Unmanned aerial vehicle cluster hybrid multiple access method

Abstract

The invention provides an unmanned aerial vehicle cluster hybrid multiple access method. A hybrid multiple access mode is adopted for different service information, fixed remote control and telemetering information in the network is accessed in a fixed time division mode, time-sensitive information is accessed in a competition mode, the concepts of node priority and service priority are introduced, and collision-free transmission of high-priority services is ensured by predicting the generation probability of the time-sensitive services, so that the time-sensitive services can be transmitted more efficiently. And aiming at the burst broadband service information, the access is carried out in a flexible appointment mode. The method is suitable for an unmanned aerial vehicle cluster network, and can realize efficient utilization of node channel resources in the network and guarantee of quality of service (QOS) of different data services.

Description

Technical Field

[0001] The present invention belongs to the technical field of UAV swarm communication, and particularly relates to a UAV swarm hybrid multiple access method. Background Art

[0002] The networking data link of UAVs is the basis for the interconnection and intercommunication of UAV swarms. Through the networking data link system, multi-platform communication can be achieved, enabling the communication of UAVs with other information systems, command and control systems, weapon systems (such as UAVs, missiles, artillery, manned aircraft, etc.), etc., to build an information system across systems and platforms, share situation information, transform information advantages into decision-making advantages and action advantages, effectively shorten the transmission delay of the weapon coordination chain, and greatly improve the combat effectiveness.

[0003] The multiple access protocol (MAC) mainly solves the problem of multi-node channel occupancy. The MAC protocol is divided into a contention-based MAC protocol and a reservation-based MAC protocol. The contention-based MAC protocol uses a certain contention mechanism to access the shared channel. Therefore, the contention mechanism used plays a decisive role in the performance of the protocol. This type of protocol can adjust the time or probability of this contention using a backoff algorithm based on the previous contention result. The reservation-based MAC protocol generally allocates fixed resources to nodes according to certain rules in the time domain, frequency domain, code domain, etc. Common ones such as CDMA, FDMA, TDMA, etc. all belong to the reservation-based MAC protocol.

[0004] The performance of the MAC protocol directly affects the throughput and delay of the UAV swarm network. The UAV swarm network has characteristics such as highly dynamic topology changes and randomness in service generation. The traditional reservation-based MAC protocol has the problem of resource waste and cannot meet the task requirements. Contention-based MAC protocols such as CSMA, etc., are mostly fair competitions and do not consider the design of quality of service (QoS). However, in actual communication, due to the coexistence of different types of users, the requirements for QoS are also different. In the UAV swarm network, various information interactions need to be carried out, including periodic remote control and telemetry commands, a large amount of image data, bursty time-sensitive information, etc. The main problem faced by the design of the MAC protocol is to ensure different QoS for various data services. Generally, a hybrid multiple access mode is adopted, where fixed resources are allocated for fixed-class information, and bursty services generally adopt a contention-based access method, using carrier sensing to determine whether the channel is busy or idle to judge whether to send information. However, in the UAV swarm network, the nodes are widely distributed, the communication distance is far, the network topology structure changes dynamically, the carrier sensing result is not accurate, and the transmission delay caused by sensing is relatively large. Summary of the Invention

[0005] To overcome the deficiencies of existing multiple access methods in terms of fairness and QoS requirements, the present invention provides a hybrid multiple access method for UAV clusters. A hybrid multiple access method is adopted for different service information. Fixed telemetry information within the network is accessed in a fixed time division manner, and time-sensitive information is accessed in a competitive manner. The concepts of node priority and service priority are introduced. By predicting the generation probability of time-sensitive services, collision-free transmission of high-priority services is ensured. For bursty broadband service information, a flexible reservation method is used for access. The present invention is applicable to UAV cluster networks and can achieve efficient utilization of channel resources of in-network nodes and guarantee QoS for different data services.

[0006] A hybrid multiple access method for UAV clusters, characterized by the following steps:

[0007] Step 1: Each UAV in the cluster powers on and accesses the network. The cluster head UAV M establishes a network time reference and broadcasts a hello message.

