A distributed unmanned system adjustment method and device based on opportunistic network

Abstract

The present application discloses a distributed unmanned system adjustment method and device based on an opportunistic network. The method receives task update instruction information according to a received signal. If the task update instruction information comes from a rear control center, it determines whether to execute the multifunctional distributed electronic system in the broadcast period closest to the current moment. If it comes from other nodes, it works according to the current timing and sends information to other nodes in the broadcast period defined by the timing until there is no broadcast period between the current time and the agreed new timing start time. The new timing of the corresponding scheme is read according to the number of current normal nodes, and the autonomous adjustment is completed by working from the agreed new timing start time according to the new timing. The information is distributed according to the existing function switching timing, and the response of other nodes is observed. After reaching the agreed new timing start time, all nodes start working in accordance with the new timing in sequence according to the node number, thereby realizing autonomous response and adjustment to the task update instruction information.

Description

Technical Field

[0001] The present application relates to the technical field of distributed unmanned systems, and in particular to a distributed unmanned system adjustment method and device based on an opportunistic network. Background Art

[0002] Distributed unmanned systems hold significant application value in various fields. Existing distributed systems typically rely on interactive communication capabilities as a prerequisite for technical research, assuming they possess the necessary interactive communication capabilities for information exchange between different system nodes and between system nodes and rear-line command personnel / centers. However, in practice, ideal communication capabilities are often difficult to achieve. Factors such as long transmission distances, climate change, terrain obstruction, multipath transmission, and environmental electromagnetic interference can all hinder the expected communication capabilities of distributed systems, leading to reduced communication speeds and blocked interactions.

[0003] To address these issues, time resource management technology has been adopted. It utilizes a coordinated mechanism based on time partitioning to reduce the distributed system's reliance on communication capabilities. However, existing distributed systems based on time resource management are based on fixed task information. However, the actual environment often changes dynamically, and controllers need to deploy new tasks to the distributed system to adapt to the changing task situation.

[0004] Considering that distributed unmanned systems in real-world applications may be affected by factors such as long distances, increased atmospheric attenuation due to weather changes, and obstruction from urban buildings, it is difficult to ensure that all nodes in the distributed system can promptly receive task update instructions sent from the rear. This leads to significant uncertainty in the triggering conditions for system adjustments, such as when and by which nodes the update instructions are received. Therefore, opportunistic networks have been proposed. These are self-organizing networks that do not require a complete path between the source and destination nodes, but instead utilize encounter opportunities brought about by node movement to achieve network communication. However, research on how randomly received task update instructions in opportunistic networks are distributed among distributed system nodes and how system nodes adjust accordingly is still lacking. Summary of the Invention

[0005] The purpose of this application is to provide a distributed unmanned system adjustment method and device based on an opportunistic network in order to overcome the existing technical defects. The adjustment process can be automatically completed as long as any node receives the rear command information, which reduces the dependence of the system adjustment scheduling on communication capabilities. At the same time, the adjustment process will not interfere with the execution of the current task, reducing the burden of manual operation and improving system stability.

[0006] The purpose of this application is achieved through the following technical solutions:

[0007] In a first aspect, the present application proposes a distributed unmanned system adjustment method based on an opportunistic network, the method being applied to a node in a multifunctional distributed electronic system, the multifunctional distributed electronic system comprising a plurality of nodes, the method comprising:

[0008] Step S1, receiving task update instruction information according to the received signal;

[0009] Step S2: If the task update instruction information comes from the rear control center, execute step S3; if the task update instruction information comes from other nodes, execute step S6;

[0010] Step S3: Determine whether to execute the broadcast period closest to the current time of the multifunctional distributed electronic system based on the current time, the function switching sequence of the node itself, and the function sequence of other nodes; if not, execute step S4; if yes, execute step S5;

[0011] Step S4: Receive and analyze the information sent by the remaining nodes during the broadcast period. If the information contains the update instruction information forwarded by the remaining nodes, execute step S5; if not, execute step S6;

[0012] Step S5: Generate a new function switching sequence based on the task adjustment information in the update instruction information and all the response states of the nodes to the update instruction information. At the same time, estimate the time required for all nodes to receive the adjustment information based on the current system timing and set the new sequence start time.

