f2 is divided into two sub-channels: f 2M (First sub-channel, used for PCH and CM communication) and f 2V (Second sub-channel, used for SCH and CM communication).

[0127] f3: Inter-cluster communication band, i.e., the communication band between PCHs of different clusters.

[0128] like Figure 3 As shown, an embodiment of the present invention provides a data transmission method applied to a first primary cluster head node, comprising the following steps:

[0129] Step 301: Receive the resource reservation request from the first member node.

[0130] Optionally, the resource reservation request includes:

[0131] The ID of the first member node, the number of reserved time slots, and the ID of the second member node.

[0132] The first primary cluster head node determines the idle time slot and status information of the second member node based on the received resource reservation request.

[0133] Step 302: Based on the resource reservation request, determine the status information of at least one second member node, the status information of the first sub-cluster head node, and / or the status information of the first primary cluster head node, and determine the resource allocation information; the first sub-cluster head node is a node belonging to the same cluster as the first primary cluster head node; the second primary cluster head node is a node belonging to a different cluster than the first primary cluster head node; the second member node is a node belonging to the same cluster or a different cluster as the first member node.

[0134] Based on the resource reservation request, determine the status information of at least one second member node, including:

[0135] If all of the at least one second member node belongs to the same cluster as the first member node, then the status information of the first sub-cluster head node is obtained, and the status information of the at least one second member node is determined through the first sub-cluster head node.

[0136] If all of the at least one second member nodes belong to different clusters from the first member node, then the status information of the first primary cluster head node is obtained, and the status information of the at least one second member node is determined through the first primary cluster head node; and determining the status information of the at least one second member node through the first primary cluster head node includes: the first primary cluster head node receiving the status information of the at least one second member node obtained through the second primary cluster head node;

[0137] If the at least one second member node includes both nodes belonging to the same cluster as the first member node and nodes belonging to different clusters from the first member node, then the status information of the first sub-cluster head node is obtained, and the status information of the at least one second member node is determined through the first sub-cluster head node; at the same time, the first primary cluster head node receives the status information of the at least one second member node obtained through the second primary cluster head node.

[0138] Step 304: Broadcast a reservation confirmation message including the resource allocation information.

[0139] Optionally, the resource allocation information includes:

[0140] The cluster ID of the first member node, the cluster ID of the second member node, the transmission time slot of the first member node, the reception time slot of the second member node, and the idle status information of the first sub-cluster head node and / or the idle status information of the first primary cluster head node and / or the status information of the second primary cluster head node.

[0141] In one embodiment of the present invention, when the first primary cluster head node sends communication data to the second primary cluster head node, it only needs to determine whether the second primary cluster head node is idle at the current moment. If the second primary cluster head node is idle at the current moment, the communication data is sent to the second primary cluster head node. If the second primary cluster head node is not idle at the current moment, a backoff algorithm is executed until the second primary cluster head node becomes idle before sending the communication data. In one embodiment of the present invention, the first primary cluster head node broadcasts the reservation confirmation message. The first member node can confirm the idle time slots of the first primary cluster head node, the idle time slots of the second primary cluster head node, and / or the idle time slots of the first secondary cluster head node, and confirm the time slot for sending the communication data. The second member node can confirm in which time slots it needs to maintain a receiving state.

[0142] Optionally, the method further includes:

[0143] Receive communication data sent by the first member node;

[0144] Based on the reservation confirmation message, the communication data is sent to at least one third member node;

[0145] The third member node is a node in the second member node that belongs to a different cluster than the first member node.

[0146] Optionally, sending the communication data to at least one third member node according to the reservation confirmation message includes:

[0147] The communication data is sent to the second primary cluster head node and then forwarded to at least one of the third member nodes through the second primary cluster head node;

[0148] The second primary cluster head node is a node belonging to a different cluster than the first primary cluster head node.

[0149] The data transmission method of this invention enables data transmission between nodes within and between clusters by simultaneously setting a primary cluster head node and a secondary cluster head node. During data transmission, the primary cluster head node is only responsible for inter-cluster data transmission, which greatly reduces the load on the primary cluster head node, smooths out network traffic, and improves data throughput.

[0150] Optionally, receiving the resource reservation request from the first member node includes:

[0151] The resource reservation request is received on the first sub-channel of the first preset frequency band;

[0152] Sending the communication data to the second master cluster head node includes:

[0153] The communication data is sent to the second master cluster head node on the second preset frequency band.

[0154] Optionally, the method further includes:

[0155] The system receives confirmation messages sent by member nodes within the cluster at preset intervals. These confirmation messages are used to determine that the member node and the first master cluster head node belong to the same cluster.

[0156] In one embodiment of the present invention, member nodes within a cluster need to periodically inform the primary cluster head node that they are still in the cluster, so that the outgoing cluster head node can count the idle cluster IDs within the cluster and facilitate the allocation of new nodes.

[0157] like Figure 4As shown, an embodiment of the present invention provides a data transmission method applied to a first sub-cluster head node, comprising the following steps:

[0158] Step 401: Receive the resource allocation information reservation confirmation message broadcast by the first primary cluster head node;

[0159] Step 402: Receive communication data sent by the first member node;

[0160] Step 403: Send the communication data to at least one fourth member node according to the reservation confirmation message;

[0161] Wherein, the first primary cluster head node and the first member node are both nodes belonging to the same cluster as the first secondary cluster head node, and the fourth member node is a node among the second member nodes that belongs to the same cluster as the first secondary cluster head node.

[0162] The data transmission method of this invention enables data transmission between nodes within and between clusters by simultaneously setting a primary cluster head node and a secondary cluster head node. During data transmission, the primary cluster head node is only responsible for inter-cluster data transmission, while intra-cluster data transmission is implemented through the secondary cluster head node. This significantly reduces the load on the primary cluster head node, smooths out network traffic, and improves data throughput.

[0163] In one embodiment of the present invention, direct communication can be established between two member nodes that are relatively close to each other within the same cluster.

[0164] Optionally, receiving communication data sent by the first member node includes:

[0165] The communication data sent by the first member node is received on the second sub-channel of the first preset frequency band;

[0166] Sending the communication data to at least one fourth member node according to the reservation confirmation message includes:

[0167] The communication data is transmitted to at least one of the fourth member nodes on the second sub-channel of the first preset frequency band.

[0168] like Figure 6 As shown, the communication frame structure under this scheme includes three stages: the reservation period, the response period, and the data transmission period.

[0169] "SYN" stands for Synchronization Period, which is used for time synchronization of member nodes within a cluster. Each cluster uses the master cluster head node as a reference and performs the synchronization process at the beginning of each frame.

[0170] 1) Reservation period (i.e., the first member node sends a resource reservation request to the first primary cluster head node)

[0171] The reservation period is N time slots long, where N is the maximum number of nodes that the cluster can accommodate (including PCH and SCH), and the reservation period length is fixed. Each node determines its order in the reservation period based on its CID (cluster ID) and is in the first subchannel f within its allocated time slot. 2M Send a reservation message to the PCH, for example, to allocate the first time slot to the SCH (PCH's CID is 1, and SCH's CID is 2).

