Fast networking method and apparatus for directional channel ad hoc network

Abstract

The application provides a rapid networking method for directional channel self-organizing network, and relates to the technical field of wireless communication, and the method comprises the following steps: acquiring position information of all nodes in the whole network through omni-directional channel synchronization interaction; calculating a to-be-aligned directional neighbor list of each node according to the position information and a directional antenna transmission distance; encoding a unique identity ID of each node to obtain a transceiving round state code sequence of each node, and calculating the state code of all nodes at each node; making the nodes enter the transceiving state in turn for beam alignment through traversing the transceiving round state code sequence, and performing an omni-directional channel assisted round end mechanism and an alignment reservation strategy based on GNSS position information in each round of scanning; and when all the nodes have traversed the end state code sequence, a normal alignment round of directional networking is completed. The application adopting the above scheme can reduce the cost of directional antenna neighbor discovery, and realizes the rapid networking of the directional self-organizing network.

Description

Technical Field

[0001] The present application relates to the field of wireless communication technology, and in particular to a method and device for rapidly establishing a directional channel self-organizing network. Background Art

[0002] With the development of wireless communication technology, self-organizing networks, thanks to their advantages of being distributed, easy to deploy, and dynamically reconfigurable, are finding widespread application in a variety of fields, including military communications, disaster relief, sensor networks, and smart homes. However, the demands of a new generation of unmanned collaborative platforms, such as high-precision unmanned swarm systems and highly reliable collaborative tasks, pose challenges to the performance of self-organizing networks. The introduction of directional channels can ensure highly reliable and low-latency communications.

[0003] By equipping distributed nodes with directional antenna arrays and adding directional channels to the omnidirectional ad hoc network, a directional self-organizing network system can be constructed. Directional channels, on the one hand, allow for more concentrated power, enabling the use of high-frequency millimeter-wave bands with greater path loss, providing greater transmission bandwidth and speed. On the other hand, directional channels constrain signals within the beamwidth, making them more resistant to interception and interference than omnidirectional broadcasts. They also reduce the probability of data collisions, resulting in higher security and reliability. However, the narrow beam characteristics of directional channels undoubtedly increase the complexity of node networking. In distributed scenarios, neighbor discovery through beam scanning incurs a significant time overhead, which in turn increases the latency of directional ad hoc networks. Summary of the Invention

[0004] The present application aims to solve one of the technical problems in the related art at least to a certain extent.

[0005] To this end, the first purpose of this application is to propose a rapid networking method for directional channel self-organizing networks, which solves the technical problem that the existing methods have high time overhead when performing neighbor discovery, resulting in increased networking delay of directional self-organizing networks, and effectively reduces the overhead of directional antenna neighbor discovery, thereby realizing rapid networking of directional self-organizing networks.

[0006] The second objective of the present application is to provide a fast networking device for a directional channel self-organizing network.

[0007] To achieve the above object, the first aspect of the present application provides a fast networking method for directional channel self-organizing network, comprising: obtaining position information of all nodes in the network through omni-directional channel synchronization interaction; calculating a to-be-aligned directional neighbor list of each node according to the position information and directional antenna transmission distance; encoding a unique identity ID of each node to obtain a transceiving round state code sequence of each node, and calculating state codes of all nodes at each node; making the nodes enter transceiving state in turn for beam alignment by traversing the transceiving round state code sequence, and performing omni-directional channel assisted round end mechanism and alignment reservation strategy based on GNSS position information in each scanning round, and completing a normal alignment round of directional networking when all nodes traverse the end state code sequence.

[0008] The fast networking method for directional channel self-organizing network according to the embodiments of the present application plans the sequence of directional beam alignment by reasonably arranging the transceiving rounds of distributed nodes, and optimizes the strategy of directional neighbor discovery and beam scanning by using omni-directional signaling and position information, thereby reducing the time consumption of beam alignment of distributed nodes, and further reducing the overhead of directional antenna neighbor discovery, so as to realize fast networking of directional self-organizing network.

[0009] Optionally, in an embodiment of the present application, the position information is position coordinates obtained by each node through GNSS positioning system at initialization, and the to-be-aligned directional neighbor list of each node is calculated according to the position information and directional antenna transmission distance, comprising:

[0010] calculating the distance between each node and other nodes in the network;

[0011] calculating the neighbor nodes in one-hop transmission range of the node as the to-be-aligned directional neighbor list of the node according to the distance between the node and other nodes in the network and the reachable distance of the directional antenna.

[0012] Optionally, in an embodiment of the present application, the nodes include cluster head nodes and non-cluster head nodes, and the local storage of the cluster head node has a list for recording nodes completing current round alignment / directional networking, and the omni-directional channel assisted round end mechanism is performed in each scanning round, comprising:

[0013] at the beginning of each alignment round, screening out a state matching neighbor list of the current alignment round from the to-be-aligned directional neighbor list by comparing the neighbor list still not aligned and the state codes of all nodes;

[0014] During the regular round alignment process, the node alignment status is checked after each directional alignment time slot. The alignment status includes whether the node itself has completed the current round of beam alignment or directional networking. Checking the node alignment status includes: checking whether the node has completed alignment with all directional neighbors. If so, it is determined that the node has completed directional networking. Otherwise, it is checked whether the status matches the neighbor list. If so, it is determined that the node has completed the current round of alignment.

[0015] If the node is not a cluster head node, when it is the turn of the next time slot of omnidirectional TDMA, it reports the alignment status to the corresponding cluster head node by broadcasting FIN frame and receives the instruction broadcast by the cluster head node. If the instruction is the end instruction of the current round, the next alignment round will be started in advance at the end of the current time slot. If the instruction is the networking completion instruction, the directional networking will be ended.

[0016] If the node is a cluster head node, it records its own alignment status locally, and at the same time receives the alignment status reported by other nodes through omnidirectional reception to determine whether all nodes in the entire network have completed the current round of alignment / directional networking. When it is the next time slot of the omnidirectional TDMA, the node sends the corresponding end instruction by broadcasting a FIN frame.

[0017] Optionally, in one embodiment of the present application, an alignment reservation strategy based on GNSS position information is executed in each scanning round, including:

[0018] At the beginning of each round, all nodes are blindly scanned. Blind scanning includes: synchronously performing beam rotation scanning on the transmitting and receiving nodes with the same switching step and different switching rates to traverse different beam direction pairs. Scanning each beam pair requires one directional time slot.

[0019] In each directional time slot, the sending node sends a directional alignment frame ALIGN and waits for the directional ACK returned by the receiving node. The receiving node receives the ALIGN and replies with an ACK after receiving it. The length of the directional time slot is not less than the ALIGN-ACK interaction time between nodes within the transmission range of the directional antenna.

