Ad hoc network broadcast information transmission method for unmanned system, ad hoc network and unmanned system

Abstract

The present invention relates to the field of wireless communication technology, and specifically discloses a self-organizing network broadcast information transmission method for unmanned systems, a self-organizing network and an unmanned system, including: receiving air interface spectrum measurement results in real time; when there is a broadcast service message to be sent, determining a target modulation and coding mode according to the air interface spectrum measurement results, and sending the broadcast service message to be sent on an idle air interface time-frequency resource according to the target modulation and coding mode; sending a message summary list of the broadcast service message on the idle air interface time-frequency resource according to the target modulation and coding mode; when a broadcast service message is received, processing the received broadcast service message according to a first preset processing mode, and when receiving a message summary list sent by any node in the self-organizing network, processing the received message summary list according to a second preset processing mode. The self-organizing network broadcast information transmission method for unmanned systems provided by the present invention has the advantages of high efficiency and high transmission reliability.

Description

Technical Field

[0001] The present invention relates to the field of wireless communication technology, and in particular to a self-organizing network broadcast information transmission method for an unmanned system, a self-organizing network and an unmanned system. Background Art

[0002] Compared with cellular network technology represented by 5G, self-organizing networks are widely used in manned or unmanned system communications and other fields with their advantages of being centerless, self-organizing, self-relaying, and requiring no infrastructure. From the perspective of network architecture, cellular networks have a base station as a control center. The scheduling and allocation of air interface time and frequency resources between nodes are coordinated through the base station. To ensure the reliable transmission of broadcast information, the base station can coordinate more time domain, frequency domain and power resources, and use the most robust modulation and coding method for transmission. However, since the nodes in the self-organizing network are all peer entities, broadcast information may need to go through multiple hops to spread to the entire network. Therefore, the reliable transmission mechanism of broadcast information, especially control broadcast information, needs to be considered. However, directly using the lowest-order modulation and coding method will improve the reliability of transmission, but it will significantly reduce the air interface transmission efficiency and even cause air interface transmission congestion. Especially in unmanned systems, reduced transmission efficiency can directly affect the standby time of the equipment.

[0003] Therefore, how to provide a reliable and efficient self-organizing network broadcast information transmission method for unmanned systems has become a technical problem that needs to be solved urgently by technical personnel in this field. Summary of the invention

[0004] The present invention provides a method for transmitting broadcast information in an ad hoc network for an unmanned system, an ad hoc network and an unmanned system, which solve the problem in the related art that reliability and efficiency of broadcast information transmission in an ad hoc network cannot be taken into account at the same time.

[0005] As a first aspect of the present invention, a method for transmitting broadcast information in an ad hoc network of an unmanned system is provided, wherein, for any node in the ad hoc network of the unmanned system, the method comprises:

[0006] Receive air interface spectrum measurement results in real time;

[0007] When there is a broadcast service message to be sent, determine a target modulation and coding mode according to the air interface spectrum measurement result received in real time, and send the broadcast service message to be sent on the idle air interface time and frequency resources according to the target modulation and coding mode, wherein the broadcast service message to be sent includes an air interface broadcast service message header, and the air interface broadcast service message header includes at least a node ID of a node from which the broadcast service message is originally sent and a broadcast service message sequence number;

[0008] Sending a message summary list of the broadcast service message on the idle air interface time and frequency resources according to the target modulation and coding mode, wherein the message summary list at least includes a node ID of the original sending node of the broadcast service message and a locally stored broadcast service message indication from the original sending node of the broadcast service message;

[0009] When a broadcast service message is received from any node in the self-organizing network, the received broadcast service message is processed according to a first preset processing method, and the first preset processing method at least includes discarding or forwarding; and when the message summary list is received from any node in the self-organizing network, the received message summary list is processed according to a second preset processing method, and the second preset processing method at least includes discarding or issuing a broadcast service message request.

[0010] Further, determining a target modulation and coding mode according to the air interface spectrum measurement result received in real time includes:

[0011] Determine respectively the to-be-sent channel of the current to-be-sent broadcast service message and the to-be-sent channel of the message summary list of the broadcast service message;

[0012] The target modulation and coding mode of the to-be-sent broadcast service message when being sent on the to-be-sent channel and the target modulation and coding mode of the message summary list of the broadcast service message when being sent on the to-be-sent channel are determined respectively according to the signal-to-noise ratio.

[0013] Further, determining a target modulation and coding mode when sending the to-be-sent broadcast service message on the to-be-sent channel according to the signal-to-noise ratio includes:

[0014] Determine whether there are signal-to-noise ratios of all one-hop neighbors on the to-be-sent channel of the to-be-sent broadcast service message;

[0015] If there are signal-to-noise ratios of all one-hop neighbors on the to-be-sent channel of the to-be-sent broadcast service message, a modulation and coding mode corresponding to the lowest signal-to-noise ratio among the signal-to-noise ratios of all the one-hop neighbors is selected as a reference modulation and coding mode, and a target modulation and coding mode of the to-be-sent broadcast service message is determined according to the reference modulation and coding mode;

[0016] If there are some 1-hop neighbors without effective signal-to-noise ratio on the to-be-sent channel of the to-be-sent broadcast service message, the target modulation and coding mode of the to-be-sent broadcast service message is determined to be the lowest-order modulation and coding mode supported by the ad hoc network;

[0017] Determining a target modulation and coding mode when a message summary list of a broadcast service message is sent on a to-be-sent channel according to the signal-to-noise ratio includes:

[0018] The target modulation and coding mode when the message summary list of the broadcast service message is sent on the to-be-sent channel is determined to be the lowest-order modulation and coding mode supported by the ad hoc network.

[0019] Further, determining a target modulation and coding mode of a broadcast service message to be sent according to the reference modulation and coding mode includes:

[0020] The reference modulation and coding mode is reduced by K orders to obtain a reduced order modulation and coding mode;

[0021] The larger one between the reduced-order modulation and coding mode and the lowest-order modulation and coding mode supported by the ad hoc network is selected as the target modulation and coding mode for the broadcast service message to be sent.