[0008] Step 2: After receiving the hello message, the non-cluster head UAVs randomly send network access request messages. The network access request information includes the node MAC address, UAV type, and UAV location.

[0009] Step 3: After receiving the network access request message, the cluster head UAV M divides the time slots into M + N ordinary time slots slot_n and K time-sensitive time slots slot_s according to the in-network node situation, where M is the total number of network nodes, N is the number of reserved time slots, and K is the number of time-sensitive time slots.

[0010] Step 4: The cluster head UAV M sends a network access reply message, which contains the IDs, MAC addresses of each UAV, and the allocation of ordinary time slots slot_n.

[0011] Step 5: After receiving the network access reply message, the non-cluster head UAV adjusts its own clock if it finds its own ID in it, completes network access, the network switches to the transmission stage, and proceeds to Step 6; otherwise, returns to Step 2.

[0012] Step 6: In the s-th superframe, the non-cluster head UAVs send their own telemetry information in the specified ordinary time slots slot_n and apply for broadband time slots for payload data transmission according to the payload task requirements; s represents the superframe count, and the value range is [1, ∞].

[0013] Step 7: In the (s + 1)-th superframe, the cluster head UAV M allocates the access right of broadband time slot slot_w1 according to the received application for UAV broadband signal transmission time slot and sends the reserved time slot allocation information.

[0014] Step 8: After receiving the reserved time slot allocation information of the cluster head UAV M, the non-cluster head UAV obtains the access right to the broadband time slot slot_w1;

[0015] Step 9: In the (s + 2)-th superframe, the non-cluster head UAV sends information in the normal time slot slot_n and sends payload data in the broadband time slot slot_w1;

[0016] Step 10: The UAV node generates time-sensitive services, determines the service priority score according to the time-sensitive service priority and its own node importance level, and groups the service data according to the service priority score;

[0017] Step 11: Set the backoff delay τ, and τ is a random value within [0, 1 / priority score];

[0018] Step 12: The UAV node listens to the busy / idle state of the channel in the non-transmission time slot, and predicts the probability of generating time-sensitive information according to the burst time-sensitive traffic volume in the past L time-sensitive time slots;

[0019] Step 13: Calculate the service transmission time according to the backoff delay and the probability of generating time-sensitive information;

[0020] Step 14: In the time-sensitive time slot slot_s, at the service transmission time T t send information. If the information is sent successfully, go to Step 12; otherwise, go to Step 10.

[0021] Specifically, the number of reserved time slots N = (superframe length - K * t slot_s ) / t slot_n - M, where t slot_s is the time slot length of the time-sensitive time slot slot_s, t slot_n is the time slot length of the normal time slot slot_n, the number of time-sensitive time slots K = superframe length / maximum transmission delay of time-sensitive information, and the superframe length = 1 / data update rate.

[0022] Specifically, the specific method for the UAV described in step 10 to determine the service priority score according to the timeliness service priority and its own node importance level is as follows: when the timeliness service priority is low and the node importance is average, the determined service priority score is 1; when the timeliness service priority is low and the node importance is important, the determined service priority score is 2; when the timeliness service priority is low and the node importance is core, the determined service priority score is 3; when the timeliness service priority is medium and the node importance is average, the determined service priority score is 2; when the timeliness service priority is medium and the node importance is important, the determined service priority score is 4; when the timeliness service priority is medium and the node importance is core, the determined service priority score is 4; when the timeliness service priority is high and the node importance is average, the determined service priority score is 3; when the timeliness service priority is high and the node importance is important, the determined service priority score is 4; when the timeliness service priority is high and the node importance is core, the determined service priority score is 5.

[0023] Specifically, the specific formula for predicting the timeliness information generation probability according to the burst timeliness traffic volume in the past L timeliness time slots in step 12 is as follows:

[0024]

[0025] Where, P s represents the timeliness information generation probability, w i represents the time decay factor of the i-th timeliness time slot, Mont i represents the burst timeliness traffic volume in the i-th timeliness time slot, t slot_s represents the time slot length of the timeliness time slot slot_s, and L is determined by balancing according to the actual situation of the calculation amount and statistical characteristics.

