Multiple access method suitable for self-organizing network of unmanned aerial vehicle

Abstract

The invention relates to a multiple access method suitable for an unmanned aerial vehicle self-organizing network, which comprises the following steps of: matching and scheduling differentiated time domain, frequency domain and airspace network resources for each node in the network by comprehensively utilizing omnidirectional and directional communication modes in different operation stages of the network; in a network service interaction process, a time-frequency-space multi-dimensional access resource allocation scheme is generated by utilizing a directional narrow beam multi-receiving characteristic and adopting a network access resource allocation algorithm based on packet circulation, and capacity expansion and efficient operation of the unmanned aerial vehicle self-organizing network are realized.

Description

Technical Field

[0001] The invention relates to a multiple access method suitable for an unmanned aerial vehicle self-organizing network, relates to large-scale aircraft information transmission and networking technology, can be used in a wireless communication network, and belongs to the field of wireless information network systems. Background Art

[0002] In existing unmanned aerial vehicle self-organizing networks, such as the formation collaborative data link between drones, most of them adopt time-division and frequency-division single-domain multiple access methods based on omnidirectional or directional antennas. At any time during the operation of the network, only two nodes in the network can transmit services, that is, only one-to-one data interaction is supported, and there is no simultaneous one-to-many or many-to-many data interaction capability, which leads to low utilization of multi-access resources and limited network service capacity in unmanned aerial vehicle self-organizing networks. To solve the above problems, it is necessary to fully explore the orthogonality characteristics of network time, frequency, and airspace resources, establish a time-frequency-space composite multiple access framework suitable for large-scale unmanned aerial vehicle self-organizing networks, and efficiently allocate network multi-access resources to support the capacity expansion and efficient operation of unmanned flight self-organizing networks. Summary of the invention

[0003] The technical problem to be solved by the present invention is: in view of the problems of low access resource utilization and limited network service capacity in the existing unmanned aerial vehicle self-organizing network, a multiple access method suitable for unmanned aerial vehicle self-organizing network is proposed.

[0004] The purpose of the present invention is achieved through the following technical solutions:

[0005] A multiple access method for unmanned aerial vehicle self-organizing network includes two stages: initial construction and maintenance operation;

[0006] The initial construction phase is used to exchange initial link construction information between nodes in the network and support the first establishment of a directional transmission link;

[0007] The maintenance operation phase is used for each node in the network to exchange flight status information, support real-time narrow beam alignment, and carry out business information exchange among each node in the network.

[0008] In one embodiment of the present invention, the network initial construction phase is divided into an intra-cluster subnet construction sub-phase and an inter-cluster subnet construction sub-phase in chronological order; in the intra-cluster subnet initial construction sub-phase, each subnet works in parallel on its own frequency band, including two processes: intra-cluster neighbor discovery and intra-cluster beam alignment; after each intra-cluster subnet completes its initial establishment, it enters the inter-cluster subnet construction sub-phase, and establishes a directional transmission link between the inter-cluster subnet node and the inter-cluster network management node, including two processes: inter-cluster neighbor discovery and inter-cluster beam alignment.

[0009] In one embodiment of the present invention, the intra-cluster neighbor discovery includes: each node in the subnet of the cluster occupies the broadcast time slot length T_Subnet_Broadcast in sequence according to the node number order, and broadcasts the network entry message on each sending frequency point.

[0010] In one embodiment of the present invention, inter-cluster beam alignment includes: assuming that the network management node of the subnet within the cluster is node 1, each node occupies the T_Subnet_Direction directional time slot length in turn according to the node number order, and sends a link establishment request message in a directionally transmitted frequency; after the network management node receives the link establishment application message, it occupies the T_Subnet_Direction directional time slot length and sends a link establishment response message in a directionally transmitted frequency.

[0011] In one embodiment of the present invention, each node is equipped with a phased array antenna capable of achieving full airspace beam coverage of the aircraft. The antenna transmits and receives in time-sharing mode, supports two working modes: wide transmit and wide receive, and narrow transmit and narrow receive. A single node supports at most one airspace-directed beam transmission, and supports at most Beam_Receive beams directed to different airspaces simultaneously receiving.

[0012] In one embodiment of the present invention, the sending frequencies of the nodes in the intra-cluster subnet are isolated from each other and orthogonal, and the sending frequencies of the nodes in the inter-network subnet are isolated from each other and orthogonal.