[0020] When the sending node takes its turn in the TDMA time slot, if it does not need to report the alignment completion status and has not completed the alignment reservation, it will initiate an alignment reservation, write the neighboring nodes that the node itself has not yet aligned into the potential neighbor list, write the RTS frame and broadcast it on the omnidirectional channel, and then wait for the potential neighbors to reply with a CTS frame through the omnidirectional channel;

[0021] The receiving node keeps listening before it is its turn in the TDMA time slot. If it receives an RTS frame sent by its potential neighbor, it checks whether the potential neighbor table in the frame contains the node itself. If it contains the node itself, it records the neighbor in the local reservation neighbor table. If it receives a CTS frame sent by other receiving nodes, it checks whether the node replied to by the CTS frame is in its own reservation neighbor table. If so, it deletes it. When it is the turn of the receiving node in the TDMA time slot, if it does not need to report the alignment completion status and the alignment reservation is not completed, it replies to the CTS frame to the node that is first in the reservation neighbor table in the omnidirectional channel. The reservation neighbor table is arranged in order of node ID and is cleared after each CTS reply.

[0022] If the transmitting node receives a CTS frame from a potential neighbor, confirming that the transceiver has completed the alignment reservation, it enters GNSS scanning mode. The transceiver performs several scans in the calculated direction and takes the direction with the highest power as the beam alignment result. The operation within each directional time slot is the same as that of a blind scan.

[0023] After the GNSS scan is completed, the corresponding transceiver node ends the alignment reservation and returns to the blind scan mode.

[0024] Optionally, in one embodiment of the present application, if after the regular alignment round ends, a node has not completed beam alignment with all its neighbors, a fill-in round alignment is performed on the node that has not completed beam alignment with all its neighbors, wherein the fill-in round alignment includes:

[0025] Step S1: The cluster head node broadcasts a FIN frame based on the omnidirectional channel to issue a filling instruction;

[0026] Step S2: The node determines the next status code according to the received instruction, so that the node with the smallest ID among the remaining nodes that has not yet been aligned enters the sending state, and the remaining nodes enter the receiving state;

[0027] Step S3: Repeat steps S1 and S2 until all remaining nodes have undergone a round of gap-filling alignment, wherein the beam alignment strategy used in the gap-filling round is the same as that used in the normal round.

[0028] To achieve the above-mentioned purpose, the second embodiment of the present invention proposes a fast networking device for a directional channel self-organizing network, comprising an acquisition module, a first calculation module, a second calculation module, and a directional networking module, wherein:

[0029] The acquisition module is used to obtain the location information of all nodes in the entire network through synchronous interaction of the omnidirectional channel;

[0030] A first calculation module is used to calculate a list of directional neighbors to be aligned with each node based on the location information and the directional antenna transmission distance;

[0031] a second calculation module, configured to encode the unique ID of each node to obtain a sequence of state codes of each node in a transceiving round, and calculate the state codes of all nodes at each node;

[0032] a directional networking module, configured to make the nodes enter the transceiving state in turn for beam alignment by traversing the sequence of state codes of the transceiving round, perform an omnidirectional channel assisted round end mechanism and an alignment reservation strategy based on GNSS position information in each scanning round, and complete a regular alignment round of directional networking when all nodes traverse the sequence of state codes.

[0033] Optionally, in an embodiment of the present application, the position information is position coordinates obtained by each node through a GNSS positioning system at initialization, and the first calculation module is specifically configured to:

[0034] calculate the distances between each node and other nodes in the entire network;

[0035] calculate, according to the distances between each node and other nodes in the entire network and the reachable distance of the directional antenna, neighbor nodes within the one-hop transmission range of the node as a to-be-aligned directional neighbor list of the node.

[0036] Optionally, in an embodiment of the present application, the nodes include cluster head nodes and non-cluster head nodes, and the cluster head nodes locally store a list for recording nodes that complete alignment / directional networking in the current round, and the omnidirectional channel assisted round end mechanism is performed in each scanning round, and includes:

[0037] at the beginning of each alignment round, the state matching neighbor list of the current alignment round is screened out from the to-be-aligned directional neighbor list by comparing the neighbor list that is still not aligned and the state codes of all nodes;

[0038] in the process of regular round alignment, the alignment condition of the node is checked after each directional alignment time slot ends, wherein the alignment condition includes whether the node itself completes beam alignment or directional networking in the current round, and the alignment condition of the node is checked, including: checking whether the node completes alignment with all directional neighbors, and if yes, determining that the node completes directional networking, otherwise, checking whether the node is in the state matching neighbor list, and if yes, determining that the node completes alignment in the current round;

[0039] if the node is a non-cluster head node, when it is the next time slot of the omnidirectional TDMA, the alignment condition is reported to the corresponding cluster head node through a broadcast FIN frame, and an instruction broadcast by the cluster head node is received, if the instruction is a current round end instruction, the next alignment round is started in advance at the end of the current time slot, and if the instruction is a networking completion instruction, directional networking is ended;

[0040] If the node is a cluster head node, it records its own alignment status locally, and at the same time receives the alignment status reported by other nodes through omnidirectional reception to determine whether all nodes in the entire network have completed the current round of alignment / directional networking. When it is the next time slot of the omnidirectional TDMA, the node sends the corresponding end instruction by broadcasting a FIN frame.

[0041] Optionally, in one embodiment of the present application, an alignment reservation strategy based on GNSS position information is executed in each scanning round, including:

[0042] At the beginning of each round, all nodes are blindly scanned. Blind scanning includes: synchronously performing beam rotation scanning on the transmitting and receiving nodes with the same switching step and different switching rates to traverse different beam direction pairs. Scanning each beam pair requires one directional time slot.

[0043] In each directional time slot, the sending node sends a directional alignment frame ALIGN and waits for the directional ACK returned by the receiving node. The receiving node receives the ALIGN and replies with an ACK after receiving it. The length of the directional time slot is not less than the ALIGN-ACK interaction time between nodes within the transmission range of the directional antenna.

