Dynamic time slot allocation method, device and equipment for high-dynamic mobile ad hoc network and storage medium

Abstract

The invention discloses a high-dynamic mobile ad hoc network dynamic time slot allocation method and device, equipment and a storage medium, and belongs to the technical field of wireless communication and networks. The device is deployed between an upper-layer application module and a bottom-layer communication module of a communication node, and comprises a topology sensing module, a time frame construction module, an idle time slot distribution module, a GNSS module and an information interaction module. According to the method, neighbor nodes are determined among nodes through interaction information, and node topology change indexes and link states are calculated; the coordination node performs idle time slot allocation according to a request sent by the node in the control time slot, and dynamically adjusts a sensing period according to the current network topology change; and the node sends data in the information time slot according to the time slot allocation table, and carries out information interaction and topology perception according to the perception period. According to the method, the packet loss rate in the link unstable environment is effectively reduced, the data transmission reliability is higher, the method can adapt to link and topology dynamic changes, and the network throughput and the resource utilization rate are improved.

Description

Technical Field

[0001] The present invention belongs to the technical field of wireless communication and networks, and specifically refers to a dynamic time slot allocation method, device, equipment, and storage medium for high-dynamic mobile ad-hoc networks. Background Art

[0002] A Mobile Ad-hoc Network (MANET) is a distributed wireless network formed by mobile nodes through wireless links without relying on fixed infrastructure. These nodes can be either terminal devices or routers, capable of autonomously performing data forwarding and route selection to achieve multi-hop communication. Since the nodes can move freely, the network topology will dynamically adjust with the addition, departure, or position change of nodes, resulting in highly dynamic and unstable communication links. In addition, MANET relies on wireless channels for communication, and the limited nature of wireless resources further exacerbates the complexity of network management.

[0003] The core advantages of MANET lie in its flexibility and rapid deployment ability. In scenarios where traditional networks cannot cover or are temporarily unavailable, MANET can quickly build a communication network to meet immediate needs. This feature makes it of great application value in scenarios such as emergency communication (e.g., natural disaster relief), military deployment (e.g., battlefield communication), temporary meetings (e.g., mobile device interconnection), and the Internet of Things (e.g., intelligent transportation systems). However, the frequent topology changes caused by node mobility and the resource limitations of wireless channels also pose significant challenges to network resource scheduling, access protocol optimization, and communication stability. To address these challenges, MANET needs to adopt efficient dynamic access mechanisms and topology awareness technologies to ensure the reliability and performance of the network in a high-dynamic environment.

[0004] Time Division Multiple Access (TDMA), as a classic wireless communication technology, its core idea is to divide time into multiple time slots, and each user exclusively occupies the channel in different time slots for data transmission, thus avoiding conflicts caused by multiple users sending data simultaneously. TDMA technology can achieve the sharing of communication resources by multiple nodes through time slot division, effectively avoid channel conflicts, and improve communication efficiency. Time Frame and TimeSlot are two core concepts in TDMA technology, and they play different roles in the division and management of time resources.

[0005] A time frame is the basic time unit of a TDMA system and is used for the periodic scheduling of users' communication resources. Within a time frame, all users transmit data in turn according to the allocated time slots. Each time frame contains several time slots, and the length and structure of the time frame need to be designed according to specific application scenarios and communication requirements. A time slot is the basic time unit that constitutes a time frame and is also the smallest time unit allocated by the system to a single node for data transmission. Usually, only one user is allowed to exclusively occupy the channel for communication in each time slot, and this exclusivity ensures the reliability of data transmission. The allocation of time slots can be static (fixed allocation) or dynamic (adjusted according to the network state). According to the different time slot allocation methods, the TDMA protocol can be divided into two types: static TDMA and dynamic TDMA.

[0006] In traditional static TDMA protocols, the system assumes that the network topology remains relatively stable. Nodes obtain fixed time slot allocations during the initialization phase, and these allocations remain unchanged throughout the network's life cycle. The advantages of this allocation method mainly lie in its simplicity of implementation, low scheduling overhead, etc., and it can provide high stability and reliability in a low-dynamic network environment. However, due to the frequent movement of nodes in MANETs, the network topology structure constantly changes, and static TDMA is difficult to adapt to the dynamic joining, leaving, or position changes of nodes, resulting in problems such as decreased time slot utilization and reduced communication efficiency.