[0022] Further, when a broadcast service message sent by any node in the ad hoc network is received, the received broadcast service message is processed according to a first preset processing mode, including:

[0023] Determining whether the original sending node of the broadcast service message is itself according to the air interface broadcast service message header of the broadcast service message;

[0024] If it is determined that the original sending node of the broadcast service message is itself, the broadcast service message is discarded;

[0025] If it is determined that the original sending node of the broadcast service message is not itself, then determine whether the broadcast service message has been received by itself;

[0026] If the broadcast service message has been received by itself, the broadcast service message will be discarded;

[0027] If the broadcast service message has not been received by itself, the broadcast service message is saved and forwarded to the upper layer application or peripheral device;

[0028] When it is a relay node for the broadcast service message, it determines the target modulation and coding mode according to the real-time received air interface spectrum measurement result, and relays and forwards the received broadcast service message on the idle air interface time and frequency resources according to the target modulation and coding mode.

[0029] Further, when the message summary list sent by any node in the ad hoc network is received, the received message summary list is processed according to the second preset processing mode, including:

[0030] Determining, according to the message summary list, whether there is a broadcast service message indication that the message summary list has not been received by the message summary list;

[0031] If the message summary list does not contain any broadcast service message indication that it has not received, the message summary list is discarded;

[0032] If there is a broadcast service message indication that has not been received by itself in the message summary list, the relevant information of the broadcast service message indication is recorded in the list of unsuccessfully received broadcast service message information, and the relevant information of the broadcast service message indication includes at least the node ID of the original sending node of the broadcast service message, the broadcast service message indication and the node ID of the current sending node of the broadcast service message;

[0033] Determining a target broadcast service message according to the list of unsuccessfully received broadcast service message information;

[0034] A target broadcast service message request is sent to its own adjacent node, wherein the target broadcast service message request includes at least a node ID that sends the target broadcast service message request and related information indicated by the target broadcast service message.

[0035] Furthermore, the method further comprises:

[0036] When receiving a target broadcast service message request, it is determined whether the node is reachable in one hop according to the node ID that issued the target broadcast service message request;

[0037] If the node that sends the target broadcast service message request is not reachable within 1 hop, the target broadcast service message request is discarded;

[0038] If the node that sends the target broadcast service message request is reachable within 1 hop, it determines whether it has the requested target broadcast service message;

[0039] If the requested target broadcast service message does not exist, the broadcast service message request is discarded;

[0040] If there is a requested target broadcast service message, the target broadcast service message is sent to the node that sends the broadcast service message request.

[0041] Furthermore, the method further comprises:

[0042] Real-time measurement of air interface spectrum quality;

[0043] Generate its own air interface spectrum measurement result according to the measured air interface spectrum quality;

[0044] The air interface spectrum measurement result of the node is published in the one-hop neighbor, wherein the air interface spectrum measurement result at least includes the node ID of the node publishing the air interface spectrum measurement result and the channel quality information.

[0045] As another aspect of the present invention, a self-organizing network is provided, comprising a plurality of nodes, each of which comprises:

[0046] A receiving module, used for receiving air interface spectrum measurement results in real time;

[0047] A modulation coding and sending module, which is used to determine a target modulation coding mode according to the air interface spectrum measurement result received in real time when there is a broadcast service message to be sent, and send the broadcast service message to be sent on the idle air interface time-frequency resources according to the target modulation coding mode, wherein the broadcast service message to be sent includes an air interface broadcast service message header, and the air interface broadcast service message header includes at least a node ID of the original sending node of the broadcast service message and a broadcast service message sequence number;

[0048] A message summary list sending module, used to send a message summary list of broadcast service messages on idle air interface time and frequency resources according to the target modulation and coding mode, wherein the message summary list at least includes a node ID of the original sending node of the broadcast service message and a locally stored broadcast service message indication from the original sending node of the broadcast service message;

[0049] A processing module, used for processing the received broadcast service message according to a first preset processing method when receiving a broadcast service message sent by any node in the self-organizing network, the first preset processing method at least including discarding and forwarding, and when receiving the message summary list sent by any node in the self-organizing network, processing the received message summary list according to a second preset processing method, the second preset processing method at least including discarding and issuing a broadcast service message request.

[0050] As another aspect of the present invention, an unmanned system is provided, which includes the self-organizing network described above.

[0051] The self-organizing network broadcast information transmission method for unmanned systems provided by the present invention, when there is a broadcast service message to be sent, determines the target modulation and coding mode according to the air interface spectrum measurement result received in real time, and then sends the broadcast service message to be sent on the idle air interface time-frequency resource according to the target modulation and coding mode, and after the broadcast service message to be sent is sent, in order to improve the reliability of the transmission of the broadcast service message, a message summary list of the broadcast service message is sent on the idle air interface time-frequency resource according to the target modulation and coding mode, so that the node that has not received the broadcast service message can obtain the broadcast service message by making a broadcast service message request, so as to achieve the purpose of improving the transmission reliability of the broadcast service message, and the embodiment of the present invention determines the target modulation and coding mode according to the air interface spectrum strategy result received in real time when transmitting the broadcast service message, rather than directly using the lowest order coding mode, so that the transmission efficiency of the message can be effectively improved. Therefore, the self-organizing network broadcast information transmission method for unmanned systems provided by the present invention not only has the advantages of high efficiency and high reliability when transmitting broadcast service messages. BRIEF DESCRIPTION OF THE DRAWINGS

[0052] The accompanying drawings are used to provide further understanding of the present invention and constitute a part of the specification. Together with the following specific embodiments, they are used to explain the present invention, but do not constitute a limitation of the present invention.

[0053] Figure 1 A flow chart of a method for transmitting broadcast information in an ad hoc network for an unmanned system provided by the present invention.

