Directional neighbor discovery method, device and electronic device based on synchronous scanning

Abstract

The present invention provides a method, device and electronic device for directional neighbor discovery based on synchronous scanning, which belongs to the field of communication technology, and includes: obtaining node cluster neighbor information; inputting the node cluster neighbor information into an objective function, iteratively calculating the optimal solution of the objective function based on constraint conditions, and obtaining target configuration parameters corresponding to the optimal solution, wherein the target configuration parameters include the sector selection strategy and signal receiving and sending strategy of each node in the node cluster, and the objective function is used to minimize the average neighbor discovery time of the neighbor discovery process, or minimize the average energy consumption of the neighbor discovery process; controlling the node cluster to perform neighbor discovery based on the target configuration parameters. The directional neighbor discovery method based on synchronous scanning provided by the present invention solves the technical problems of the directional neighbor discovery method based on synchronous scanning in the related art, which has the delay and high energy consumption of the node cluster in the neighbor discovery process.

Description

Technical Field

[0001] The present invention relates to the field of communication technology, and in particular to a directional neighbor discovery method, device and electronic device based on synchronous scanning. Background Art

[0002] The application of directional antenna technology in communication systems is becoming more and more extensive. Directional antenna technology uses different angles of space and the diversity of channels to improve the reliability, throughput and energy efficiency of communication. It is suitable for drone clusters, mobile communications and Internet of Things systems; neighbor discovery refers to the process of nodes identifying other communicative nodes around them by broadcasting and receiving signals. This process is the basis of many network protocols and applications, especially in drone clusters, wireless sensor networks and Internet of Things systems. The efficiency of neighbor discovery directly affects the overall performance of the network.

[0003] In a synchronous directional antenna system, nodes share a synchronized clock to perform scheduled scanning and communication within a fixed time window. This method can improve transmission efficiency to a certain extent by utilizing the directionality of the antenna. In related technologies, algorithms combined with synchronization mechanisms can reduce some scanning time, but in low-density networks, nodes still need to adjust antennas in each direction to discover neighbors, resulting in higher overall latency. At the same time, compared with traditional omnidirectional antennas, although directional antennas have higher directional gain, they often consume more energy.

[0004] It can be seen that the directional neighbor discovery method based on synchronous scanning in the related art has technical problems such as delay and high energy consumption of the node cluster during the neighbor discovery process. Summary of the invention

[0005] The present invention provides a synchronous scanning-based directional neighbor discovery method, device and electronic device, which are used to solve the technical problems of delay and high energy consumption of node clusters in the neighbor discovery process in the synchronous scanning-based directional neighbor discovery method in the related art.

[0006] The present invention provides a directional neighbor discovery method based on synchronous scanning, comprising the following steps: obtaining node cluster neighbor information, wherein the node cluster neighbor information includes neighbor information of each node in the node cluster; inputting the node cluster neighbor information into an objective function, iteratively calculating the optimal solution of the objective function based on constraints, and obtaining target configuration parameters corresponding to the optimal solution, wherein the objective function is a positive term, the constraints are positive term constraints, the objective function and the constraints constitute a geometric programming problem, the target configuration parameters include a sector selection strategy and a signal receiving and sending strategy for each node in the node cluster, and the objective function is used to minimize the average neighbor of the neighbor discovery process. Neighbor discovery time, or, minimize the average energy consumption of the neighbor discovery process; take each node of the node cluster as a target node and perform the following steps based on the target configuration parameters, wherein the target configuration parameters include the probability of the target node selecting each sector and the probability of the target node selecting reception: determine the target sector based on a first random number and the probability of the target node selecting each sector; determine the target receiving and sending strategy based on a second random number and the probability of the target node selecting reception, wherein the first random number and the second random number are both random numbers in the range of 0 to 1 that conform to the uniform distribution law; control the target node to select the target sector and execute the target receiving and sending strategy.

[0007] According to a directional neighbor discovery method based on synchronous scanning provided by the present invention, the node cluster neighbor information includes neighbor information of each node in the node cluster on each antenna sector.

[0008] According to a directional neighbor discovery method based on synchronous scanning provided by the present invention, the sector selection strategy includes the probability of a node selecting each antenna sector during the neighbor discovery process, and the signal reception and transmission strategy includes the probability of a node performing a signal reception action in each time slot.

[0009] According to a directional neighbor discovery method based on synchronous scanning provided by the present invention, the constraint condition is:

[0010] ;

[0011] ;

[0012] ;

[0013] in, is the node i in the antenna sector the probability of performing a signal receiving action; , , They are auxiliary variables used to transform the problem into the form of geometric programming; is the set of all antenna sectors of node i; Select antenna sector for node i The probability of is the antenna sector in node k pointing from node k to node i; Select antenna sector for node k probability.

[0014] According to a directional neighbor discovery method based on synchronous scanning provided by the present invention, the objective function is used to minimize the average neighbor discovery time of the neighbor discovery process, and the objective function is:

[0015] ;

[0016] in, , is the node cluster; is the antenna sector in node i pointing from node i to node j; ; , is the set of all neighbor nodes of node i, is the node i in the antenna sector The set of all neighbor nodes in ; is the antenna sector in node j pointing from node j to node i; is an auxiliary variable; , , That is, it represents the total number of neighbor nodes of node i. Before the harmonic series Item part and.

[0017] According to a directional neighbor discovery method based on synchronous scanning provided by the present invention, the objective function is used to minimize the average energy consumption of the neighbor discovery process, and the objective function is:

[0018] ;

[0019] The constraints also include:

[0020] ;

[0021] in, , is the node cluster; is the antenna sector in node i pointing from node i to node j; ; , is the set of all neighbor nodes of node i, is the node i in the antenna sector The set of all neighbor nodes in ; is the antenna sector in node j pointing from node j to node i; is an auxiliary variable; , , That is, it represents the total number of neighbor nodes of node i. Before the harmonic series Item part and; is the power of node i when performing signal receiving action; is the power of node i when performing signal sending action; is the power of node i when performing signal listening action; are auxiliary variables used to transform the problem into the form of geometric programming.

