Terrain-aware multi-node communication path selection method, system, and device

Abstract

The application discloses a multi-node communication path selection method, system and device based on terrain perception, and relates to the technical field of wireless communication.The application comprises receiving terrain information data between nodes, the terrain information data comprising node distance, obstacle blocking area and obstacle type, and performing signal attenuation calculation according to the terrain information data; receiving the residual energy of each node, sharing the residual energy data with other nodes, and calculating the energy consumed by signal transmission between nodes.The application realizes multi-dimensional optimization of the communication path by real-time acquisition and analysis of the terrain information between nodes, evaluation of signal propagation attenuation and blocking, monitoring of the residual energy of each node, and evaluation of energy consumption, significantly improves network performance and resource utilization efficiency, reduces communication interruption risk and energy consumption cost, and has wide application prospect and important technical value.

Description

Technical Field

[0001] This invention relates to the field of wireless communication technology, specifically to a method, system, and device for multi-node communication path selection based on terrain perception. Background Technology

[0002] With the rapid development of wireless communication technology, mobile wireless communication networks have been widely used in disaster relief, environmental monitoring, and other fields, and will also be applied to deep space exploration in the future. In these application scenarios, network nodes are often deployed in environments with complex and varied terrain, such as deep-space star surfaces, mountains, and forests. Complex terrain environments have a significant impact on the propagation of wireless signals. Terrain factors such as altitude differences, slopes, and obstacles can cause signal attenuation and blockage, thereby affecting the stability and reliability of communication links.

[0003] Traditional multi-node communication path selection algorithms, such as the classic Dijkstra algorithm, mainly determine the communication path based on the shortest path or minimum hop count between nodes. However, these algorithms usually ignore the impact of terrain factors on signal propagation and fail to fully consider signal attenuation and occlusion between nodes, resulting in weakened signal strength and degraded communication quality. To address this, we propose a terrain-aware multi-node communication path selection method, system, and device. Summary of the Invention

[0004] The purpose of this invention is to provide a method, system, and device for multi-node communication path selection based on terrain perception. By acquiring and analyzing terrain information between nodes in real time, the attenuation and occlusion of signal propagation can be evaluated. At the same time, the remaining energy of each node can be monitored and energy consumption can be evaluated, thereby achieving multi-dimensional optimization of the communication path.

[0005] According to a first aspect of the present invention, in order to achieve the above-mentioned objective, the present invention provides the following technical solution: a multi-node communication path selection method based on terrain perception, comprising the following steps:

[0006] The system receives terrain information data between nodes, including the distance between nodes, the area obstructed by obstacles, and the type of obstacles. It also calculates signal attenuation based on the terrain information data.

[0007] It receives the remaining energy status of each node, shares the remaining energy data with other nodes, and calculates the energy consumed by signal transmission between nodes.

[0008] Based on Dijkstra's algorithm, a comprehensive path cost function is constructed that includes terrain attenuation, energy consumption, and node remaining energy. The optimal communication path is efficiently searched based on the comprehensive path cost function.

[0009] Based on the calculation results of the comprehensive path cost function, the path with the lowest cost is selected as the current optimal communication path, and each node of the optimal path and its corresponding path cost are recorded.

[0010] Based on real-time changes in the communication environment and node status, the communication path is dynamically adjusted to ensure that the path selection is always optimal.

[0011] Furthermore, the terrain information data is acquired using a laser rangefinder, GPS, or terrain radar.

[0012] Furthermore, the signal attenuation calculation based on terrain information data is performed as follows:

[0013] (31) Calculate the signal attenuation L between nodes due to terrain. FS The calculation formula is as follows:

[0014] L FS = 20lg(Δd) + 20lg(f) + 32.44

[0015] In the formula, Δd is the distance between nodes, in kilometers; f is the signal transmission frequency, in megahertz.

[0016] (32) Set the attenuation coefficient γ according to the type of obstacle. k and decay exponent δ k And combined with the obstruction area A of the obstacle and the shortest distance d between the obstacle and the signal propagation path. k The signal attenuation SOR caused by obstacles is calculated using the following formula:

[0017]

[0018] In the formula L obstacle,entire It is the value of the impact of obstacles determined through actual networks or experiments.