[0044] When the sending node takes its turn in the TDMA time slot, if it does not need to report the alignment completion status and has not completed the alignment reservation, it will initiate an alignment reservation, write the neighboring nodes that the node itself has not yet aligned into the potential neighbor list, write the RTS frame and broadcast it on the omnidirectional channel, and then wait for the potential neighbors to reply with a CTS frame through the omnidirectional channel;

[0045] The receiving node keeps listening before it is its turn in the TDMA time slot. If it receives an RTS frame sent by its potential neighbor, it checks whether the potential neighbor table in the frame contains the node itself. If it contains the node itself, it records the neighbor in the local reservation neighbor table. If it receives a CTS frame sent by other receiving nodes, it checks whether the node replied to by the CTS frame is in its own reservation neighbor table. If so, it deletes it. When it is the turn of the receiving node in the TDMA time slot, if it does not need to report the alignment completion status and the alignment reservation is not completed, it replies to the CTS frame to the node that is first in the reservation neighbor table in the omnidirectional channel. The reservation neighbor table is arranged in order of node ID and is cleared after each CTS reply.

[0046] If the transmitting node receives a CTS frame from a potential neighbor, confirming that the transceiver has completed the alignment reservation, it enters GNSS scanning mode. The transceiver performs several scans in the calculated direction and takes the direction with the highest power as the beam alignment result. The operation within each directional time slot is the same as that of a blind scan.

[0047] After the GNSS scan is completed, the corresponding transceiver node ends the alignment reservation and returns to the blind scan mode.

[0048] Optionally, in one embodiment of the present application, a gap-filling round alignment module is further included, which is configured to, after the regular alignment round ends, if there is a node that has not completed beam alignment with all neighbors, perform a gap-filling round alignment on the node that has not completed beam alignment with all neighbors, wherein the gap-filling round alignment module is specifically configured to:

[0049] Step S1: The cluster head node broadcasts a FIN frame based on the omnidirectional channel to issue a filling instruction;

[0050] Step S2: The node determines the next status code according to the received instruction, so that the node with the smallest ID among the remaining nodes that has not yet been aligned enters the sending state, and the remaining nodes enter the receiving state;

[0051] Step S3: Repeat steps S1 and S2 until all remaining nodes have undergone a round of gap-filling alignment, wherein the beam alignment strategy used in the gap-filling round is the same as that used in the normal round.

[0052] Additional aspects and advantages of the present application will be given in part in the description below, and in part will become apparent from the description below, or will be learned through practice of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0053] The above and / or additional aspects and advantages of the present application will become apparent and easily understood from the following description of the embodiments in conjunction with the accompanying drawings, in which:

[0054] Figure 1 A flowchart of a method for rapidly establishing a directional channel self-organizing network provided in Example 1 of the present application;

[0055] Figure 2 This is a flow chart of the directional networking solution according to an embodiment of the present application;

[0056] Figure 3 This is an example diagram of a distributed node scenario in an embodiment of the present application;

[0057] Figure 4 This is a schematic diagram of the frame format of the synchronization frame TOD according to an embodiment of the present application;

[0058] Figure 5 Schematic diagram of calculation results of all node status code sequences according to an embodiment of the present application;

[0059] Figure 6 This is a schematic diagram of the frame format of the networking end frame FIN in an embodiment of the present application;

[0060] Figure 7Schematic diagram of the frame format of the directional alignment (reply) frame ALIGN (ACK) according to an embodiment of the present application;

[0061] Figure 8 A schematic diagram of the frame format of an alignment reservation (reply) frame RTS (CTS) according to an embodiment of the present application;

[0062] Figure 9 Schematic diagram of the first and second alignment reservation processes in an embodiment of the present application;

[0063] Figure 10 A schematic diagram of the structure of a fast networking device for a directional channel self-organizing network provided in an embodiment of the present application; DETAILED DESCRIPTION

[0064] The following describes in detail embodiments of the present application. Examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are intended to be used to explain the present application, and should not be construed as limiting the present application.

[0065] The following describes a fast networking method and apparatus for a directional channel self-organizing network according to an embodiment of the present application with reference to the accompanying drawings.

[0066] Figure 1 A flowchart of a method for rapidly establishing a directional channel self-organizing network provided in Example 1 of the present application.

[0067] like Figure 1 As shown, the rapid networking method for a directional channel self-organizing network includes the following steps:

[0068] Step 101: Acquire the location information of all nodes in the entire network through synchronous interaction through an omnidirectional channel;

[0069] Step 102, calculating a list of directional neighbors to be aligned for each node based on the location information and the directional antenna transmission distance;

[0070] Step 103: Encode the unique ID of each node to obtain the sending and receiving round status code sequence of each node, and calculate the status codes of all nodes at each node;

[0071] Step 104, traverse the transceiver round state code sequence to enable the nodes to enter the transceiver state in turn for beam alignment, execute the omnidirectional channel assisted round end mechanism and the alignment reservation strategy based on GNSS position information in each round of scanning, and when all nodes have traversed the end state code sequence, the regular alignment round of directional networking is completed.

[0072] The rapid networking method for a directional channel self-organizing network in an embodiment of the present application plans the order of directional beam alignment by reasonably arranging the transmission and reception rounds of distributed nodes, and optimizes the strategies of directional neighbor discovery and beam scanning by using omnidirectional signaling and location information, thereby reducing the time consumption of distributed node beam alignment and further reducing the overhead of directional antenna neighbor discovery, thereby realizing rapid networking of a directional self-organizing network.

[0073] Optionally, in one embodiment of the present application, the location information is the location coordinates of each node obtained by the GNSS positioning system during initialization, and the list of directional neighbors to be aligned with each node is calculated based on the location information and the directional antenna transmission distance, including:

[0074] Calculate the distance between each node and other nodes in the entire network;

[0075] According to the distance between the node and other nodes in the entire network and the reachable distance of the directional antenna, the neighbor nodes within the one-hop transmission range of the node itself are calculated as the directional neighbor list to be aligned with the node.

[0076] Optionally, in one embodiment of the present application, the nodes include cluster head nodes and non-cluster head nodes, and the cluster head node locally stores a list of nodes that complete the current round of alignment / directional networking. In each round of scanning, an omnidirectional channel-assisted round end mechanism is executed, including:

[0077] At the beginning of each round of alignment, the state matching neighbor list of the current alignment round is filtered out from the list of directional neighbors to be aligned by comparing the current unaligned neighbor list with the status codes of all current nodes;

[0078] During the regular round alignment process, the node alignment status is checked after each directional alignment time slot. The alignment status includes whether the node itself has completed the current round of beam alignment or directional networking. Checking the node alignment status includes: checking whether the node has completed alignment with all directional neighbors. If so, it is determined that the node has completed directional networking. Otherwise, it is checked whether the status matches the neighbor list. If so, it is determined that the node has completed the current round of alignment.

[0079] If the node is not a cluster head node, when it is the turn of the next time slot of omnidirectional TDMA, it reports the alignment status to the corresponding cluster head node by broadcasting FIN frame and receives the instruction broadcast by the cluster head node. If the instruction is the end instruction of the current round, the next alignment round will be started in advance at the end of the current time slot. If the instruction is the networking completion instruction, the directional networking will be ended.