[0022] The present invention also provides a directional neighbor discovery device based on synchronous scanning, comprising the following modules: an acquisition module, used to acquire node cluster neighbor information, wherein the node cluster neighbor information includes the neighbor information of each node in the node cluster; a calculation module, used to input the node cluster neighbor information into an objective function, iteratively calculate the optimal solution of the objective function based on constraints, and obtain target configuration parameters corresponding to the optimal solution, wherein the objective function is a positive term, the constraints are positive term constraints, the objective function and the constraints constitute a geometric programming problem, the target configuration parameters include the sector selection strategy and signal receiving and sending strategy of each node in the node cluster, and the objective function is used to minimize the neighbor discovery process. an average neighbor discovery time, or, minimizes the average energy consumption of the neighbor discovery process; an execution module, used to take each node of the node cluster as a target node and perform the following steps based on the target configuration parameters, wherein the target configuration parameters include the probability of the target node selecting each sector and the probability of the target node selecting reception: determining the target sector based on a first random number and the probability of the target node selecting each sector; determining a target receiving and sending strategy based on a second random number and the probability of the target node selecting reception, wherein the first random number and the second random number are both random numbers in the range of 0 to 1 that conform to the uniform distribution law; and controlling the target node to select the target sector and execute the target receiving and sending strategy.

[0023] The present invention also provides an electronic device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein when the processor executes the program, the directional neighbor discovery method based on synchronous scanning as described above is implemented.

[0024] The present invention also provides a non-transitory computer-readable storage medium on which a computer program is stored. When the computer program is executed by a processor, the directional neighbor discovery method based on synchronous scanning as described above is implemented.

[0025] The present invention also provides a computer program product, comprising a computer program, wherein when the computer program is executed by a processor, the computer program implements any of the above-mentioned directional neighbor discovery methods based on synchronous scanning.

[0026] The present invention provides a directional neighbor discovery method, device and electronic device based on synchronous scanning, which obtain node cluster neighbor information, wherein the node cluster neighbor information includes the neighbor information of each node in the node cluster; the node cluster neighbor information is input into the objective function, and the optimal solution of the objective function is iteratively calculated based on the constraint conditions to obtain the target configuration parameters corresponding to the optimal solution, wherein the objective function is a positive term, the constraint conditions are positive term constraints, the objective function and the constraint conditions constitute a geometric programming problem, the target configuration parameters include the sector selection strategy and signal receiving and sending strategy of each node in the node cluster, and the objective function is used to minimize the average neighbor discovery time of the neighbor discovery process, or minimize the average energy consumption of the neighbor discovery process; the node cluster is controlled to perform neighbor discovery based on the target configuration parameters; the node cluster performs neighbor discovery based on the target configuration parameters to minimize the discovery time or energy consumption in the neighbor discovery process, thereby solving the technical problems of the directional neighbor discovery method based on synchronous scanning in the related art, which has the delay and high energy consumption of the node cluster in the neighbor discovery process. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] In order to more clearly illustrate the technical solutions in the present invention or the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced one by one below. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0028] Figure 1 It is a flow chart of a directional neighbor discovery method based on synchronous scanning provided by the present invention.

[0029] Figure 2 This is one of the schematic diagrams of the directional neighbor discovery method based on synchronous scanning provided by the present invention.

[0030] Figure 3 This is the second schematic diagram of the directional neighbor discovery method based on synchronous scanning provided by the present invention.

[0031] Figure 4 It is a structural schematic diagram of a directional neighbor discovery device based on synchronous scanning provided by the present invention.

[0032] Figure 5 It is a structural schematic diagram of the electronic device provided by the present invention. DETAILED DESCRIPTION

[0033] In order to make the purpose, technical solution and advantages of the present invention clearer, the technical solution of the present invention will be clearly and completely described below in conjunction with the drawings of the present invention. Obviously, the described embodiments are part of the embodiments 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 creative work are within the scope of protection of the present invention.

[0034] It should be noted that in the description of the present invention, the terms "include", "comprise" or any other variant thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the sentence "include one..." do not exclude the existence of other identical elements in the process, method, article or device including the elements. The orientation or position relationship indicated by the terms "upper", "lower" and the like is based on the orientation or position relationship shown in the drawings, which is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation of the present invention. Unless otherwise clearly specified and limited, the terms "installed", "connected" and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be an indirect connection through an intermediate medium, or it can be a connection between the two elements. For those skilled in the art, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0035] The terms "first", "second", etc. in the present invention are used to distinguish similar objects, and are not used to describe a specific order or sequence. It should be understood that the data used in this way can be interchanged under appropriate circumstances, so that the embodiments of the present invention can be implemented in an order other than those illustrated or described herein, and the objects distinguished by "first", "second", etc. are generally of the same type, and the number of objects is not limited. For example, the first object can be one or more. In addition, "and / or" means at least one of the connected objects, and the character " / " generally indicates that the objects associated with each other are in an "or" relationship.

[0036] The present application relates to the field of communication technology, in particular to a directional antenna communication system in an unmanned aerial vehicle (UAV) cluster, and specifically to a fast neighbor discovery method in a synchronous directional antenna communication system. In recent years, directional antenna technology, in particular array antennas, multiple-input multiple-output (MIMO) and other technologies have been increasingly widely used in communication systems. These technologies use different angles of space and the diversity of channels to improve the reliability, throughput and energy efficiency of communication, and are particularly suitable for unmanned aerial vehicle clusters, mobile communications, the fifth generation mobile communication technology (5G) and the Internet of Things (IoT) system. Compared with omnidirectional antennas, directional antennas can concentrate signals in a specific direction, greatly improving the transmission distance and quality of signals and reducing interference. Neighbor discovery is a crucial process in communication networks, which refers to nodes identifying other communicable nodes around them by broadcasting and receiving signals. This process is the basis of many network protocols and applications, especially in unmanned aerial vehicle clusters, wireless sensor networks and IoT systems. The efficiency of neighbor discovery directly affects the overall performance of the network.

