A method and apparatus for wireless node communication link establishment

Abstract

This invention discloses a method and apparatus for establishing wireless node communication links. The method includes: S1, setting the number of nodes between A and B to m-2, and setting the coordinates of A to a1 = (x a1 ,y a1 ,z a1 Let the coordinates of B be a. m =(x am ,y am ,z am S2, Set the maximum communication angle to the maximum communication distance d; i With a m S3. Determine whether the distance between them is less than or equal to d; i If the angle between the launch direction and the angle is less than a, then a i With a m If connected, obtain the communication path and end the loop; otherwise, add a. i After the launch direction changes, it is in harmony with a m Connect, obtain the communication path, and end the loop; where is a i to a m The direction; S4, set the objective function and select the node with the smallest value as the dominant node, and establish a based on the dominant node. i The connection relationship. The beneficial effects of this invention: This link establishment method is simple, effective, and real-time, targeting the switching mode of the radiation range characteristics of millimeter-wave equipment.

Description

Technical Field

[0001] This invention relates to the field of wireless communication technology, and more specifically, to a method and apparatus for establishing wireless node communication links. Background Technology

[0002] In complex outdoor environments, direct communication links cannot be established between two locations. Consider using wireless nodes (such as ships, vehicles, and drones on water, land, and air) to form an ad hoc network and establish communication between the two locations. High real-time data exchange between wireless nodes is a crucial requirement for many industries. To achieve optimal data transmission speed and quality, real-time link selection is necessary, thus involving the issue of link switching.

[0003] Existing switching methods consider network throughput and redundancy control. The former has a more complex calculation process, while the latter has poor control performance and cannot select a better control system, thus failing to meet switching requirements. Summary of the Invention

[0004] This invention provides a wireless node communication link establishment method and apparatus, which solves the problem that traditional handover methods consider network throughput and redundancy control. The former has a more complex calculation process, while the latter has poor control effect and cannot select a better control system, thus failing to meet handover requirements.

[0005] To address the above problems, this invention provides a method for establishing a wireless node communication link, comprising the following steps:

[0006] S1. Set the number of nodes between A and B to m-2, and set the coordinates of A to a1 = (x... a1 ,y a1 ,z a1 Let the coordinates of B be a. m =(x am ,y am ,z am The maximum communication angle is set to φ, and the maximum communication distance is set to d.

[0007] S2, Determine a i With a m Check if the distance between them is less than or equal to d, where i = 1, 2, ..., m. If yes, proceed to step S3; otherwise, proceed to step S4.

[0008] S3, Determine a i launch direction and Is the included angle less than φ? If so, then a i With a m If connected, obtain the communication path and end the loop; otherwise, add a. i The launch direction turned Afterwards, with a m Connect the links, obtain the communication path, and end the loop; where, For a i to a m The direction;

[0009] S4. Set the objective function and select the node with the smallest value as the dominant node, and establish a based on the dominant node. i Based on the connection relationship, increment i by 1 and proceed to step S2.

[0010] Step S4 includes the following steps:

[0011] S41. Set up a candidate node b j The coordinates are (x bj ,y bj ,z bj The launch direction is Among them, b j ∈(U∩V), U=B(a i ,d) indicates that it is related to a i The set of all nodes whose communication distance is less than or equal to d, V = B(a m ,‖a i a m ‖2) indicates that it is related to a m Communication distance less than or equal to a i With a m The set of all nodes at a distance between them;

[0012] S42. Determine ω1 and ω2;

[0013] S43. Establish the objective function:

[0014]

[0015] in,

[0016] S44. Select the candidate node b with the smallest objective function value. j As the dominant node, and denoted as a. i+1 ;

[0017] S45, Determine a i launch direction and Is the included angle less than φ? If so, change a. i With a i+1 Connect; if not, then a i The launch direction turned Then with a i+1 Connect and continue turning to S2.