[0007] To overcome the limitations of static TDMA in high-dynamic networks, researchers have proposed dynamic TDMA protocols. Dynamic TDMA introduces flexibility in time slot allocation on the basis of static TDMA, allowing nodes to dynamically apply for and adjust time slot allocations according to the real-time network state. This dynamic allocation method is particularly suitable for network scenarios where nodes move frequently and can significantly improve channel utilization and communication efficiency. However, dynamic TDMA also faces several technical challenges. First, in a high-dynamic network environment, when the node density is high or the topology changes frequently, the system needs to quickly respond to changes in the network state and timely adjust the time slot allocation scheme, which poses strict requirements on the computational efficiency and convergence speed of the algorithm. Second, how to maximize channel utilization while avoiding time slot conflicts between nodes is a complex optimization problem. Finally, dynamic TDMA requires precise time synchronization between network nodes and coordination during the time slot allocation process, which poses higher technical requirements for the network's synchronization mechanism and communication protocol design.

[0008] The implementation of dynamic TDMA needs to rely on topology awareness and channel state monitoring technologies. By collecting and analyzing network topology information in real time (such as node positions, moving speeds, link qualities, etc.), the time slot allocation strategy is dynamically adjusted to minimize the conflict probability and optimize resource allocation.

[0009] Topology-aware technology is a key technology in MANET for real-time monitoring and predicting network topology changes. By exchanging data packet groups between nodes, neighbor information including geographical location, speed, and direction can be obtained. By detecting this information in real time, the system can use the movement information of nodes (vector information such as speed and direction) to predict future topology changes, and then dynamically adjust the resource allocation strategy according to the prediction results.

[0010] In high-dynamic MANET, multiple access technology is the key to ensuring efficient sharing of communication resources among multiple mobile nodes. However, due to the high dynamics and autonomy of high-dynamic MANET nodes, traditional multiple access technologies often face a series of challenges such as rapid node movement, frequent network topology changes, and unstable channel quality. Therefore, designing a multiple access mechanism that can efficiently allocate time slots in high-dynamic scenarios has become an urgent problem to be solved.

[0011] According to existing research, the multiple access technologies of wireless ad hoc networks are mainly divided into the following three categories: contention-based, scheduling-based, and hybrid access protocols.

[0012] (1) Contention-based access protocols allow multiple nodes to compete for channel resources in the same time slot, which are suitable for scenarios with fewer nodes or lighter network loads. However, in cases of dense nodes or high loads, channel contention may lead to collisions and delays, thus affecting communication performance.

[0013] (2) Scheduling-based access protocols ensure that each node can access the channel orderly by preallocating time slots or frequency resources, thus reducing the occurrence of collisions. Such protocols are suitable for application scenarios with strict requirements for delay and throughput. However, in a highly dynamic network environment, frequent topology changes may lead to the failure of time slot allocation, thus increasing the complexity and resource overhead of the protocol.

[0014] (3) Hybrid access protocols combine the two mechanisms of contention and scheduling to balance flexibility and efficiency. For example, the task-oriented distributed adaptive access technology combines TDMA and contention access mechanisms, fully considering energy consumption and task characteristics to meet the service requirements (Quality of Service, QoS) of different tasks.

[0015] Although existing multiple access technologies have made certain progress, there are still many challenges in the high-dynamic MANET environment. For example, contention-based protocols are prone to high collision rates and communication delays, while scheduling-based protocols may be difficult to adapt in cases of frequent topology changes, thus affecting communication efficiency. Therefore, how to achieve an efficient and reliable multiple access mechanism in high-dynamic ad hoc networks remains an issue worthy of in-depth study.