[0013] Step S6: Work according to the current time sequence, and send task update instruction information, new time sequence data, and new time sequence start time information to other nodes during the broadcast period specified by the time sequence, until there is no broadcast period between the current time and the agreed new time sequence start time;

[0014] Step S7: read the new timing of the corresponding solution according to the number of current normal nodes, and complete the autonomous adjustment by working according to the new timing from the agreed new timing start time.

[0015] In a possible implementation, the steps before step S1, receiving task update instruction information according to the received signal, further include:

[0016] Initialize and configure the nodes so that each node stores the initialization information of all nodes, switches to the functional mode agreed upon by the timing according to its own timing, and processes the corresponding tasks.

[0017] In a possible implementation, the initialization information includes node function switching timing design, function parameter configuration, time base establishment, and task information.

[0018] In a possible implementation, all response states are the number of nodes that have received the update instruction information and completed the adjustment, and the value range of the number of nodes is 1 to N.

[0019] In a second aspect, the present application proposes a distributed unmanned system adjustment device based on an opportunistic network, the device comprising:

[0020] A receiving module, configured to receive task update instruction information according to a received signal;

[0021] A first judgment module is used to judge the source of the task update instruction information;

[0022] The second judgment module judges whether to execute the broadcast period closest to the current time of the multifunctional distributed electronic system according to the current time, its own function switching sequence and the function sequence of other nodes;

[0023] An analysis module, used to receive and analyze information sent by other nodes during the broadcast period;

[0024] The generation module is used to generate a new function switching sequence based on the task adjustment information in the update instruction information and the response status of all nodes to the update instruction information. At the same time, based on the current system timing, it estimates the time required for all nodes to receive the adjustment information and sets the new timing start time;

[0025] The sending module is used to work according to the current time sequence and send task update instruction information, new time sequence data, and new time sequence start time information to other nodes during the broadcast period specified by the time sequence until there is no broadcast period between the current time and the agreed new time sequence start time;

[0026] The reading module is used to read the new timing of the corresponding solution according to the number of current normal nodes, and work from the agreed new timing starting time to complete the autonomous adjustment according to the new timing.

[0027] In a possible implementation, the device further includes:

[0028] The initialization module is used to initialize and configure the nodes so that each node stores the initialization information of all nodes, switches to the functional mode agreed by the timing according to its own timing, and processes the corresponding tasks.

[0029] In a possible implementation, the initialization information includes node function switching timing design, function parameter configuration, time base establishment, and task information.

[0030] In a possible implementation, all response states are the number of nodes that have received the update instruction information and completed the adjustment, and the value range of the number of nodes is 1 to N.

[0031] In a third aspect, the present application also proposes a computer device, which includes a processor and a memory, wherein a computer program is stored in the memory, and the computer program is loaded and executed by the processor to implement the distributed unmanned system adjustment method as described in any one of the first aspects.

[0032] In a fourth aspect, the present application further proposes a computer-readable storage medium, in which a computer program is stored. The computer program is loaded and executed by a processor to implement the distributed unmanned system adjustment method as described in any one of the first aspects.

[0033] The above-mentioned main scheme of this application and its further options can be freely combined to form multiple schemes, all of which are schemes that can be adopted and protected by this application; and in this application, (non-conflicting options) can also be freely combined with each other and with other options. After understanding the scheme of this application, those skilled in the art will understand that there are many combinations based on existing technology and common knowledge, all of which are technical solutions to be protected by this application, and they are not exhaustive here.

[0034] The present application discloses a distributed unmanned system adjustment method and device based on an opportunistic network. The method receives task update instruction information according to a received signal. If the task update instruction information comes from a rear control center, it determines whether to execute the multifunctional distributed electronic system in the broadcast period closest to the current moment. If it comes from other nodes, it works according to the current timing and sends information to other nodes in the broadcast period defined by the timing until there is no broadcast period between the current time and the agreed new timing start time. The new timing of the corresponding scheme is read according to the number of current normal nodes, and the autonomous adjustment is completed by working from the agreed new timing start time according to the new timing. The information is distributed according to the existing function switching timing, and the response of other nodes is observed. After reaching the agreed new timing start time, all nodes start working in accordance with the new timing in sequence according to the node number, thereby realizing autonomous response and adjustment to the task update instruction information. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the following is a brief introduction to the drawings required for use in the embodiments. It should be understood that the following drawings only show certain embodiments of the present application and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other relevant drawings can be obtained based on these drawings without creative work.