[0019] Furthermore, the remaining energy status of each node is received, the remaining energy data is shared with other nodes, and the energy consumed by signal transmission between nodes is calculated using the following formula:

[0020]

[0021] In the formula, E represents the total energy consumption of the node for communication, k represents the amount of data transmitted in bits, and E elec E represents the energy consumed per bit in the transmitting electronic circuitry. recv For each bit, the energy consumed in the receiving electronic circuitry, ∈ amp d is the power dissipation coefficient of the amplifier. jkLet be the distance between the transmitter j and the receiver k, and α be the path loss exponent, which is set between 2 and 4.

[0022] Furthermore, the synthetic path cost function integrates the signal attenuation cost L. FS The impact of obstacles on SOR, energy consumption cost E, and node remaining energy E residual Four factors were normalized, and the specific formula is as follows:

[0023] Signal attenuation L FS,norm :

[0024]

[0025] Signal obstruction rate (SOR) norm :

[0026]

[0027] Remaining energy E at the node residual_norm :

[0028]

[0029] Energy consumption E norm :

[0030]

[0031] In the formula, L FS,norm L is the normalized signal attenuation value. FS,a L is the signal attenuation value at a certain node. FS,min L is the minimum signal attenuation among all communication nodes. FS,max SOR represents the maximum signal attenuation across all communication nodes. norm SOR is the normalized signal occlusion rate. a SOR is the signal obstruction rate of a certain node. min SOR is the minimum signal obstruction rate among all communication nodes. max E represents the maximum signal obstruction rate among all communication nodes. residual_norm E is the normalized node residual energy value. residual E represents the remaining energy value of a given node. residual_min E represents the minimum remaining energy among all communication nodes. residual_max E represents the maximum remaining energy across all communication nodes. norm Here, E represents the normalized node energy consumption value, and E is the energy consumption value of a certain node. min E represents the minimum energy consumption among all communication nodes. max This represents the maximum energy consumption across all communication nodes.

[0032] Furthermore, the path cost function (C) ij ) is defined as:

[0033] C ij =α·L FS,norm +β·SOR norm +γ·E norm -δ·E residual_norm

[0034] Where α, β, γ, and δ are weighting coefficients, and satisfy α+β+γ+δ=1.

[0035] Furthermore, based on real-time changes in the communication environment and node status, the communication path is dynamically adjusted to ensure that the path selection is always optimal, as detailed below:

[0036] (71) If a change in the communication environment or node status is detected, the cost of the relevant path is recalculated:

[0037]

[0038] In the formula L FS,norm '、SOR norm '、E norm '、 The updated normalized signal attenuation, signal blockage rate, energy consumption, and node remaining energy are calculated.

[0039] (72) Compare the current path cost with the updated path cost. If a better path exists, perform a path switch: If C new <C current If the path is true, the system will switch to the new path; otherwise, it will not switch.

[0040] (73) Perform path maintenance, continuously optimize communication paths, and ensure that path selection is always in the optimal state to adapt to the dynamically changing communication environment and node status.

[0041] According to a second aspect of the present invention, the present invention provides a terrain-aware multi-node communication path selection system for implementing the above-described terrain-aware multi-node communication path selection method, comprising:

[0042] The terrain perception module is used to receive terrain information data between nodes. The terrain information data includes the distance between nodes, the area of ​​obstacle obstruction, and the type of obstacle. The module also performs signal attenuation calculation based on the terrain information data.

[0043] The energy sensing module is used to receive the remaining energy status of each node, share the remaining energy data with other nodes, and calculate the energy consumed by signal transmission between nodes.

[0044] The path evaluation module is used to construct a comprehensive path cost function based on Dijkstra's algorithm, which includes terrain attenuation, energy consumption, and the remaining energy of nodes. Based on the comprehensive path cost function, the optimal communication path can be searched efficiently.

[0045] The selection module is used to select the path with the lowest cost as the current optimal communication path based on the calculation results of the comprehensive path cost function, and to record each node of the optimal path and its corresponding path cost.

[0046] The dynamic optimization module is used to dynamically adjust the communication path based on real-time changes in the communication environment and node status, ensuring that the path selection is always in the optimal state.

[0047] Furthermore, the terrain sensing module includes:

[0048] The data acquisition unit is used to acquire terrain information data between nodes through sensors or a pre-set terrain map. The terrain information data specifically includes the distance between nodes Δd, the area of ​​obstacle occlusion A, and the type of obstacle.