[0080] If the node is a cluster head node, it records its own alignment status locally, and at the same time receives the alignment status reported by other nodes through omnidirectional reception to determine whether all nodes in the entire network have completed the current round of alignment / directional networking. When it is the next time slot of the omnidirectional TDMA, the node sends the corresponding end instruction by broadcasting a FIN frame.

[0081] Optionally, in one embodiment of the present application, an alignment reservation strategy based on GNSS position information is executed in each scanning round, including:

[0082] At the beginning of each round, all nodes are blindly scanned. Blind scanning includes: synchronously performing beam rotation scanning on the transmitting and receiving nodes with the same switching step and different switching rates to traverse different beam direction pairs. Scanning each beam pair requires one directional time slot.

[0083] In each directional time slot, the sending node sends a directional alignment frame ALIGN and waits for the directional ACK returned by the receiving node. The receiving node receives the ALIGN and replies with an ACK after receiving it. The length of the directional time slot is not less than the ALIGN-ACK interaction time between nodes within the transmission range of the directional antenna.

[0084] When the sending node takes its turn in the TDMA time slot, if it does not need to report the alignment completion status and has not completed the alignment reservation, it will initiate an alignment reservation, write the neighboring nodes that the node itself has not yet aligned into the potential neighbor list, write the RTS frame and broadcast it on the omnidirectional channel, and then wait for the potential neighbors to reply with a CTS frame through the omnidirectional channel;

[0085] The receiving node keeps listening before it is its turn in the TDMA time slot. If it receives an RTS frame sent by its potential neighbor, it checks whether the potential neighbor table in the frame contains the node itself. If it contains the node itself, it records the neighbor in the local reservation neighbor table. If it receives a CTS frame sent by other receiving nodes, it checks whether the node replied to by the CTS frame is in its own reservation neighbor table. If so, it deletes it. When it is the turn of the receiving node in the TDMA time slot, if it does not need to report the alignment completion status and the alignment reservation is not completed, it replies to the CTS frame to the node that is first in the reservation neighbor table in the omnidirectional channel. The reservation neighbor table is arranged in order of node ID and is cleared after each CTS reply.

[0086] If the transmitting node receives a CTS frame from a potential neighbor, confirming that the transceiver has completed the alignment reservation, it enters GNSS scanning mode. The transceiver performs several scans in the calculated direction and takes the direction with the highest power as the beam alignment result. The operation within each directional time slot is the same as that of a blind scan.

[0087] After the GNSS scan is completed, the corresponding transceiver node ends the alignment reservation and returns to the blind scan mode.

[0088] Optionally, in one embodiment of the present application, if after the regular alignment round ends, a node has not completed beam alignment with all its neighbors, then a fill-in round alignment is performed on the node that has not completed beam alignment with all its neighbors, wherein the fill-in round alignment includes:

[0089] Step S1: The cluster head node broadcasts a FIN frame based on the omnidirectional channel to issue a filling instruction;

[0090] Step S2: The node determines the next status code according to the received instruction, so that the node with the smallest ID among the remaining nodes that has not yet been aligned enters the sending state, and the remaining nodes enter the receiving state;

[0091] Step S3: Repeat steps S1 and S2 until all remaining nodes have undergone a round of gap-filling alignment, wherein the beam alignment strategy used in the gap-filling round is the same as that used in the normal round.

[0092] The following combination Figure 2 Introducing another embodiment of the present application, such as Figure 2 As shown in FIG, it is a flowchart of a fast networking algorithm for a directional channel self-organizing network according to an embodiment of the present application. Figure 3 As shown in the figure, there are 8 distributed nodes in the space, with node IDs of 0 to 7. Each node is equipped with an omnidirectional antenna and four directional antennas, with transmission distances of 100 kilometers and 10 kilometers respectively. The horizontal scanning range, beam width and step accuracy of each directional antenna are 90°, 13° and 3° respectively to ensure 360° beam coverage in the horizontal plane, and the vertical scanning range and beam width are ±20°. At the same time, the node heights in the example scenario are distributed within a range of 20° (in this case, only beam scanning is required in the horizontal direction), and it is ensured that within the current antenna coverage, the omnidirectional network is a single-hop all-pass network, and the directional network is a multi-hop network.

[0093] The embodiment includes the following steps:

[0094] (1) Node location information interaction

[0095] Initially, each node v i The 3D spatial coordinates (x i ,y i ,z i ), write the position information into the synchronous TOD frame (frame format is as follows Figure 4As shown in the figure, the position coordinates {(x0,y0,z0),(x1,y1,z1),…,(x7,y7,z7)} of all nodes in the network are collected through interaction through broadcasting through omnidirectional TDMA channels.

[0096] (2) Calculate the list of directional neighbors to be aligned

[0097] Each node v i Calculate the v between other nodes in the entire network j distance And calculate the neighbor nodes within its own one-hop transmission range according to the directional antenna reachable distance R and the node distance, as the directional neighbor list to be aligned: neighlist(v i )={v j |d i,j <R andj≠i}, Figure 3 The lines in indicate that the nodes are directed neighbors of each other.

[0098] (3) Calculate the sending and receiving status code sequence

[0099] By appropriately encoding the unique identity ID of the node, the binary representation and the inverse representation of ID(i) are concatenated to obtain the node v i The state code sequence of the sending and receiving rounds: statecode(v i )={dec2bin(ID(v i )),~dec2bin(ID(v i ))}. For the 8-node scenario of the embodiment, the length of the state code sequence is 2log8=6, which are: {000111}, {001110}, …, {111000}. Each bit of the sequence is a binary code, 0 indicates that the node is in the sending state in this alignment round, and 1 indicates the receiving state. In addition to its own state code sequence, each node also needs to calculate the state code of all nodes in order to determine whether the neighboring nodes have a matching state (the sending and receiving states are different). The calculation results are as follows Figure 5 As shown in the regular round, the white squares represent the sending state (0) and the black squares represent the receiving state (1).

[0100] (4) Multi-node beam alignment based on omnidirectional channel and GNSS assistance (conventional rounds)

[0101] Nodes switch between transmit and receive states in sequence according to the calculated state code sequence to perform beam alignment. In each round of scanning, the omnidirectional channel-assisted round end mechanism and the alignment reservation strategy based on GNSS position information are executed. When all nodes have traversed the end state code sequence, the conventional alignment round of directional networking is completed. Specifically, it includes:

[0102] (4.1) The round ending mechanism of omni-directional channel assistance includes the following steps:

[0103] At the beginning of each alignment round, the node compares the currently unaligned neighbor list with the current state code of the entire network, and selects the state-matching neighbor list from the list of directed neighbors to be aligned.