[0016] Existing Solution 1: Application Number: CN202410320416.5, Invention Title: Dynamic Time Slot Allocation Method for Deterministic Communication in UAV Formations, published on June 25, 2024. This method addresses the complex requirements of multi-node collaboration in UAV formation communication networks. It divides the wireless channel into three time periods: the CSMA period is responsible for node clock synchronization and access negotiation, the CMOP period is used to calculate and broadcast the dynamic time slot table, and the TDMA period is for data transmission to ensure communication determinacy. In specific implementation, this method dynamically allocates the time slots of each node by constructing an end-to-end delay model based on waiting delay, propagation delay, and transmission delay. Its core lies in adopting an improved genetic particle swarm optimization algorithm, combining the global search ability of the genetic algorithm and the fast convergence advantage of the particle swarm algorithm to quickly solve the optimal time slot allocation scheme. This dynamic time slot allocation scheme not only adapts to changes in node traffic volume but also comprehensively considers the communication link quality (such as packet loss rate and bit error rate), achieving efficient utilization of time slot resources. Experimental results show that this method can significantly reduce delay, improve system throughput, and ensure the real-time transmission requirements of high-priority data. However, Existing Solution 1 has the following drawbacks: 1) This solution relies on a preset wireless channel division method (CSMA, CMOP, TDMA). When the formation scale expands significantly or there are extreme fluctuations in node traffic demands, it may face problems such as insufficient time slots or decreased allocation efficiency; 2) In the model assumptions, mainly link packet loss rate and delay factors are considered, but in a communication environment with strong interference or severe multipath fading, it may not be able to fully guarantee the reliability of transmission; 3) Although the method adapts to the dynamic changes in node traffic volume, it does not mention how to efficiently handle the frequent joining or leaving of nodes, and may lack flexibility in a rapidly changing network.

[0017] Existing Solution 2: Application No. CN202311629706.X, Invention Title: Dynamic Time Slot Allocation Method and Related Equipment for High-Dynamic Self-Organizing Networks, was published on January 12, 2024. This method addresses the problem of frequent topology changes in high-dynamic self-organizing networks by designing a communication model based on time frames and adding multiple control sub-frames to the time frames to handle the rapid network access of new nodes and the dynamic information interaction between nodes in the network. The core of this method is a dynamically adjusted time slot allocation strategy. In each control sub-frame, through four steps: network access request, information broadcast, reservation announcement, and confirmation feedback, new nodes can quickly complete network access and obtain conflict-free time slots. At the same time, combined with the idle time slot allocation algorithm, the priority is calculated based on the exclusive OR of the node's unique identity (Identity Document, ID) and the time slot number, and idle time slots are allocated to the nodes. This method ensures conflict-free communication for each node within two-hop range, improving the channel utilization rate. Compared with traditional static time slot allocation methods, this method reduces the network access delay of new nodes while enhancing the overall throughput and resource utilization efficiency of the network. In addition, this method also designs a detailed time frame structure for the control and data parts, making the network access, network exit, and time slot allocation processes of nodes more efficient. However, Existing Solution 2 has the following drawbacks: 1) When new nodes reserve time slots, they rely on the broadcast information of two-hop neighbors. Due to network delays or untimely updates of neighbor node status, reservation conflicts may occur frequently, affecting the allocation efficiency; 2) The optimization of this method for high-dynamic networks may not be efficient in stable networks, especially when there are few node changes. The frequent presence of control sub-frames may increase unnecessary overhead; 3) Using the method of calculating priority by the exclusive OR of the node ID and the time slot number, although simple and efficient, cannot comprehensively consider the importance or service priority of nodes, which may cause the data transmission of critical tasks to be blocked due to time slots being occupied by low-priority nodes. Summary of the Invention

[0018] In view of the problem of how to achieve an efficient and reliable multiple access mechanism in high-dynamic mobile ad hoc networks, the present invention provides a dynamic time slot allocation method, device, equipment, and storage medium for high-dynamic mobile ad hoc networks, using quantifiable link metrics and topology change metrics as prior information for time slot allocation to implement an adaptable and efficient access time slot allocation scheme.

[0019] The dynamic time slot allocation method for high-dynamic mobile ad hoc networks of the present invention includes the following steps:

[0020] Step 1: Network initialization, including: all communication nodes initialize their own neighbor information tables and time slot allocation tables; randomly set the sensing period initially; select a node closest to the network centroid as the coordinator; the neighbor information table records information of all neighbor nodes of the node, including the ID of the neighbor node, current position, speed, and movement direction, position, speed, and movement direction at the previous sensing moment, and the sensing moment; initialize and set the neighbor information table as an empty table; the neighbor nodes are neighbor nodes within one-hop range of the node; the time slot allocation table records the time slots occupied by each node, and initialize and set each node to occupy one time slot in the control period and information period;

[0021] Step 2: At the current sensing moment, each node broadcasts its own position, speed, and movement direction;

[0022] Step 3: Each node updates the neighbor information table according to the obtained neighbor node information, calculates the link duration between this node and each neighbor node, and the topology change index of the current node; the link duration is calculated based on the relative speed between nodes and the communication range of the node; the topology change index of the current node is calculated based on the distance change, direction change, relative speed change, and neighbor node number change of the node relative to the previous moment;

[0023] Step 4: Each node sends a request in the control time slot corresponding to the current time frame. The coordinator allocates information time frames for the nodes according to the requests of each node in the current time frame, and records and broadcasts it in the time slot allocation table; after each node obtains the time slot allocation table, it performs data transmission in the corresponding information time slot;

[0024] Step 5: The coordinator dynamically adjusts the sensing period T according to the current network topology change and broadcasts it to the entire network. Each node returns to Step 2 every sensing period T.