[0172] 2) Response period (i.e., the first primary cluster head node broadcasts the reservation confirmation message)

[0173] After the reservation period ends, the PCH will tally the total number of intra-cluster and inter-cluster communication slots required by each CM. Intra-cluster forwarding is handled by the SCH; therefore, in the first slot of the response period, the PCH will send the node information table for this intra-cluster communication to the SCH. This node information table includes the IDs of both the sender and receiver, the number of slots required, and the status information of both parties. The SCH, based on its available slots, will reply to the PCH in the second slot with the ID of the second member node that successfully reserved the slot. In the third slot, the PCH will send the ID pairs of the first and second member nodes for successfully reserved intra-cluster communication, the ID pairs of the first and second member nodes for inter-cluster communication, and its own and the SCH's status information to the first subchannel f. 2M Broadcast to the entire cluster.

[0174] 3) Data transmission period (i.e., the first member node transmits communication data to the second member node)

[0175] After receiving the broadcast message, each CM will know whether its intra-cluster and inter-cluster communication time slots have been successfully reserved. CMs that have successfully reserved slots will send inter-cluster messages to the PCH or intra-cluster messages to the SCH in the corresponding time slots. The receiver can check its ReID to know which time slots it needs to maintain a receiving state. If it finds that it needs to receive intra-cluster and inter-cluster messages simultaneously, another receiver in the third preset frequency band f will switch to the second sub-channel f. 2V Because each CM can know the transmit and receive time slots of other nodes through broadcast messages, if it finds that both receivers of a one-hop neighbor node will be occupied by the first preset frequency band f2 for a certain period of time, it will not broadcast messages to that neighbor node during that period of time.

[0176] The data transmission period of the PCH is divided into a fixed period and a dynamic period. The fixed period can have multiple time slots, and it serves three purposes:

[0177] 1. Transmitting periodic data or other inter-cluster data;

[0178] 2. This part of the data will carry its own state information, which makes it easier for PCH to determine the state of CM twice within one frame (and once during the reservation period). After the node leaves, the longest time for PCH to make a judgment is only 2 frames.

[0179] 3. When a new node joins the cluster, its one-hop neighbor will forward the cluster joining request packet. The CM responsible for forwarding the new node's request packet will forward the request packet to the PCH during this fixed period. The PCH will broadcast the cluster joining reply packet in time slot 3 of the reply period in the next frame. Therefore, the waiting time from forwarding to reply will not exceed the length of one frame.

[0180] The data transmission periods of SCH and PCH are slightly different. SCH is only responsible for intra-cluster forwarding, so there is no reservation period. SCH only needs to reply to PCH after receiving the node information table of intra-cluster communication from PCH, based on the availability of idle time slots, and then receive the data from the sending point in the corresponding time slot and forward it to the receiving point at a distance. CM is in the second sub-channel f 2V Send data to SCH and receive data from SCH.

[0181] The data transmission method of this invention can save storage space for all member nodes. Each member node only needs to maintain the state information of the primary cluster head node and the SCH of the secondary cluster head node in a one-hop broadcast. There is no need to obtain the location and speed of distant member nodes, which is suitable for large-scale network communication.

[0182] Embodiments of the present invention provide a network architecture, including:

[0183] At least two clusters;

[0184] Each cluster includes:

[0185] A primary cluster head node, a secondary cluster head node, and at least one member node;

[0186] The primary cluster head node is used to confirm resource allocation information based on the reservation information received from the first member node, and to broadcast a reservation confirmation message including the resource allocation information within the cluster; and

[0187] Forward the received communication data from the first member node to the third member node;

[0188] The secondary cluster head is used to forward the communication data received from the first member node to the fourth member node;

[0189] The third member node is a node belonging to a different cluster than the first member node; the fourth member node is a node belonging to the same cluster as the first member node.

[0190] First embodiment of the present invention

[0191] The channel access scheme is based on a hybrid multiple access method using Time Division Multiple Access (TDMA) and Carrier Sense Multiple Access (CSMA). Inter-cluster communication and intra-cluster one-hop broadcast range communication use CSMA, while intra-cluster non-one-hop broadcast range communication uses TDMA. Each node is equipped with dual transceivers and a GPS device, and the transceiver power is adjustable. After the network architecture is clustered, each node has a globally unique ID and an intra-cluster unique cluster ID (CID). Each cluster includes a primary cluster head node (PCH), a secondary cluster head node (SCH), and several member nodes (CM).

[0192] like Figure 6 As shown, the dual-cluster head network architecture of this invention differs from existing clustered network architectures. In addition to the original layered structure, a control sublayer is added. This sublayer's scope is limited to within the cluster and it is not responsible for communication with nodes outside the cluster. The SCH of the control sublayer will undertake some of the work of the original cluster head (CH). Its scope is limited to within the cluster, responsible for data forwarding between long-distance CMs within the cluster. Its communication with the PCH mainly involves the allocation and notification of intra-cluster resources. Inter-cluster forwarding and resource reservation are still handled by the PCH. This approach, besides extending the cluster head lifetime and thus the network lifetime, also serves to offload traffic.

[0193] like Figure 7 As shown, embodiments of the present invention provide a clustering method for a network architecture, applied to the network architecture described above, comprising the following steps:

[0194] Step 701: Obtain the total number of nodes in the network architecture;

[0195] Step 702: Determine a first calculation model for calculating the intra-cluster data throughput of the first cluster in the network architecture; the first cluster is any cluster in the network architecture;

[0196] Step 703: Determine a second calculation model for calculating the inter-cluster data throughput between the first cluster and at least one second cluster; the second cluster is a different cluster from the first cluster;

[0197] Step 704: Determine the cluster layout in the network architecture based on the total number of nodes in the network architecture, the first calculation model, and the second calculation model.

[0198] The clustering method for network architecture in this invention addresses the scenario where distant cluster heads can communicate in parallel on the same channel. It constructs a model for calculating the inter-cluster throughput of parallel communication in a clustered network. This model can calculate the intra-cluster and inter-cluster throughput under different cluster sizes within the network architecture and determine the optimal clustering scheme based on the total throughput.

[0199] Optionally, the first calculation model is related to the total number of nodes in the first cluster, the data transmission time of the sub-cluster head node, and the average length of the first data packet;

[0200] Wherein, the first data packet is an intra-cluster communication data packet of the first cluster;

[0201] The second calculation model is related to the total number of nodes in the network architecture, the total number of clusters in the network architecture, the number of master nodes that are simultaneously in the transmitting state, the number of clusters adjacent to the first cluster, the data transmission period of the master cluster head node in the first cluster, and the probability that the master cluster head node in the first cluster is in the transmitting state.

[0202] Optionally, determining the cluster layout in the network architecture based on the total number of nodes in the network architecture, the first computing model, and the second computing model includes:

[0203] Based on the total number of nodes in the network architecture, the first calculation model, and the second calculation model, the number of clusters in the network architecture and the maximum number of nodes in each cluster are determined.

[0204] With the rapid development of the internet and communication technologies, the applications of aerospace vehicles are becoming increasingly widespread. For example, unmanned aerial vehicles (UAVs), as an important type of aircraft, have seen significant growth in their global market over the past decade. Currently, the UAV industry is one of the most dynamic emerging markets in the international aerospace industry, becoming a highlight of economic growth for many countries. UAVs possess high maneuverability, with speeds typically ranging from 30 to 460 km / h. Flying ad hoc networks composed of UAVs and other aerospace vehicles are characterized by easy deployment, self-organization, and multi-hop communication, making them particularly suitable for scenarios requiring rapid temporary network setup, such as disaster search and rescue, large-scale battlefield reconnaissance, and large-scale geological reconnaissance in remote areas. As the number of aircraft increases, network topologies become more complex; network clustering is a relatively effective method for constructing large-scale network topologies.