[0104] Each non-cluster head node (e.g. Figure 3 During the beam alignment process, the nodes 1 to 7 check whether they have completed alignment with all directional neighbors after each directional alignment time slot. If so, it means that the node has completed directional networking. Otherwise, it checks whether the status matches the neighbor list. If so, it means that the alignment of this round has been completed. When it is the next time slot of the omnidirectional TDMA, it broadcasts a FIN frame (frame format is as follows) Figure 6 As shown in the figure, the cluster head reports the alignment status to inform the cluster head whether it has completed the beam alignment or directional networking in this round;

[0105] Cluster head node (e.g. Figure 3 The middle node 0) maintains two local lists to record the nodes that have completed the alignment / directional networking in this round. After each directional alignment time slot, the cluster head also needs to check its own alignment status and record it. At the same time, it receives the alignment status reported by other nodes in the omnidirectional TDMA to determine whether all nodes in the network have completed the alignment / directional networking in this round. When it is the next time slot of the omnidirectional TDMA, it broadcasts a FIN frame to send the corresponding end instruction.

[0106] If a non-cluster head node receives a round end instruction broadcast by the cluster head node, it will start the next alignment round in advance at the end of the current time slot; if it receives a networking completion instruction, it will directly end the directional networking.

[0107] (4.2) Appointment alignment optimization strategy based on GNSS location information

[0108] At the beginning of each round, all nodes first perform a blind scan by default. The transmitting and receiving nodes perform beam scanning synchronously with the same switching step of 6° (the switching step must be greater than the step accuracy of 3° and less than the beam width of 13°, and the impact of the step size on the scanning rate is comprehensively considered) and different switching rates (the receiving node steps 6° for every scanning cycle of the transmitting node) to traverse different beam direction pairs. Scanning each beam pair requires one directional time slot. In each round, the sender needs to scan 60 cycles to ensure that the receiver can complete a full scan cycle, requiring a total of 3600 directional time slots.

[0109] In each directional time slot, the sending node sends a directional alignment frame ALIGN and waits for the directional ACK returned by the receiving node (the frame format is as follows Figure 7The receiving node waits for ALIGN and responds with ACK after receiving it. The design of the directional slot length requires that the ALIGN-ACK interaction between nodes within the transmission range of the directional antenna can be completed within one slot.

[0110] When the sending node is in its turn for a TDMA time slot, if it does not need to report the alignment completion status and has not completed the alignment reservation, it will initiate an alignment reservation. The node writes the neighboring nodes that it has not yet aligned into the potential neighbor table into the RTS frame and broadcasts it on the omnidirectional channel. After that, the omnidirectional channel will wait for the potential neighbor to reply with a CTS frame (frame format is as follows Figure 8 shown). Figure 9 The results of the first and second appointments in the first round of alignment are given, and Figure 3 The nodes in the table correspond to the nodes in the table, where white represents the sending node and black represents the receiving node. Before the first appointment, all neighbors are not aligned. The potential neighbor tables of sending nodes 0 to 3 are: {0,7}, {2,3}, {1,3,5,6} and {1,2,4,6,7} respectively.

[0111] The receiving node will keep listening until it is its turn in the TDMA time slot. If the receiving node receives an RTS frame sent by its potential neighbor, it will check whether the potential neighbor table in the frame contains itself. If it contains itself, it will record the neighbor in the local reservation neighbor table. The reservation neighbor table is arranged in order of node ID and will be cleared after each CTS reply. If a CTS is received from other receiving nodes, it will check whether the node to which the CTS frame is replied is in its own reservation neighbor table. If it is, it will delete it. When it is the turn of the TDMA time slot, if there is no need to report the alignment completion status and the alignment reservation is not completed, the CTS frame will be replied to the node that is first in the reservation neighbor table in the omnidirectional channel. In the first reservation, according to the TDMA time slot order, the receiving node 4 first determines the reservation neighbor 3, and the node 5 then determines the reservation neighbor. After receiving the CTS sent by 4 and 5, node 6 deletes 2 and 3 from the reservation table and selects node 0 as the reservation neighbor. Similarly, node 7 will have no nodes to reserve.

[0112] When the transmitting node receives a CTS frame from a potential neighbor, it considers the alignment reservation completed and enters GNSS scanning mode. Taking into account positioning errors, the transmitting and receiving nodes will perform several scans near the calculated direction and take the direction with the highest power as the beam alignment result. The operation within each directional time slot is the same as that of a blind scan.

[0113] After the GNSS scan is completed, the transceiver node ends the alignment reservation and returns to the blind scan mode, repeating steps (2) to (5) (e.g. Figure 9 The second appointment, Figure 3The solid line in represents the link that completes alignment after two reservations) until all beam pairs are scanned or the round end mechanism is triggered.

[0114] (5) Alignment of the remaining nodes’ filling rounds

[0115] After the regular alignment is completed, there may still be nodes that have not completed beam alignment with all neighbors. The algorithm will arrange a round of alignment for each of them, for example Figure 5 The cluster head broadcasts a FIN frame over the omnidirectional channel to issue a gap filling instruction. Based on the received instruction, the node determines the next state code, causing the remaining node with the smallest ID that has not yet undergone gap filling alignment to enter the sending state, and the remaining nodes to enter the receiving state. This process is repeated until all remaining nodes have completed a round of gap filling alignment. The beam alignment strategy used in the gap filling round is the same as that used in the normal round.

[0116] In order to implement the above embodiment, the present application also proposes a fast networking device for a directional channel self-organizing network.

[0117] Figure 10 A schematic structural diagram of a fast networking device for a directional channel self-organizing network provided in an embodiment of the present application.

[0118] like Figure 10 As shown, the rapid networking device for a directional channel self-organizing network includes an acquisition module, a first calculation module, a second calculation module, and a directional networking module, wherein:

[0119] The acquisition module is used to obtain the location information of all nodes in the entire network through synchronous interaction of the omnidirectional channel;

[0120] A first calculation module is used to calculate a list of directional neighbors to be aligned with each node based on the location information and the directional antenna transmission distance;

[0121] The second calculation module is used to encode the unique identity ID of each node, obtain the sending and receiving round status code sequence of each node, and calculate the status codes of all nodes at each node;

[0122] The directional networking module is used to traverse the transceiver round state code sequence so that the nodes enter the transceiver state in turn for beam alignment. In each round of scanning, the omnidirectional channel-assisted round end mechanism and the alignment reservation strategy based on GNSS position information are executed. When all nodes traverse the end state code sequence, the regular alignment round of the directional networking is completed.