[0026] Specifically, step 13 calculates the service sending time T according to the following formula t :

[0027] T t = τ + Ps * dd (2)

[0028] Where, τ is the backoff delay, P s is the timeliness information generation probability, and dd is the timeliness information probability weight.

[0029] Furthermore, the value of the said L is within [256, 10240].

[0030] Furthermore, the value of the timeliness information probability weight dd is within [0, 1].

[0031] ​An electronic device includes a memory, a processor, and a computer program stored on the memory and executable on the processor. When the computer program is executed by the processor, it implements the steps of a hybrid multiple access method for an unmanned aerial vehicle (UAV) cluster disclosed in the present invention.

[0032] A program product includes a computer program that, when run, is used to execute the steps of a hybrid multiple access method for an unmanned aerial vehicle (UAV) cluster disclosed in the present invention.

[0033] A storage medium stores a computer program that, when run, is used to execute the steps of a hybrid multiple access method for an unmanned aerial vehicle (UAV) cluster disclosed in the present invention.

[0034] The beneficial effects of the present invention are as follows: By adopting the hybrid multiple access method, efficient utilization of channel resources among in-network nodes can be achieved. For different service information, the hybrid multiple access method is adopted, with time-sensitive information accessing through competition. The concepts of node priority and service priority are introduced. By predicting the generation probability of time-sensitive services, the successful transmission of high-priority services is ensured, and the probability of channel collision is reduced. The present invention is applicable to UAV cluster networks, can achieve efficient utilization of channel resources among in-network nodes and guarantee QoS for different data services in the UAV cluster to meet the different QoS requirements of various services within the cluster, and can be used in heterogeneous networks such as UAV clusters and air-ground integrated networks. Description of the Drawings

[0035] Figure 1 is a flowchart of a hybrid multiple access method for an unmanned aerial vehicle (UAV) cluster according to the present invention;

[0036] Figure 2 is a schematic diagram of time slot allocation according to the present invention;

[0037] Figure 3 is a process diagram of reserved time slot allocation according to the present invention. Detailed Embodiments

[0038] The present invention will be further described below in conjunction with the drawings and embodiments. The present invention includes but is not limited to the following embodiments.

[0039] The present invention provides a hybrid multiple access method for an unmanned aerial vehicle (UAV) cluster, as Figure 1 shown. The specific implementation process is as follows:

[0040] Step 1: Each UAV in the cluster powers on and accesses the network. The cluster head UAV M establishes a network time reference and broadcasts a hello message.

[0041] Step 2: After receiving the hello message, non-cluster head UAVs randomly send network access request messages. The network access request information includes the node MAC address, UAV type, and UAV location.

[0042] Step 3: After the cluster head UAV M receives the access request message, according to the access node situation, divide the time slots into M+N ordinary time slots slot_n and K time-sensitive time slots slot_s, where M is the total number of network nodes, N is the number of reserved time slots, N = (superframe length - K*t slot_s ) / t slot_n -M, where t slot_s is the time slot length of the time-sensitive time slot slot_s, t slot_n is the time slot length of the ordinary time slot slot_n, K is the number of time-sensitive time slots, K = superframe length / maximum transmission delay of time-sensitive information, superframe length = 1 / data update rate. Figure 2 The time slot allocation schematic diagram is given.

[0043] Step 4: The cluster head UAV M sends an access reply message, and the access reply message includes the ID, MAC address of each UAV, and the allocation of the ordinary time slot slot_n.

[0044] Step 5: The non-cluster head UAV receives the access reply message. If its own ID is found in it, adjust its own clock, the access is completed, the network switches to the transmission stage, and go to Step 6; otherwise, return to Step 2.