[0025] In the said Step 3, the topology change index of the node is calculated as follows: For node n i , first calculate the distance change index DVI i (t), direction change index MVI i (t), relative speed change index RVI i (t), and neighbor node number change index NVI i (t) of this node at the current time t; then perform a weighted sum of DVI i (t), MVI i (t), RVI i (t), and NVI i (t) to obtain the topology change index TVI i of node n at time t i t.

[0026] In step 4, within the current clock cycle, a time frame numbered 0 is set for time synchronization of all network nodes. The remaining numbered time frames are each divided into a control period and an information period. The control period contains N control time slots, where N is the number of communication nodes in the current same frequency band. Each node sends a time slot request, topology information broadcast, or network access request in the corresponding control time slot. The information period contains M information time slots, which are dynamically allocated by the coordination node for each node. M is a positive integer.

[0027] In step 5, let the coordination node be n k , n k The topology change index calculated at the current time t is TVI k (t). Then, the sensing period T is adjusted as: T = T base / TVI k (t); where T base is the basic sensing period.

[0028] Furthermore, the dynamic time slot allocation device for a high-dynamic mobile ad-hoc network provided by the present invention is deployed on each communication node in the application scenario and is set between the upper-layer application module and the lower-layer communication module. The device includes a topology sensing module, a time frame construction module, an idle time slot allocation module, a GNSS module, and an information interaction module. The topology sensing module broadcasts the position, speed, and movement direction of the current node sensed by the GNSS module at each sensing moment, saves the information of neighbor nodes within one-hop range of the node according to the obtained neighbor node information, calculates the link duration between the node and each neighbor node, and the topology change index of the current node. The time frame construction module constructs the time frame of the network and initializes and sets that each node occupies one time slot in the control period and the information period of the current time frame. Each node sends a time slot request, topology information broadcast, or network access request in the control time slot through the information interaction module. The idle time slot allocation module of the coordination node dynamically allocates the current idle time slots for each node according to the requests of the nodes, updates the time slot allocation table, and broadcasts it. The time slot allocation table records the time slots occupied by each node. Each node transmits data in the information time slot according to the time slot allocation table through the information interaction module. The topology sensing module of the coordination node adjusts the sensing period according to the current network topology change and broadcasts it to the entire network.

[0029] Furthermore, the system device of the distributed dynamic TDMA provided by the present invention is deployed on each communication node. Each device includes a memory, a processor, and a computer program stored in the memory; when the computer program is executed by the processor, the dynamic time slot allocation method for a high-dynamic mobile ad-hoc network of the present invention is implemented.

[0030] Furthermore, the present invention provides a readable storage medium, on which a computer program for implementing the dynamic time slot allocation method for a high-dynamic mobile ad-hoc network of the present invention is stored.

[0031] Compared with the prior art, the advantages and positive effects of the present invention are as follows:

[0032] (1) Advantage 1: Higher data transmission reliability. The dynamic time slot allocation method, device, equipment and storage medium of the present invention effectively reduce the packet loss rate in an unstable link environment by real-time sensing the link state and dynamically adjusting the time slot allocation strategy. Through the dynamic TDMA mechanism, the present invention can better cope with link interruptions and channel quality fluctuations in the network, ensuring the stability and reliability of data transmission, and is particularly suitable for high-dynamic network environments.

[0033] (2) Advantage 2: Can adapt to dynamic changes in links and topologies. The dynamic time slot allocation method, device, equipment and storage medium of the present invention introduce a topology change index, which can quantify and capture the dynamic changes of the network topology in real time, such as node positions, speeds, link durations and node densities. Through the dynamic adjustment mechanism based on TVI, the present invention can quickly sense and adapt to topology changes, significantly improving the resource utilization rate and communication performance of the network in high-dynamic scenarios such as unmanned aerial vehicle networks and vehicle-to-everything networks.