[0123] Optionally, in one embodiment of the present application, the location information is the location coordinates of each node obtained by the GNSS positioning system during initialization, and the first calculation module is specifically configured to:

[0124] Calculate the distance between each node and other nodes in the network;

[0125] According to the distance between the node and other nodes in the network and the directional antenna reachable distance, the neighbor nodes in the one-hop transmission range of the node are calculated as the alignment target neighbor list of the node.

[0126] Optionally, in an embodiment of the present application, the node includes a cluster head node and a non-cluster head node, and the cluster head node locally stores a list of nodes that have completed the current round of alignment / directional networking. A round-end mechanism assisted by omni-directional channel is performed in each round of scanning, including:

[0127] At the beginning of each round of alignment, the state matching neighbor list of the current alignment round is filtered from the alignment target neighbor list by comparing the neighbor list that has not yet been aligned and the status code of all nodes;

[0128] During the process of regular round alignment, the alignment status of the node is checked after the end of each directional alignment time slot, wherein the alignment status includes whether the node itself has completed the current round of beam alignment or directional networking. The alignment status of the node is checked, including: checking whether the node has completed alignment with all directional neighbors, and if so, determining that the node has completed directional networking, otherwise, checking whether it is in the state matching neighbor list, and if so, determining that the node has completed the current round of alignment;

[0129] If the node is a non-cluster head node, when it is the next time slot of omni-directional TDMA, the alignment status is reported to the corresponding cluster head node by broadcasting a FIN frame, and the instruction broadcast by the cluster head node is received. If the instruction is a current round end instruction, the next alignment round is started in advance at the end of the current time slot, and if the instruction is a networking completion instruction, the directional networking is ended;

[0130] If the node is a cluster head node, the alignment status of the node itself is recorded locally, and the alignment status reported by other nodes is received through omni-directional reception. It is judged whether all nodes in the network have completed the current round of alignment / directional networking. When the node itself is the next time slot of omni-directional TDMA, the corresponding end instruction is issued by broadcasting a FIN frame.

[0131] Optionally, in an embodiment of the present application, an alignment reservation strategy based on GNSS position information is performed in each round of scanning, including:

[0132] At the beginning of each round, blind scanning is performed on all nodes, wherein the blind scanning includes: the transceiving nodes are synchronously rotated and scanned in beam at different switching rates with the same switching step, so as to traverse different beam direction pairs. One directional time slot is needed to scan each beam pair.

[0133] In each directional time slot, the sending node sends a directional alignment frame ALIGN and waits for the directional ACK returned by the receiving node. The receiving node receives the ALIGN and replies with an ACK after receiving it. The length of the directional time slot is not less than the ALIGN-ACK interaction time between nodes within the transmission range of the directional antenna.

[0134] When the sending node takes its turn in the TDMA time slot, if it does not need to report the alignment completion status and has not completed the alignment reservation, it will initiate an alignment reservation, write the neighboring nodes that the node itself has not yet aligned into the potential neighbor list, write the RTS frame and broadcast it on the omnidirectional channel, and then wait for the potential neighbors to reply with a CTS frame through the omnidirectional channel;

[0135] The receiving node keeps listening before it is its turn in the TDMA time slot. If it receives an RTS frame sent by its potential neighbor, it checks whether the potential neighbor table in the frame contains the node itself. If it contains the node itself, it records the neighbor in the local reservation neighbor table. If it receives a CTS frame sent by other receiving nodes, it checks whether the node replied to by the CTS frame is in its own reservation neighbor table. If so, it deletes it. When it is the turn of the receiving node in the TDMA time slot, if it does not need to report the alignment completion status and the alignment reservation is not completed, it replies to the CTS frame to the node that is first in the reservation neighbor table in the omnidirectional channel. The reservation neighbor table is arranged in order of node ID and is cleared after each CTS reply.

[0136] If the transmitting node receives a CTS frame from a potential neighbor, confirming that the transceiver has completed the alignment reservation, it enters GNSS scanning mode. The transceiver performs several scans in the calculated direction and takes the direction with the highest power as the beam alignment result. The operation within each directional time slot is the same as that of a blind scan.

[0137] After the GNSS scan is completed, the corresponding transceiver node ends the alignment reservation and returns to the blind scan mode.

[0138] Optionally, in one embodiment of the present application, a gap-filling round alignment module is further included, which is configured to, after the regular alignment round ends, if there is a node that has not completed beam alignment with all neighbors, perform a gap-filling round alignment on the node that has not completed beam alignment with all neighbors, wherein the gap-filling round alignment module is specifically configured to:

[0139] Step S1: The cluster head node broadcasts a FIN frame based on the omnidirectional channel to issue a filling instruction;

[0140] Step S2: The node determines the next status code according to the received instruction, so that the node with the smallest ID among the remaining nodes that has not yet been aligned enters the sending state, and the remaining nodes enter the receiving state;

[0141] Step S3: Repeat steps S1 and S2 until all remaining nodes have undergone a round of gap-filling alignment, wherein the beam alignment strategy used in the gap-filling round is the same as that used in the normal round.

[0142] It should be noted that the above explanation of the embodiment of the method for rapidly networking a directional channel self-organizing network is also applicable to the apparatus for rapidly networking a directional channel self-organizing network of this embodiment, and will not be repeated here.

[0143] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example" or "some examples" means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present application. In this specification, the schematic expressions of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art can combine and combine different embodiments or examples described in this specification and features of different embodiments or examples without contradiction.

[0144] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of the technical features being referred to. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of such features. Throughout the description of this application, "plurality" means at least two, for example, two, three, etc., unless otherwise specifically defined.

[0145] Any process or method description in a flowchart or otherwise described herein may be understood to represent a module, segment or portion of code comprising one or more executable instructions for implementing the steps of a custom logical function or process, and the scope of the preferred embodiments of the present application includes alternative implementations in which functions may be performed out of the order shown or discussed, including performing functions in a substantially simultaneous manner or in the reverse order depending on the functions involved, which should be understood by those skilled in the art to which the embodiments of the present application belong.