[0036] Figure 1 A flow chart of a distributed unmanned system adjustment method based on an opportunistic network proposed in an embodiment of the present application is shown.

[0037] Figure 2A schematic diagram of system timing adjustment changes in which all nodes respond to update instructions proposed in an embodiment of the present application is shown.

[0038] Figure 3 A schematic diagram of system timing adjustment changes for some nodes in response to update instructions proposed in an embodiment of the present application is shown. DETAILED DESCRIPTION

[0039] The following describes the embodiments of the present application through specific examples. Those skilled in the art can easily understand the other advantages and effects of the present application from the content disclosed in this specification. The present application can also be implemented or applied through other different specific embodiments. The details in this specification can also be modified or changed based on different viewpoints and applications without departing from the spirit of the present application. It should be noted that the following embodiments and features in the embodiments can be combined with each other unless they conflict.

[0040] Based on the embodiments in this application, all other embodiments obtained by ordinary technicians in this field without making any creative work shall fall within the scope of protection of this application.

[0041] In the existing technology, considering that the distributed unmanned system in the actual application environment may be affected by factors such as excessive distance, increased atmospheric attenuation caused by environmental weather changes, and obstruction by urban buildings, it is difficult to ensure that all nodes in the distributed system can timely obtain the task update instruction information sent from the rear. As a result, there is a large uncertainty in the pre-trigger conditions for system adjustments, such as when the update instruction information is received and which nodes receive it. Therefore, there is still a lack of research on how to distribute the task update instruction information randomly received in the opportunistic network state among the nodes of the distributed system and how the system nodes adjust accordingly.

[0042] Therefore, in order to solve the above problems, the present application proposes a distributed unmanned system adjustment method and device based on opportunistic networks. It can be used in scenarios where there are various practical factors such as transmission distance that are limited and it is difficult to ensure that all nodes of the unmanned system can stably and timely obtain the rear command information. After any node completely receives the rear task update command information, it can distribute the task update instruction, new timing information, new timing start time and other system update adjustment information to other nodes in an orderly manner without interrupting the execution of existing tasks, and guide the entire system to automatically complete the adjustment, thereby reducing the manual operation load required for the distributed unmanned system adjustment and improving the system stability and adaptability. The distributed unmanned system adjustment method and device proposed in this application are described in detail below.

[0043] Please refer to Figure 1 , Figure 1The present invention shows a flow diagram of a distributed unmanned system adjustment method based on an opportunistic network proposed in an embodiment of the present invention. The method is applied to the process of updating instructions driven by the opportunistic network. It is specifically applied to nodes in a multifunctional distributed electronic system. The multifunctional distributed electronic system includes multiple nodes. The electronic system hardware and software composition, performance index parameters, functional modes, etc. carried by each node are the same. It can work in a variety of different functional modes according to the instruction command. Any node only works in a single functional mode at an instant, and can switch to different functional modes as needed in different time periods. A unified time base can be established between nodes through temperature-controlled crystal oscillators, navigation satellites, atomic clocks, etc. In addition, timing information can be shared between nodes. When the time is unified, different nodes can infer the real-time functional status of other nodes. When each node is passively receiving (such as resident reconnaissance, frequency band monitoring, etc.), communication parameters are pre-defined, and receiving resources are reserved to simultaneously receive and demodulate the information modulated in the broadcast signal of other system nodes and the instruction information sent by the rear operator.

[0044] The distributed unmanned system adjustment method includes the following steps:

[0045] Step S1, receiving task update instruction information according to the received signal;

[0046] Step S2: If the task update instruction information comes from the rear control center, execute step S3; if the task update instruction information comes from other nodes, execute step S6;

[0047] Step S3: Determine whether to execute the broadcast period closest to the current time of the multifunctional distributed electronic system based on the current time, the function switching sequence of the node itself, and the function sequence of other nodes; if not, execute step S4; if yes, execute step S5;

[0048] Step S4: Receive and analyze the information sent by the remaining nodes during the broadcast period. If the information contains the update instruction information forwarded by the remaining nodes, execute step S5; if not, execute step S6;

[0049] Step S5: Generate a new function switching sequence based on the task adjustment information in the update instruction information and all the response states of the nodes to the update instruction information. At the same time, estimate the time required for all nodes to receive the adjustment information based on the current system timing and set the new sequence start time.