[0054] Figure 2 A specific schematic diagram of an air interface broadcast service message header provided by the present invention.

[0055] Figure 3 A specific schematic diagram of the message summary list provided by the present invention.

[0056] Figure 4 A flow chart of the overall method for determining a target modulation and coding mode provided by the present invention.

[0057] Figure 5 A flow chart of a specific method for determining a target modulation and coding mode according to a signal-to-noise ratio provided by the present invention.

[0058] Figure 6 A flow chart of a processing method after receiving a broadcast service message provided by the present invention.

[0059] Figure 7 A flow chart of a method for processing a received message summary list provided by the present invention.

[0060] Figure 8 A schematic diagram of the network topology of the self-organizing network provided by the present invention.

[0061] Fig. 9 for Figure 8 Schematic diagram of the air interface broadcast service message header sent by node 0 in FIG.

[0062] Fig.10 for Figure 8 Schematic diagram of the message summary list sent by node 0 in .

[0063] Fig.11 for Figure 8 Schematic diagram of the content of a broadcast service message when node 3 in FIG. 1 performs intermediate forwarding.

[0064] Fig.12 This is a structural block diagram of the self-organizing network provided by the present invention. DETAILED DESCRIPTION

[0065] It should be noted that, in the absence of conflict, the embodiments of the present invention and the features in the embodiments may be combined with each other. The present invention will be described in detail below with reference to the accompanying drawings and in combination with the embodiments.

[0066] In order to enable those skilled in the art to better understand the scheme of the present invention, the technical scheme in the embodiment of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiment of the present invention. Obviously, the described embodiment is only a part of the embodiment of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative work should fall within the scope of protection of the present invention.

[0067] It should be noted that the terms "first", "second", etc. in the specification and claims of the present invention and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchanged where appropriate, so as to describe the embodiments of the present invention described herein. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device that includes a series of steps or units is not necessarily limited to those steps or units clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0068] In this embodiment, a method for transmitting broadcast information in an ad hoc network for an unmanned system is provided. Figure 1 is a flow chart of a method for transmitting broadcast information in an ad hoc network of an unmanned system according to an embodiment of the present invention. Figure 1 As shown, for any node in the self-organizing network of the unmanned system, the method includes:

[0069] S100, receiving air interface spectrum measurement results in real time;

[0070] In the embodiment of the present invention, each node in the ad hoc network can receive air interface spectrum measurement results in real time when in an idle state. The idle state here specifically refers to a state where there is no sending task, that is, no message needs to be sent.

[0071] It should be understood here that each node in the ad hoc network can continue to measure the air interface spectrum when in the receiving state, so as to generate the air interface spectrum measurement result and publish the air interface spectrum measurement result in the 1-hop neighbor.

[0072] It should be noted that the air interface spectrum measurement result may specifically include the node ID that publishes the air interface spectrum measurement result and the channel quality information of the node.

[0073] S200, when there is a broadcast service message to be sent, determine a target modulation and coding mode according to the air interface spectrum measurement result received in real time, and send the broadcast service message to be sent on the idle air interface time and frequency resources according to the target modulation and coding mode, wherein the broadcast service message to be sent includes an air interface broadcast service message header, and the air interface broadcast service message header includes at least a node ID of a node from which the broadcast service message is originally sent and a broadcast service message sequence number;

[0074] In an embodiment of the present invention, for any node, when there is a broadcast service message to be sent, it is determined whether there are idle air interface time-frequency resources. If there are idle air interface time-frequency resources, the target modulation and coding method is determined according to the received air interface spectrum measurement result, and the broadcast service message to be sent is sent on the idle air interface time-frequency resources according to the target modulation and coding method.

[0075] It should be noted that, in the embodiment of the present invention, the broadcast service message to be sent may be a broadcast service message from an external device, or may be a broadcast service message generated by the node itself, which is not limited in the embodiment of the present invention.

[0076] When any node has a broadcast service message to be sent, an air interface broadcast service message header may be added to the broadcast service message to be sent. The air interface broadcast service message header may include the node ID of the original sending node of the broadcast service message and the broadcast service message sequence number, for example Figure 2 shown.

[0077] S300, sending a message summary list of the broadcast service message on the idle air interface time and frequency resources according to the target modulation and coding mode, wherein the message summary list at least includes a node ID of the original sending node of the broadcast service message and a locally stored broadcast service message indication from the original sending node of the broadcast service message;

[0078] After the broadcast service message is sent, in order to improve the transmission reliability of the broadcast service message, in an embodiment of the present invention, a message summary list of the broadcast service message is sent on the idle air interface time and frequency resources according to the target modulation and coding method. The message summary list of the broadcast service message can be generated by the node itself, or sent by the node's own peripheral device, or it can be a summary list of successfully received broadcast service messages. In an embodiment of the present invention, the summary list of the broadcast service message can specifically include the node ID of the original sending node of the broadcast service message and the locally stored broadcast service message indication from the original sending node of the broadcast service message, and can also include the retention time of each stored broadcast service message. The specific illustration of the summary list can be as follows. Figure 3 shown.

[0079] S400. When a broadcast service message is received from any node in the self-organizing network, the received broadcast service message is processed according to a first preset processing method, and the first preset processing method at least includes discarding or forwarding; and when the message summary list is received from any node in the self-organizing network, the received message summary list is processed according to a second preset processing method, and the second preset processing method at least includes discarding or issuing a broadcast service message request.

[0080] For any node, in the embodiment of the present invention, when receiving a broadcast service message sent by any node in the self-organizing network, it is specifically necessary to forward or discard the message according to whether it has received the broadcast service message or whether it has the broadcast service message. When receiving a message summary list from any node in the self-organizing network, it can discard or issue a broadcast service message request according to whether it has a specific broadcast service message in the message summary list. In the embodiment of the present invention, the message summary list is not relayed, that is, it is not forwarded, and the message summary list is only valid within one hop.