[0018] Step S42 includes the following steps:

[0019] S421, find n feasible solutions X = {X1, X2, …, X n}, select q decision makers to compare n feasible solutions with each other and give the evaluation in the range of [0.1, 0.9]; wherein, Y k,pj represents the preference degree of the kth decision maker to the scheme p and j, Y k,pj <0.5 represents that the kth decision maker prefers scheme j more, Y k,pj = 0.5 represents that the kth decision maker has the same preference degree to the schemes p and j, Y k,pj > 0.5 represents that the kth decision maker prefers scheme p more; wherein, p = 1, 2…n, j = 1, 2…n, p ≠ j;

[0020] S422, comprehensive evaluation of k decision makers to obtain the judgment matrix:

[0021] R = (r pj ) n×n

[0022] wherein, the weight vector of matrix R is v = (v1, v2, …, vn); n );

[0023] S423, introduce optimization function: Z pj = |r pj -0.5-0.2lnv p +0.2lnv j |;

[0024] S424, the weight vector is obtained by , and the scheme corresponding to the maximum value of the weight vector v p is selected to determine the value of ω1, ω2.

[0025] The initial value of i is 1.

[0026] Further comprising:

[0027] the transmission direction of A is set to the transmission direction of B is set to a i the transmission direction of a

[0028] In one aspect, a wireless node communication link establishment device is provided, comprising:

[0029] A first setting module is configured to set the number of nodes between A and B to m-2, set the coordinates of A to a1= (x a1 , y a1 , z a1 ), and set the coordinates of B to a m=(x am ,y am ,z am The maximum communication angle is set to φ, and the maximum communication distance is set to d.

[0030] The distance judgment module is used to determine a. i With a m Check if the distance between them is less than or equal to d, where i = 1, 2, ..., m. If yes, proceed to step S3; otherwise, proceed to step S4.

[0031] Angle determination module, used when a i With a m When the distance between them is less than or equal to d, determine if a i launch direction and Is the included angle less than φ? If so, then a i With a m If connected, obtain the communication path and end the loop; otherwise, add a. i The launch direction turned Afterwards, with a m Connect the links, obtain the communication path, and end the loop; where, For a i to a m The direction;

[0032] The node chain building module is used when a i With a m When the distance between them is not less than or equal to d, set the objective function and select the node with the smallest value as the dominant node, and establish a based on the dominant node. i The connection relationship is used to increment i by 1 and execute the distance judgment module.

[0033] The node link establishment module includes:

[0034] The settings submodule is used to set up the candidate node b. j The coordinates are (x bj ,y bj ,z bj The launch direction is Among them, b j ∈(U∩V), U=B(a i ,d) indicates that it is related to a i The set of all nodes whose communication distance is less than or equal to d, V = B(a m ,‖a i a m ‖2) indicates that it is related to a m Communication distance less than or equal to a i With a mThe set of all nodes at a distance between them;

[0035] The determination submodule is used to determine ω1 and ω2;

[0036] The function creates a submodule used to create the target function:

[0037]

[0038] in,

[0039] The selection submodule is used to select the candidate node b with the smallest objective function value. j As the dominant node, and denoted as a. i+1 ;

[0040] The judgment submodule is used to judge a. i launch direction and Is the included angle less than φ? If so, change a. i With a i+1 Connect; if not, connect a i The launch direction turned Then with a i+1 Connected, execute the distance judgment module.

[0041] The determining submodule includes:

[0042] The preference evaluation submodule is used to find n feasible solutions X = {X1, X2, ..., X} for ω1, ω2. n} Select q decision-makers to compare n feasible solutions pairwise and give an evaluation within the range [0.1, 0.9]; where Y k,mj Y represents the degree of preference of the k-th decision-maker for option p and option j. k,pj <0.5 indicates that the k-th decision-maker prefers option j, Y k,pj =0.5 indicates that the k-th decision-maker has the same preference for option p and option j, Y k,pj >0.5 indicates that the k-th decision-maker prefers option p; where p = 1, 2, ..., n, j = 1, 2, ..., n, p ≠ j;

[0043] The matrix acquisition submodule is used to synthesize the evaluations of k decision-makers to obtain a judgment matrix.