[0037] However, the use of directional antennas brings significant difficulties in the neighbor discovery process, mainly because they can only transmit and receive signals in specific directions, which requires nodes to scan neighbors in each direction, increasing discovery time and complexity. At the same time, the signal directions between nodes must be aligned for communication, which is particularly difficult in asynchronous or highly dynamic networks. In addition, the multiple scanning and monitoring processes of directional antennas will significantly increase energy consumption, making neighbor discovery more time-consuming and energy-intensive.

[0038] With the rapid development of array antennas, more and more communication systems use directional antennas to achieve higher spectrum efficiency and communication performance. In a synchronous directional antenna system, nodes share a synchronized clock and perform scheduled scanning and communication within a fixed time window. This method can improve transmission efficiency to a certain extent by utilizing the directionality of the antenna, but there are still some problems in the neighbor discovery process.

[0039] The neighbor discovery methods in related technologies are mostly random scanning or scheduled scanning. Although directional antennas improve the directionality of signal coverage, due to the limited scanning range of the antenna, nodes still need to adjust the antenna angles in different directions one by one during the neighbor discovery process; in addition, although array antennas can process multiple signals simultaneously through multiple channels and multiple angles, the existing synchronization system has not yet fully realized its potential, especially in a multi-node environment, the node's neighbor discovery delay and energy consumption are still problems that cannot be ignored.

[0040] The existing synchronous directional antenna neighbor discovery method has the following shortcomings when facing array antenna technology:

[0041] Latency issue: Some algorithms combined with synchronization mechanisms can reduce some scanning time, but in low-density networks, nodes still need to adjust antennas in each direction to find neighbors, resulting in higher overall latency;

[0042] Energy consumption issue: Compared with traditional omnidirectional antennas, directional antennas have higher directional gain but often have higher energy consumption. Existing methods do not have specific optimization configurations for energy consumption.

[0043] It can be seen that the directional neighbor discovery method based on synchronous scanning in the related art has technical problems such as delay and high energy consumption of the node cluster during the neighbor discovery process.

[0044] In order to at least solve some of the above problems, the following Figure 1-Figure 4 The invention describes a method, a device and an electronic device for directional neighbor discovery based on synchronous scanning.

[0045] The directional neighbor discovery method based on synchronous scanning provided in this embodiment can be applied to the scenario where the neighbor discovery process is performed on the node cluster based on the directional antenna technology. Here, the neighbor discovery method is performed based on synchronous scanning. The directional neighbor discovery method based on synchronous scanning provided in this embodiment can be performed by a node cluster system, and the node cluster can be a drone cluster; the directional neighbor discovery method based on synchronous scanning provided in this embodiment can be applied to a hardware environment including a drone cluster and a server. Each drone in the drone cluster is connected to the server in communication. The directional neighbor discovery method based on synchronous scanning in this embodiment can be performed by the server.

[0046] Figure 1 is a flow chart of a directional neighbor discovery method based on synchronous scanning provided by the present invention, such as Figure 1 As shown, including but not limited to the following steps:

[0047] Step 101 : Obtain node cluster neighbor information, wherein the node cluster neighbor information includes neighbor information of each node in the node cluster.

[0048] Optionally, the node cluster neighbor information includes neighbor information of each node in the node cluster on each antenna sector.

[0049] The node cluster in this embodiment implements the neighbor discovery process based on directional antenna technology. The antenna of the node is divided into multiple antenna sectors, each of which is responsible for covering different directions around the node to ensure that the entire airspace can be covered. Each node can only select one sector to work in each time slot, and the antenna can only send or receive signals in the direction of the selected sector. This directional antenna mode helps to improve communication efficiency and reduce interference. The node cluster in this embodiment can be a drone cluster.

[0050] In a synchronous directional antenna system, communication between nodes is organized in time slots. The clocks of all nodes operate synchronously. In each time slot, the node must make two choices:

[0051] Sector selection: A node must select a sector for signal transmission or reception.

[0052] Transmit / receive selection: The node must decide whether to perform signal transmission or signal reception in the selected sector.

[0053] In a time slot, the success conditions of the neighbor discovery process are: the antenna sectors of the two nodes are aligned with each other; one node is in the sending state and the other node is in the receiving state; there are no other interfering nodes affecting the communication in the time slot.

[0054] When the above conditions are met, the two nodes can complete neighbor discovery in this time slot. Figure 2 is one of the schematic diagrams of the directional neighbor discovery method based on synchronous scanning provided by the present invention, such as Figure 2 As shown, Figure 2 An example of node i discovering node j is shown. Node i and node j are paired through node i's antenna sector 3 and node j's antenna sector 7, and node i and node k are paired through node i's antenna sector 3 and node k's antenna sector 7. When node i and node j are paired successfully for the first time, node i is in a receiving state and node j is in a sending state, but at the same time, the antenna sector selected by node k is also antenna sector 7. Since node i can only receive signals from one node, node j and node k send signals to node i at the same time, causing conflict interference. At this time, node i cannot discover node j. When node i and node j are paired for the second time, node i is in a receiving state and node j is in a sending state, and the antenna sector selected by node k is antenna sector 9. There is no conflict, and node i discovers node j.

[0055] In this embodiment, node cluster neighbor information is obtained, wherein the node cluster neighbor information includes neighbor information of each node in the node cluster, that is, the node cluster neighbor information includes topological information between each node and all neighbor nodes, for example, Figure 2 In the example, node i can discover node j and node k, then the neighbor information of node i includes node j and node k.