[0034] (3) Advantage 3: Improve network throughput and resource utilization rate. By dynamically adjusting time slot allocation and reasonably allocating resources such as bandwidth, the dynamic time slot allocation method, device, equipment and storage medium of the present invention significantly improve the network throughput, especially when the network state fluctuates greatly; at the same time, combined with network load and topology changes, optimize time slot allocation, reduce time slot conflicts and communication delays, maximize the use of available resources, and enhance the overall efficiency and stability of the system. Brief Description of the Drawings

[0035] Figure 1 is a schematic diagram of the composition of the dynamic time slot allocation device for a high-dynamic mobile ad-hoc network of the present invention;

[0036] Figure 2 is a flowchart of the dynamic time slot allocation method for a high-dynamic mobile ad-hoc network of the present invention;

[0037] Figure 3 is a schematic diagram of a distributed dynamic TDMA system device using the device or method of the present invention;

[0038] Figure 4 is a TDMA time slot design diagram in the method of the present invention;

[0039] Figure 5 is a flowchart of a node for network topology awareness in the method of the present invention. Detailed Embodiments

[0040] The present invention will be further described in detail below with reference to the drawings and embodiments.

[0041] The physical entities implementing the solution of the present invention include multiple nodes with the same data forwarding capabilities, without the need for ground infrastructure and a centralized control center. The high-dynamic mobile ad-hoc network dynamic time slot allocation device of the present invention is deployed on each communication node in the application scenario. As Figure 1 shown, the high-dynamic mobile ad-hoc network dynamic time slot allocation device of the embodiment of the present invention is arranged between the upper-layer application module and the lower-layer communication module, and mainly includes: a topology awareness module, a time frame construction module, an idle time slot allocation module, a GNSS module, and an information interaction module. The topology awareness module, the time frame construction module, and the idle time slot allocation module are the core modules of the access module and also the core modules of the device of the present invention, responsible for managing node access and communication to ensure that data can be effectively transmitted between nodes.

[0042] The upper-layer application module is located at the top of the system and is responsible for processing high-level application logic and tasks. The lower-layer communication module processes the underlying communication protocols and data transmission to ensure reliable information transfer. The GNSS module is a Global Navigation Satellite System module, used to provide precise positioning and time synchronization services, which is crucial for time synchronization and coordination in a distributed system. The topology awareness module is responsible for monitoring and understanding the network topology, that is, the connection and neighbor relationships between nodes. The network topology is very important for time slot allocation and resource management in a dynamic TDMA system. The time frame construction module is used to construct the time frame of the network model, and the time frame contains multiple control sub-frames. The idle time slot allocation module is used to allocate the current idle time slots for each node based on the updated time slot allocation table for each node to send service information in the corresponding data time slots. The information interaction module conducts control information interaction between each node based on the constructed time frame, and updates the time slot allocation table corresponding to each node according to the new node access situation.

[0043] The GNSS module of the present invention is used to sense the position, speed, and instantaneous movement direction of the current node in real time. The topology awareness module broadcasts the position, speed, and movement direction of the current node sensed by the GNSS module at each sensing moment, receives information from other nodes in the network, and saves the neighbor node information of the node within one hop range. The time frame construction module constructs the time frame of the network as Figure 4 shown. Nodes send time slot requests, topology information broadcasts, or access requests in the control time slots through the information interaction module. The idle time slot allocation module of the coordination node dynamically allocates the current idle time slots for each node according to the requests of the nodes, updates the time slot allocation table, and broadcasts it. Each node transmits data through the information interaction module according to the time slot allocation table.

[0044] As Figure 2 and Figure 3 shown, the high-dynamic mobile ad-hoc network dynamic time slot allocation method of the embodiment of the present invention includes the following five steps.

[0045] Step 1) Network initialization. All communication nodes are powered on and initialize their neighbor information tables and time slot allocation tables.

[0046] Each node maintains a neighbor information table, which records the information of all current neighbor nodes of the node. For each neighbor node, the node ID, current position, speed, and movement direction, previous position, speed, and movement direction, and sensing time are recorded. Each node initializes its neighbor information table as an empty table.

[0047] Each node maintains a time slot allocation table, which records the time slot information occupied by each communication node in the same frequency band. During initialization, all nodes are set to occupy one time slot in the control period and the information period respectively, and the nodes take turns to occupy the time slots to send information packets according to the corresponding time slot IDs.