[0044] R = (r pj ) n×n

[0045] in, The weight vector of matrix R is v = (v1, v2, ..., v n );

[0046] The function introducing submodule is used for introducing an optimization function: Z pj = |r pj -0.5-0.2lnv p +0.2lnv j |;

[0047] The value determining submodule is used for obtaining a weight vector by obtaining the weight vector, and selecting a scheme corresponding to the maximum value of the weight vector p to determine the values of ω1 and ω2.

[0048] Further comprising:

[0049] The second setting submodule is used for setting the emission direction of A as the emission direction of B as a i the emission direction of B as The initial value of i is 1.

[0050] In one aspect, a computer readable storage medium is provided, and the storage medium stores a plurality of instructions, and the instructions are suitable for being loaded by a processor to execute the wireless node communication link building method described above.

[0051] The present application has the advantages that: the link building method is simple and effective, and has real-time performance. BRIEF DESCRIPTION OF DRAWINGS

[0052] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed in the embodiment description will be briefly introduced. Obviously, the drawings in the following description are only some embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative labor.

[0053] Figure 1 is a flow chart of a wireless node communication link building method provided by an embodiment of the present application;

[0054] Figure 2 is a schematic diagram of the maximum limit of the communication angle provided by an embodiment of the present application;

[0055] Figure 3 is a flow chart of a wireless node communication link building method provided by another embodiment of the present application;

[0056] Figure 4 is a set diagram of U and V provided by an embodiment of the present application. DETAILED DESCRIPTION

[0057] The technical solutions in the embodiments of the present application will be clearly and completely described with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments of the present application. Based on the embodiments of the present application, all other embodiments obtained by a person of ordinary skill in the art without creative effort fall within the protection scope of the present application.

[0058] In the description of the present application, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer" and the like indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as a limitation on the present application. In addition, the terms "first", "second" are only for descriptive purposes, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Therefore, the features defined as "first", "second" can explicitly or implicitly include one or more features. In the description of the present application, the meaning of "a plurality of" is two or more, unless otherwise explicitly and specifically limited.

[0059] In the present application, the word "exemplary" is used to mean "serving as an example, instance, or illustration." Any implementation described as "exemplary" is not necessarily to be construed as preferred or advantageous over other implementations. The following description is presented to enable any person skilled in the art to make and use the application. In the following description, for purposes of explanation, specific details are set forth. It will be apparent to those skilled in the art that the present application can be practiced without the specific details. In other instances, well-known structures and processes are not elaborated in order not to obscure the description of the present application with unnecessary details. Thus, the present application is not intended to be limited by the embodiments shown, but is to be accorded with the widest scope consistent with the principles and features disclosed.

[0060] Referring to Figure 1 , Figure 1 is a flowchart of a wireless node communication link establishment method provided by an embodiment of the present application. The wireless node communication link establishment method comprises steps S1-S4:

[0061] S1, set the number of nodes between A and B to m-2, set the coordinates of A as a1=(x a1 ,y a1 ,z a1 ), and set the coordinates of B as a m =(xam ,y am ,z am Set the maximum communication angle to φ and the maximum communication distance to d; set the transmission direction of A to... The launch direction of B is a i The launch direction is

[0062] In this embodiment, if real-time communication needs to be established between A and B, a communication link between A and B is established under different circumstances. A spatial rectangular coordinate system is established, assuming the coordinates of A are (l, m, n) and the coordinates of B are (o, p, q). The total number of nodes between the two locations, including the two points A and B, is m nodes. A is denoted as a1 = (x a1 ,y a1 ,z a1 Launch direction: B is denoted as a m =(x am ,y am ,z am Launch direction: See Figure 2 , Figure 2 This is a schematic diagram illustrating the maximum communication angle provided in an embodiment of the present invention. The communication radiation range of each node is a cone, with a communication angle limit of φ and a communication distance limit of d.

[0063] S2, Determine a i With a m Check if the distance between them is less than or equal to d, where i = 1, 2, ..., m. If yes, proceed to step S3; otherwise, proceed to step S4. The initial value of i is 1.