[0050] Step S6: Work according to the current time sequence, and send task update instruction information, new time sequence data, and new time sequence start time information to other nodes during the broadcast period specified by the time sequence, until there is no broadcast period between the current time and the agreed new time sequence start time;

[0051] Step S7: read the new timing of the corresponding solution according to the number of current normal nodes, and complete the autonomous adjustment by working according to the new timing from the agreed new timing start time.

[0052] First, in the multifunctional distributed electronic system, it determines whether the task update instruction information requiring the system to adjust is received based on the received signal. If it is not received, it waits and continues to execute the functional mode agreed upon by the timing assigned to itself. After receiving the task update instruction information, it determines whether the instruction information comes from the rear control personnel / center sent through the communication equipment or forwarded by other nodes.

[0053] If it is forwarded by other nodes, it will continue to work according to the current timing, and send update instruction information, new timing data, and new timing start time information to other nodes during the broadcast period specified by the timing, until there is no broadcast period between the current time and the agreed new timing start time, that is, the task update instruction information is notified to the other nodes.

[0054] If it is sent by the rear control personnel / center through the communication equipment, it will be judged based on the current time, its own function switching timing and the function timing of other nodes. If the selected node does not send information during the broadcast period closest to the current time of the entire system, the information sent during the broadcast period of other nodes will be received and analyzed before the next broadcast period of the selected node that can transmit information.

[0055] If it contains update instruction information forwarded by other nodes, then based on the task adjustment information in the update instruction information and combined with all the response status of the nodes to the update instruction information, a new function switching timing can be generated by using load balancing, cycle extension and other algorithms. At the same time, based on the current system timing, the time required for all nodes to receive the adjustment information is estimated and the new timing start time is set.

[0056] All response states are the number of nodes that have received the update instruction information and completed the adjustment. The value range of the node number is 1 to N.

[0057] For a distributed system consisting of N nodes, assuming that the number of nodes that respond normally is n, then n new time series data need to be generated. The number of nodes that respond normally to instructions may be any integer between 1 and N, so the total number of newly generated time series data is

[0058] Utilizing a multifunctional distributed electronic system and a node monitoring method based on cross-verification, the time required for all normal nodes to respond to update instruction information is estimated based on the time required for the system to make a judgment on a failed node.

[0059] If it is not included, it will work according to the current timing, and send task update instruction information, new timing data, and new timing start time information to other nodes during the broadcast period specified by the timing, until there is no broadcast period between the current time and the agreed new timing start time.

[0060] According to the current number of normal nodes, the new timing of the corresponding plan is read, and then work is carried out according to the new timing from the agreed new timing start time. Specifically, assuming that the number of nodes that respond normally is n, the new timing data generated under the nth plan is read, and the normal nodes use the new timing 1 to n as the function switching timing for their subsequent work in order of their numbers from small to large, thus completing the autonomous adjustment of the entire system.

[0061] Therefore, the distributed unmanned system adjustment method proposed in the embodiment of the present application is in the process of normal operation according to the function switching sequence and orderly processing of different tasks on demand. If any node receives the task update instruction information sent by the rear, it will distribute the task update instruction, new timing information, new timing start time and other information according to the existing function switching sequence, and at the same time observe whether other nodes respond to the distributed information. After the agreed new timing start time is reached, all nodes in the system that respond to the update instruction information can automatically start working according to the new timing according to the node number, and finally realize the orderly autonomous response and adjustment of the entire system to the task update instruction information.

[0062] The steps before step S1, receiving task update instruction information according to the received signal, further include:

[0063] Initialize and configure the nodes so that each node stores the initialization information of all nodes, switches to the functional mode agreed upon by the timing according to its own timing, and processes the corresponding tasks.

[0064] The initialization information includes node function switching timing design, function parameter configuration, time base establishment and task information.

[0065] After completing the initialization configuration of the system nodes, each node stores the initialization information of all nodes in the system. The nodes switch to the functional mode agreed upon by their own assigned timing at different time periods according to their own timing, and take turns to execute different tasks.