[0049] The calculation unit is used to calculate the signal attenuation caused by the terrain and the signal attenuation caused by the influence of obstacles based on the above terrain information data.

[0050] The energy sensing module includes:

[0051] The energy monitoring unit is used to monitor the battery level of each node in real time, record the remaining energy of the node, and share the remaining energy data with other nodes.

[0052] The energy consumption calculation unit is used to calculate the energy consumed in signal transmission between nodes;

[0053] The path evaluation module includes:

[0054] The building unit is used to construct a comprehensive path cost function based on the Dijkstra algorithm, which includes terrain attenuation, energy consumption, and the remaining energy of nodes.

[0055] The path cost calculation unit is used to calculate the optimal communication path with the minimum cost based on the comprehensive path cost function.

[0056] The dynamic optimization module includes:

[0057] The environmental change monitoring unit is used to continuously monitor changes in the communication environment and update the node status;

[0058] The path re-evaluation unit is used to recalculate the cost of the updated communication path;

[0059] The path switching unit is used to compare the current communication path cost with the updated communication path cost. If a better path exists, the path switching is performed.

[0060] According to a third aspect of the present invention, the present invention provides a terminal device, including a memory, a processor, and a computer program stored in the memory and capable of running on the processor. The memory stores the computer program capable of running on the processor, and when the processor loads and executes the computer program, it employs the above-described terrain-aware multi-node communication path selection method.

[0061] This invention has at least the following beneficial effects:

[0062] This invention comprehensively considers terrain factors, node energy status, and signal propagation characteristics to dynamically optimize communication path selection. It effectively solves problems such as signal attenuation, link instability, and rapid node energy depletion in wireless communication networks under complex terrain environments. Furthermore, this invention employs an improved Dijkstra algorithm to construct a comprehensive path cost function, integrating factors such as signal attenuation, energy consumption, and node remaining energy to achieve efficient search for the optimal path, adapting to complex and ever-changing communication environments. Simultaneously, this invention can dynamically adjust the communication path based on real-time changes in the communication environment and node status, ensuring the network maintains efficient operation at all times. Overall, this method significantly improves network performance and resource utilization efficiency, reduces the risk of communication interruption and energy consumption costs, and has broad application prospects and significant technical value.

[0063] Of course, any product implementing this invention does not necessarily need to achieve all of the advantages described above at the same time. Attached Figure Description

[0064] Figure 1 This is a flowchart illustrating the method described in this invention;

[0065] Figure 2 This is a schematic diagram of the structure of the method described in this invention;

[0066] Figure 3 This is a schematic diagram of the communication path selection scenario in this invention. Detailed Implementation

[0067] The technical solutions of the embodiments of this disclosure will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this disclosure, and not all embodiments. Based on the embodiments of this disclosure, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this disclosure.

[0068] On the lunar surface, a series of probes, rovers, and sensor nodes have been deployed, forming a wireless communication network for scientific exploration and data transmission. Due to the complex and varied lunar topography, including craters, ridges, and rock formations, and the absence of an atmosphere, signal propagation characteristics differ significantly from those on Earth. Traditional communication path selection methods are insufficient to meet the stable and efficient communication requirements on the lunar surface. The technical solution of this invention optimizes communication paths, improving network stability and energy efficiency.

[0069] Example 1:

[0070] Please see Figures 1-3 This invention provides a technical solution: a multi-node communication path selection method based on terrain perception, comprising the following steps:

[0071] S1. Receive terrain information data between each node. The terrain information data includes the distance between nodes, the area of ​​obstacle obstruction, and the type of obstacle. Calculate signal attenuation based on the above terrain information data.

[0072] (S11) Terrain information acquisition: Terrain information data is acquired using laser rangefinders, GPS or terrain radar;

[0073] (S12) Signal attenuation calculation:

[0074] (S12.1) Calculate the signal attenuation L between nodes due to terrain. FS The calculation formula is as follows:

[0075] L FS = 20lg(Δd) + 20lg(f) + 32.44

[0076] In the formula, Δd is the distance between nodes in kilometers (km), and f is the signal transmission frequency in megahertz (MHz).