[0056] The node cluster neighbor information includes information about neighbor nodes corresponding to each node in the node cluster in each antenna sector. For example, Figure 2 In the example, antenna sector 3 of node i can discover antenna sector 7 of node j and antenna sector 7 of node k. In addition, other antenna sectors of node i can also include other discoverable nodes.

[0057] Step 102, input the node cluster neighbor information into the objective function, iteratively calculate the optimal solution of the objective function based on the constraints, and obtain the target configuration parameters corresponding to the optimal solution, wherein the objective function is a positive term, the constraints are positive terms, the objective function and the constraints constitute a geometric programming problem, the target configuration parameters include the sector selection strategy and signal receiving and sending strategy of each node in the node cluster, and the objective function is used to minimize the average neighbor discovery time of the neighbor discovery process, or minimize the average energy consumption of the neighbor discovery process.

[0058] Step 103: Take each node of the node cluster as a target node and perform the following steps based on target configuration parameters, wherein the target configuration parameters include the probability of the target node selecting each sector and the probability of the target node selecting to receive:

[0059] Step 1031, determining a target sector based on a first random number and a probability of the target node selecting each sector;

[0060] Step 1032, determining a target receiving and sending strategy based on the second random number and the probability of the target node selecting receiving, wherein the first random number and the second random number are both random numbers in the range of 0 to 1 that conform to a uniform distribution law;

[0061] Step 1033, controlling the target node to select a target sector and execute a target transmission and reception strategy.

[0062] It should be noted that a positive polynomial is a polynomial whose coefficients are all positive. That is, if each term of a polynomial is a non-negative real product of variable powers and all coefficients are positive, then the polynomial is a positive polynomial. Geometric programming is an optimization problem in which the objective function and constraints are functions of positive polynomials.

[0063] In this embodiment, a pre-constructed geometric programming problem is involved. The geometric programming problem includes an objective function and constraints. The objective function and constraints together define an optimization problem. The optimization problem in this embodiment is to minimize the average neighbor discovery time of the neighbor discovery process, or to minimize the average energy consumption of the neighbor discovery process; here, the average neighbor discovery time refers to the average time for each node in the node cluster to discover its neighbor nodes, and the average energy consumption refers to the average energy consumption for each node in the node cluster to discover its neighbor nodes.

[0064] The optimal solution of the objective function is iteratively calculated based on the constraints. The optimal solution corresponds to the target configuration parameters. Controlling the node cluster to perform neighbor discovery based on the target configuration parameters can minimize the average neighbor discovery time and the average energy consumption of the node cluster performing the neighbor discovery process.

[0065] Optionally, the sector selection strategy includes the probability of the node selecting each antenna sector during the neighbor discovery process, and the signal reception and transmission strategy includes the probability of the node performing a signal reception action in each time slot.

[0066] In this embodiment, the objective function determines the optimization direction and the optimal value of the final solution, while the constraints determine the feasible region of the solution. The optimal solution must simultaneously satisfy the optimality of the objective function and the feasibility of the constraints. Here, in the solution process, the geometric programming problem can be rewritten as a convex problem, and then the convex problem is solved using the convex optimization method. Any local optimal solution obtained is the global optimal solution.

[0067] Through the embodiments provided by the present application, node cluster neighbor information is obtained, wherein the node cluster neighbor information includes neighbor node information of each node in the node cluster; the node cluster neighbor information is input into the objective function, and the optimal solution of the objective function is iteratively calculated based on the constraints to obtain the target configuration parameters corresponding to the optimal solution, wherein the objective function is a positive term, the constraints are positive term constraints, the objective function and the constraints constitute a geometric programming problem, the target configuration parameters include the sector selection strategy and signal receiving and sending strategy of each node in the node cluster, and the objective function is used to minimize the average neighbor discovery time of the neighbor discovery process, or minimize the average energy consumption of the neighbor discovery process; each node of the node cluster is used as the target The target node performs the following steps based on the target configuration parameters, wherein the target configuration parameters include the probability of the target node selecting each sector and the probability of the target node selecting reception: determining the target sector based on the first random number and the probability of the target node selecting each sector; determining the target receiving and sending strategy based on the second random number and the probability of the target node selecting reception, wherein the first random number and the second random number are random numbers in the range of 0 to 1 that conform to the uniform distribution law; controlling the target node to select the target sector and execute the target receiving and sending strategy; solving the technical problems of the directional neighbor discovery method based on synchronous scanning in the related technology, which has the delay and high energy consumption of the node cluster in the neighbor discovery process, and improving the efficiency of neighbor discovery.

[0068] Before the neighbor discovery process begins, the node's prior topological information is first optimized. By building a convex optimization model, the node calculates which sector should be selected to work in each time slot, and the probability of sending or receiving operations in the selected sector; here, the node's prior topological information refers to the node cluster neighbor information.

[0069] As an optional solution, the constraints are:

[0070] ;

[0071] ;

[0072] ;

[0073] in, is the node i in the antenna sector the probability of performing a signal receiving action; , , They are auxiliary variables used to transform the problem into the form of geometric programming; is the set of all antenna sectors of node i; Select antenna sector for node i The probability of is the antenna sector in node k pointing from node k to node i; Select antenna sector for node k probability.

[0074] As an optional solution, the objective function is used to minimize the average neighbor discovery time of the neighbor discovery process. The objective function is:

[0075] ;

[0076] in, , For node clusters; is the antenna sector in node i pointing from node i to node j; ; , is the set of all neighbor nodes of node i, is the node i in the antenna sector The set of all neighbor nodes in ; is the antenna sector in node j pointing from node j to node i; is an auxiliary variable; , , represents the total number of neighbor nodes of node i, Before the harmonic series Item part and.