[0048] The initialization also includes randomly setting the sensing period and setting the coordination node. Initially, the network will select a node with the shortest distance from the network centroid as the coordination node. If multiple nodes have the same minimum distance value, the node with the largest number of neighbor nodes will be selected as the coordination node. When the coordination node fails or has insufficient power, a new coordination node will be selected in the network.

[0049] Step 2) At the current sensing time, information is exchanged between neighbor nodes. Mobile communication nodes regularly obtain the movement information of other neighbor nodes, including real-time position, speed, movement direction, etc., by broadcasting interaction packets.

[0050] Step 3) The topology awareness module performs topology awareness and adaptively obtains network topology changes. Each node executes a variable-period topology awareness process, updates its neighbor information table, and calculates the link duration between the node and each neighbor node and the node's topology change index.

[0051] As Figure 2 shown, for node A, each received interaction packet is judged: if an interaction packet from node B is received, it is judged whether node B is within the one-hop range of node A. If so, continue to search in node A's neighbor information table to see if it contains node B. If it contains, update the status of node B in the neighbor information table. If it does not contain, update node B to the neighbor information table. After processing all the interaction packets received at the current sensing time, node A updates its neighbor information table, adds or reduces neighbor node information, and counts the total number of neighbor nodes at the current time.

[0052] Each node calculates the link duration and the Topology Variation Index (TVI) based on the motion information of its neighbor nodes and itself, and writes them into its own node information table. The link duration metric is used to evaluate the stability of the link between nodes, and the topology variation index is used to reflect the degree of dynamic change of the network topology. The topology variation metric used in the present invention is determined by comprehensively considering changes in distance, direction, relative speed, and the number of neighbor nodes.

[0053] Step 4) The coordination node dynamically allocates information time slots for each node according to the requests of each node in the control period of the current time frame. Nodes send time slot requests, topology information broadcasts, or network access requests in the corresponding control time slots. The coordination node calculates the time slot requirements of each node according to the request information of the nodes, comprehensively considers the data queue length, data priority, and topology variation index, and dynamically allocates the information time slots assigned to each node according to the calculation results, and broadcasts the allocation results to all nodes in the network. Nodes transmit data in the allocated information time slots to ensure that high-priority data and dynamic nodes obtain more time slot resources.

[0054] Step 5) Dynamic adjustment. The coordination node dynamically adjusts the sensing period T according to the current network topology change and broadcasts it to the whole network. Each node performs information interaction and topology sensing according to the current sensing period T. When the topology changes frequently, the sensing period T is shortened; when the topology changes relatively stably, the sensing period T is extended.

[0055] The network model constructed in the embodiment of the present invention consists of N mobile nodes, denoted as N = {n1, n2,..., n N}. Each node is equipped with a GNSS module for clock synchronization and obtaining accurate position information. Each node has a unique identity number (Identity Document, ID) throughout the network and has wireless communication capabilities. The communication radius is uniformly set to r. The communication between nodes uses an omnidirectional antenna for half-duplex transmission, which means that nodes cannot perform packet sending and receiving operations simultaneously at the same time. It is assumed that the nodes have sufficient energy during the network operation, the communication radius remains unchanged, and the instantaneous speed, moving direction, and position coordinates of the nodes can be obtained in real time, with the error controlled within an acceptable range.

[0056] Considering the characteristics and actual situation of high-dynamic MANET, in the embodiment of the present invention, it is assumed that nodes can regularly obtain the motion information of their own nodes through the GNSS module. The motion information of the nodes includes the instantaneous position and speed of the nodes. The instantaneous position of the mobile node n i at time t is expressed as p i (t) = x i (t), y i (t), z i (t), and the instantaneous speed is expressed as Let d ij (t) be the distance between node n i and node n j at time t, and let θ ij (t) be the angle between the moving directions of node ni and node n j at time t, and let relv ij (t) be the relative moving speed between node n i and node n j at time t, and let LD ij (t) be the link duration between node ni and node n j at time t, and let L i HT (t) be the minimum link duration of all neighbor nodes of node n i at time t. The transmission range of each node in the network is a circular area centered on itself with a radius of r. If the distance d ij ≤r between two nodes, then node n i and node n j are within each other's communication ranges, and the two nodes can communicate directly; if d ij >r, then node n i and node n j cannot communicate directly and must be relayed through other nodes.

[0057] Meanwhile, each node can also obtain the motion information of its neighbor nodes through periodically transmitted beacon data packets in a single-hop manner. To characterize the dynamics and spatio-temporal correlation of node motion, embodiments of the present invention assume that each node moves according to an enhanced three-dimensional Gaussian Markov mobility model.