[0077] (S12.2) Set the attenuation coefficient γ according to the obstacle type. k (dB / m 2 ) and decay exponent δ k (1 / m), and combined with the obstruction area of ​​the obstacle (A(m) 2 )) and the shortest distance between the obstacle and the signal propagation path (d k (m) can be calculated using the following formula to determine the signal attenuation caused by obstacles:

[0078]

[0079] In the formula L obstacle,entire It is the value of the obstacle's influence determined through actual networks or experiments;

[0080] S2. Receive the remaining energy status of each node, share the remaining energy data with other nodes, and calculate the energy consumed by signal transmission between nodes, as follows:

[0081] (S21) Remaining Energy Monitoring: Records the remaining energy of this node in real time and shares the remaining energy data with other nodes (E). residual );

[0082] (S22) Energy consumption calculation:

[0083] Compute the energy consumption required for inter-node communication (E c The formula is:

[0084]

[0085] In the formula, E represents the total energy consumption of the node for communication, and k represents the amount of data transmitted (number of bits). elec E represents the energy consumed per bit in the transmitting electronic circuitry. recv For each bit, the energy consumed in the receiving electronic circuitry, ∈ amp d is the power dissipation coefficient of the amplifier. jk The distance between the transmitting end j and the receiving end k

[0086] For distance, α is the path loss exponent (usually α is between 2 and 4, depending on the specific environment);

[0087] S3. Based on Dijkstra's algorithm, a comprehensive path cost function is constructed that includes terrain attenuation, energy consumption, and remaining node energy. The optimal communication path is efficiently searched based on this comprehensive path cost function, as detailed below:

[0088] Path cost function (C ij ) is defined as:

[0089] C ij =α·L FS,norm +β·SOR norm +γ·E norm -δ·E residual_norm

[0090] In the formula, α, β, γ, and δ are weighting coefficients, and satisfy α+β+γ+δ=1;

[0091] In order to comprehensively consider the multidimensional characteristics of the communication path, the path cost function integrates the following four main factors: signal attenuation cost (L FS ), obstacle impact (SOR), energy cost (E), and node remaining energy (E) residual To unify the dimensions, the above four factors are normalized using the following formula:

[0092] Signal attenuation L FS,norm :

[0093]

[0094] Signal obstruction rate (SOR) norm :

[0095]

[0096] Remaining energy E at the node residual_norm :

[0097]

[0098] Energy consumption E norm :

[0099]

[0100] In the formula, L FS,norm L is the normalized signal attenuation value. FS,a L is the signal attenuation value at a certain node. FS,min L is the minimum signal attenuation among all communication nodes. FS,max SOR represents the maximum signal attenuation across all communication nodes. norm SOR is the normalized signal occlusion rate. a SOR is the signal obstruction rate of a certain node. min SOR is the minimum signal obstruction rate among all communication nodes. max E represents the maximum signal obstruction rate among all communication nodes. residual_norm E is the normalized node residual energy value. residual E represents the remaining energy value of a given node. residual_min E represents the minimum remaining energy among all communication nodes. residual_max E represents the maximum remaining energy across all communication nodes. norm Here, E represents the normalized node energy consumption value, and E is the energy consumption value of a certain node. min E represents the minimum energy consumption among all communication nodes. max This represents the maximum energy consumption across all communication nodes.

[0101] S4. Based on the calculation results of the comprehensive path cost function, select the path with the lowest cost as the current optimal communication path, and record each node of the optimal path and its corresponding path cost.

[0102] S5. Dynamically adjust the communication path based on real-time changes in the communication environment and node status to ensure that the path selection is always optimal, as detailed below:

[0103] (S51) The dynamic optimization module continuously monitors changes in the communication environment (such as terrain changes and node movement) and updates to node states (such as energy changes), and then recalculates the cost of the relevant paths:

[0104]

[0105] In the formula L FS,norm '、SOR norm '、E norm '、 This includes updated signal attenuation, signal blockage rate, energy consumption, and remaining node energy.

[0106] (S52) Compare the current path cost with the updated path cost. If a better path exists, perform a path switch: If C new <C current If the path is true, the system will switch to the new path; otherwise, it will not switch.

[0107] (S53) Perform path maintenance, continuously optimize communication paths, and ensure that path selection is always in the optimal state to adapt to the dynamically changing communication environment and node status.

[0108] The present invention will be further described below with reference to specific embodiments:

[0109] 1. System Initialization

[0110] Node deployment: Multiple communication nodes will be deployed in selected areas on the lunar surface, including a fixed lander, a mobile rover, and distributed sensors. Each node will be equipped with a high-precision positioning system (such as a laser rangefinder and star navigation), a terrain perception sensor, and an energy monitoring module.