[0077] As an optional solution, the objective function is used to minimize the average energy consumption of the neighbor discovery process. The objective function is:

[0078] ;

[0079] The constraints also include:

[0080] ;

[0081] in, , For node clusters; is the antenna sector in node i pointing from node i to node j; ; , is the set of all neighbor nodes of node i, is the node i in the antenna sector The set of all neighbor nodes in ; is the antenna sector in node j pointing from node j to node i; is an auxiliary variable; , , represents the total number of neighbor nodes of node i, Before the harmonic series Item part and; is the power of node i when performing signal receiving action; is the power of node i when performing signal sending action; is the power of node i when performing signal listening action; are auxiliary variables used to transform the problem into the form of geometric programming.

[0082] It should be noted that there are two states of nodes in the neighbor discovery process, signal sending state and signal receiving state. When the node is in the signal receiving state but has not received a signal, the power of the node at this time is the power when the node performs a signal listening action; when the node is in the signal receiving state and receives a signal, the power of the node at this time is the power when the node performs a signal receiving action; when the node is in the signal sending state, the power of the node at this time is the power when the node performs a signal sending action.

[0083] In the neighbor discovery method in the related art, the node's sector selection and transceiver operation are random, which will prolong the neighbor discovery time and cause greater energy consumption. With the increase of nodes in the network or the frequent movement of nodes, this uncertainty becomes more prominent.

[0084] To solve this problem, this embodiment proposes a solution to optimize the neighbor discovery process by using convex optimization technology. The optimization goal is to generate target configuration parameters. These parameters include the probability of the node selecting each antenna sector during the neighbor discovery process. and the probability that a node performs a signal receiving action in each time slot .

[0085] These configuration parameters are optimized through a priori topology information, that is, based on the relative positions of nodes in the network, possible interference and signal coverage, the optimal sector selection probability and transmission and reception operation probability are calculated; by generating these parameters in advance, the neighbor discovery process is optimized, so that nodes can complete operations with higher efficiency and lower energy consumption in the actual process of discovering neighbors.

[0086] In the actual neighbor discovery process, the node selects the working sector and the transmission / reception mode in each time slot according to the configuration parameters generated before optimization with a predetermined probability. This means that the operation of the node is based on a specific random distribution guided by the optimization model, i.e. and .

[0087] In this embodiment, the process of iteratively calculating the optimal solution of the objective function based on the constraint conditions may include the following steps:

[0088] Step 1: Determine the optimization objective, that is, select one of the two optimization objectives: minimizing the average neighbor discovery time / minimizing the average energy consumption.

[0089] Step 2: Convert the selected problem into a linear form, perform logarithmic transformation on the power terms and product forms in the objective function, and convert the original variables , , , , Transform into logarithmic form, thereby converting nonlinear functions into linear form, and then converting geometric programming problems into convex problems.

[0090] Step 3: Initialize the transmission and reception probability and sector selection probability, , , and the convergence accuracy Used to control the convergence speed and accuracy. Auxiliary variables can be set to , , .

[0091] Step 4: Use the Interior Point Method (IPM) algorithm to iteratively update the optimization variables according to the objective function and constraints, and gradually approach the optimal solution. It is necessary to ensure that the constraints are met during the iteration process. In each iteration, solve the Karush-Kuhn-Tucker (KKT) condition to ensure that the solution meets the constraints of the optimization problem.

[0092] Step 5: When the iteration meets the preset convergence accuracy Stop iteration and output the solution result , , that is, the target configuration parameters corresponding to the optimal solution.

[0093] It can be understood that the scheme of this embodiment significantly optimizes the neighbor discovery process of the node through the target configuration parameters generated by convex optimization. Compared with the traditional random selection method, the optimized scheme reduces the invalid operations of the node in each time slot, shortens the time required for neighbor discovery, and reduces energy consumption. The method of this embodiment is suitable for the efficient communication needs in large-scale synchronous networks and can improve the overall performance of the system under complex network topologies.

[0094] In this embodiment, after obtaining the target configuration parameters, each node in the node cluster needs to be used as a target node to perform the following steps based on the target configuration parameters, wherein the target configuration parameters include the probability of the target node selecting each sector and the probability of the target node selecting to receive:

[0095] determining a target sector based on the first random number and a probability of the target node selecting each sector;

[0096] Determine the target receiving and sending strategy based on the second random number and the probability of the target node selecting to receive, wherein the first random number and the second random number are both random numbers in the range of 0 to 1 that conform to the uniform distribution law;

[0097] Control the target node to select the target sector and execute the target receiving and sending strategy.

[0098] It should be noted that for the node , the target configuration parameters include and ;Right now, For Node Select a sector in the current time slot The probability of, here, Include Node All sectors of For Node In the current time slot and sector Select the probability of receiving.

[0099] Figure 3 This is a schematic diagram of the second directional neighbor discovery method based on synchronous scanning provided by the present invention. Figure 3 The above steps are explained.

[0100] The target sector is determined based on the first random number and the probability of the target node selecting each sector; specifically, at the beginning of each time slot, the target node randomly generates a uniformly distributed first random number, for example, Randomly generate random numbers , whose range is , used to determine the node in the current time slot The working sector can be determined by the following inequality:

[0101] ;

[0102] in, Representation Node Sector The selection probability of ; when n satisfies the above inequality, the target sector is determined to be sector n.

[0103] The target receiving and sending strategy is determined based on the second random number and the probability of the target node selecting to receive; specifically, the node Generate another uniformly distributed random number , used to determine the send or receive operation, The range is ,when The node chooses to receive, otherwise it chooses to send.

[0104] The target node is controlled to select the target sector and execute the target transmission and reception strategy; in each time slot, the node performs a sending or receiving operation in the selected sector: when the node chooses to send, it broadcasts a neighbor discovery message to the neighbor nodes in the working sector; when the node chooses to receive, it listens to neighbor discovery messages from other nodes; when the node successfully receives a neighbor's request message, it records the neighbor information in the neighbor table. The node independently performs the above steps in the time slot and continues the neighbor discovery operation until the number of neighbor nodes recorded in the neighbor table reaches the preset threshold, then stops neighbor discovery.