[0066] In a possible embodiment, the embodiment of the present application is described with a task scenario in which a formation composed of three (N=3) aircraft nodes equipped with radar and electronic reconnaissance equipment performs collaborative perception of the environment. Before the situation changes, the formation needs to residently monitor the working parameter information of one intercepted radiation source, while also taking into account collaborative positioning (including cross direction finding and time difference positioning, etc.) tasks, monitoring tasks of two designated frequency bands, and tasks of broadcasting communications to the outside. The resident time of each task is 0.5 seconds for a single execution. After the situation changes, it is necessary to add a resident reconnaissance task for one newly intercepted radiation source. At this time, one resident reconnaissance task is added, and the execution resident time of other tasks and single tasks remains unchanged. A resident time length (0.5 seconds) is reserved before the update moment for each node to re-bind new task information, new timing, and adjust parameters and other preparatory work.

[0067] Figure 2 A schematic diagram of the system timing adjustment changes in which all nodes respond to the update instructions proposed in the embodiment of the present application is shown. Considering the ideal state where no node fails, during the 10th to 10.5th seconds, nodes 1 and 2 respectively work according to the functional states of target 1 residence and frequency band 1 monitoring, and therefore both receive the task update instructions issued by the rear. Because the latest broadcast period belongs to node 1, node 1 generates new timings for all response cases based on the task update information (the number of responding nodes may be 1, 2 or 3, and 1, 2, and 3 new timings are generated for the three cases respectively) and sets the new timing start time according to certain criteria. This information is sent by node 1 to other nodes in the system during the next broadcast period, and node 2 waits to receive the update instructions transmitted outward by node 1. In the subsequent process, nodes 2 and 3 received the relevant update information forwarded by node 1 during the period of 10.5 to 11 seconds. Nodes 2 and 3 forwarded the update instructions they received during the period of 11 to 11.5 seconds and 11.5 to 12 seconds respectively. Therefore, all three nodes received the instructions and responded. At this time, according to the situation where the number of responding nodes is 3, nodes 1, 2, and 3 respectively adopted the 1st, 2nd, and 3rd new time sequences as their new function switching time sequences after the update moment. After arriving at the starting moment of the new time sequence, all three nodes started working according to the new time sequence, the newly added tasks were executed, and the original tasks were also retained, and the system completed the update. Therefore, under the support of the present invention, the pre-trigger conditions required for the adjustment of the distributed system are relatively loose (only one node needs to receive the rear update instruction information). At the same time, the update instruction information and other related information can be distributed in an orderly manner under the premise of maintaining the continued execution of the existing tasks. After the system nodes reach a consensus on the update information, they can complete the automatic adjustment, and the task continuity and system stability are better.

[0068] Figure 3The diagram shows the changes in the system timing adjustment of some nodes in response to the update instructions proposed in the embodiment of the present application. Taking into account the non-ideal state of node failure, it is assumed that during the period of 9 to 9.5 seconds, nodes 1 and 3 respectively work in the frequency band 1 monitoring and target 1 resident states, and both nodes receive the task update instructions issued by the rear. Because the latest broadcast period belongs to node 3, node 3 also generates new timings under different response conditions based on the task update information (when the number of responding nodes is 1, 2, and 3, 1, 2, and 3 new timings are generated respectively) and the starting time of the new timings, and at the same time sends relevant update information to other nodes in the next broadcast period. Node 1 waits to receive the update information transmitted outward by node 3. Node 2 fails after 9.5 seconds and cannot work normally, and cannot accept update instructions and forward them outward. In the subsequent process, node 1 received the update information forwarded by node 3 between 10 and 10.5 seconds, and then forwarded the update instructions it received between 10.5 and 11 seconds. At this time, nodes 1 and 3 both received the update instructions sent by each other, but until the preparation time, neither node received the update information forwarded by node 2, so node 2 was judged to be failed. At this time, according to the case where the number of responding nodes is 2, nodes 1 and 3 respectively use the first and second new time sequences as their new function switching time sequences after the update moment. After reaching the starting time of the new time sequence, nodes 1 and 3 both start working according to the new time sequence, and the system completes the update. This shows that this method can also adapt to unexpected situations such as node failure, has the ability to automatically judge normal nodes and failed nodes, and the system stability is further guaranteed.