[0111] Initial communication: Nodes establish initial communication links and begin exchanging basic terrain and energy states;

[0112] 2. Topographic Information Acquisition and Analysis

[0113] Terrain data acquisition: Nodes use laser rangefinders, radar and camera equipment to acquire surrounding terrain data, including the distance between nodes Δd, the occlusion area of ​​craters and rock formations, and the types of obstacles;

[0114] Terrain Impact Model Generation: Based on the collected data, a lunar terrain impact model is established, taking into account the unique terrain features of the lunar surface;

[0115] Free space path loss L FS :

[0116] L FS = 20lg(Δd) + 20lg(f) + 32.44

[0117] In the formula, Δd is the distance between nodes in kilometers (km), and f is the signal transmission frequency in megahertz (MHz).

[0118] Obstacle attenuation L obstacle :

[0119] Based on the type of obstacles on the lunar surface (such as rocks and lunar regolith), a corresponding attenuation coefficient γ is set. k (dB / m 2 ) and decay exponent δ k (1 / m);

[0120] Calculate signal attenuation caused by obstacles:

[0121]

[0122] Signal Obstruction Rate (SOR):

[0123]

[0124] In the formula L obstacle,entire It is the maximum value of the obstacle's influence determined through actual networks or experiments;

[0125] 3. Energy State Monitoring and Assessment

[0126] Remaining Energy Monitoring: Nodes monitor their own remaining energy E in real time. residual It shares this information with other nodes, predicts the node's endurance based on remaining energy, and assesses the energy consumption required for inter-node communication.

[0127] Energy consumption calculation:

[0128]

[0129] E: Total energy consumption for node communication;

[0130] k: the amount of data to be sent (number of bits);

[0131] E elec Energy consumption per bit in the transmitting electronic circuitry;

[0132] E recv Energy consumption per bit in the receiving end electronic circuitry;

[0133] ∈ amp The power consumption coefficient of the amplifier;

[0134] d jk Let j be the distance between the transmitter and the receiver.

[0135] α is the path loss exponent (usually α is between 2 and 4, depending on the specific environment);

[0136] 4. Path cost calculation and evaluation

[0137] Normalization process:

[0138] Signal attenuation normalization L FS,norm :

[0139]

[0140] Normalized SOR of signal blockage rate norm :

[0141]

[0142] Energy consumption normalization E norm :

[0143]

[0144] Node Remaining Energy Normalization E residual_norm :

[0145]

[0146] Path cost function calculation:

[0147] C ij =α·L FS,norm +β·SOR norm +γ·E norm -δ·E residual_norm

[0148] Where α, β, γ, and δ are weighting coefficients, and satisfy α+β+γ+δ=1;

[0149] 5. Optimal Path Selection

[0150] Path search: Using an improved Dijkstra's algorithm, based on the calculated path cost C ij Search for the lowest-cost path from the source node to the target node, such as... Figure 2 The ABE path in the middle;

[0151] Path recording: Records the node sequence and corresponding path cost of the optimal path for reference by the dynamic optimization module;

[0152] 6. Dynamic path optimization

[0153] Environmental change detection: Continuously monitor changes in lunar topography (such as topographical changes caused by micro-meteorite impacts), node position changes (moving lunar rovers), and node energy status updates;

[0154] Path reassessment:

[0155]

[0156] L FS,norm '、SOR norm '、E norm '、 The updated normalization parameters;

[0157] Path switching:

[0158] Compare the current path cost with the updated path cost. If C new <C current If so, then switch to the new path.

[0159] In summary, this invention comprehensively considers terrain factors, node energy status, and signal propagation characteristics to dynamically optimize communication path selection, effectively solving problems such as signal attenuation, link instability, and rapid node energy depletion in wireless communication networks under complex terrain environments. This invention employs an improved Dijkstra algorithm to construct a comprehensive path cost function, integrating factors such as signal attenuation, energy consumption, and remaining node energy to achieve efficient optimal path search, adapting to complex and ever-changing communication environments. Simultaneously, the dynamic optimization module can dynamically adjust the communication path based on real-time changes in the communication environment and node status, ensuring the network maintains efficient operation at all times. Overall, this invention can significantly improve the stability of communication links, extend the overall network lifetime, and reduce communication interruption risks and energy costs under extreme conditions such as complex terrain and harsh communication environments. It is suitable for mobile wireless communication networks under extreme environmental conditions, meeting communication priority and energy management strategies under different application requirements, and has broad application prospects and significant practical value.