[0205] The main cluster head nodes communicate via CSMA, and their Markov chains can be represented as follows: Figure 8 As shown. Let the collision probability be P. tr The arrival probability of a data packet at PCH is P. c The steady-state probability is b i,j =lim tP{u(t)=i,v(t)=j}, where i represents the backoff state and j represents the competition window size in the current state, satisfying W i =2 i The relationship of W, where W is a fixed value, is {(i, j)|i∈{0,1,2,...,m},j∈{0,1,2,...,m},W i -1}} represents the stable state of a node.

[0206] Then there is a transition probability:

[0207]

[0208] P{-1, 0 | i, 0} = 1 - P c ,i∈[0,m],j∈[0,W0-1]

[0209] P{i, j|i, j+1}=1, i∈[0, m], j∈[0, W i -2]

[0210]

[0211]

[0212] For different states:

[0213]

[0214]

[0215]

[0216]

[0217] From the law of total probability, we get:

[0218]

[0219] We derive that:

[0220]

[0221] The probability that a node is in the sending state is:

[0222]

[0223] (1) Calculation of throughput of a single cluster

[0224] In one embodiment of the present invention, it is assumed that the total number of nodes is N, the number of clusters is M, the number of nodes in each cluster is P, and the number of member nodes is Q. Considering that nodes can be mobile, it is assumed that the node arrival rate of each cluster is λ1 and the node density is ρ.v The moving speed of a node relative to the cluster head node is v. r The maximum node capacity of the cluster is X. M The broadcast size of the cluster is R. trans The smooth speed of a node relative to the cluster head is v f (i.e., no node congestion occurs within the cluster), then:

[0225] The node arrival rate satisfies: λ1=r v v r And the node density satisfies The average number of nodes within a cluster satisfies: E(X)=λ1T X Among them, T X The frame length.

[0226] Then we have: E[N] = E(X)M, where represents the average or expected value of the total number of nodes N;

[0227]

[0228]

[0229] When the nodes within the cluster are in a stable state, then:

[0230] P = E(X)

[0231] Intra-cluster communication uses TDMA assisted by the secondary cluster head node (SCH), preventing two nodes from transmitting in the same time slot, thus avoiding collisions. Let the probabilities of successful reservation and packet loss be P, respectively. res P lost Let P be the probability of successful data packet transmission. succ1 The first calculation model used to calculate the intra-cluster data throughput of the first cluster in the network architecture is, where i represents the first cluster as cluster i:

[0232]

[0233] Among them, T e1 Let E[Packet1] be the data transmission duration of SCH, and E[Packet1] be the average length of intra-cluster communication data packets. Furthermore:

[0234]

[0235] P succ1 =P res (1-P lost )

[0236] For the i-th PCH, the amount of data that can be forwarded per frame is the total amount of data sent by CM to the PCH and the transmission duration T. SThe minimum value, that is:

[0237]

[0238] Where: ∑ i P a =P t E s Q;

[0239] P t E represents the probability that CM sends inter-cluster packets to PCH. s This represents the average size of the inter-cluster data packets sent.

[0240] For a node in a certain cluster, the number of its external nodes is X, satisfying:

[0241]

[0242] Then the probability P of inter-cluster transmission t for:

[0243]

[0244] When the node distribution is relatively uniform, the number of adjacent clusters also tends to stabilize. Let the number of adjacent clusters be R, then the collision probability is:

[0245] P c =1-(1-τ) R-1

[0246] Probability of a busy channel:

[0247] P b =1-(1-τ) R

[0248] The probability of a data packet being sent successfully:

[0249]

[0250] The number of packets arriving in each frame for the cluster head is equivalent to the amount of data that all nodes in that frame need to forward between clusters. Let the arrival rate be λ², then:

[0251]

[0252] Considering the inter-cluster throughput of a single cluster, the second calculation model used to calculate the inter-cluster data throughput between the first cluster and at least one second cluster is as follows:

[0253]

[0254] (2) Inter-cluster throughput model of clustered networks with parallel communication

[0255] Unlike traditional CSMA, clustered network CSMA allows for simultaneous parallel communication on the same channel without mutual interference. Assuming the cluster structure is grid-distributed, such as... Figure 9 As shown, Figure 9 When the network architecture consists of 9 clusters, cluster 3 can broadcast to clusters 2 and 6, while cluster 4 can also broadcast to clusters 1, 5 and 7. At the same time, the distance between the broadcasting clusters should be greater than twice the broadcast radius.

[0256] The maximum number of clusters K that can communicate in parallel simultaneously varies depending on the number of clusters M. Assume M = x 2 If the network has x rows and x columns of clusters, then the value of K is:

[0257]

[0258] The network architecture has M clusters. For the i-th cluster, let R be the number of its neighboring clusters. i It can at most be with K i -1 clusters implement parallel broadcasting. Suppose that in a certain state there are K PCHs (k≤K) simultaneously transmitting data. Then the inter-cluster throughput statistics are:

[0259]

[0260] And it needs to meet the following requirements:

[0261]

[0262] I ij This represents two cluster heads that send messages simultaneously at any given time, where the distance between them is greater than twice the broadcast radius, and 1 ≤ R. i ≤4 means the maximum number of neighboring clusters is 4. This means that there should be no duplicate statistics in all simultaneous communication cases.

[0263] (3) Total throughput of clustered network architecture

[0264] The overall throughput of a clustered network includes the sum of the intra-cluster throughput of each cluster and the inter-cluster throughput of all clusters, i.e.:

[0265]

[0266] (4) Optimal cluster layout in network architecture

[0267] Based on the results in step (3), the intra-cluster throughput and inter-cluster throughput under different cluster sizes can be calculated. Then, the total throughput of the current cluster network can be obtained from step (4), and the optimal cluster size can be determined by the throughput.

[0268] like Figure 10As shown, an embodiment of the present invention provides a data transmission device applied to a first member node, comprising:

[0269] The first sending module 1001 is used to send a resource reservation request to the first main cluster head node;

[0270] The second sending module 1002 is used to send communication data to the first primary cluster head node and / or the first secondary cluster head node according to the reservation confirmation message broadcast by the first primary cluster head node, after receiving the reservation confirmation message including resource allocation information.

[0271] Wherein, the first primary cluster head node is a node belonging to the same cluster as the first member node; the first secondary cluster head node is a node belonging to the same cluster as the first member node; the resource allocation information is determined based on the status information of at least one second member node and the status information of the first secondary cluster head node and / or the status information of the first primary cluster head node; the second member node is a node belonging to the same cluster or a different cluster as the first member node, and the second member node is used to receive the communication data.

[0272] like Figure 11 As shown, an embodiment of the present invention provides a data transmission device applied to a first primary cluster head node, comprising:

[0273] The first receiving module 1101 is used to receive the resource reservation request of the first member node;

[0274] The first determining module 1102 is used to determine the status information of at least one second member node, the status information of a first sub-cluster head node, and / or the status information of a first primary cluster head node based on the resource reservation request, and to determine resource allocation information; the first sub-cluster head node is a node belonging to the same cluster as the first primary cluster head node; the second primary cluster head node is a node belonging to a different cluster than the first primary cluster head node; the second member node is a node belonging to the same cluster or a different cluster as the first member node;

[0275] The broadcast module 1103 is used to broadcast a reservation confirmation message that includes the resource allocation information.