[0064] In this embodiment, see Figure 3 , Figure 3 This is a flowchart of a wireless node communication link establishment method provided in another embodiment of the present invention. From the programming flowchart, fori = (1, m), determine a i a m Determine whether the distance between them is less than or equal to d.

[0065]

[0066] Is it less than d? If yes, execute S3; otherwise, execute S4.

[0067] S3, Determine a i launch direction and Is the included angle less than φ? If so, then a i With a mIf connected, obtain the communication path and end the loop; otherwise, add a. i The launch direction turned Afterwards, with a m Connect the links, obtain the communication path, and end the loop; where, For a i to a m The direction.

[0068] In this embodiment, the determination of a i launch direction and Is the included angle less than φ? If so, adjust a. i With a m Connect; if not, connect a i The launch direction turned Afterwards, with a m Connect them to obtain the communication path: a1→a2→…→a i →a m End the loop.

[0069] S4. Set the objective function and select the node with the smallest value as the dominant node, and establish a based on the dominant node. i Based on the connection relationship, increment i by 1 and proceed to step S2. Step S4 includes steps S41-S45:

[0070] S41. Set up a candidate node b j The coordinates are (x bj ,y bj ,z bj The launch direction is Among them, b j ∈(U∩V), U=B(a i ,d) indicates that it is related to a i The set of all nodes whose communication distance is less than or equal to d, V = B(a m ,‖a i a m ‖2) indicates that it is related to a m Communication distance less than or equal to a i With a m The set of all nodes at a distance between them.

[0071] In this embodiment, see Figure 4 , Figure 4 This is a schematic diagram of the set of U and V provided in an embodiment of the present invention, where U = B(a i ,d) indicates that it is related to a i The set of all nodes whose communication distance is less than or equal to d, V = B(a m ,‖a i a m ‖2) indicates that it is related to a m Communication distance less than or equal to ai a m a set of all nodes with distance b j ∈E,E=U∩V,coordinates:b j :(x bj ,y bj ,z bj ), emission direction:

[0072] S42, determine ω1 and ω2; the step S42 includes steps S421-S424:

[0073] S421, find n feasible schemes X={X1, X2,…, X n} for ω1, ω2, select q decision makers to compare the n feasible schemes two by two and give the evaluation in the range of [0.1, 0.9]; wherein, Y k,pj represents the preference degree of the kth decision maker to scheme p and scheme j, Y k,pj <0.5 indicates that the kth decision maker prefers scheme j more, Y k,pj =0.5 indicates that the kth decision maker has the same preference degree to scheme p and scheme j, Y k,pj >0.5 indicates that the kth decision maker prefers scheme p more. Wherein, p=1,2…n, j=p=1,2…n, p≠j.

[0074] S422, integrate the evaluation of k decision makers to obtain the judgment matrix:

[0075] R=(r pj ) n×n

[0076] Wherein, The weight vector of matrix R is v=(v1, v2,…, v n ).

[0077] S423, introduce the optimization function: Z pj =|r pj -0.5-0.2lnv p +0.2lnv j |.

[0078] S424, get the weight vector by , and select the scheme corresponding to the maximum value of the weight vector v p to determine the value of ω1, ω2.

[0079] S43, establish the objective function:

[0080]

[0081] Wherein,

[0082] S44. Select the candidate node b with the smallest objective function value. j As the dominant node, and denoted as a. i+1 .

[0083] S45, Determine a i launch direction and Is the included angle less than φ? If so, change a. i With a i+1 Connect; if not, connect a i The launch direction turned Then with a i+1 Connect and continue turning to S2.

[0084] In this embodiment, without considering the case where the parameter has the same name as the previous one, let U = B(a) i ,d) indicates that it is related to a i The set of all nodes whose communication distance is less than or equal to d, V = B(a m ,‖a i a m ‖2) indicates that it is related to a m Communication distance less than or equal to a i ,a m The set of all nodes at a distance between them. j ∈E, E=U∩V, coordinates: b j :(x bj ,y bj ,z bj Launch direction: Establish the objective function: f(b) j )=ω1d bj +ω2θ bj ,in, Select the node b with the smallest objective function value. j Let 'a' be the dominant node. i+1 Determine if a i launch direction and Is the included angle less than φ? If so, adjust a. i With a i+1 Connect; if not, connect a i The launch direction turned Afterwards, with a i+1 Connect and continue turning to S1.