[0160] Example 2:

[0161] This invention provides a terrain-aware multi-node communication path selection system for implementing the terrain-aware multi-node communication path selection method described in Embodiment 1, comprising:

[0162] The terrain perception module is used to receive terrain information data between nodes. The terrain information data includes the distance between nodes, the area of ​​obstacle obstruction, and the type of obstacle. The module also performs signal attenuation calculation based on the terrain information data.

[0163] The energy sensing module is used to receive the remaining energy status of each node, share the remaining energy data with other nodes, and calculate the energy consumed by signal transmission between nodes.

[0164] The path evaluation module is used to construct a comprehensive path cost function based on Dijkstra's algorithm, which includes terrain attenuation, energy consumption, and the remaining energy of nodes. Based on the comprehensive path cost function, the optimal communication path can be searched efficiently.

[0165] The selection module is used to select the path with the lowest cost as the current optimal communication path based on the calculation results of the comprehensive path cost function, and to record each node of the optimal path and its corresponding path cost.

[0166] The dynamic optimization module is used to dynamically adjust the communication path based on real-time changes in the communication environment and node status, ensuring that the path selection is always in the optimal state.

[0167] Furthermore, the terrain perception module includes:

[0168] The data acquisition unit is used to acquire terrain information data between nodes through sensors or pre-set terrain maps. The terrain information data specifically includes the distance between nodes, the area obstructed by obstacles, and the type of obstacles.

[0169] The calculation unit is used to calculate the signal attenuation caused by the terrain and the signal attenuation caused by the influence of obstacles based on the above terrain information data.

[0170] The energy sensing module includes:

[0171] The energy monitoring unit is used to monitor the battery level of each node in real time, record the remaining energy of the node, and share the remaining energy data with other nodes.

[0172] The energy consumption calculation unit is used to calculate the energy consumed in signal transmission between nodes;

[0173] The path evaluation module includes:

[0174] The building unit is used to construct a comprehensive path cost function based on the Dijkstra algorithm, which includes terrain attenuation, energy consumption, and the remaining energy of nodes.

[0175] The path cost calculation unit is used to calculate the optimal communication path with the minimum cost based on the comprehensive path cost function.

[0176] The dynamic optimization module includes:

[0177] The environmental change monitoring unit is used to continuously monitor changes in the communication environment and update the node status;

[0178] The path re-evaluation unit is used to recalculate the cost of the updated communication path;

[0179] The path switching unit is used to compare the current communication path cost with the updated communication path cost. If a better path exists, the path switching is performed.

[0180] Specifically, the aforementioned terrain perception module, energy perception module, path evaluation module, selection module, and dynamic optimization module can be embedded into a computer processing system. The computer, based on the provided terrain perception-based multi-node communication path selection method, calls each of the aforementioned modules to complete the task of selecting a communication path. The aforementioned terrain perception module, energy perception module, path evaluation module, selection module, and dynamic optimization module can perform operations according to the specific steps given in the terrain perception-based multi-node communication path selection method.

[0181] It should be noted that the division of the various modules in the above system is merely a logical functional division. In actual implementation, they can be fully or partially integrated into a single physical entity, or they can be physically separated. These modules can be implemented entirely in software through processing element calls; they can be fully implemented in hardware; or some modules can be implemented by processing element calls to software, while others are implemented in hardware. For example, the terrain perception module can be a separate processing element or integrated into a chip in the aforementioned device. Alternatively, it can be stored as program code in the device's memory, called and executed by a processing element of the device. The implementation of other modules is similar. Furthermore, these modules can be fully or partially integrated together or implemented independently. The processing element mentioned here can be an integrated circuit with signal processing capabilities. During implementation, the steps of the above method or the various modules can be completed through integrated logic circuits in the processor element or software instructions.