[0013] In one embodiment of the present invention, the maintenance operation phase includes the following:

[0014] The first step is to group nodes according to their receiving capabilities.

[0015] Step 2: Allocate access resources within each group;

[0016] Step 3: Allocate access resources between groups;

[0017] Step 4: In the access resource allocation result obtained in step 3, redundant links are deleted;

[0018] Step 5: Allocate access resources between non-interacting nodes;

[0019] Step 6: Combine the access resource allocation situations generated during the first five steps to obtain the final result.

[0020] A computer-readable storage medium stores computer program instructions, which, when loaded and executed by a processor, enable the processor to execute the above-mentioned multiple access method applicable to a self-organizing network of unmanned aerial vehicles.

[0021] A computer program product stored on a non-transitory computer-readable medium includes program codes for implementing the multiple access method applicable to a self-organizing network of unmanned aerial vehicles.

[0022] An electronic device, comprising:

[0023] Processor; and

[0024] a memory for storing computer program instructions;

[0025] When the computer program instructions are loaded and executed by the processor, the processor executes the multiple access method applicable to the unmanned aerial vehicle self-organizing network.

[0026] Compared with the prior art, the present invention has the following beneficial effects:

[0027] The present invention gives full play to the orthogonality of multiple access resources in the network time domain, frequency domain, and spatial domain. In each network operation stage, by differentially configuring multiple access resources, it effectively supports the construction, maintenance, and business interaction of self-organizing networks between large-scale unmanned aerial vehicle nodes. By utilizing the multi-reception characteristics of directional narrow beams and a network access resource allocation algorithm based on packet cycles, it realizes simultaneous parallel transmission of multiple subnets, multiple nodes, and multiple links, significantly improving the capacity and resource utilization of the self-organizing network of unmanned aerial vehicles. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] Figure 1 Construct a sub-stage access resource allocation diagram for subnet 1 within the cluster.

[0029] Figure 2 Schematic diagram of access resource allocation for the inter-cluster subnet construction sub-stage.

[0030] Figure 3 This is an example of node grouping.

[0031] Figure 4 This is an example of the result of intra-group access resource allocation.

[0032] Figure 5 Schematic diagram of access resource allocation during network maintenance and operation phases. DETAILED DESCRIPTION

[0033] To make the objectives, technical solutions and advantages of the present invention more clear, the embodiments of the present invention will be further described in detail below with reference to the accompanying drawings.

[0034] A multiple access method suitable for unmanned aerial vehicle self-organizing networks, which comprehensively utilizes omnidirectional and directional communication modes in different stages of network operation to match and schedule differentiated time-domain, frequency-domain, and air-domain network resources for each node in the network; during network service interaction, the directional narrow beam multi-reception characteristics are utilized, and a network access resource allocation algorithm based on packet cycle is adopted to generate a time-frequency-space multi-dimensional access resource allocation scheme, thereby realizing capacity expansion and efficient operation of the unmanned aerial vehicle self-organizing network.

[0035] In terms of network composition, the network is divided into two levels: inter-cluster and intra-cluster according to business needs. Each intra-cluster subnet has a node that plays a network management role. The number of intra-cluster subnet nodes is Number_Node (Number_Node≥1); the subnet management nodes within each cluster are connected to form an inter-cluster subnet. A certain node plays an inter-cluster network management role. The number of inter-cluster subnet nodes is Number_Subnet (Number_Subnet≥1). The time between nodes in the network is strictly synchronized. In terms of node airspace transceiver capabilities, each node is equipped with a phased array antenna that can achieve full airspace beam coverage of the aircraft. The antenna transmits and receives in time-sharing mode, supporting two working modes: wide transmit and wide receive, and narrow transmit and narrow receive. A single node supports up to 1 airspace-directed beam transmission, and supports up to Beam_Receive (Beam_Receive≥1) beams directed to different airspaces to receive simultaneously. In terms of node working frequency bands, the transmission frequency of a certain node in the network is F Subnet，Node , where Subnet (Subnet ≤ Number_Subnet) is the subnet number of the node, Node (Node ≤ Number_Node) is the node number in the subnet of the node, the sending frequencies of the nodes in the cluster subnet are isolated and orthogonal, and the sending frequencies of the nodes in the inter-network subnet are isolated and orthogonal. The network operation process includes two stages: initial construction and maintenance operation:

[0036] (1) The initial construction phase is used to exchange initial link construction information between nodes in the network and support the initial establishment of directional transmission links;

[0037] (2) The maintenance operation phase is used for the nodes in the network to exchange flight status information, support the implementation of real-time narrow beam alignment, and carry out business information exchange between the nodes in the network.