[0045] Step 6: In the s-th superframe, the non-cluster head UAV sends its own remote control and telemetry information in the specified ordinary time slot slot_n, and applies for a broadband time slot for payload data transmission according to the payload task requirements; s represents the superframe count, and the value range is [1,∞];

[0046] Step 7: In the (s + 1)-th superframe, the cluster head UAV M allocates the access right of the broadband time slot slot_w1 according to the received UAV broadband signal transmission time slot application, and sends the reserved time slot allocation information.

[0047] Step 8: After the non-cluster head UAV receives the reserved time slot allocation information of the cluster head UAV M, it obtains the access right of the broadband time slot slot_w1.

[0048] Step 9: In the (s + 2)-th superframe, the whole network time slots are updated. The non-cluster head UAV sends information in the ordinary time slot slot_n and sends payload data in the broadband time slot slot_w1. The specific implementation process Figure 3 is shown as follows.

[0049] Step 10: The UAV node generates time-sensitive services, determines the service priority score according to the time-sensitive service priority and its own node importance level, and groups the service data according to the service priority score.

[0050] Step 11: Set the backoff delay τ, and τ is a random value within [0, 1 / priority score].

[0051] Step 12: According to the burst time-sensitive traffic volume within the past L time-sensitive time slots, predict the probability of generating time-sensitive information according to the following formula:

[0052]

[0053] where P s represents the probability of generating time-sensitive information, w i represents the time decay factor of the i-th time-sensitive time slot, Mont i represents the burst time-sensitive traffic volume within the i-th time-sensitive time slot, t slot_s represents the time slot length of the time-sensitive time slot slot_s, and L is determined by balancing according to the actual situation of the calculation amount and statistical characteristics, and generally can take values in the range of [256, 10240].

[0054] Step 13: Calculate the service sending time T according to the backoff delay τ and the probability value P of generating time-sensitive information s ; t ;

[0055] T t = τ + Ps * dd (4)

[0056] where dd is the time-sensitive information probability weight, and the value range can be [0, 1].

[0057] Step 14: Within the time-sensitive time slot slot_s, send information at the service sending time T t ; if the information is successfully sent, go to Step 12, otherwise, go to Step 10.

[0058] An electronic device includes a memory, a processor, and a computer program stored on the memory and executable on the processor. When the computer program is executed by the processor, it implements the steps of a method for hybrid multiple access in a drone cluster disclosed in the present invention.

[0059] A program product includes a computer program. When the computer program is run, it is used to execute the steps of a method for hybrid multiple access in a drone cluster disclosed in the present invention.

[0060] A storage medium stores a computer program. When the computer program is run, it is used to execute the steps of a method for hybrid multiple access in a drone cluster disclosed in the present invention.

Claims

1. A hybrid multiple access method for drone clusters, characterized in that Here are the steps: Step 1: Each drone in the cluster is powered on and connected to the network. The cluster head drone M establishes a network time reference and broadcasts a hello message. Step 2: After receiving the hello message, the non-cluster head UAV randomly sends a network access request message. The network access request information includes the node MAC address, UAV type and UAV location; Step 3: After the cluster head drone M receives the network access request message, it divides the time slot into M+N ordinary time slots slot_n and K time-sensitive time slots slot_s according to the network access node situation, where M is the total number of network nodes, N is the number of reserved time slots, and K is the number of time-sensitive time slots; Step 4: The cluster head UAV M sends a network access reply message, which contains the ID, MAC address and normal time slot slot_n allocation of each UAV; Step 5: The non-cluster head UAV receives the network access reply message. If it finds its own ID in it, it adjusts its own clock, the network access is completed, the network switches to the transmission phase, and goes to step 6; otherwise, it returns to step 2; Step 6: In the sth superframe, the non-cluster head UAV sends its own remote control and telemetry information in the specified ordinary time slot slot_n, and applies for the payload data transmission broadband time slot according to the payload mission requirements; s represents the superframe count, and its value range is [1,∞]; Step 7: In the s+1th superframe, the cluster head UAV M allocates the broadband time slot slot_w1 access right and sends the reserved time slot allocation information according to the received UAV broadband signal transmission time slot application; Step 8: After receiving the reserved time slot allocation information from the cluster head UAV M, the non-cluster head UAV obtains the access right to the broadband time slot slot_w1; Step 9: In the s+2th superframe, the non-cluster head UAV sends information in the normal time slot slot_n and sends payload data in the broadband time slot slot_w1; Step 10: The drone node generates a time-sensitive service, determines the service priority score according to the time-sensitive service priority and its own node importance level, and groups the service data according to the service priority score; Step 11: Set the backoff delay τ, where τ is a random value in [0, 1 / priority score]; Step 12: The UAV node monitors the busyness of the channel in the non-transmitting time slot and predicts the probability of time-sensitive information generation based on the burst time-sensitive information volume in the past L time-sensitive time slots; Step 13: Calculate the service sending time according to the backoff delay and the probability of generating time-sensitive information; Step 14: In the time-sensitive time slot slot_s, at the service sending time T t Send the information. If the information is sent successfully, go to step 12; otherwise, go to step 10.