[0105] Specifically, the solution of this application includes the following technical effects:

[0106] 1. Neighbor discovery time is greatly shortened:

[0107] This scheme significantly improves the probability of matching between nodes and reduces invalid time slots in the traditional random selection method by generating configuration parameters (including sector selection probability and send / receive selection probability) through convex optimization. This optimization effectively reduces the number of time slots required for neighbor discovery and achieves fast neighbor discovery, which is especially suitable for efficient neighbor discovery needs in large-scale synchronous networks.

[0108] 2. Energy consumption is significantly reduced:

[0109] Since the operation of the node in each time slot (such as selecting which sector to work and sending / receiving operations) is based on the guidance of the optimization model rather than random selection, unnecessary redundant operations are avoided. The optimization model reasonably allocates the working mode of each node, thereby reducing the energy consumption of the node and improving the energy efficiency of the overall system, which is particularly critical in resource-constrained environments (such as drone networks).

[0110] 3. Effective reduction of communication interference:

[0111] By optimizing the node selection probability, the scheme reduces signal conflicts and interference between nodes during the communication process. The system takes into account the interference of other nodes during the optimization process, ensuring that multiple nodes can communicate efficiently in the same network environment, thereby improving the success rate of neighbor discovery.

[0112] 4. Optimization based on prior information improves overall system performance:

[0113] This solution introduces the node's prior topology information into the optimization model, allowing the system to make smarter decisions while fully utilizing known information. Compared with the traditional non-optimized neighbor discovery method, this solution improves the efficiency of neighbor discovery by introducing prior information. The optimized result not only shortens the discovery time, but also minimizes energy consumption and improves the overall performance of the network.

[0114] 5. Reduce blindness and improve decision-making efficiency:

[0115] In the traditional random selection neighbor discovery method, the node's decision in each time slot is relatively blind. This solution generates optimized configuration parameters in advance to guide nodes on how to perform reasonable operations in the time slot, avoiding a large number of invalid choices, thereby significantly improving the decision-making efficiency of neighbor discovery.

[0116] It can be understood that this solution allows flexible adjustment of the operating parameters of the node, including the sector selection probability and the transmit / receive mode selection probability, by constructing and solving the geometric programming problem. Through these adjustable parameters, the system can dynamically optimize the neighbor discovery process according to network requirements, significantly improve the efficiency of neighbor discovery, adapt to changes in different network topologies and scenarios, and thus reduce time delays and energy consumption.

[0117] Before the neighbor discovery process, the geometric programming problem is converted into a convex problem, and the convex optimization technique is used to generate key configuration parameters, including the selection probability of each sector and the selection probability of the transmit / receive mode. With these optimized parameters, the node can operate more effectively within the communication time slot, minimize the neighbor discovery time and reduce energy consumption.

[0118] Through this embodiment, by combining the prior topological information of the node and utilizing the convex optimization technology on the basis of a specific scanning method, the scanning mode, monitoring frequency and sending frequency of the node are optimized to achieve the optimal neighbor discovery time or energy consumption. In the synchronous directional antenna system, the node can effectively adjust the scanning direction and time window according to the prior information, reduce unnecessary scanning in different directions and time periods, thereby accelerating neighbor discovery and reducing system energy consumption. The scanning method proposed in this embodiment further optimizes the operation of the node to ensure that the optimal performance can be achieved in a synchronous environment.

[0119] Figure 4 is a schematic diagram of the structure of a directional neighbor discovery device based on synchronous scanning provided by the present invention, such as Figure 4 As shown, including but not limited to the following modules:

[0120] An acquisition module 401 is used to acquire node cluster neighbor information, wherein the node cluster neighbor information includes neighbor information of each node in the node cluster;

[0121] The calculation module 402 is used to input the node cluster neighbor information into the objective function, iteratively calculate the optimal solution of the objective function based on the constraint condition, and obtain the target configuration parameters corresponding to the optimal solution, wherein the objective function is a positive term, the constraint condition is a positive term constraint, the objective function and the constraint condition constitute a geometric programming problem, the target configuration parameters include the sector selection strategy and the signal receiving and sending strategy of each node in the node cluster, and the objective function is used to minimize the average neighbor discovery time of the neighbor discovery process, or minimize the average energy consumption of the neighbor discovery process;

[0122] The execution module 403 is used to use each node of the node cluster as a target node to perform the following steps based on the target configuration parameters, wherein the target configuration parameters include the probability of the target node selecting each sector and the probability of the target node selecting to receive:

[0123] determining a target sector based on the first random number and a probability of the target node selecting each sector;

[0124] Determine the target receiving and sending strategy based on the second random number and the probability of the target node selecting to receive, wherein the first random number and the second random number are both random numbers in the range of 0 to 1 that conform to the uniform distribution law;

[0125] Control the target node to select the target sector and execute the target receiving and sending strategy.

[0126] Through the embodiments of the present application, node cluster neighbor information is obtained, wherein the node cluster neighbor information includes neighbor node information of each node in the node cluster; the node cluster neighbor information is input into the objective function, and the optimal solution of the objective function is iteratively calculated based on the constraints to obtain the target configuration parameters corresponding to the optimal solution, wherein the objective function is a positive term, the constraints are positive term constraints, the objective function and the constraints constitute a geometric programming problem, the target configuration parameters include the sector selection strategy and signal receiving and sending strategy of each node in the node cluster, and the objective function is used to minimize the average neighbor discovery time of the neighbor discovery process, or minimize the average energy consumption of the neighbor discovery process; each node of the node cluster is used as a target The node performs the following steps based on the target configuration parameters, wherein the target configuration parameters include the probability of the target node selecting each sector and the probability of the target node selecting reception: determining the target sector based on the first random number and the probability of the target node selecting each sector; determining the target receiving and sending strategy based on the second random number and the probability of the target node selecting reception, wherein the first random number and the second random number are both random numbers in the range of 0 to 1 that conform to the uniform distribution law; controlling the target node to select the target sector and execute the target receiving and sending strategy; solving the technical problems of the directional neighbor discovery method based on synchronous scanning in the related technology, which has the delay and high energy consumption of the node cluster in the neighbor discovery process, and improving the efficiency of neighbor discovery.