[0081] In summary, the self-organizing network broadcast information transmission method for unmanned systems provided by the embodiment of the present invention, when there is a broadcast service message to be sent, determines the target modulation and coding method according to the air interface spectrum measurement result received in real time, and then sends the broadcast service message to be sent on the idle air interface time-frequency resource according to the target modulation and coding method, and after the broadcast service message to be sent is sent, in order to improve the reliability of the transmission of the broadcast service message, a message summary list of the broadcast service message is sent on the idle air interface time-frequency resource according to the target modulation and coding method, so that the node that has not received the broadcast service message can obtain the broadcast service message by making a broadcast service message request, so as to achieve the purpose of improving the transmission reliability of the broadcast service message, and the embodiment of the present invention determines the target modulation and coding method according to the air interface spectrum strategy result received in real time when transmitting the broadcast service message, instead of directly using the lowest order coding method, so that the transmission efficiency of the message can be effectively improved. Therefore, the self-organizing network broadcast information transmission method for unmanned systems provided by the present invention not only has the advantages of high efficiency and high reliability when transmitting broadcast service messages.

[0082] In the embodiment of the present invention, the target modulation and coding mode is determined according to the air interface spectrum measurement result received in real time, such as Figure 4 As shown, including:

[0083] S210, respectively determining a to-be-sent channel of a current to-be-sent broadcast service message and a to-be-sent channel of a message summary list of broadcast service messages;

[0084] In the embodiment of the present invention, any node in the receiving state in the ad hoc network can continuously implement strategies for the air interface spectrum quality. When there is a valid signal reception, the signal-to-noise ratio of the valid signal and the received signal strength can be measured, and when there is no valid signal reception, the noise floor can be measured. Any node generates an air interface spectrum measurement result based on the air interface spectrum quality. The air interface spectrum measurement result can specifically include the node ID and channel quality information that publishes the air interface spectrum measurement result. The channel quality information can specifically be the channel number and the noise floor, or the node ID, signal-to-noise ratio and signal strength that sends the valid signal.

[0085] S220, determining a target modulation and coding scheme when the to-be-sent broadcast service message is sent on a to-be-sent channel and a target modulation and coding scheme when the message summary list of the broadcast service message is sent on a to-be-sent channel according to the signal-to-noise ratio.

[0086] In an embodiment of the present invention, when the obtained air interface spectrum measurement result is a channel number and a noise floor, the signal-to-noise ratio can be determined based on the channel number and the noise floor; when the obtained air interface spectrum measurement result directly includes the signal-to-noise ratio, the target modulation and coding method of the to-be-sent broadcast service message when it is sent on the to-be-sent channel, and the target modulation and coding method of the message summary list of the broadcast service message when it is sent on the to-be-sent channel can be determined directly based on the signal-to-noise ratio.

[0087] Therefore, in an embodiment of the present invention, the method further includes:

[0088] Real-time measurement of air interface spectrum quality;

[0089] Generate its own air interface spectrum measurement result according to the measured air interface spectrum quality;

[0090] The air interface spectrum measurement result of the node is published in the one-hop neighbor, wherein the air interface spectrum measurement result at least includes the node ID of the node publishing the air interface spectrum measurement result and the channel quality information.

[0091] Specifically, the nodes in the receiving state in the self-organizing network continuously measure the air interface spectrum: when there is effective signal reception, the signal-to-noise ratio and the received signal strength can be measured; when there is no effective signal reception, the noise floor can be measured; based on this, when the nodes in the self-organizing network send at the air interface, they can publish their own air interface spectrum measurement results in the 1-hop neighbor, and the published content at least includes: the node ID and channel quality information that publish the air interface spectrum measurement results. When there is effective signal reception, the channel quality information includes the signal-to-noise ratio, the received signal strength and the source node ID that sends the effective signal. When there is no effective signal reception, the channel noise instruction information includes the channel number and the noise floor. After the node in the self-organizing network receives the air interface spectrum measurement results published by its own 1-hop neighbor, it updates the locally stored adjacent node air interface spectrum measurement result table.

[0092] More specifically, the target modulation and coding mode of the to-be-sent broadcast service message when it is sent on the to-be-sent channel is determined according to the signal-to-noise ratio, such as Figure 5 As shown, including:

[0093] S221, determining whether there are signal-to-noise ratios of all one-hop neighbors on the to-be-sent channel of the to-be-sent broadcast service message;

[0094] S222. If the signal-to-noise ratios of all one-hop neighbors exist on the to-be-sent channel of the to-be-sent broadcast service message, a modulation and coding mode corresponding to the lowest signal-to-noise ratio among the signal-to-noise ratios of all the one-hop neighbors is selected as a reference modulation and coding mode, and a target modulation and coding mode of the to-be-sent broadcast service message is determined according to the reference modulation and coding mode;

[0095] In an embodiment of the present invention, determining a target modulation and coding mode of a broadcast service message to be sent according to the reference modulation and coding mode includes:

[0096] The reference modulation and coding mode is reduced by K orders to obtain a reduced order modulation and coding mode;

[0097] The larger one between the reduced-order modulation and coding mode and the lowest-order modulation and coding mode supported by the ad hoc network is selected as the target modulation and coding mode for the broadcast service message to be sent.

[0098] It should be understood that if the signal-to-noise ratio of all 1-hop neighbors exists on the channel, the modulation and coding mode corresponding to the lowest signal-to-noise ratio is taken as the reference modulation and coding mode MCS_Base, and the target modulation and coding mode MCS_Tx = Max (MCS_Base-K, MCS_Minimum), where K≥0, MCS_Base-K means that the reference modulation and coding mode is reduced by K orders, and MCS_Minimum means the lowest order modulation and coding mode supported by the system.

[0099] S223, if there are some 1-hop neighbors without effective signal-to-noise ratio on the to-be-sent channel of the to-be-sent broadcast service message, the target modulation and coding mode of the to-be-sent broadcast service message is determined to be the lowest-order modulation and coding mode supported by the ad hoc network;

[0100] If there are some 1-hop neighbors on the channel with no effective signal-to-noise ratio, the target modulation and coding scheme MCS_Tx=MCS_Minimum is directly set.