[0146] The logic and / or steps represented in the flowcharts or otherwise described herein, for example, can be considered as a sequenced list of executable instructions for implementing the logical functions, and can be embodied in any computer-readable medium for use by, or in conjunction with, an instruction execution system, apparatus, or device (e.g., a computer-based system, a system including a processor, or other system that can fetch and execute instructions from an instruction execution system, apparatus, or device). For purposes of this specification, a "computer-readable medium" can be any device that can contain, store, communicate, propagate, or transport a program for use by, or in conjunction with, an instruction execution system, apparatus, or device. More specific examples (a non-exhaustive list) of computer-readable media include the following: an electrical connection with one or more wires (electronic devices), a portable computer disk cartridge (magnetic device), random access memory (RAM), read-only memory (ROM), erasable and programmable read-only memory (EPROM or flash memory), fiber optic devices, and a portable compact disc read-only memory (CDROM). Furthermore, the computer-readable medium may even be paper or other suitable medium on which the program is printed, since the program may be obtained electronically, for example, by optically scanning the paper or other medium and then editing, interpreting or processing it in another suitable manner if necessary, and then storing it in a computer memory.

[0147] It should be understood that various parts of the present application can be implemented using hardware, software, firmware, or a combination thereof. In the above embodiments, multiple steps or methods can be implemented using software or firmware stored in a memory and executed by a suitable instruction execution system. For example, if implemented using hardware, as in another embodiment, any one of the following technologies known in the art or a combination thereof can be used to implement: a discrete logic circuit having a logic gate circuit for implementing a logic function on a data signal, an application-specific integrated circuit having a suitable combination of logic gate circuits, a programmable gate array (PGA), a field programmable gate array (FPGA), etc.

[0148] Those skilled in the art will understand that all or part of the steps in the method of the above embodiment can be completed by instructing related hardware through a program, and the program can be stored in a computer-readable storage medium. When the program is executed, it includes one or a combination of the steps of the method embodiment.

[0149] In addition, the functional units in the various embodiments of the present application may be integrated into a processing module, or each unit may exist physically separately, or two or more units may be integrated into a module. The above-mentioned integrated module may be implemented in the form of hardware or in the form of a software functional module. If the integrated module is implemented in the form of a software functional module and sold or used as an independent product, it may also be stored in a computer-readable storage medium.

[0150] The storage medium mentioned above may be a read-only memory, a magnetic disk, or an optical disk, etc. Although the embodiments of the present application have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present application. Persons skilled in the art may make changes, modifications, substitutions, and variations to the above embodiments within the scope of the present application.

Claims

1. A fast networking method for a directional channel self-organizing network, characterized in that: The following steps are involved: Acquire the location information of all nodes in the entire network through synchronous interaction through omnidirectional channels; Calculate a list of directional neighbors to be aligned for each node based on the location information and the directional antenna transmission distance; Encode the unique identity ID of each node to obtain the status code sequence of each node's sending and receiving rounds, and calculate the status codes of all nodes at each node; Traversing the transceiver round state code sequence enables the nodes to enter the transceiver state in turn for beam alignment. In each round of scanning, the omnidirectional channel-assisted round end mechanism and the alignment reservation strategy based on GNSS position information are executed. When all nodes have traversed the end state code sequence, the conventional alignment round of the directional network is completed. The location information is the location coordinates of each node obtained by the GNSS positioning system during initialization, and the calculation of the directional neighbor list to be aligned with each node based on the location information and the directional antenna transmission distance includes: Calculate the distance between each node and other nodes in the entire network; Calculate neighbor nodes within the one-hop transmission range of the node itself as a list of directional neighbors to be aligned with the node based on the distances to other nodes in the entire network and the reachable distance of the directional antenna; The nodes include cluster head nodes and non-cluster head nodes. The cluster head nodes have a local storage for recording a list of nodes that have completed the current round of alignment / directional networking. The omnidirectional channel-assisted round end mechanism is executed in each round of scanning, including: At the beginning of each round of alignment, by comparing the current unaligned neighbor list with the status codes of all current nodes, a state-matching neighbor list for the current alignment round is selected from the list of directional neighbors to be aligned; During the conventional round alignment process, after each directional alignment time slot, the alignment status of the node is checked, wherein the alignment status includes whether the node itself has completed the current round of beam alignment or directional networking. The checking of the node alignment status includes: checking whether the node has completed alignment with all directional neighbors, and if so, determining that the node has completed directional networking; otherwise, checking whether it matches the status in the neighbor list, and if so, determining that the node has completed the current round of alignment; If the node is not a cluster head node, when it is the turn of the next time slot of omnidirectional TDMA, it reports the alignment status to the corresponding cluster head node by broadcasting a FIN frame and receives the instruction broadcast by the cluster head node. If the instruction is the end instruction of the current round, the next alignment round will be started in advance at the end of the current time slot. If the instruction is the networking completion instruction, the directional networking will be ended. If the node is a cluster head node, it records its own alignment status locally, and at the same time receives the alignment status reported by other nodes through omnidirectional reception to determine whether all nodes in the entire network have completed the current round of alignment / directional networking. When it is the next time slot of the omnidirectional TDMA, the node sends the corresponding end instruction by broadcasting a FIN frame.

2. The method according to claim 1, wherein The alignment reservation strategy based on GNSS position information is executed in each scanning round, including: At the beginning of each round, all nodes are blindly scanned, wherein the blind scan includes: synchronously performing beam rotation scanning on the transmitting and receiving nodes with the same switching step and different switching rates to traverse different beam direction pairs, and scanning each beam pair requires one directional time slot; In each directional time slot, the sending node sends a directional alignment frame ALIGN and waits for a directional ACK returned by the receiving node. The receiving node receives the ALIGN and replies with an ACK after receiving it. The length of the directional time slot is not less than the ALIGN-ACK interaction time between nodes within the transmission range of the directional antenna. When the sending node takes its turn in the TDMA time slot, if it does not need to report the alignment completion status and has not completed the alignment reservation, it will initiate an alignment reservation, write the neighboring nodes that the node itself has not yet aligned into the potential neighbor list, write the RTS frame and broadcast it on the omnidirectional channel, and then wait for the potential neighbors to reply with a CTS frame through the omnidirectional channel; The receiving node keeps listening before it is its turn in the TDMA time slot. If it receives an RTS frame sent by its potential neighbor, it checks whether the potential neighbor table in the frame contains the node itself. If it contains the node itself, it records the neighbor in the local reservation neighbor table. If it receives a CTS frame sent by other receiving nodes, it checks whether the node replied to by the CTS frame is in its own reservation neighbor table. If so, it deletes it. When it is the turn of the TDMA time slot for the receiving node, if it does not need to report the alignment completion status and the alignment reservation is not completed, it replies to the CTS frame to the node that is first in the reservation neighbor table in the omnidirectional channel, wherein the reservation neighbor table is arranged in order of node ID and is cleared after each CTS reply. If the transmitting node receives a CTS frame from a potential neighbor, confirming that the transceiver node has completed the alignment reservation, it enters the GNSS scanning mode. The transceiver node scans several times in the calculated direction and takes the direction with the highest power as the beam alignment result. The operation within each directional time slot is the same as the blind scan. After the GNSS scan is completed, the corresponding transceiver node ends the alignment reservation and returns to the blind scan mode.