[0127] It should be noted that the directional neighbor discovery device based on synchronous scanning provided by the present invention can execute the directional neighbor discovery method based on synchronous scanning of any of the above embodiments during specific operation, which will not be described in detail in this embodiment.

[0128] Figure 5 is a schematic diagram of the structure of the electronic device provided by the present invention, such as Figure 5 As shown, the electronic device may include: a processor 510, a communication interface 520, a memory 530 and a communication bus 540, wherein the processor 510, the communication interface 520 and the memory 530 communicate with each other through the communication bus 540. The processor 510 may call the logic instructions in the memory 530 to execute a directional neighbor discovery method based on synchronous scanning, the method comprising: obtaining node cluster neighbor information, wherein the node cluster neighbor information includes neighbor node information of each node in the node cluster; inputting the node cluster neighbor information into the objective function, iteratively calculating the optimal solution of the objective function based on the constraint conditions, and obtaining the target configuration parameters corresponding to the optimal solution, wherein the objective function is a positive term, the constraint conditions are positive term constraints, the objective function and the constraint conditions constitute a geometric programming problem, the target configuration parameters include the sector selection strategy and signal receiving and sending strategy of each node in the node cluster, and the objective function is used to minimize The invention discloses a method for optimizing the average neighbor discovery time of the neighbor discovery process, or minimizing the average energy consumption of the neighbor discovery process; taking each node of the node cluster as the target node and performing the following steps based on the target configuration parameters, wherein the target configuration parameters include the probability of the target node selecting each sector and the probability of the target node selecting to receive: determining the target sector based on the first random number and the probability of the target node selecting each sector; determining the target receiving and sending strategy based on the second random number and the probability of the target node selecting to receive, wherein the first random number and the second random number are both random numbers in the range of 0 to 1 that conform to the uniform distribution law; and controlling the target node to select the target sector and execute the target receiving and sending strategy.

[0129] In addition, the logic instructions in the above-mentioned memory 530 can be implemented in the form of a software functional unit and can be stored in a computer-readable storage medium when it is sold or used as an independent product. Based on such an understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art or the part of the technical solution, can be embodied in the form of a software product, and the computer software product is stored in a storage medium, including a number of instructions for a computer device (which can be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the methods of each embodiment of the present invention. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), disk or optical disk, etc. Various media that can store program codes.

[0130] On the other hand, the present invention also provides a computer program product, which includes a computer program stored on a non-transitory computer-readable storage medium, and the computer program includes program instructions. When the program instructions are executed by a computer, the computer can execute the directional neighbor discovery method based on synchronous scanning provided by the above-mentioned embodiments, and the method includes: obtaining node cluster neighbor information, wherein the node cluster neighbor information includes neighbor node information of each node in the node cluster; inputting the node cluster neighbor information into an objective function, iteratively calculating the optimal solution of the objective function based on constraints, and obtaining target configuration parameters corresponding to the optimal solution, wherein the objective function is a positive term, the constraints are positive term constraints, the objective function and the constraints constitute a geometric programming problem, and the target configuration parameters The method comprises a sector selection strategy and a signal receiving and sending strategy of each node in the node cluster, and the objective function is used to minimize the average neighbor discovery time of the neighbor discovery process, or to minimize the average energy consumption of the neighbor discovery process; each node in the node cluster is taken as the target node and the following steps are performed based on the target configuration parameters, wherein the target configuration parameters include the probability of the target node selecting each sector and the probability of the target node selecting to receive: the target sector is determined based on the first random number and the probability of the target node selecting each sector; the target receiving and sending strategy is determined based on the second random number and the probability of the target node selecting to receive, wherein the first random number and the second random number are both random numbers in the range of 0 to 1 that conform to the uniform distribution law; the target node is controlled to select the target sector and execute the target receiving and sending strategy.

[0131] On the other hand, the present invention also provides a non-transitory computer-readable storage medium having a computer program stored thereon, which is implemented when the processor executes the directional neighbor discovery method based on synchronous scanning provided in the above-mentioned embodiments, the method comprising: obtaining node cluster neighbor information, wherein the node cluster neighbor information includes neighbor node information of each node in the node cluster; inputting the node cluster neighbor information into an objective function, iteratively calculating the optimal solution of the objective function based on constraints, and obtaining target configuration parameters corresponding to the optimal solution, wherein the objective function is a positive term, the constraints are positive term constraints, the objective function and the constraints constitute a geometric programming problem, and the target configuration parameters include the sector selection of each node in the node cluster. The invention discloses a signal receiving and sending strategy and a signal receiving and sending strategy, wherein the objective function is used to minimize the average neighbor discovery time of the neighbor discovery process, or to minimize the average energy consumption of the neighbor discovery process; taking each node of the node cluster as the target node and performing the following steps based on the target configuration parameters, wherein the target configuration parameters include the probability of the target node selecting each sector and the probability of the target node selecting to receive: determining the target sector based on the first random number and the probability of the target node selecting each sector; determining the target receiving and sending strategy based on the second random number and the probability of the target node selecting to receive, wherein the first random number and the second random number are both random numbers in the range of 0 to 1 that conform to the uniform distribution law; and controlling the target node to select the target sector and execute the target receiving and sending strategy.

[0132] The device embodiments described above are merely illustrative, wherein the units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, i.e., they may be located in one place, or they may be distributed on multiple network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the scheme of this embodiment. Those of ordinary skill in the art may understand and implement it without creative effort.