[0085] Specifically, the process of determining the values ​​of ω1 and ω2 is as follows: Find n feasible alternative solutions X = {X1, X2, ..., X...} for ω1 and ω2. n} Select q decision-makers to compare each option pairwise and give an evaluation within the range of [0.1, 0.9]. k,ijY represents the degree of preference of the k-th decision-maker for options i and j. k,ij <0.5 indicates that the k-th decision-maker prefers option j, Y k,ij =0.5 indicates that the k-th decision-maker has the same preference for options i and j, Y k,ij >0.5 indicates that the k-th decision-maker prefers option i. Combining the ratings of the k decision-makers, the judgment matrix is ​​obtained: R = (r ij ) n×n ,in, The weight vector of matrix R: v = (v1, v2, ..., v n Introducing the optimization function: Z ij =|r ij -0.5-0.2lnv i +0.2lnv j |, by Obtain the weight vector. Select the weight vector with the largest value, v. i The corresponding scheme determines the values ​​of ω1 and ω2.

[0086] The wireless node communication link establishment device provided in this case includes:

[0087] The first setting module is used to set the number of nodes between A and B to m-2, and to set the coordinates of A to a1 = (x a1 ,y a1 ,z a1 Let the coordinates of B be a. m =(x am ,y am ,z am The maximum communication angle is set to φ, and the maximum communication distance is set to d.

[0088] The distance judgment module is used to determine a. i With a m Check if the distance between them is less than or equal to d, where i = 1, 2, ..., m. If yes, proceed to step S3; otherwise, proceed to step S4.

[0089] Angle determination module, used when a i With a m When the distance between them is less than or equal to d, determine if a i launch direction and Is the included angle less than φ? If so, then a i With a m If connected, obtain the communication path and end the loop; otherwise, add a. i The launch direction turned Afterwards, with a m Connect the links, obtain the communication path, and end the loop; where, for a i to a m direction;

[0090] The node connection module is configured to set a target function and select a node with a minimum value as a dominant node when the distance between a i and a m is not less than d, and establish a connection relationship between a i and a j according to the dominant node, and then increase i by 1 and execute the distance judgment module.

[0091] The node connection module comprises:

[0092] The setting submodule is configured to set the coordinates of a candidate node b bj as (x bj , y bj , z j ), and the emission direction as wherein, b i ∈(U∩V), U=B(a i , d) represents a set of all nodes with a communication distance less than or equal to d from a m , and V=B(a i , ‖a m a m ‖2) represents a set of all nodes with a communication distance less than or equal to the distance between a i and a m ;

[0093] The determination submodule is configured to determine ω1 and ω2.

[0094] The function establishment submodule is configured to establish a target function as:

[0095]

[0096] wherein,

[0097] The selection submodule is configured to select a candidate node b j with a minimum value of the target function as a dominant node, and record the dominant node as a i+1 .

[0098] The judgment submodule is configured to judge whether the emission direction of a i is smaller than φ with ; if yes, a i is connected with a i+1 ; if not, the emission direction of a i is turned to , and then a i+1The distance judgment module is connected and executed.

[0099] The determination sub-module comprises:

[0100] The preference evaluation sub-module is configured to find n feasible schemes X={X1, X2, …, Xn} for ω1, ω2. n The q decision makers compare the n feasible schemes with each other and give an evaluation in the range of [0.1, 0.9]. k,pj Ykj represents the preference degree of the kth decision maker for the scheme p and j, Ykj k,pj <0.5 represents that the kth decision maker prefers the scheme j more, Ykj k,pj =0.5 represents that the kth decision maker has the same preference degree for the schemes p and j, and Ykj k,pj >0.5 represents that the kth decision maker prefers the scheme p more; wherein p=1, 2…n, j=1, 2…n, and p≠j.