2. A hybrid multiple access method for drone clusters as claimed in claim 1, characterized in that: The number of reserved time slots N = (superframe length - K*t slot_s ) / t slot_n -M, where t slot_s is the time slot length of the time-sensitive time slot slot_s, t slot_n is the length of the ordinary time slot slot_n, the number of time-sensitive time slots K = superframe length / maximum transmission delay of time-sensitive information, and superframe length = 1 / data update rate.

3. A hybrid multiple access method for drone clusters as claimed in claim 1, characterized in that: The specific method for the drone described in step 10 to determine the service priority score according to the time-sensitive service priority and its own node importance level is as follows: if the time-sensitive service priority is low and the node importance is general, the service priority score is determined to be 1; if the time-sensitive service priority is low and the node importance is important, the service priority score is determined to be 2; if the time-sensitive service priority is low and the node importance is core, the service priority score is determined to be 3; if the time-sensitive service priority is medium and the node importance is general, the service priority score is determined to be 2; if the time-sensitive service priority is medium and the node importance is important, the service priority score is determined to be 4; if the time-sensitive service priority is medium and the node importance is core, the service priority score is determined to be 4; if the time-sensitive service priority is high and the node importance is general, the service priority score is determined to be 3; If the time-sensitive business priority is high and the node importance is important, the business priority score is determined to be 4; if the time-sensitive business priority is high and the node importance is core, the business priority score is determined to be 5.

4. A hybrid multiple access method for drone clusters as claimed in claim 1, characterized in that: The specific formula for predicting the probability of time-sensitive information generation according to the burst time-sensitive information volume in the past L time-sensitive time slots described in step 12 is: Among them, P s represents the probability of time-sensitive information generation, w i represents the time decay factor of the i-th time-sensitive time slot, Mont i represents the burst time-sensitive signal volume in the i-th time-sensitive time slot, t slot_s Indicates the time slot length of the time-sensitive time slot slot_s. L is determined based on the actual situation of the calculation amount and statistical characteristics.

5. The hybrid multiple access method for drone clusters according to claim 1, characterized in that: Step 13: Calculate the service sending time T according to the following formula: t : T t = τ+Ps*dd (2) Where τ is the backoff delay, P s is the probability of generating time-sensitive information, and dd is the probability weight of time-sensitive information.

6. A hybrid multiple access method for drone clusters as claimed in claim 4, characterized in that: The L takes a value within the range of [256, 10240].

7. A hybrid multiple access method for drone clusters as claimed in claim 5, characterized in that: The time-sensitive information probability weight dd takes values ​​within [0,1].

8. An electronic device, characterized in that: The method comprises a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the computer program implements the steps of the method according to any one of claims 1 to 7 when executed by the processor.

9. A program product, characterized in that: The invention comprises a computer program, which is used to execute the steps of the method according to any one of claims 1 to 7 when the computer program is executed.

10. A storage medium, characterized in that: A computer program is stored thereon, and when the computer program is executed, it is used to execute the steps of the method according to any one of claims 1 to 7.

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