[0101] Determining a target modulation and coding mode when a message summary list of a broadcast service message is sent on a to-be-sent channel according to the signal-to-noise ratio includes:

[0102] The target modulation and coding mode when the message summary list of the broadcast service message is sent on the to-be-sent channel is determined to be the lowest-order modulation and coding mode supported by the ad hoc network.

[0103] In the embodiment of the present invention, since the transmission of the message summary list occupies less time-frequency resources and its transmission efficiency is not as high as the transmission efficiency of the broadcast service message, in order to maximize the reliability of the transmission of the message summary list, the target modulation and coding mode of the message summary list can be directly determined as the lowest order modulation and coding mode supported by the self-organizing network, that is, the target modulation and coding mode MCS_Tx = MCS_Minimum is directly set.

[0104] In an embodiment of the present invention, the target modulation and coding party is determined by the above-mentioned method, and both the broadcast service message and the message summary list are sent, so that any node in the self-organizing network can select a suitable modulation and coding method according to the measurement result of the adjacent 1-hop node to improve the efficiency of the broadcast transmission, and can also improve the reliability of the broadcast transmission through the request mechanism in the message summary list.

[0105] In the embodiment of the present invention, when a broadcast service message sent by any node in the ad hoc network is received, the received broadcast service message is processed according to the first preset processing mode, such as Figure 6 As shown, including:

[0106] S410, judging whether the original sending node of the broadcast service message is itself according to the air interface broadcast service message header of the broadcast service message;

[0107] In an embodiment of the present invention, it is first determined whether the node itself is a relay node. If not, it is further determined whether the received broadcast service message is a broadcast service message generated and sent by itself. Specifically, the judgment can be made based on the air interface broadcast service message header of the received broadcast service message.

[0108] S420: If it is determined that the original sending node of the broadcast service message is itself, discard the broadcast service message;

[0109] It should be understood that when it is determined that the sending node of the received broadcast service package file is the own node, since the broadcast service message sent to the own node does not need to be received again, the broadcast service message can be directly discarded.

[0110] S430: If it is determined that the original sending node of the broadcast service message is not itself, determine whether the node has received the broadcast service message;

[0111] In the embodiment of the present invention, if it is determined that the node that sends out the broadcast service message is not the own node, it is further determined whether the own node has ever received the broadcast service message.

[0112] S440, if the broadcast service message has been received by the user, discard the broadcast service message;

[0113] After determining that the broadcast service message has been received, the broadcast service message may be directly discarded.

[0114] S450: If the broadcast service message has not been received by the device itself, the broadcast service message is saved and forwarded to an upper layer application or peripheral device;

[0115] In the embodiment of the present invention, if the node itself has not received the broadcast service message, the broadcast service message is stored. Since the node itself is a non-relay node, the node itself forwards the broadcast service message to the upper layer application or peripheral device.

[0116] S460: When the node itself is a relay node for the broadcast service message, a target modulation and coding scheme is determined according to the air interface spectrum measurement result received in real time, and the received broadcast service message is relayed on the idle air interface time and frequency resources according to the target modulation and coding scheme.

[0117] It should be understood that, in the embodiment of the present invention, if the node itself is a relay node, it only needs to relay and forward the received broadcast service message directly according to the target modulation and coding mode.

[0118] In the embodiment of the present invention, when the message summary list sent by any node in the self-organizing network is received, the received message summary list is processed according to the second preset processing mode, such as Figure 7 As shown, including:

[0119] S510, judging whether there is a broadcast service message indication which the message summary list has not received in the message summary list according to the message summary list;

[0120] S520: If the message summary list does not contain any broadcast service message indication that the message summary list has not received, discard the message summary list;

[0121] S530, if there is a broadcast service message indication that has not been received by itself in the message summary list, then record the relevant information of the broadcast service message indication into the list of unsuccessfully received broadcast service message information, wherein the relevant information of the broadcast service message indication includes at least the node ID of the original sending node of the broadcast service message, the broadcast service message indication and the node ID of the current sending node of the broadcast service message;

[0122] It should be understood that if there is a broadcast service that has not been received in the message summary list and the retention time of the broadcast service message corresponding to the message summary list meets the requirements (for example, the retention time exceeds the threshold), the node ID of the original sending node of the broadcast service message, the broadcast service message indication and the node ID of the current sending node of the broadcast service message will be recorded in the list of unsuccessfully received broadcast service message information.

[0123] S540, determining a target broadcast service message according to the list of unsuccessfully received broadcast service message information;

[0124] S550: Send a target broadcast service message request to its own adjacent node, where the target broadcast service message request includes at least a node ID that sends the target broadcast service message request and related information indicated by the target broadcast service message.

[0125] It should be understood that when its own time and frequency resources are valid, an adjacent node is selected from the above-mentioned list of unsuccessfully received broadcast service message information to make a broadcast service message request, and the request message carries at least the node ID that issues the broadcast service message request and the relevant information indicated by the target broadcast service message; at the same time, the broadcast service request timer is started. If the timer times out and the broadcast service message corresponding to the broadcast service message request is not received, the node is removed from the list of unsuccessfully received broadcast service message information, and then the above process is repeated.

[0126] In an embodiment of the present invention, the method further includes:

[0127] When receiving a target broadcast service message request, it is determined whether the node is reachable in one hop according to the node ID that issued the target broadcast service message request;

[0128] If the node that sends the target broadcast service message request is not reachable within 1 hop, the target broadcast service message request is discarded;

[0129] If the node that sends the target broadcast service message request is reachable within 1 hop, it determines whether it has the requested target broadcast service message;

[0130] If the requested target broadcast service message does not exist, the broadcast service message request is discarded;

[0131] If there is a requested target broadcast service message, the target broadcast service message is sent to the node that sends the broadcast service message request.