[0069] Compared with the prior art, the embodiments of the present application have the following beneficial effects:

[0070] For a distributed system composed of multiple identical nodes, while the system operates normally according to the function switching sequence and processes different tasks in an orderly and on-demand manner, for the task update instruction information sent by the rear commander at any time and any node, each node can distribute the update instruction, update sequence, update time and other information in an orderly manner, while observing whether other nodes respond to the instruction normally. After the update conditions are met, all nodes that respond to the update instruction information will start working in accordance with the updated sequence according to their own numbers based on the preset parameters and the received update information, starting from the agreed new sequence start time, thus realizing the autonomous response and adjustment of the entire system to the task update instruction information. The adjustment process can be automatically completed as long as any node receives the rear instruction information, reducing the dependence of the system adjustment and scheduling on communication capabilities. At the same time, the adjustment process will not interfere with the execution of the current task, reducing the burden of manual operation and improving system stability.

[0071] A possible implementation of a distributed unmanned system adjustment method based on an opportunistic network is provided below. The method is used to execute the various execution steps and corresponding technical effects of the distributed unmanned system adjustment method shown in the above embodiment and possible implementation. The device includes:

[0072] A receiving module, configured to receive task update instruction information according to a received signal;

[0073] A first judgment module is used to judge the source of the task update instruction information;

[0074] The second judgment module judges whether to execute the broadcast period closest to the current time of the multifunctional distributed electronic system according to the current time, its own function switching sequence and the function sequence of other nodes;

[0075] An analysis module, used to receive and analyze information sent by other nodes during the broadcast period;

[0076] The generation module is used to generate a new function switching sequence based on the task adjustment information in the update instruction information and the response status of all nodes to the update instruction information. At the same time, based on the current system timing, it estimates the time required for all nodes to receive the adjustment information and sets the new timing start time;

[0077] The sending module is used to work according to the current time sequence and send task update instruction information, new time sequence data, and new time sequence start time information to other nodes during the broadcast period specified by the time sequence until there is no broadcast period between the current time and the agreed new time sequence start time;

[0078] The reading module is used to read the new timing of the corresponding solution according to the number of current normal nodes, and work from the agreed new timing starting time to complete the autonomous adjustment according to the new timing.

[0079] The device also includes:

[0080] The initialization module is used to initialize and configure the nodes so that each node stores the initialization information of all nodes, switches to the functional mode agreed by the timing according to its own timing, and processes the corresponding tasks.

[0081] The initialization information includes node function switching timing design, function parameter configuration, time base establishment and task information.

[0082] All response states are the number of nodes that have received the update instruction information and completed the adjustment. The value range of the node number is 1 to N.

[0083] This preferred embodiment provides a computer device that can implement the steps in any embodiment of the distributed unmanned system adjustment method provided in the embodiments of the present application. Therefore, the beneficial effects of the distributed unmanned system adjustment method provided in the embodiments of the present application can be achieved. Please refer to the previous embodiments for details and will not be repeated here.

[0084] Those skilled in the art will appreciate that all or part of the steps in the various methods of the above embodiments can be accomplished through instructions, or by controlling related hardware through instructions. The instructions can be stored in a computer-readable storage medium and loaded and executed by a processor. To this end, an embodiment of the present application provides a storage medium storing a plurality of instructions that can be loaded by a processor to execute the steps of any of the embodiments of the distributed unmanned system adjustment method provided in the embodiments of the present application.

[0085] The storage medium may include a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk, etc.

[0086] Since the instructions stored in the storage medium can execute the steps in any distributed unmanned system adjustment method embodiment provided in the embodiments of the present application, the beneficial effects that can be achieved by any distributed unmanned system adjustment method provided in the embodiments of the present application can be achieved. Please see the previous embodiments for details and will not be repeated here.

[0087] In summary, the present application discloses a distributed unmanned system adjustment method and device based on an opportunistic network, which receives task update instruction information according to a received signal. If the task update instruction information comes from a rear control center, it determines whether to execute the multifunctional distributed electronic system in the broadcast period closest to the current moment; if it comes from other nodes, it works according to the current timing, sends information to other nodes in the broadcast period defined by the timing, until there is no broadcast period between the current time and the agreed new timing start time, reads the new timing of the corresponding scheme according to the number of current normal nodes, and works from the agreed new timing start time according to the new timing to complete autonomous adjustment. Distribute information according to the existing function switching timing, observe the response of other nodes, and after reaching the agreed new timing start time, all nodes start working in accordance with the new timing in sequence according to the node number, thereby realizing autonomous response and adjustment to the task update instruction information.