[0276] like Figure 12 As shown, an embodiment of the present invention provides a data transmission device applied to a first sub-cluster head node, comprising:

[0277] The second receiving module 1201 is used to receive a resource allocation information reservation confirmation message broadcast by the first master cluster head node;

[0278] The third receiving module 1202 is used to receive communication data sent by the first member node;

[0279] The third sending module 1203 is used to send the communication data to at least one fourth member node according to the reservation confirmation message;

[0280] Wherein, the first primary cluster head node and the first member node are both nodes belonging to the same cluster as the first secondary cluster head node, and the fourth member node is a node among the second member nodes that belongs to the same cluster as the first secondary cluster head node.

[0281] like Figure 13 As shown, an embodiment of the present invention provides a clustering device for a network architecture, applied to the network architecture described above, comprising:

[0282] The acquisition module 1301 is used to acquire the total number of nodes in the network architecture;

[0283] The second determining module 1302 is used to determine a first calculation model for calculating the intra-cluster data throughput of the first cluster in the network architecture; the first cluster is any cluster in the network architecture;

[0284] The third determining module 1303 is used to determine a second calculation model for calculating the inter-cluster data throughput between the first cluster and at least one second cluster; the second cluster is a different cluster from the first cluster;

[0285] The fourth determining module 1304 is used to determine the cluster layout in the network architecture based on the total number of nodes in the network architecture, the first calculation model, and the second calculation model.

[0286] Another embodiment of the terminal device of the present invention, such as Figure 14 As shown, it includes a transceiver 1410, a processor 1400, a memory 1420, and a program or instructions stored in the memory 1420 and executable on the processor 1400; when the processor 1400 executes the program or instructions, it implements the above-described data transmission method.

[0287] The transceiver 1410 is used to receive and send data under the control of the processor 1400.

[0288] Among them, Figure 14In this context, the bus architecture may include any number of interconnected buses and bridges, specifically linking various circuits together, represented by one or more processors (processor 1400) and memory (memory 1420). The bus architecture may also link together various other circuits such as peripheral devices, voltage regulators, and power management circuitry, which are well known in the art and therefore will not be described further herein. The bus interface provides an interface. The transceiver 1410 may be multiple elements, including transmitters and receivers, providing a unit for communicating with various other devices over a transmission medium. The processor 1400 is responsible for managing the bus architecture and general processing, and the memory 1420 may store data used by the processor 1400 during operation.

[0289] An embodiment of the present invention provides a readable storage medium storing a program or instructions. When the program or instructions are executed by a processor, they implement the steps in the data transmission method described above and achieve the same technical effect. To avoid repetition, further details are omitted here.

[0290] The processor mentioned above is the processor in the terminal device described in the above embodiments. The readable storage medium includes computer-readable storage media, such as computer read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0291] It should be further noted that the terminals described in this specification include, but are not limited to, smartphones, tablets, etc., and many of the functional components described are referred to as modules in order to emphasize the independence of their implementation.

[0292] In this embodiment of the invention, the module can be implemented in software so that it can be executed by various types of processors. For example, an identified executable code module may include one or more physical or logical blocks of computer instructions, which may be constructed as objects, procedures, or functions. Nevertheless, the executable code of the identified module does not need to be physically located together, but may include different instructions stored in different bits, which, when logically combined, constitute the module and achieve the module's intended purpose.

[0293] In practice, an executable code module can be a single instruction or many instructions, and can even be distributed across multiple different code segments, different programs, and across multiple memory devices. Similarly, operational data can be identified within the module and can be implemented in any suitable form and organized within any suitable type of data structure. This operational data can be collected as a single dataset or distributed across different locations (including different storage devices), and can exist, at least in part, solely as electronic signals within the system or network.

[0294] When a module can be implemented using software, considering the current level of hardware technology, modules that can be implemented in software can be implemented using hardware circuits by those skilled in the art to achieve the corresponding functions, without considering cost. These hardware circuits include conventional very-large-scale integrated circuits (VLSI) or gate arrays, as well as existing semiconductors such as logic chips and transistors, or other discrete components. Modules can also be implemented using programmable hardware devices, such as field-programmable gate arrays, programmable array logic, and programmable logic devices.

[0295] The exemplary embodiments described above are with reference to the accompanying drawings. Many different forms and embodiments are feasible without departing from the spirit and teachings of the invention. Therefore, the invention should not be construed as limiting the exemplary embodiments set forth herein. Rather, these exemplary embodiments are provided to make the invention complete and convey the scope of the invention to those skilled in the art. In these drawings, component dimensions and relative dimensions may be exaggerated for clarity. The terminology used herein is for the purpose of describing particular exemplary embodiments only and is not intended to be limiting. As used herein, unless clearly indicated otherwise, the singular forms “a,” “an,” and “the” are intended to include all such forms. It will be further understood that the terms “comprising” and / or “including”, when used in this specification, indicate the presence of the stated features, integers, steps, operations, components, and / or elements, but do not exclude the presence or addition of one or more other features, integers, steps, operations, components, and / or groups thereof. Unless otherwise indicated, when stated, a range of values ​​includes the upper and lower limits of the range and any subranges in between.

[0296] The above description represents the preferred embodiments of the present invention. It should be noted that those skilled in the art can make various improvements and modifications without departing from the principles of the present invention, and these improvements and modifications should also be considered within the scope of protection of the present invention.