[0182] For example, these modules can be one or more integrated circuits configured to implement the above methods, such as one or more Application Specific Integrated Circuits (ASICs), one or more Digital Signal Processors (DSPs), or one or more Field Programmable Gate Arrays (FPGAs). As another example, when a module is implemented using processing element scheduler code, the processing element can be a general-purpose processor, such as a Central Processing Unit (CPU) or other processor capable of calling program code. Furthermore, these modules can be integrated together to form a system-on-a-chip (SOC).

[0183] Example 3:

[0184] The present invention provides a terminal device, including a memory, a processor, and a computer program stored in the memory and capable of running on the processor. The memory stores the computer program capable of running on the processor. When the processor loads and executes the computer program, it employs the aforementioned multi-node communication path selection method based on terrain perception.

[0185] It should be noted that the terminal device can be a computer device such as a desktop computer, a laptop computer, or a cloud server, and the terminal device includes, but is not limited to, a processor and a memory. For example, the terminal device may also include input / output devices, network access devices, and buses.

[0186] Furthermore, the processor can be a central processing unit (CPU). Of course, depending on the actual use, other general-purpose processors, digital signal processors (DSPs), application-specific integrated circuits (ASICs), off-the-shelf programmable gate arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. can also be used. The general-purpose processor can be a microprocessor or any conventional processor, etc., and this application does not limit it in this regard.

[0187] It should be noted that, in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article, or apparatus.

[0188] For those skilled in the art, the specific meaning of the above terms in this invention can be understood according to the specific circumstances. When an element is referred to as being "assembled on," "mounted on," "fixed to," or "set on" another element, it may be directly on the other element or there may be an intermediate element present. When an element is considered to be "connected to" another element, it may be directly connected to the other element or there may be an intermediate element present. The terms "vertical," "horizontal," "upper," "lower," "left," "right," and similar expressions used herein are for illustrative purposes only and do not represent the only possible embodiments.

[0189] Although embodiments of the invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the appended claims and their equivalents.

[0190] In the description of this specification, references to terms such as "an embodiment," "example," "specific example," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of this disclosure. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

Claims

1. A multi-node communication path selection method based on terrain perception, characterized in that, Includes the following steps: The system receives terrain information data between nodes, including the distance between nodes, the area obstructed by obstacles, and the type of obstacles. It also calculates signal attenuation based on the terrain information data. It receives the remaining energy status of each node, shares the remaining energy data with other nodes, and calculates the energy consumed by signal transmission between nodes. Based on Dijkstra's algorithm, a comprehensive path cost function is constructed that includes terrain attenuation, energy consumption, and node remaining energy. The optimal communication path is efficiently searched based on the comprehensive path cost function. Based on the calculation results of the comprehensive path cost function, the path with the lowest cost is selected as the current optimal communication path, and each node of the optimal path and its corresponding path cost are recorded. Based on real-time changes in the communication environment and node status, the communication path is dynamically adjusted to ensure that the path selection is always in the optimal state. Signal attenuation is calculated based on terrain information data, as follows: Compute signal attenuation between nodes due to terrain The calculation formula is as follows: In the formula The distance between nodes, in kilometers; This refers to the signal transmission frequency, measured in megahertz (MHz). Set the attenuation coefficient according to the type of obstacle. and decay index And in combination with the occlusion area of ​​the obstacle and the shortest distance between obstacles and signal propagation paths The signal attenuation SOR caused by obstacles is calculated using the following formula: In the formula It is the value of the impact of obstacles determined through actual networks or experiments.

2. The multi-node communication path selection method based on terrain perception according to claim 1, characterized in that: The terrain information data is obtained by using a laser rangefinder, GPS, or terrain radar.

3. The multi-node communication path selection method based on terrain perception according to claim 2, characterized in that, The system receives the remaining energy status of each node, shares the remaining energy data with other nodes, and calculates the energy consumed by signal transmission between nodes. The calculation formula is as follows: In the formula, Let k be the total energy consumption for node communication, and k be the amount of data sent in bits. This refers to the energy consumption per bit in the transmitting electronic circuitry. This refers to the energy consumption per bit in the receiving end's electronic circuitry. This is the power consumption coefficient of the amplifier. Let j be the distance between the transmitter j and the receiver k. This is the path loss index. Set between 2 and 4.