[0088] The above description is only a preferred embodiment of the present application and is not intended to limit the present application. Any modifications, equivalent replacements and improvements made within the spirit and principles of the present application should be included in the scope of protection of the present application.

Claims

1. A distributed unmanned system adjustment method based on opportunistic network, characterized in that: The method is applied to a node in a multifunctional distributed electronic system, wherein the multifunctional distributed electronic system includes a plurality of nodes, and the method includes: Step S1, receiving task update instruction information according to the received signal; Step S2: If the task update instruction information comes from the rear control center, execute step S3; if the task update instruction information comes from other nodes, execute step S6; Step S3: Determine whether to execute the broadcast period closest to the current time of the multifunctional distributed electronic system based on the current time, the function switching sequence of the node itself, and the function sequence of other nodes; if not, execute step S4; if yes, execute step S5; Step S4: Receive and analyze the information sent by the remaining nodes during the broadcast period. If the information contains the update instruction information forwarded by the remaining nodes, execute step S5; if not, execute step S6; Step S5: Generate a new function switching sequence based on the task adjustment information in the update instruction information and all the response states of the nodes to the update instruction information. At the same time, based on the current system timing, estimate the time required for all nodes to receive the adjustment information and set the new sequence start time. Step S6: Work according to the current time sequence, and send task update instruction information, new time sequence data, and new time sequence start time information to other nodes during the broadcast period specified by the time sequence, until there is no broadcast period between the current time and the agreed new time sequence start time; Step S7: read the new timing of the corresponding solution according to the number of current normal nodes, and complete the autonomous adjustment by working according to the new timing from the agreed new timing start time.

2. The distributed unmanned system adjustment method according to claim 1, characterized in that: The steps before step S1, receiving task update instruction information according to the received signal, further include: Initialize and configure the nodes so that each node stores the initialization information of all nodes, switches to the functional mode agreed upon by the timing according to its own timing, and processes the corresponding tasks.

3. The distributed unmanned system adjustment method according to claim 1, characterized in that: The initialization information includes node function switching timing design, function parameter configuration, time base establishment and task information.

4. The distributed unmanned system adjustment method according to claim 1, wherein: All response states are the number of nodes that have received the update instruction information and completed the adjustment. The value range of the node number is 1 to N.

5. A distributed unmanned system adjustment device based on an opportunistic network, characterized in that: The device comprises: A receiving module, configured to receive task update instruction information according to a received signal; A first judgment module is used to judge the source of the task update instruction information; The second judgment module judges whether to execute the broadcast period closest to the current time of the multifunctional distributed electronic system according to the current time, its own function switching sequence and the function sequence of other nodes; An analysis module, used to receive and analyze information sent by other nodes during the broadcast period; The generation module is used to generate a new function switching sequence based on the task adjustment information in the update instruction information and the response status of all nodes to the update instruction information. At the same time, based on the current system timing, it estimates the time required for all nodes to receive the adjustment information and sets the new timing start time; The sending module is used to work according to the current time sequence and send task update instruction information, new time sequence data, and new time sequence start time information to other nodes during the broadcast period specified by the time sequence until there is no broadcast period between the current time and the agreed new time sequence start time; The reading module is used to read the new timing of the corresponding solution according to the number of current normal nodes, and work from the agreed new timing starting time to complete the autonomous adjustment according to the new timing.

6. The distributed unmanned system adjustment device according to claim 5, characterized in that: The device further comprises: The initialization module is used to initialize and configure the nodes so that each node stores the initialization information of all nodes, switches to the functional mode agreed by the timing according to its own timing, and processes the corresponding tasks.

7. The distributed unmanned system adjustment device according to claim 5, characterized in that: The initialization information includes node function switching timing design, function parameter configuration, time base establishment and task information.

8. The distributed unmanned system adjustment device according to claim 5, characterized in that: All response states are the number of nodes that have received the update instruction information and completed the adjustment. The value range of the node number is 1 to N.

9. A computer device, characterized in that: The computer device includes a processor and a memory, wherein a computer program is stored in the memory, and the computer program is loaded and executed by the processor to implement the distributed unmanned system adjustment method according to any one of claims 1 to 4.

10. A computer-readable storage medium, characterized in that The storage medium stores a computer program, which is loaded and executed by a processor to implement the distributed unmanned system adjustment method according to any one of claims 1 to 4.

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