Claims

1. A data transmission method applied to a first member node, characterized in that, Comprise: Sending a resource reservation request to a first primary cluster head node; wherein each cluster comprises: a primary cluster head node PCH, a secondary cluster head node SCH, and at least one member node CM; the resource reservation request comprises: the ID of the first member node, the number of reserved time slots, and the ID of a second member node; After receiving the reservation confirmation message broadcasted by the first primary cluster head node and comprising resource allocation information, sending communication data to the first primary cluster head node and / or the first secondary cluster head node according to the reservation confirmation message, comprising: judging whether all the at least one second member node is a node belonging to the same cluster as the first member node according to the reservation confirmation message; if all the at least one second member node is a node belonging to the same cluster as the first member node, sending communication data to the first secondary cluster head node; if all the at least one second member node is a node belonging to different clusters from the first member node, sending communication data to the first primary cluster head node; if the at least one second member node includes both a node belonging to the same cluster as the first member node and a node belonging to different clusters from the first member node, sending communication data to the first primary cluster head node and the first secondary cluster head node; Wherein, the first primary cluster head node is a node belonging to the same cluster as the first member node; the first secondary cluster head node is a node belonging to the same cluster as the first member node; the resource allocation information is determined according to the state information of at least one second member node and the state information of the first secondary cluster head node and / or the state information of the first primary cluster head node; the second member node is a node belonging to the same cluster or different clusters as the first member node, and the second member node is used to receive the communication data; The sending of the resource reservation request to the first primary cluster head node comprises: Sending the resource reservation request to the first primary cluster head node on a first subchannel of a first preset frequency band; The sending of the communication data to the first primary cluster head node and / or the first secondary cluster head node according to the reservation confirmation message comprises: According to the reservation confirmation message, sending the communication data to the first primary cluster head node on the first subchannel of the first preset frequency band, and / or sending the communication data to the first secondary cluster head node on a second subchannel of the first preset frequency band; Wherein, the main cluster head node through CSMA communication, set the collision probability , PCH data packet arrival probability , steady-state probability , represent the state of backoff, represent the current state of the contention window size, meet relationship, for a fixed value, represent the node stable state; Then there is a transfer probability: ； For different states: ； From the total probability formula: ； It is derived that: ； The probability that the node is in the sending state is: ； Wherein, if the total number of nodes is N, the number of clusters is M, the number of nodes in each cluster is P, the number of member nodes is Q, if the node arrival rate of each cluster is , the node density is , the relative moving speed of the node to the cluster head node is , the maximum node capacity of the cluster is , the broadcast size of the cluster is , the unobstructed speed of the node to the cluster head is , then there is: When the node arrival rate satisfies: , and the node density satisfies , the average number of nodes in the cluster satisfies: ; wherein, is the frame length. Then we have: where denotes the average or expected value of the total number of nodes N. P= ； Q= ； When the nodes in the cluster are in a stable state, then: P= ； The intra-cluster communication adopts a TDMA mode assisted by a secondary cluster head node SCH, and a situation that two nodes transmit in the same time slot will not occur. Assuming that the reservation success probability and the packet loss probability are , , and the data packet success transmission probability is , a first calculation model for calculating intra-cluster data throughput of a first cluster in a network architecture is wherein denotes that the first cluster is cluster : ； wherein, is the time length of the data transmission period of the SCH, is the average length of the in-cluster communication data packet, and: ； ； For the first PCH, the amount of data that can be forwarded per frame is the minimum of the total amount of data sent by the CM to the PCH and the frame length of the transmission period, i.e., For the second PCH, the amount of data that can be forwarded per frame is the minimum of the total amount of data sent by the CM to the PCH and the frame length of the transmission period, i.e., For the third P ； wherein: ; the probability of sending an inter-cluster data packet to the PCH for CM, the average size of the sent inter-cluster data packets; For a node of a cluster, the number of nodes outside the cluster is , satisfies: ； The probability of inter-cluster transmission is then is: ； When the nodes are evenly distributed, the number of adjacent clusters tends to be stable, and the number of adjacent clusters is denoted as The collision probability is: ； The probability that the channel is busy: ； The probability that the data packet is sent successfully: ； The data amount of all nodes needing inter-cluster forwarding in this frame is equivalent to the packet arrived in each frame of cluster head, and the arrival rate is Therefore, we have: ； Considering the inter-cluster throughput of a single cluster, the second calculation model for calculating the inter-cluster data throughput between the first cluster and at least one second cluster is: 。 2. A data transmission method applied to a first master cluster head node, comprising: Comprise: receiving a resource reservation request of a first member node; wherein each cluster comprises a primary cluster head node (PCH), a secondary cluster head node (SCH) and at least one member node (CM); the resource reservation request comprises an ID of the first member node, a number of reserved time slots and an ID of a second member node, or comprises a cluster ID of the first member node, a cluster ID of the second member node, a sending time slot of the first member node, a receiving time slot of the second member node, and free state information of a first secondary cluster head node and / or free state information of a first primary cluster head node; determining state information of at least one second member node and state information of the first secondary cluster head node and / or state information of the first primary cluster head node according to the resource reservation request, and determining resource allocation information; the first secondary cluster head node is a node belonging to a same cluster as the first primary cluster head node; the second member node is a node belonging to a same cluster or a different cluster as the first member node; broadcasting a reservation confirmation message comprising the resource allocation information; receiving communication data sent by the first member node; sending the communication data to at least one third member node according to the reservation confirmation message; the third member node is a node belonging to a different cluster as the first member node among the second member nodes; the sending of the communication data to at least one third member node according to the reservation confirmation message comprises: sending the communication data to a second primary cluster head node and forwarding the communication data to at least one third member node through the second primary cluster head node; the second primary cluster head node is a node belonging to a different cluster as the first primary cluster head node; the receiving of the resource reservation request of the first member node comprises: receiving the resource reservation request on a first subchannel of a first preset frequency band; the sending of the communication data to the second primary cluster head node comprises: sending the communication data to the second primary cluster head node on a second preset frequency band; Wherein, the main cluster head node through CSMA communication, set the collision probability , PCH data packet arrival probability , steady-state probability , represent the state of backoff, represent the current state of the contention window size, meet The relationship, is a fixed value, represent the node stable state; there is a transition probability: ； for different states: ； from the total probability formula: ； deduced that: ； the probability that a node is in a sending state is: ； Wherein, if the total number of nodes is N, the number of clusters is M, the number of nodes in each cluster is P, the number of member nodes is Q, if the node arrival rate of each cluster is , the node density is , the relative moving speed of the node to the cluster head node is , the maximum node capacity of the cluster is , the broadcast size of the cluster is , the unobstructed speed of the node to the cluster head is , then there is: The node arrival rate satisfies: , and the node density satisfies , the average number of nodes in the cluster satisfies: ; wherein, is the frame length. Then we have: where denotes the average or expected value of the total number of nodes N. P= ； Q= ； when the nodes in a cluster are in a stable state, then: P= ； The intra-cluster communication adopts a TDMA mode assisted by a secondary cluster head node SCH, and a situation that two nodes transmit in the same time slot will not occur. Assuming that the reservation success probability and the packet loss probability are , , assuming that the data packet successful transmission probability is , a first calculation model for calculating the intra-cluster data throughput of a first cluster in a network architecture is , wherein : the first cluster is a cluster ； wherein, is the time length of the data transmission period of the SCH, is the average length of the in-cluster communication data packet, and: ； ； For the first PCH, the amount of data that can be forwarded per frame is the minimum of the total amount of data sent by the CM to the PCH and the frame length of the transmission period, i.e., For the second PCH, the amount of data that can be forwarded per frame is the minimum of the total amount of data sent by the CM to the PCH and the frame length of the transmission period, i.e., For the third P ； wherein: ; the probability of sending an inter-cluster data packet to the PCH for CM, the average size of the sent inter-cluster data packets; For a node of a cluster, the number of nodes outside the cluster is , satisfies: ； The probability of inter-cluster transmission is then is: ； When the nodes are evenly distributed, the number of adjacent clusters tends to be stable, and the number of adjacent clusters is denoted as The collision probability is: ； the probability that a channel is busy: ； the probability that a data packet is sent successfully: ； The packet arrived at each frame of cluster head is equivalent to the data amount that all nodes arrived in this frame need to forward between clusters, and the arrival rate is Therefore, there is: ； considering the inter-cluster throughput of a single cluster, a second calculation model for calculating the inter-cluster data throughput of the first cluster and at least one second cluster is: 。 3. The data transmission method of claim 2, wherein, the method further comprises: receiving an acknowledgement message sent by a member node in a cluster every preset time, the acknowledgement message being used to determine that the member node and the first primary cluster head node belong to a same cluster.