[0101] The matrix acquisition sub-module is configured to obtain a judgment matrix R by comprehensively evaluating the k decision makers:

[0102] R=(r pj ) n×n

[0103] wherein, The weight vector of the matrix R is v=(v1, v2, …, vn). n

[0104] The function introduction sub-module is configured to introduce an optimization function Z pj =|r pj -0.5-0.2lnv p +0.2lnv j |.

[0105] The value determination sub-module is configured to obtain the weight vector v by , and select the scheme corresponding to the maximum value v p of the weight vector to determine the values of ω1 and ω2.

[0106] Further comprising:

[0107] The second setting sub-module is configured to set the emission direction of A as the emission direction of B as the emission direction of a i as The initial value of i is 1.

[0108] ​Those skilled in the art can understand that all or part of the steps of various methods in the above embodiments can be completed by instructions or by controlling relevant hardware by the instructions, and the instructions can be stored in a computer readable storage medium and loaded and executed by a processor. To this end, the embodiments of the present application provide a storage medium, which stores a plurality of instructions capable of being loaded by a processor to execute any one of the steps of the wireless node communication link establishment method of the Lanchester equation provided by the embodiments of the present application.

[0109] The storage medium can include a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk, etc.

[0110] Since the instructions stored in the storage medium can execute any one of the steps of the wireless node communication link establishment method of the Lanchester equation provided by the embodiments of the present application, the beneficial effects of any one of the wireless node communication link establishment methods of the Lanchester equation provided by the embodiments of the present application can be achieved, and details are described in the above embodiments, which will not be repeated here.

[0111] The above only describes the preferred embodiments of the present application and is not intended to limit the present application. Any modification, equivalent replacement and improvement made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. A method for establishing a wireless node communication link, characterized in that, Including the following steps: S1. Set the number of nodes between A and B to m-2, and set the coordinates of A to a1 = (x... a1 ,y a1 ,z a1 Let the coordinates of B be a. m =(x am ,y am ,z am The maximum communication angle is set to φ, and the maximum communication distance is set to d. S2, Determine a i With a m If the distance between them is less than or equal to d, where i = 1, 2, ... m, and the initial value of i is 1; if yes, proceed to step S3; if no, proceed to step S4. S3, Determine a i launch direction and Is the included angle less than φ? If so, then a i With a m If connected, obtain the communication path and end the loop; otherwise, add a. i The launch direction turned Afterwards, with a m Connect the links, obtain the communication path, and end the loop; where, For a i to a m The direction; S4. Set the objective function and select the node with the smallest value as the dominant node, and establish a based on the dominant node. i Based on the connection relationship, increment i by 1 and proceed to step S2; Step S4 includes the following steps: S41. Set up a candidate node b j The coordinates are (x bj ,y bj ,z bj The launch direction is Among them, b j ∈(U∩V), U=B(a i ,d) indicates that it is related to a i The set of all nodes whose communication distance is less than or equal to d, V = B(a m ,‖a i a m ‖2) indicates that it is related to a m Communication distance less than or equal to a i With a m The set of all nodes at a distance between them; S42. Determine ω1 and ω2; S43. Establish the objective function: in, S44. Select the candidate node b with the smallest objective function value. j As the dominant node, and denoted as a. i+1 ; S45, Determine a i launch direction and Is the included angle less than φ? If so, change a. i With a i+1 Connect; if not, then a i The launch direction turned Then with a i+1 Connected, continue turning to S2; Step S42 includes the following steps: S421. Find n feasible solutions X = {X1, X2, ..., X2} for ω1, ω2. n } Select q decision-makers to compare n feasible solutions pairwise and give an evaluation within the range [0.1, 0.9]; where Y k,pj Y represents the degree of preference of the k-th decision-maker for option p and option j. k,pj <0.5 indicates that the k-th decision-maker prefers option j, Y k,pj =0.5 indicates that the k-th decision-maker has the same preference for option p and option j, Y k,pj >0.5 indicates that the k-th decision-maker prefers option p; where p = 1, 2, ..., n, j = 1, 2, ..., n, p ≠ j; S422. Obtain the judgment matrix by combining the evaluations of k decision-makers: R＝(r pj ) n×n in, The weight vector of matrix R is v = (v1, v2, ..., v n ); S423. Introduce the optimization function: Z pj =|r pj -0.5-0.2lnv p +0.2lnv j |; S424, by Obtain the weight vector and select the value v with the largest weight vector value. p The corresponding scheme determines the values ​​of ω1 and ω2.