[0133] Through the description of the above implementation modes, those skilled in the art can clearly understand that each implementation mode can be implemented by means of software plus a necessary general hardware platform, or of course by hardware. Based on such an understanding, the above technical solution can essentially or in other words be embodied in the form of a software product that contributes to the prior art. The computer software product can be stored in a computer-readable storage medium, such as ROM / RAM, a magnetic disk, an optical disk, etc., and includes a number of instructions for a computer device (which can be a personal computer, a server, or a network device, etc.) to execute the methods of each embodiment or some parts of the embodiment.

[0134] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A directional neighbor discovery method based on synchronous scanning, characterized in that: include: Obtaining node cluster neighbor information, wherein the node cluster neighbor information includes neighbor information of each node in the node cluster; Inputting the node cluster neighbor information into an objective function, iteratively calculating the optimal solution of the objective function based on constraints, and obtaining target configuration parameters corresponding to the optimal solution, wherein the objective function is a positive term, the constraints are positive term constraints, the objective function and the constraints constitute a geometric programming problem, the target configuration parameters include a sector selection strategy and a signal receiving and sending strategy of each node in the node cluster, and the objective function is used to minimize the average neighbor discovery time of a neighbor discovery process, or minimize the average energy consumption of a neighbor discovery process; Each node of the node cluster is used as a target node and the following steps are performed based on the target configuration parameters, wherein the target configuration parameters include the probability of the target node selecting each sector and the probability of the target node selecting reception: determining a target sector based on a first random number and a probability of the target node selecting each sector; Determine a target receiving and sending strategy based on a second random number and the probability of the target node selecting to receive, wherein the first random number and the second random number are both random numbers in a range of 0 to 1 that conform to a uniform distribution law; The target node is controlled to select the target sector and execute the target transmission and reception strategy.

2. The directional neighbor discovery method based on synchronous scanning according to claim 1, characterized in that: The node cluster neighbor information includes neighbor information of each node in the node cluster on each antenna sector.

3. The directional neighbor discovery method based on synchronous scanning according to claim 1, characterized in that: The sector selection strategy includes the probability that the node selects each antenna sector during the neighbor discovery process, and the signal receiving and sending strategy includes the probability that the node performs a signal receiving action in each time slot.

4. The directional neighbor discovery method based on synchronous scanning according to any one of claims 1 to 3, characterized in that: The constraints include: ； ； ； in, is the node i in the antenna sector the probability of performing a signal receiving action; , They are auxiliary variables used to transform the problem into the form of geometric programming; is the set of all antenna sectors of node i; Select antenna sector for node i The probability of is the antenna sector in node k pointing from node k to node i; Select antenna sector for node k probability.

5. The method for directional neighbor discovery based on synchronous scanning according to claim 4, characterized in that: The objective function is used to minimize the average neighbor discovery time of the neighbor discovery process, and the objective function is: ； in, , is the node cluster; is the antenna sector in node i pointing from node i to node j; ; , ; is the set of all neighbor nodes of node i, is the node i in the antenna sector The set of all neighbor nodes in is the node i in the antenna sector The set of all neighbor nodes in is the node i in the antenna sector The set of all neighbor nodes in is the node i in the antenna sector The set of all neighbor nodes in ; is the antenna sector in node j pointing from node j to node i; is an auxiliary variable; represents the total number of neighbor nodes of node i, Before the harmonic series Item part and.

6. The method for directional neighbor discovery based on synchronous scanning according to claim 4, characterized in that: The objective function is used to minimize the average energy consumption of the neighbor discovery process, and the objective function is: ； The constraints also include: ； in, , is the node cluster; is the antenna sector in node i pointing from node i to node j; ; , ; is the set of all neighbor nodes of node i, is the node i in the antenna sector The set of all neighbor nodes in is the node i in the antenna sector The set of all neighbor nodes in is the node i in the antenna sector The set of all neighbor nodes in is the node i in the antenna sector The set of all neighbor nodes in ; is the antenna sector in node j pointing from node j to node i; is an auxiliary variable; represents the total number of neighbor nodes of node i, Before the harmonic series Item part and; is the power of node i when performing signal receiving action; is the power of node i when performing signal sending action; is the power of node i when performing signal listening action; are auxiliary variables used to transform the problem into the form of geometric programming.

7. A directional neighbor discovery device based on synchronous scanning, characterized in that: include: An acquisition module, configured to acquire node cluster neighbor information, wherein the node cluster neighbor information includes neighbor information of each node in the node cluster; A calculation module, used to input the node cluster neighbor information into an objective function, iteratively calculate the optimal solution of the objective function based on constraints, and obtain target configuration parameters corresponding to the optimal solution, wherein the objective function is a positive term, the constraints are positive term constraints, the objective function and the constraints constitute a geometric programming problem, the target configuration parameters include a sector selection strategy and a signal receiving and sending strategy of each node in the node cluster, and the objective function is used to minimize the average neighbor discovery time of the neighbor discovery process, or minimize the average energy consumption of the neighbor discovery process; An execution module is used to take each node of the node cluster as a target node and perform the following steps based on the target configuration parameters, wherein the target configuration parameters include the probability of the target node selecting each sector and the probability of the target node selecting to receive: determining a target sector based on a first random number and a probability of the target node selecting each sector; Determine a target receiving and sending strategy based on a second random number and the probability of the target node selecting to receive, wherein the first random number and the second random number are both random numbers in a range of 0 to 1 that conform to a uniform distribution law; The target node is controlled to select the target sector and execute the target transmission and reception strategy.

8. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein: When the processor executes the computer program, the directional neighbor discovery method based on synchronous scanning as described in any one of claims 1 to 6 is implemented.

9. A non-transitory computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the directional neighbor discovery method based on synchronous scanning as claimed in any one of claims 1 to 6 is implemented.

10. A computer program product, comprising a computer program, characterized in that When the computer program is executed by a processor, the directional neighbor discovery method based on synchronous scanning as claimed in any one of claims 1 to 6 is implemented.

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