4. A data transmission method applied to a first secondary cluster head node, comprising: comprises: receiving a reservation confirmation message broadcast by a first primary cluster head node, the reservation confirmation message comprising resource allocation information; receiving communication data sent by a first member node; sending the communication data to at least one fourth member node according to the reservation confirmation message; wherein the first primary cluster head node and the first member node are nodes belonging to a same cluster as the first secondary cluster head node, and the fourth member node is a node belonging to a same cluster as the first secondary cluster head node among the second member nodes; the receiving of the communication data sent by the first member node comprises: receiving the communication data sent by the first member node on the second subchannel of the first preset frequency band; the sending of the communication data to at least one fourth member node according to the reservation confirmation message comprises: sending the communication data to at least one fourth member node on the second subchannel of the first preset frequency band; Wherein, the main cluster head node through CSMA communication, set the collision probability , PCH data packet arrival probability , steady-state probability , represent the state of backoff, represent the current state of the contention window size, meet The relationship, is a fixed value, represent the node stable state; there is a transition probability: ； for different states: ； from the total probability formula: ； deduced that: ； the probability of the node being in the sending state is: ； Wherein, if the total number of nodes is N, the number of clusters is M, the number of nodes in each cluster is P, the number of member nodes is Q, if the node arrival rate of each cluster is , the node density is , the relative moving speed of the node to the cluster head node is , the maximum node capacity of the cluster is , the broadcast size of the cluster is , the unobstructed speed of the node to the cluster head is , then there is: When the node arrival rate satisfies: , and the node density satisfies , the average number of nodes in the cluster satisfies: ; wherein, is the frame length. Then we have: where denotes the average or expected value of the total number of nodes N. P= ； Q= ； when the nodes in the cluster are in a stable state, then: P= ； The intra-cluster communication adopts a TDMA mode assisted by a secondary cluster head node SCH, and a situation that two nodes transmit in the same time slot will not occur, assuming that the reservation success probability and the packet loss probability are , , assuming that the data packet successful transmission probability is , a first calculation model for calculating the intra-cluster data throughput of a first cluster in a network architecture is wherein denotes that the first cluster is cluster : ； wherein, is the time length of the data transmission period of the SCH, is the average length of the in-cluster communication data packet, and: ； ； For the For each PCH, the amount of data that can be forwarded per frame is the total amount of data sent by the CM to the PCH and the transmission frame length. The minimum of the two, that is: ； wherein: ; the probability of sending an inter-cluster data packet to the PCH for CM, the average size of the sent inter-cluster data packets; For a node of a cluster, the number of nodes outside the cluster is , satisfying: ；； The probability of inter-cluster transmission is then is: ； When the nodes are evenly distributed, the number of adjacent clusters tends to be stable, and the number of adjacent clusters is denoted as The collision probability is: ； the probability of the channel being busy: ； the probability of the data packet being sent successfully: ； The data amount of all nodes needing inter-cluster forwarding in this frame is equivalent to the packet arrived in each frame of cluster head, and the arrival rate is Therefore, we have: ； considering the inter-cluster throughput of a single cluster, the second calculation model for calculating the inter-cluster data throughput of the first cluster and at least one second cluster is: 。 5. A clustering method of a network architecture, comprising: obtaining the total number of nodes in the network architecture; the network architecture comprises: at least two clusters; each cluster comprises: a primary cluster head node, a secondary cluster head node, and at least one member node; determining a first calculation model for calculating the intra-cluster data throughput of a first cluster in the network architecture; the first cluster is any cluster in the network architecture; determining a second calculation model for calculating the inter-cluster data throughput of the first cluster and at least one second cluster; the second cluster is different from the first cluster; determining the layout of the clusters in the network architecture according to the total number of nodes in the network architecture, the first calculation model, and the second calculation model, comprising: determining the number of clusters and the maximum number of nodes in each cluster in the network architecture according to the total number of nodes in the network architecture, the first calculation model, and the second calculation model; the first calculation model is related to the total number of nodes in the first cluster, the data transmission period time length of the secondary cluster head node, and the average length of the first data packet; wherein the first data packet is the intra-cluster communication data packet of the first cluster; the second calculation model is related to the total number of nodes in the network architecture, the total number of clusters in the network architecture, the number of primary nodes in the sending state, the number of clusters adjacent to the first cluster, the data transmission period time length of the primary cluster head node in the first cluster, and the probability of the primary cluster head node in the first cluster being in the sending state; Wherein, the main cluster head node through CSMA communication, set the collision probability , PCH data packet arrival probability , steady-state probability , represent the state of backoff, represent the current state of the contention window size, meet relationship, is a fixed value, represent the node stable state; there is a transition probability: ； for different states: ； from the total probability formula: ； deduced that: ； the probability of the node being in the sending state is: ； Wherein, if the total number of nodes is N, the number of clusters is M, the number of nodes in each cluster is P, the number of member nodes is Q, if the node arrival rate of each cluster is , the node density is , the relative moving speed of the node to the cluster head node is , the maximum node capacity of the cluster is , the broadcast size of the cluster is , the unobstructed speed of the node to the cluster head is , then: When the node arrival rate satisfies: , and the node density satisfies , the average number of nodes in the cluster satisfies: ; wherein, is the frame length. Then we have: where denotes the average or expected value of the total number of nodes N. P= ； Q= ； when the nodes in the cluster are in a stable state, then: P= ； The intra-cluster communication adopts a TDMA mode assisted by a secondary cluster head node SCH, and a situation that two nodes transmit in the same time slot will not occur. Assuming that the reservation success probability and the packet loss probability are , , and the data packet successful transmission probability is , a first calculation model for calculating intra-cluster data throughput of a first cluster in a network architecture is wherein denotes that the first cluster is cluster : ； wherein, is the time length of the data transmission period of the SCH, is the average length of the in-cluster communication data packet, and: ； ； For the first PCH, the amount of data that can be forwarded per frame is the minimum of the total amount of data sent by the CM to the PCH and the frame length of the transmission period, i.e., For the second PCH, the amount of data that can be forwarded per frame is the minimum of the total amount of data sent by the CM to the PCH and the frame length of the transmission period, i.e., For the third P ； wherein: ; the probability of sending an inter-cluster data packet to the PCH for CM, the average size of the sent inter-cluster data packets; For a node of a cluster, the number of nodes outside the cluster is , satisfies: ； The probability of inter-cluster transmission is then is: ； When the nodes are evenly distributed, the number of adjacent clusters tends to be stable, and the number of adjacent clusters is denoted as The collision probability is: ； the probability of the channel being busy: ； the probability of the data packet being sent successfully: ； The packet arrived at each frame of cluster head is equivalent to the data amount that all nodes arrived in this frame need to forward between clusters, and the arrival rate is Therefore, there is: ； considering the inter-cluster throughput of a single cluster, the second calculation model for calculating the inter-cluster data throughput of the first cluster and at least one second cluster is: 。 