4. The multi-node communication path selection method based on terrain perception according to claim 3, characterized in that: The integrated path cost function integrates signal attenuation cost. Obstacles Energy consumption cost and node remaining energy Four factors were normalized, and the specific formula is as follows: Signal attenuation : Signal blocking rate : Remaining energy at the node : Energy consumption : In the formula, This is the normalized signal attenuation value. This represents the signal attenuation value at a certain node. This represents the minimum signal attenuation across all communication nodes. This represents the maximum signal attenuation across all communication nodes. The normalized signal obstruction rate, The signal obstruction rate of a certain node. This represents the minimum signal obstruction rate among all communication nodes. This represents the maximum signal obstruction rate among all communication nodes. This represents the normalized remaining energy value of the node. This represents the remaining energy value of a given node. This represents the minimum remaining energy across all communication nodes. This represents the maximum remaining energy across all communication nodes. This represents the normalized node energy consumption value. This represents the energy consumption value of a certain node. This represents the minimum energy consumption among all communication nodes. This represents the maximum energy consumption across all communication nodes.

5. The multi-node communication path selection method based on terrain perception according to claim 4, characterized in that: The path cost function ( ) is defined as: in, , , , Let be the weight coefficient, and satisfy... .

6. The multi-node communication path selection method based on terrain perception according to claim 5, characterized in that, Based on real-time changes in the communication environment and node status, the communication path is dynamically adjusted to ensure that the path selection is always optimal, as detailed below: (61) If a change in the communication environment or node status is detected, the cost of the relevant path is recalculated: In the formula , , , The updated normalized signal attenuation, signal blockage rate, energy consumption, and node remaining energy are calculated. (62) Compare the current path cost with the updated path cost. If a better path exists, perform a path switch: If If the path is true, the system will switch to the new path; otherwise, it will not switch. (63) Perform path maintenance, continuously optimize communication paths, and ensure that path selection is always in the optimal state to adapt to the dynamically changing communication environment and node status.

7. A terrain-aware multi-node communication path selection system, used to implement the terrain-aware multi-node communication path selection method according to any one of claims 1 to 6, characterized in that, include: The terrain perception module is used to receive terrain information data between nodes. The terrain information data includes the distance between nodes, the area of ​​obstacle obstruction, and the type of obstacle. The module also performs signal attenuation calculation based on the terrain information data. The energy sensing module is used to receive the remaining energy status of each node, share the remaining energy data with other nodes, and calculate the energy consumed by signal transmission between nodes. The path evaluation module is used to construct a comprehensive path cost function based on Dijkstra's algorithm, which includes terrain attenuation, energy consumption, and the remaining energy of nodes. Based on the comprehensive path cost function, the optimal communication path can be searched efficiently. The selection module is used to select the path with the lowest cost as the current optimal communication path based on the calculation results of the comprehensive path cost function, and to record each node of the optimal path and its corresponding path cost. The dynamic optimization module is used to dynamically adjust the communication path based on real-time changes in the communication environment and node status, ensuring that the path selection is always in the optimal state.

8. A multi-node communication path selection system based on terrain perception according to claim 7, characterized in that: The terrain sensing module includes: The data acquisition unit is used to acquire terrain information data between nodes through sensors or a pre-set terrain map. The terrain information data specifically includes the distance between nodes. Area obstructed by obstacles and obstacle types; The calculation unit is used to calculate the signal attenuation caused by the terrain and the signal attenuation caused by the influence of obstacles based on the above terrain information data. The energy sensing module includes: The energy monitoring unit is used to monitor the battery level of each node in real time, record the remaining energy of the node, and share the remaining energy data with other nodes. The energy consumption calculation unit is used to calculate the energy consumed in signal transmission between nodes; The path evaluation module includes: The building unit is used to construct a comprehensive path cost function based on the Dijkstra algorithm, which includes terrain attenuation, energy consumption, and the remaining energy of nodes. The path cost calculation unit is used to calculate the optimal communication path with the minimum cost based on the comprehensive path cost function. The dynamic optimization module includes: The environmental change monitoring unit is used to continuously monitor changes in the communication environment and update the node status; The path re-evaluation unit is used to recalculate the cost of the updated communication path; The path switching unit is used to compare the current communication path cost with the updated communication path cost. If a better path exists, the path switching is performed.

9. A terminal device, comprising a memory, a processor, and a computer program stored in the memory and capable of running on the processor, characterized in that, The memory stores a computer program that can run on a processor. When the processor loads and executes the computer program, it employs the terrain-aware multi-node communication path selection method according to any one of claims 1 to 6.

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