[0132] Specifically, when the node receives a broadcast service message request, it processes it as follows:

[0133] a) If the node that sends the broadcast service message request is not reachable within 1 hop, the message is discarded and no other action is taken;

[0134] b) If there is no broadcast service message corresponding to the broadcast service message indication locally, the message is discarded and no other action is taken;

[0135] c) Otherwise, sending the broadcast service message corresponding to the broadcast service message indication to the node that issued the broadcast service message request.

[0136] The ad hoc network broadcast information transmission method for unmanned systems provided by the present invention is described in detail below in conjunction with specific embodiments.

[0137] like Figure 8 The network topology of the ad hoc network shown in Figure 8 The numbers in the figure are node numbers. Assume that the nodes in the ad hoc network can use 3 frequency points, and the lowest order modulation and coding method supported by the communication system where the ad hoc network is located is BPSK 1 / 2. The mapping relationship between the modulation and coding methods supported by the system and the signal-to-noise ratio is shown in Table 1 below:

[0138] Table 1 Mapping relationship between modulation coding mode and signal-to-noise ratio

[0139] Signal-to-Noise Ratio Modulation and coding method 1 BPSK 1 / 2 3 BPSK 3 / 4 5 QPSK 1 / 2 8 QPSK 3 / 4 12 16QAM 1 / 2 16 16QAM 3 / 4 20 64QAM 2 / 3 25 64QAM 4 / 5

[0140] The signal-to-noise ratio represents the minimum signal-to-noise ratio requirement corresponding to the modulation and coding method.

[0141] In the embodiment of the present invention, the nodes in the ad hoc network continuously measure the air interface channel in the receiving state, and publish the measured node in the 1-hop neighbor in its own sending state; the information content published by each node is shown in the following Table 2:

[0142] Table 2: Published content of each node

[0143]

[0144]

[0145]

[0146] It should be noted that in order to conveniently represent the relationship between nodes when publishing content, the publishing node and the source node are used to distinguish. In fact, the publishing node and the source node are based on the names of any node in the ad hoc network when they are in different states. For example, for publishing node 0, combined with Figure 8 It can be seen that the one-hop neighbors of the publishing node 0 include source nodes 1, 2, 3 and 7. Therefore, the publishing node 0 monitors the air interface channel quality in real time when in the receiving state, and the publishing node 0 can determine the air interface spectrum measurement result based on the valid signals sent by the source nodes 1, 2, 3 and 7. Therefore, the publishing node 0 can publish the air interface spectrum measurement result in the one-hop neighbors when in the sending state.

[0147] In the embodiment of the present invention, the air interface broadcast service message header of the broadcast service message of the node is as follows: Figure 2 As shown, it is composed of the node ID of the node that originally sends out the broadcast service message (in the embodiment of the present invention, the node ID of the node that originally sends out the broadcast service message can be referred to as the broadcast service message source node ID), the broadcast service message sequence number and the broadcast service content.

[0148] In the embodiment of the present invention, the message summary list of the broadcast service message of the node is as follows: Figure 3 As shown, it is composed of the broadcast service message source node ID, the local latest message sequence number and the local message bitmap, wherein the broadcast service indication is composed of the local latest message sequence number of the broadcast service and the local stored message bitmap.

[0149] Assuming that the peripheral device of node 0 generates a broadcast message, the header of the air interface broadcast service message sent by node 0 is as follows: Fig. 9 As shown. Node 0 sends the message on F2. According to Table 2 above, the minimum channel quality in channel F2 corresponding to node 0 as the source node is 9. Therefore, the minimum value in the air interface spectrum measurement result of node 0 adjacent nodes is 9. Combined with the mapping relationship table of modulation and coding mode and signal-to-noise ratio in Table 1, it can be seen that since the channel quality is 9, that is, the signal-to-noise ratio is 9, the modulation and coding mode corresponding to the signal-to-noise ratio of 8 is selected as the reference modulation and coding mode (it should be understood that if there is no matching signal-to-noise ratio in the mapping table, it can only be selected downward). Therefore, the corresponding reference modulation and coding mode is QPSK 3 / 4. Here, K is 1, that is, the reference modulation and coding mode is reduced by 1 order, and the target modulation and coding mode obtained is QPSK 1 / 2.

[0150] The summary list of messages sent by node 0 is as follows: Fig.10 As shown. Assume that the broadcast message sent by node 0 is received by nodes 1, 3, and 7, and relay node 3 is selected for relay forwarding (selecting node 3 for relay forwarding can enable nodes 4 and 5 to receive the broadcast message). Subsequently, node 2 can learn that the message with sequence number 10 has not been received by monitoring the summary information sent by node 0. Therefore, node 2 sends a unicast broadcast service message request to node 0 to request the unreceived broadcast service message. After receiving the request, node 0 will send the message with sequence number 10 to node 2.

[0151] Node 3 acts as a relay node to forward the broadcast service message on the air interface. The message content is as follows: Fig.11 As shown, assuming that F1 is used for transmission, according to Table 2, the corresponding minimum signal-to-noise ratio is 16. Combined with Table 1, it can be seen that the reference modulation and coding method is 16QAM 3 / 4. Here, K is still taken as 1, that is, the reference modulation and coding method is reduced by 1 order, and the corresponding target modulation and coding method is 16QAM 1 / 2.

[0152] After receiving the message, node 0 directly discards it. Assuming that node 5 has not received the message, node 5 monitors the air interface. If node 5 receives the summary information sent by nodes 3, 4, and 7 and learns that the message with sequence number less than 10 has not been received, node 5 randomly selects a node from the three nodes, such as node 7, to make a broadcast service message request to achieve load sharing of the broadcast service message request.

[0153] If a node fails to receive the air interface measurement result released by an adjacent node for a long time, resulting in a timeout of the air interface spectrum measurement result of its own adjacent node, the measurement result in the record is updated to the default 0, that is, there is no measurement result, and the most conservative result is broadcast.