[0038] (1) Initial construction phase

[0039] In chronological order, the initial network construction phase is divided into the intra-cluster subnet construction sub-phase and the inter-cluster subnet construction sub-phase. In the intra-cluster subnet initial construction sub-phase, each subnet works in parallel on its own frequency band. Taking intra-cluster subnet 1 as an example, its access resource allocation is as follows: Figure 1 As shown, it includes the following two specific processes:

[0040] 1) Neighbor discovery within a cluster: Each node in subnet 1 within the cluster occupies the broadcast time slot length T_Subnet_Broadcast in sequence according to the node number order, and broadcasts the network entry message on its own transmission frequency.

[0041] 2) Intra-cluster beam alignment: Assuming that the network management node of subnet 1 in the cluster is node 1, each node occupies the T_Subnet_Direction directional time slot length in turn according to the node number order, and sends the link establishment request message in a direction on its own transmission frequency. After receiving the link establishment application message, the network management node occupies the T_Subnet_Direction directional time slot length and sends the link establishment response message in a direction on its transmission frequency.

[0042] After the initial establishment of each cluster subnet is completed, the inter-cluster subnet construction sub-stage is entered, and a directional transmission link is established between the inter-cluster subnet node and the inter-cluster network management node, including two specific processes: inter-cluster neighbor discovery and inter-cluster beam alignment. The access resource allocation is as follows: Figure 2 shown.

[0043] (1) Initial construction phase

[0044] 1) Inter-cluster neighbor discovery: Each inter-cluster network node occupies the T_Net_Broadcast broadcast time slot length in turn according to the order of the inter-cluster network node number, and broadcasts the network entry message on its own transmission frequency.

[0045] 2) Inter-cluster beam alignment: Assuming that the inter-cluster network management node is the network management node of subnet 1 within the cluster, each inter-cluster network node occupies the T_Net_Direction directional time slot length in turn according to the node number order, and sends the link establishment request message in a direction on its respective transmission frequency. After receiving the link establishment application message, the inter-cluster network management node occupies the T_Net_Direction directional time slot length and sends the link establishment response message in a direction on its transmission frequency.

[0046] (2) Maintenance and operation phase

[0047] During the maintenance operation phase, the nodes in the intra-cluster subnet and inter-cluster subnet need to exchange flight status information with each other to achieve beam alignment and tracking during the movement. At the same time, the nodes need to interact in parallel to improve the network service carrying capacity. The access resource allocation scheme in this phase is as follows: Figure 5 shown.

[0048] By utilizing the simultaneous multi-reception characteristics of directional narrow beams and a dynamic access resource allocation algorithm based on packet cycles, a time-frequency-space multi-dimensional access resource allocation scheme is generated, which can support multi-node and multi-link parallel transmission within the network. The specific algorithm process is as follows.

[0049] Algorithm input: node scale Number_Node, node number Node_Index∈[1,Number_Node], receiving capacity of each node Beam_Receive, and working frequency set F of each node Subnet，No d e .

[0050] Step 1: Group nodes according to their receiving capabilities and get Figure 3 The node grouping is shown in Figure 1. is the group number, the number of nodes in each group is Beam_Receive+1, and the node numbers in the i-th group are: (i-1)*(Beam_Receive+1)+1, ...i*(Beam_Receive+1).

[0051] Step 2: Allocate access resources in each group. Taking the first group as an example, using the spatial domain simultaneous multi-reception feature, each node polls and receives according to the numbering order in the group, while the remaining nodes in the slot send. Figure 5 The result of the access resource allocation is shown in the figure. Since there is no intersection between the nodes of each group, there will be no conflict between sending and receiving, so all groups can interact in parallel. To complete the interaction between two groups, the required directional time slot length is (Beam_Receive+1)*T_Subnet_Direction.

[0052] Step 3: Allocate access resources between groups, such as Figure 4 In the above example, replace the first node in each group in sequence to form A new grouping situation is created. Access resources are allocated in the new grouping. The processing process is the same as step 2. After completing steps 2 and 3, the access resource allocation result is obtained. The required directional time slot length is

[0053] Step 4: Deleting redundant links. In the access resource allocation result obtained in step 3, find and delete the rows where the sending or receiving node number is greater than Number_Node.