6. A data transmission apparatus applied to a first member node, comprising: comprising: a first sending module for sending a resource reservation request to a first primary cluster head node; wherein each cluster comprises: a primary cluster head node PCH, a secondary cluster head node SCH, and at least one member node CM; the resource reservation request comprises: the ID of the first member node, the number of reserved time slots, and the ID of the second member node; The second sending module is configured to send communication data to the first primary cluster head node and / or the first secondary cluster head node according to the reservation confirmation message broadcast by the first primary cluster head node; and send communication data to the first primary cluster head node and / or the first secondary cluster head node according to the reservation confirmation message, including: judging whether the at least one second member node is a node belonging to the same cluster as the first member node according to the reservation confirmation message; if all the at least one second member node is a node belonging to the same cluster as the first member node, sending communication data to the first secondary cluster head node; if the at least one second member node is a node belonging to different clusters from the first member node, sending communication data to the first primary cluster head node; and if the at least one second member node includes both a node belonging to the same cluster as the first member node and a node belonging to different clusters from the first member node, sending communication data to the first primary cluster head node and the first secondary cluster head node. The first primary cluster head node is a node belonging to the same cluster as the first member node; the first secondary cluster head node is a node belonging to the same cluster as the first member node; the resource allocation information is determined according to state information of the at least one second member node and state information of the first secondary cluster head node and / or state information of the first primary cluster head node; and the second member node is a node belonging to the same cluster or different clusters as the first member node, and is configured to receive the communication data. The first sending module is further configured to send the resource reservation request to the first primary cluster head node on a first subchannel of a first preset frequency band. The sending of the communication data to the first primary cluster head node and / or the first secondary cluster head node according to the reservation confirmation message includes: sending the communication data to the first primary cluster head node on the first subchannel of the first preset frequency band according to the reservation confirmation message, and / or sending the communication data to the first secondary cluster head node on a second subchannel of the first preset frequency band according to the reservation confirmation message; Wherein, the main cluster head node through CSMA communication, set the collision probability , PCH data packet arrival probability , steady-state probability , represent the state of backoff, represent the current state of the contention window size, meet The relationship, is a fixed value, represent the node stable state; Then, there is a transition probability: ； For different states, there are: ； According to the total probability formula, we have: ； It is derived that: ； The probability that the node is in a sending state is: ； Wherein, if the total number of nodes is N, the number of clusters is M, the number of nodes in each cluster is P, the number of member nodes is Q, if the node arrival rate of each cluster is , the node density is , the relative moving speed of the node to the cluster head node is , the maximum node capacity of the cluster is , the broadcast size of the cluster is , and the unobstructed speed of the node to the cluster head is , then there is: When the node arrival rate satisfies: , and the node density satisfies , the average number of nodes in the cluster satisfies: ; wherein, is the frame length. Then we have: where denotes the average or expected value of the total number of nodes N. P= ； Q= ； When the nodes in the cluster are in a stable state, then: P= ； The intra-cluster communication adopts a TDMA mode assisted by a secondary cluster head node SCH, and a situation that two nodes transmit in the same time slot will not occur. Assuming that the reservation success probability and the packet loss probability are , , assuming that the data packet successful transmission probability is , a first calculation model for calculating the intra-cluster data throughput of a first cluster in a network architecture is wherein denotes that the first cluster is cluster : ； wherein, is the time length of the data transmission period of the SCH, is the average length of the in-cluster communication data packet, and: ； ； For the first PCH, the amount of data that can be forwarded per frame is the minimum of the total amount of data sent by the CM to the PCH and the frame length of the transmission period, i.e., For the second PCH, the amount of data that can be forwarded per frame is the minimum of the total amount of data sent by the CM to the PCH and the frame length of the transmission period, i.e., For the third P ； wherein: ; the probability of sending an inter-cluster data packet to the PCH for CM, the average size of the sent inter-cluster data packets; The number of out-of-cluster nodes for a node of a cluster is , satisfies: ； The probability of inter-cluster transmission is then is: ； When the nodes are evenly distributed, the number of adjacent clusters tends to be stable, and the number of adjacent clusters is denoted as The collision probability is: ； The probability that the channel is busy: ； The probability that the data packet is sent successfully: ； The packet arrived at each frame of cluster head is equivalent to the data amount that all nodes arrived in this frame need to forward between clusters, and the arrival rate is Therefore, there is: ； Considering the inter-cluster throughput of a single cluster, the second calculation model for calculating the inter-cluster data throughput of the first cluster and at least one second cluster is: 。 7. A data transmission apparatus, applied to a first master cluster head node, characterized in that, including: The first receiving module is configured to receive a resource reservation request of a first member node; each cluster comprises one primary cluster head node (PCH), one secondary cluster head node (SCH) and at least one member node (CM); the resource reservation request comprises an ID of the first member node, a number of reserved time slots and an ID of a second member node, or comprises a cluster ID of the first member node, a cluster ID of the second member node, a sending time slot of the first member node, a receiving time slot of the second member node, and idle state information of the first secondary cluster head node and / or idle state information of the first primary cluster head node; The first determining module is configured to determine state information of at least one second member node and state information of the first secondary cluster head node and / or state information of the first primary cluster head node according to the resource reservation request, and determine resource allocation information; the first secondary cluster head node is a node belonging to the same cluster as the first primary cluster head node; the second member node is a node belonging to the same cluster or different clusters as the first member node; The broadcasting module is configured to broadcast a reservation confirmation message comprising the resource allocation information; The third receiving module is configured to receive communication data sent by the first member node; The fourth sending module is configured to send the communication data to at least one third member node according to the reservation confirmation message; the third member node is a node belonging to different clusters as the first member node among the second member nodes; The fourth sending module is further configured to send the communication data to a second primary cluster head node, and forward the communication data to at least one third member node through the second primary cluster head node; the second primary cluster head node is a node belonging to different clusters as the first primary cluster head node; The first receiving module is further configured to receive the resource reservation request on a first subchannel of a first preset frequency band; The fourth sending module is further configured to send the communication data to the second primary cluster head node on a second preset frequency band; Wherein, the main cluster head node through CSMA communication, set the collision probability , PCH data packet arrival probability , steady-state probability , represent the state of backoff, represent the current state of contention window size, meet The relationship, is a fixed value, represent the node stable state; Then there is a transfer probability: ； For different states: ； From the total probability formula: ； It is derived that: ； The probability that the node is in the sending state is: ； Wherein, if the total number of nodes is N, the number of clusters is M, the number of nodes in each cluster is P, the number of member nodes is Q, if the node arrival rate of each cluster is , the node density is , the relative moving speed of the node to the cluster head node is , the maximum node capacity of the cluster is , the broadcast size of the cluster is , the unobstructed speed of the node to the cluster head is , then there is: When the node arrival rate satisfies: , and the node density satisfies , the average number of nodes in the cluster satisfies: ; wherein, is the frame length. Then we have: where denotes the average or expected value of the total number of nodes N. P= ； Q= ； When the nodes within the cluster are in a stable state, then: P = 0 ; The intra-cluster communication adopts a TDMA mode assisted by a secondary cluster head node SCH, and a situation that two nodes transmit in the same time slot will not occur. Assuming that the reservation success probability and the packet loss probability are , , assuming that the data packet successful transmission probability is , a first calculation model for calculating the intra-cluster data throughput of a first cluster in a network architecture is wherein denotes that the first cluster is cluster : ； wherein, is the time length of the data transmission period of the SCH, is the average length of the in-cluster communication data packet, and: ； ； For the first PCH, the amount of data that can be forwarded per frame is the minimum of the total amount of data sent by the CM to the PCH and the frame length of the transmission period, i.e., For the second PCH, the amount of data that can be forwarded per frame is the minimum of the total amount of data sent by the CM to the PCH and the frame length of the transmission period, i.e., For the third P ； wherein: ; the probability of sending an inter-cluster data packet to the PCH for CM, the average size of the sent inter-cluster data packets; For a node of a cluster, the number of nodes outside the cluster is , satisfies: ； The probability of inter-cluster transmission is then is: ； When the nodes are evenly distributed, the number of adjacent clusters tends to be stable, and the number of adjacent clusters is denoted as The collision probability is: ； The probability that the channel is busy is: ； The probability that the data packet is sent successfully is: ； The packet arrived at each frame of cluster head is equivalent to the data amount that all nodes arrived in this frame need to forward between clusters, and the arrival rate is Therefore, there is: ； Considering the inter-cluster throughput of a single cluster, a second calculation model for calculating the inter-cluster data throughput between the first cluster and at least one second cluster is: 。 