[0154] Therefore, in the self-organizing network broadcast information transmission method for unmanned systems provided by the embodiment of the present invention, the modulation and coding mode of the node broadcast service content is jointly determined by the air interface measurement results of all 1-hop adjacent nodes, ensuring efficient and reliable transmission within the 1-hop neighbor range, and the modulation and coding mode of the node broadcast service summary uses the lowest modulation and coding mode to ensure coverage and reliability due to the small amount of information sent. The local broadcast service reception content information is shared between adjacent nodes through summary sending, and the purpose of highly reliable transmission of broadcast services with a small amount of air interface resources is achieved through the broadcast service request mechanism. Therefore, the self-organizing network broadcast information transmission method for unmanned systems provided by the present invention can solve the problem of low air interface broadcast transmission efficiency caused by the use of the lowest order modulation and coding mode in the self-organizing network scenario, and at the same time, reliable transmission of broadcast services can be achieved by sending a small number of broadcast message summaries.

[0155] As another embodiment of the present invention, a self-organizing network 10 is provided, which includes a plurality of nodes 100, such as Fig.12 As shown, each node 100 includes:

[0156] The receiving module 110 is used to receive the air interface spectrum measurement result in real time;

[0157] The modulation coding and sending module 120 is used to determine the target modulation coding mode according to the air interface spectrum measurement result received in real time when there is a broadcast service message to be sent, and send the broadcast service message to be sent on the idle air interface time-frequency resources according to the target modulation coding mode, wherein the broadcast service message to be sent includes an air interface broadcast service message header, and the air interface broadcast service message header includes at least the node ID of the original sending node of the broadcast service message and the broadcast service message sequence number;

[0158] A message summary list sending module 130 is used to send a message summary list of broadcast service messages on an idle air interface time-frequency resource according to the target modulation and coding mode, wherein the message summary list includes at least a node ID of the original sending node of the broadcast service message and a locally stored broadcast service message indication from the original sending node of the broadcast service message;

[0159] The processing module 140 is used to process the received broadcast service message according to a first preset processing method when a broadcast service message is received from any node in the self-organizing network, and the first preset processing method at least includes discarding and forwarding; and when the message summary list is received from any node in the self-organizing network, the received message summary list is processed according to a second preset processing method, and the second preset processing method at least includes discarding and issuing a broadcast service message request.

[0160] The self-organizing network provided by the embodiment of the present invention, for any node, when there is a broadcast service message to be sent, determines the target modulation and coding method according to the air interface spectrum measurement result received in real time, and then sends the broadcast service message to be sent on the idle air interface time-frequency resource according to the target modulation and coding method, and after the broadcast service message to be sent is sent, in order to improve the reliability of the transmission of the broadcast service message, a message summary list of the broadcast service message is sent on the idle air interface time-frequency resource according to the target modulation and coding method, so that the node that has not received the broadcast service message can obtain the broadcast service message by making a broadcast service message request, so as to achieve the purpose of improving the transmission reliability of the broadcast service message, and the embodiment of the present invention determines the target modulation and coding method according to the air interface spectrum strategy result received in real time when transmitting the broadcast service message, instead of directly using the lowest order coding method, so that the transmission efficiency of the message can be effectively improved. Therefore, the self-organizing network provided by the present invention has the advantages of high efficiency and high reliability when transmitting broadcast service messages.

[0161] The specific working principle of the self-organizing network in the embodiment of the present invention can be referred to the description of the self-organizing network broadcast information transmission method for unmanned systems in the previous text, which will not be repeated here.

[0162] As another embodiment of the present invention, an unmanned system is provided, which includes the self-organizing network mentioned above.

[0163] The unmanned system provided by the present invention adopts the self-organizing network mentioned above to realize communication within the system. Since the self-organizing network mentioned above can have the advantages of high efficiency and high reliability when transmitting broadcast service messages, the communication of the unmanned system provided by the present invention has the advantages of high efficiency and high reliability, thereby having a competitive advantage in practical applications.

[0164] The unmanned system in the embodiment of the present invention may specifically be an unmanned aerial vehicle system or the like.

[0165] It is to be understood that the above embodiments are merely exemplary embodiments used to illustrate the principles of the present invention, but the present invention is not limited thereto. For those of ordinary skill in the art, various modifications and improvements can be made without departing from the spirit and essence of the present invention, and these modifications and improvements are also considered to be within the scope of protection of the present invention.