3. The method according to claim 1, wherein If, after the regular alignment round, there are nodes that have not completed beam alignment with all their neighbors, a fill-in round alignment is performed on the nodes that have not completed beam alignment with all their neighbors, wherein the fill-in round alignment includes: Step S1: The cluster head node broadcasts a FIN frame based on the omnidirectional channel to issue a filling instruction; Step S2: The node determines the next status code according to the received instruction, so that the node with the smallest ID among the remaining nodes that has not yet been aligned enters the sending state, and the remaining nodes enter the receiving state; Step S3: Repeat steps S1 and S2 until all remaining nodes have undergone a round of gap-filling alignment, wherein the beam alignment strategy used in the gap-filling round is the same as that used in the normal round.

4. A fast networking device for a directional channel self-organizing network, characterized in that: It includes an acquisition module, a first calculation module, a second calculation module, and a directional networking module, wherein: The acquisition module is used to acquire the location information of all nodes in the entire network through synchronous interaction of the omnidirectional channel; The first calculation module is used to calculate a list of directional neighbors to be aligned for each node based on the position information and the directional antenna transmission distance; The second calculation module is used to encode the unique identity ID of each node, obtain the sending and receiving round status code sequence of each node, and calculate the status codes of all nodes at each node; The directional networking module is used to traverse the transceiver round state code sequence to enable the nodes to enter the transceiver state in turn for beam alignment, and execute the omni-directional channel-assisted round end mechanism and the alignment reservation strategy based on GNSS position information in each round of scanning. When all nodes traverse the end state code sequence, the conventional alignment round of the directional networking is completed; The location information is the location coordinates of each node obtained by the GNSS positioning system during initialization. The first calculation module is specifically configured to: Calculate the distance between each node and other nodes in the entire network; Calculate neighbor nodes within the one-hop transmission range of the node itself as a list of directional neighbors to be aligned with the node based on the distances to other nodes in the entire network and the reachable distance of the directional antenna; The nodes include cluster head nodes and non-cluster head nodes. The cluster head nodes have a local storage for recording a list of nodes that have completed the current round of alignment / directional networking. The omnidirectional channel-assisted round end mechanism is executed in each round of scanning, including: At the beginning of each round of alignment, by comparing the current unaligned neighbor list with the status codes of all current nodes, a state-matching neighbor list for the current alignment round is selected from the list of directional neighbors to be aligned; During the conventional round alignment process, after each directional alignment time slot, the alignment status of the node is checked, wherein the alignment status includes whether the node itself has completed the current round of beam alignment or directional networking. The checking of the node alignment status includes: checking whether the node has completed alignment with all directional neighbors, and if so, determining that the node has completed directional networking; otherwise, checking whether it matches the status in the neighbor list, and if so, determining that the node has completed the current round of alignment; If the node is not a cluster head node, when it is the turn of the next time slot of omnidirectional TDMA, it reports the alignment status to the corresponding cluster head node by broadcasting a FIN frame and receives the instruction broadcast by the cluster head node. If the instruction is the end instruction of the current round, the next alignment round will be started in advance at the end of the current time slot. If the instruction is the networking completion instruction, the directional networking will be ended. If the node is a cluster head node, it records its own alignment status locally, and at the same time receives the alignment status reported by other nodes through omnidirectional reception to determine whether all nodes in the entire network have completed the current round of alignment / directional networking. When it is the next time slot of the omnidirectional TDMA, the node sends the corresponding end instruction by broadcasting a FIN frame.

5. The device according to claim 4, characterized in that The alignment reservation strategy based on GNSS position information is executed in each scanning round, including: At the beginning of each round, all nodes are blindly scanned, wherein the blind scan includes: synchronously performing beam rotation scanning on the transmitting and receiving nodes with the same switching step and different switching rates to traverse different beam direction pairs, and scanning each beam pair requires one directional time slot; In each directional time slot, the sending node sends a directional alignment frame ALIGN and waits for a directional ACK returned by the receiving node. The receiving node receives the ALIGN and replies with an ACK after receiving it. The length of the directional time slot is not less than the ALIGN-ACK interaction time between nodes within the transmission range of the directional antenna. When the sending node takes its turn in the TDMA time slot, if it does not need to report the alignment completion status and has not completed the alignment reservation, it will initiate an alignment reservation, write the neighboring nodes that the node itself has not yet aligned into the potential neighbor list, write the RTS frame and broadcast it on the omnidirectional channel, and then wait for the potential neighbors to reply with a CTS frame through the omnidirectional channel; The receiving node keeps listening before it is its turn in the TDMA time slot. If it receives an RTS frame sent by its potential neighbor, it checks whether the potential neighbor table in the frame contains the node itself. If it contains the node itself, it records the neighbor in the local reservation neighbor table. If it receives a CTS frame sent by other receiving nodes, it checks whether the node replied to by the CTS frame is in its own reservation neighbor table. If so, it deletes it. When it is the turn of the TDMA time slot for the receiving node, if it does not need to report the alignment completion status and the alignment reservation is not completed, it replies to the CTS frame to the node that is first in the reservation neighbor table in the omnidirectional channel, wherein the reservation neighbor table is arranged in order of node ID and is cleared after each CTS reply. If the transmitting node receives a CTS frame from a potential neighbor, confirming that the transceiver node has completed the alignment reservation, it enters the GNSS scanning mode. The transceiver node scans several times in the calculated direction and takes the direction with the highest power as the beam alignment result. The operation within each directional time slot is the same as the blind scan. After the GNSS scan is completed, the corresponding transceiver node ends the alignment reservation and returns to the blind scan mode.

6. The device according to claim 4, characterized in that The system further includes a gap-filling round alignment module, configured to, after the conventional alignment round, if there is a node that has not completed beam alignment with all its neighbors, perform a gap-filling round alignment on the node that has not completed beam alignment with all its neighbors, wherein the gap-filling round alignment module is specifically configured to: Step S1: The cluster head node broadcasts a FIN frame based on the omnidirectional channel to issue a filling instruction; Step S2: The node determines the next status code according to the received instruction, so that the node with the smallest ID among the remaining nodes that has not yet been aligned enters the sending state, and the remaining nodes enter the receiving state; Step S3: Repeat steps S1 and S2 until all remaining nodes have undergone a round of gap-filling alignment, wherein the beam alignment strategy used in the gap-filling round is the same as that used in the normal round.

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