[0054] Step 5: Intra-node access resource allocation Figure 4 The access resources are allocated between the nodes in each column. Since there is no intersection between the nodes in each column, they can interact in parallel. Reassign the node scale Number_Node to Return to the first step and iterate until the number of groups in the new grouping situation is 2.

[0055] Step 6: Get the access resource allocation plan, merge the access resource allocation situations generated during the first five steps, and get the final result.

[0056] Algorithm output: access resource allocation plan, content format reference Figure 5 .

[0057] The contents not described in detail in the specification of the present invention belong to the common knowledge of those skilled in the art.

[0058] Although the present invention has been disclosed as above in the form of a preferred embodiment, it is not intended to limit the present invention. Any person skilled in the art may make possible changes and modifications to the technical solution of the present invention by using the methods and technical contents disclosed above without departing from the spirit and scope of the present invention. Therefore, any simple modifications, equivalent changes and modifications made to the above embodiments based on the technical essence of the present invention without departing from the content of the technical solution of the present invention shall fall within the protection scope of the technical solution of the present invention.

Claims

1. A multiple access method for an unmanned aerial vehicle self-organizing network, characterized in that: It includes two phases: initial construction and maintenance operation; The initial construction phase is used to exchange initial link construction information between nodes in the network and support the first establishment of a directional transmission link; The maintenance operation phase is used for each node in the network to exchange flight status information, support real-time narrow beam alignment, and carry out business information exchange among each node in the network.

2. The multiple access method according to claim 1, characterized in that: In chronological order, the initial network construction phase is divided into the intra-cluster subnet construction sub-phase and the inter-cluster subnet construction sub-phase. In the intra-cluster subnet initial construction sub-phase, each subnet works in parallel on its own frequency band, including the intra-cluster neighbor discovery and intra-cluster beam alignment processes. After the initial establishment of each intra-cluster subnet is completed, the inter-cluster subnet construction sub-phase is entered, and a directional transmission link is established between the inter-cluster subnet node and the inter-cluster network management node, including two processes: inter-cluster neighbor discovery and inter-cluster beam alignment.

3. The multiple access method according to claim 2, characterized in that: Neighbor discovery within a cluster includes: each node in the subnet of the cluster occupies the T_Subnet_Broadcast broadcast time slot length in turn according to the node number order, and broadcasts the network entry message on its own transmission frequency.

4. The multiple access method according to claim 2, characterized in that: Inter-cluster beam alignment includes: assuming that the network management node of the subnet within the cluster is node 1, each node occupies the T_Subnet_Direction directional time slot length in turn according to the node number order, and sends a link establishment request message in a directionally manner at its respective sending frequency point; after receiving the link establishment application message, the network management node occupies the T_Subnet_Direction directional time slot length and sends a link establishment response message in a directionally manner at its sending frequency point.

5. The multiple access method according to claim 1, characterized in that: Each node is equipped with a phased array antenna that can achieve beam coverage of the entire airspace of the aircraft. The antenna transmits and receives in time-sharing mode, supporting two working modes: wide transmit and wide receive, and narrow transmit and narrow receive. A single node supports up to one beam sending in one airspace, and supports up to Beam_Receive beams pointing in different airspaces to receive simultaneously.

6. The multiple access method according to claim 1, characterized in that: The sending frequencies of each node in the intra-cluster subnet are isolated and orthogonal to each other, and the sending frequencies of each node in the inter-network subnet are isolated and orthogonal to each other.

7. The multiple access method according to claim 1, characterized in that: The maintenance operation phase includes the following: The first step is to group nodes according to their receiving capabilities. Step 2: Allocate access resources within each group; Step 3: Allocate access resources between groups; Step 4: In the access resource allocation result obtained in step 3, redundant links are deleted; Step 5: Allocate access resources between non-interacting nodes; Step 6: Combine the access resource allocation situations generated during the first five steps to obtain the final result.

8. A computer-readable storage medium having computer program instructions stored thereon, wherein when the computer program instructions are loaded and executed by a processor, the processor is caused to execute the method according to any one of claims 1 to 7.

9. A computer program product stored on a non-transitory computer readable medium, the computer program product comprising a program code for carrying out the method according to any one of claims 1 to 7.

10. An electronic device comprising: processor; as well as a memory for storing computer program instructions; When the computer program instructions are loaded and executed by the processor, the processor performs the method according to any one of claims 1 to 7.

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