Claims

1. A method for transmitting broadcast information in an ad hoc network for an unmanned system, characterized in that: For any node in the ad hoc network of the unmanned system, the method includes: Receive air interface spectrum measurement results in real time; When there is a broadcast service message to be sent, determine a target modulation and coding mode according to the air interface spectrum measurement result received in real time, and send the broadcast service message to be sent on the idle air interface time and frequency resources according to the target modulation and coding mode, wherein the broadcast service message to be sent includes an air interface broadcast service message header, and the air interface broadcast service message header includes at least a node ID of a node from which the broadcast service message is originally sent and a broadcast service message sequence number; Sending a message summary list of the broadcast service message on the idle air interface time and frequency resources according to the target modulation and coding mode, wherein the message summary list at least includes a node ID of the original sending node of the broadcast service message and a locally stored broadcast service message indication from the original sending node of the broadcast service message; When a broadcast service message sent by any node in the self-organizing network is received, the received broadcast service message is processed according to a first preset processing mode, wherein the first preset processing mode at least includes discarding or forwarding, and when the message summary list sent by any node in the self-organizing network is received, the received message summary list is processed according to a second preset processing mode, wherein the second preset processing mode at least includes discarding or issuing a broadcast service message request; The target modulation and coding mode is determined according to the air interface spectrum measurement result received in real time, including: Determine respectively the to-be-sent channel of the current to-be-sent broadcast service message and the to-be-sent channel of the message summary list of the broadcast service message; Determine, according to the signal-to-noise ratio, a target modulation and coding mode when the to-be-sent broadcast service message is sent on the to-be-sent channel and a target modulation and coding mode when the message summary list of the broadcast service message is sent on the to-be-sent channel; Determining a target modulation and coding mode for a broadcast service message to be sent on a channel to be sent according to the signal-to-noise ratio includes: Determine whether there are signal-to-noise ratios of all one-hop neighbors on the to-be-sent channel of the to-be-sent broadcast service message; If there are signal-to-noise ratios of all one-hop neighbors on the to-be-sent channel of the to-be-sent broadcast service message, a modulation and coding mode corresponding to the lowest signal-to-noise ratio among the signal-to-noise ratios of all the one-hop neighbors is selected as a reference modulation and coding mode, and a target modulation and coding mode of the to-be-sent broadcast service message is determined according to the reference modulation and coding mode; If there are some 1-hop neighbors without effective signal-to-noise ratio on the to-be-sent channel of the to-be-sent broadcast service message, the target modulation and coding mode of the to-be-sent broadcast service message is determined to be the lowest-order modulation and coding mode supported by the ad hoc network; Determining a target modulation and coding mode when a message summary list of a broadcast service message is sent on a to-be-sent channel according to the signal-to-noise ratio includes: Determine the target modulation and coding mode when the message summary list of the broadcast service message is sent on the to-be-sent channel as the lowest-order modulation and coding mode supported by the ad hoc network; Determining a target modulation and coding mode of a broadcast service message to be sent according to the reference modulation and coding mode includes: The reference modulation and coding mode is reduced by K orders to obtain a reduced order modulation and coding mode; The larger one between the reduced-order modulation and coding mode and the lowest-order modulation and coding mode supported by the ad hoc network is selected as the target modulation and coding mode for the broadcast service message to be sent.

2. The method according to claim 1, characterized in that When a broadcast service message sent by any node in the ad hoc network is received, the received broadcast service message is processed according to a first preset processing mode, including: Determining whether the original sending node of the broadcast service message is itself according to the air interface broadcast service message header of the broadcast service message; If it is determined that the original sending node of the broadcast service message is itself, the broadcast service message is discarded; If it is determined that the original sending node of the broadcast service message is not itself, then determine whether the broadcast service message has been received by itself; If the broadcast service message has been received by itself, the broadcast service message will be discarded; If the broadcast service message has not been received by itself, the broadcast service message is saved and forwarded to the upper layer application or peripheral device; When it is a relay node for the broadcast service message, it determines the target modulation and coding mode according to the real-time received air interface spectrum measurement result, and relays and forwards the received broadcast service message on the idle air interface time and frequency resources according to the target modulation and coding mode.

3. The method according to claim 1, characterized in that When the message summary list sent by any node in the self-organizing network is received, the received message summary list is processed according to the second preset processing mode, including: Determining, according to the message summary list, whether there is a broadcast service message indication that the message summary list has not been received by the message summary list; If the message summary list does not contain any broadcast service message indication that it has not received, the message summary list is discarded; If there is a broadcast service message indication that has not been received by itself in the message summary list, the relevant information of the broadcast service message indication is recorded in the list of unsuccessfully received broadcast service message information, and the relevant information of the broadcast service message indication includes at least the node ID of the original sending node of the broadcast service message, the broadcast service message indication and the node ID of the current sending node of the broadcast service message; Determining a target broadcast service message according to the list of unsuccessfully received broadcast service message information; A target broadcast service message request is sent to its own adjacent node, wherein the target broadcast service message request includes at least a node ID that sends the target broadcast service message request and related information indicated by the target broadcast service message.

4. The method according to claim 3, characterized in that The method further comprises: When receiving a target broadcast service message request, it is determined whether the node is reachable in one hop according to the node ID that issued the target broadcast service message request; If the node that sends the target broadcast service message request is not reachable within 1 hop, the target broadcast service message request is discarded; If the node that sends the target broadcast service message request is reachable within 1 hop, it determines whether it has the requested target broadcast service message; If the requested target broadcast service message does not exist, the broadcast service message request is discarded; If there is a requested target broadcast service message, the target broadcast service message is sent to the node that sends the broadcast service message request.

5. The method for transmitting broadcast information in an ad hoc network for an unmanned system according to claim 1, characterized in that: The method further comprises: Real-time measurement of air interface spectrum quality; Generate its own air interface spectrum measurement result according to the measured air interface spectrum quality; The air interface spectrum measurement result of the node is published in the one-hop neighbor, wherein the air interface spectrum measurement result at least includes the node ID of the node publishing the air interface spectrum measurement result and the channel quality information.

6. A self-organizing network, used to implement the self-organizing network broadcast information transmission method for unmanned systems as claimed in any one of claims 1 to 5, characterized in that: It includes multiple nodes, each of which includes: A receiving module, used for receiving air interface spectrum measurement results in real time; A modulation coding and sending module, which is used to determine a target modulation coding mode according to the air interface spectrum measurement result received in real time when there is a broadcast service message to be sent, and send the broadcast service message to be sent on the idle air interface time-frequency resources according to the target modulation coding mode, wherein the broadcast service message to be sent includes an air interface broadcast service message header, and the air interface broadcast service message header includes at least a node ID of the original sending node of the broadcast service message and a broadcast service message sequence number; A message summary list sending module, used to send a message summary list of broadcast service messages on idle air interface time and frequency resources according to the target modulation and coding mode, wherein the message summary list at least includes a node ID of the original sending node of the broadcast service message and a locally stored broadcast service message indication from the original sending node of the broadcast service message; A processing module, used for processing the received broadcast service message according to a first preset processing method when receiving a broadcast service message sent by any node in the self-organizing network, the first preset processing method at least including discarding and forwarding, and when receiving the message summary list sent by any node in the self-organizing network, processing the received message summary list according to a second preset processing method, the second preset processing method at least including discarding and issuing a broadcast service message request.

7. An unmanned system, characterized in that: Includes the self-organizing network described in claim 6.

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