2. The wireless node communication link establishment method according to claim 1, characterized in that, Also includes: Set the launch direction of A as follows: The launch direction of B is a i The launch direction is 3. A wireless node communication link establishment device, characterized in that, include: The first setting module is used to set the number of nodes between A and B to m-2, and to set the coordinates of A to a1 = (x a1 ,y a1 ,z a1 Let the coordinates of B be a. m =(x am ,y am ,z am The maximum communication angle is set to φ, and the maximum communication distance is set to d. The distance judgment module is used to determine a. i With a m Check if the distance between them is less than or equal to d, where i = 1, 2, ..., m. If yes, proceed to step S3; otherwise, proceed to step S4. Angle determination module, used when a i With a m When the distance between them is less than or equal to d, determine if a i launch direction and Is the included angle less than φ? If so, then a i With a m If connected, obtain the communication path and end the loop; otherwise, add a. i The launch direction turned Afterwards, with a m Connect the links, obtain the communication path, and end the loop; where, For a i to a m The direction; The node chain building module is used when a i With a m When the distance between them is not less than or equal to d, set the objective function and select the node with the smallest value as the dominant node, and establish a based on the dominant node. i Based on the connection relationship, increment i by 1 and execute the distance judgment module; The node link establishment module includes: The settings submodule is used to set up the candidate node b. j The coordinates are (x bj ,y bj ,z bj The launch direction is Among them, b j ∈(U∩V), U=B(a i ,d) indicates that it is related to a i The set of all nodes whose communication distance is less than or equal to d, V = B(a m ,‖a i a m ‖2) indicates that it is related to a m Communication distance less than or equal to a i With a m The set of all nodes at a distance between them; The determination submodule is used to determine ω1 and ω2; The function creates a submodule used to create the target function: in, The selection submodule is used to select the candidate node b with the smallest objective function value. j As the dominant node, and denoted as a. i+1 ; The judgment submodule is used to judge a. i launch direction and Is the included angle less than φ? If so, change a. i With a i+1 Connect; if not, then a i The launch direction turned Then with a i+1 Connected, execute the distance judgment module; The determining submodule includes: The preference evaluation submodule is used to find n feasible solutions X = {X1, X2, ..., X} for ω1, ω2. n } Select q decision-makers to compare n feasible solutions pairwise and give an evaluation within the range [0.1, 0.9]; where Y k,pj Y represents the degree of preference of the k-th decision-maker for option p and option j. k,pj <0.5 indicates that the k-th decision-maker prefers option j, Y k,pj =0.5 indicates that the k-th decision-maker has the same preference for option p and option j, Y k,pj >0.5 indicates that the k-th decision-maker prefers option p; where p = 1, 2, ..., n, j = 1, 2, ..., n, p ≠ j; The matrix acquisition submodule is used to synthesize the evaluations of k decision-makers to obtain a judgment matrix. R＝(r pj ) n×n in, The weight vector of matrix R is v = (v1, v2, ..., v n ); The function import submodule is used to import the optimization function: Z pj =|r pj -0.5-0.2lnv p +0.2lnv j |; The value determination submodule is used to determine the value. Obtain the weight vector and select the value v with the largest weight vector value. p The corresponding scheme determines the values ​​of ω1 and ω2.

4. The wireless node communication link establishment device according to claim 3, characterized in that, Also includes: The second setting submodule is used to set the emission direction of A. The launch direction of B is a i The launch direction is The initial value of i is 1.

5. A computer-readable storage medium, characterized in that, The storage medium stores multiple instructions, which are adapted to be loaded by a processor to execute a wireless node communication link establishment method according to any one of claims 1 to 2.

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