8. A data transmission apparatus, applied to a first secondary cluster head node, characterized in that, Comprise: The second receiving module is configured to receive a reservation confirmation message broadcast by the first primary cluster head node, the reservation confirmation message comprising resource allocation information; The third receiving module is configured to receive communication data sent by the first member node; The third sending module is configured to send the communication data to at least one fourth member node according to the reservation confirmation message; The first primary cluster head node and the first member node are both nodes belonging to the same cluster as the first secondary cluster head node, and the fourth member node is a node belonging to the same cluster as the first secondary cluster head node among the second member nodes; The second receiving module is further configured to receive the communication data sent by the first member node on a second subchannel of a first preset frequency band; The third sending module is further configured to send the communication data to at least one fourth member node on a second subchannel of the first preset frequency band. Wherein, the main cluster head node communicates through CSMA, and the collision probability is , the data packet arrival probability of PCH is , the steady state probability is , represent the state of backoff, represent the competition window size in the current state, satisfy relationship, is a fixed value, represent the stable state of the node; Then, there is a transition probability: ； For different states, there are: ； According to the total probability formula, we have: ； It is derived that: ； Then, the probability that the node is in the sending state is: ； Wherein, if the total number of nodes is N, the number of clusters is M, the number of nodes in each cluster is P, the number of member nodes is Q, if the node arrival rate of each cluster is , the node density is , the relative moving speed of the node to the cluster head node is , the maximum node capacity of the cluster is , the broadcast size of the cluster is , the unobstructed speed of the node to the cluster head is , then there is: When the node arrival rate satisfies , and the node density satisfies , the average number of nodes in the cluster satisfies ; wherein is the frame length. Then we have: where denotes the average or expected value of the total number of nodes N. P= ； Q= ； When the nodes in the cluster are in a stable state, then: P= ； The intra-cluster communication adopts a TDMA mode assisted by a secondary cluster head node SCH, and a situation that two nodes transmit in the same time slot will not occur. Assuming that the reservation success probability and the packet loss probability are , , assuming that the data packet successful transmission probability is , a first calculation model for calculating the intra-cluster data throughput of a first cluster in a network architecture is wherein denotes that the first cluster is cluster : ； wherein, is the time length of the data transmission period of the SCH, is the average length of the in-cluster communication data packet, and: ； ； For the first PCH, the amount of data that can be forwarded per frame is the minimum of the total amount of data sent by the CM to the PCH and the frame length of the transmission period, i.e.: For the second PCH, the amount of data that can be forwarded per frame is the minimum of the total amount of data sent by the CM to the PCH and the frame length of the transmission period, i.e.: For the third P ； wherein: ; the probability of sending an inter-cluster data packet to the PCH for CM, the average size of the sent inter-cluster data packets; For a node of a cluster, the number of nodes outside the cluster is , satisfies: ； The probability of inter-cluster transmission is then is: ； When the nodes are evenly distributed, the number of adjacent clusters tends to be stable, and the number of adjacent clusters is denoted as The collision probability is: ； The probability that the channel is busy is: ； The probability that the data packet is sent successfully is: ； The packet arrived at each frame of cluster head is equivalent to the data amount that all nodes arrived in this frame need to forward between clusters, and the arrival rate is Therefore, there is: ； Considering the inter-cluster throughput of a single cluster, the second calculation model for calculating the inter-cluster data throughput of the first cluster and at least one second cluster is: 。 9. A clustering apparatus of a network architecture, characterized by, It includes: The acquisition module is configured to acquire the total number of nodes in the network architecture. The second determination module is configured to determine a first calculation model for calculating the intra-cluster data throughput of a first cluster in the network architecture; the first cluster is any cluster in the network architecture. The third determination module is configured to determine a second calculation model for calculating the inter-cluster data throughput of the first cluster and at least one second cluster; the second cluster is different from the first cluster. The fourth determination module is configured to determine the layout of the clusters in the network architecture according to the total number of nodes in the network architecture, the first calculation model, and the second calculation model. According to the total number of nodes in the network architecture, the first calculation model, and the second calculation model, the layout of the clusters in the network architecture is determined, including determining the number of clusters and the maximum number of nodes in each cluster in the network architecture according to the total number of nodes in the network architecture, the first calculation model, and the second calculation model. The first calculation model is related to the total number of nodes in the first cluster, the data transmission period time length of the secondary cluster head node, and the average length of the first data packet. The first data packet is the intra-cluster communication data packet of the first cluster. The second calculation model is related to the total number of nodes in the network architecture, the total number of clusters in the network architecture, the number of primary nodes in the sending state, the number of clusters adjacent to the first cluster, the data transmission period time length of the primary cluster head node in the first cluster, and the probability that the primary cluster head node in the first cluster is in the sending state. Wherein, the main cluster head node communicates through CSMA, and the collision probability is , the data packet arrival probability of PCH is , the steady state probability is , represent the state of backoff, represent the competition window size in the current state, satisfying relationship, is a fixed value, represent the stable state of the node; Then, there is a transition probability: ； For different states, there are: ； According to the total probability formula, we have: ； It is derived that: ； Then, the probability that the node is in the sending state is: ； Wherein, if the total number of nodes is N, the number of clusters is M, the number of nodes in each cluster is P, the number of member nodes is Q, if the node arrival rate of each cluster is , the node density is , the relative moving speed of the node to the cluster head node is , the maximum node capacity of the cluster is , the broadcast size of the cluster is , the unobstructed speed of the node to the cluster head is , then there is: When the node arrival rate satisfies: , and the node density satisfies , the average number of nodes in the cluster satisfies: ; wherein, is the frame length. Then we have: where denotes the average or expected value of the total number of nodes N. P= ； Q= ； When the nodes in the cluster are in a stable state, then: P= ； The intra-cluster communication adopts a TDMA mode assisted by a secondary cluster head node SCH, and a situation that two nodes transmit in the same time slot will not occur. Assuming that the reservation success probability and the packet loss probability are , , and the data packet successful transmission probability is , a first calculation model for calculating intra-cluster data throughput of a first cluster in a network architecture is wherein denotes that the first cluster is cluster : ； wherein, is the time length of the data transmission period of the SCH, is the average length of the in-cluster communication data packet, and: ； ； For the For each PCH, the amount of data that can be forwarded per frame is the total amount of data sent by the CM to the PCH and the transmission frame length. The minimum of the two, that is: ； wherein: ; the probability of sending an inter-cluster data packet to the PCH for CM, the average size of the sent inter-cluster data packets; For a node of a cluster, the number of nodes outside the cluster is , satisfies: ； The probability of inter-cluster transmission is then is: ； When the nodes are evenly distributed, the number of adjacent clusters tends to be stable, and the number of adjacent clusters is denoted as The collision probability is: ； The probability that the channel is busy is: ； The probability that the data packet is sent successfully is: ； The packet arrived at each frame of cluster head is equivalent to the data amount that all nodes arrived in this frame need to forward between clusters, and the arrival rate is Therefore, there is: ； Considering the inter-cluster throughput of a single cluster, the second calculation model for calculating the inter-cluster data throughput of the first cluster and at least one second cluster is: 。 10. A terminal device, comprising: It includes a transceiver, a processor, a memory, and a program or instructions stored on the memory and executable on the processor; the processor executes the program or instructions to implement the data transmission method of claim 1; or, the data transmission method of any one of claims 2-3; or, the data transmission method of claim 4.

11. A readable storage medium, on which a program or instructions are stored, characterized in that, The program or the instruction is executed by the processor to realize the steps in the data transmission method of claim 1, or to realize the steps in the data transmission method of any one of claims 2-3, or to realize the steps in the data transmission method of claim 4.

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