[0058] In addition, assume that the node motion process occurs in a finite three-dimensional space where x max , y max , z max are all much larger than r. Therefore, once the nodes reach the boundary, they will move in the opposite direction, i.e.:

[0059]

[0060] where Δt is the time interval between two adjacent discrete-time nodes. The present invention assumes that v i (t) varies independently between each time interval and remains constant within the interval.

[0061] As a highly dynamic self-organizing network architecture, its operating environment is full of challenges. Node, trajectory changes and speed fluctuations will have a significant impact on the topology of the network. In a highly dynamic MANET, nodes often cause drastic fluctuations in network topology due to changes in flight paths, speeds and directions. In order to effectively manage this dynamicity, it is necessary to use indicators such as the topology change index TVI to quantify and evaluate the stability of the network topology. The topology change index TVI of the present invention characterizes the mobility and topological changes of nodes in the network through four main dimensions: distance change index, direction change index, relative rate change index and neighbor node number change index, and is calculated by weighted summation.

[0062] (1) Distance change index. The distance change between mobile nodes is one of the core factors affecting network topology. As the relative positions of nodes in the network are constantly changing, the possibility of link establishment and disconnection increases significantly. The distance change index quantifies the dynamic degree of topology by measuring the fluctuation range of the distance between nodes, providing an intuitive basis for link stability assessment.

[0063] The distance variation index (DVI) mainly describes the change of the distance between nodes. Generally speaking, the more drastic the node distance change, the faster the network topology will change. This metric is suitable for calculating the stability of the physical link between nodes, especially in a highly dynamic network environment, where the distance change of mobile nodes is the main factor affecting the topology change. i The average distance change between the current time t and the neighboring nodes relative to the previous time t-1 is obtained to obtain the node n at time t. i Distance Variation Index DVI i (t) are as follows:

[0064]

[0065] Among them, d i (t) represents the node n at the current time t i The average distance to its neighbor nodes, d i (t-1) represents the node n at the previous moment i The average distance to its neighboring nodes. The average distance is calculated as follows:

[0066]

[0067] Among them, Neigh i (t) represents the node n at time t i The number of neighbor nodes, where d ij (t) represents the node n at time t i With neighbor node n j The distance between.

[0068] (2) Direction change index. The Motion Variation Index (MVI) reflects the change in the motion direction of a node in the network. If a node frequently changes its motion direction, this will lead to dynamic changes in the network topology and instability of the links. This metric is crucial for path selection and network access decisions. Changes in the flight direction of a node directly affect the duration of the link. The direction change index reflects the potential instability of the topological structure by analyzing the rate of change of the node's direction. The direction change index MVI of node n at time t i is calculated as follows: i (t) is calculated as follows:

[0069]

[0070] where θ ij (t) represents the relative motion direction of node n at time t i with its neighbor node n j , and θ ij (t - 1) represents the relative motion direction of node n at time t - 1 i with its neighbor node n j .

[0071] (3) Relative velocity change index. The relative velocity between mobile nodes is an important parameter determining the link lifetime. The Relative Velocity Variation Index (RVI) reveals the potential for link establishment and breakage by capturing changes in the velocity difference between nodes. The addition of this metric not only enhances the ability to evaluate topological dynamics but also provides data support for optimizing link management strategies. The relative velocity change index reflects the fluctuations in the relative motion velocity between a node and its neighbors. A large relative velocity change means that the communication link between nodes may be unstable, so this metric can evaluate the persistence and stability of the link. The relative velocity change index RVI of node n at time t i is calculated as follows: i (t) is calculated as follows:

[0072]

[0073] where relv ij (t), relv ij (t - 1) represent the relative velocities of node n i and its neighbor node n j at time t and at time t - 1 respectively. The parameter ∈ takes the value of 10 -6 to avoid calculation problems under extremely small rate changes.

[0074] (4) Neighbor Node Number Variation Index. The Neighbor Variation Index (NVI) reflects the changes in the communication environment around a node. When the number of neighbor nodes of a certain node increases or decreases rapidly, it may mean that the network topology is undergoing drastic changes. By analyzing the neighbor node number variation index, the connectivity and load distribution of the network can be better grasped. The neighbor node number variation index NVI of node n at time t i is calculated as follows: i (t) is calculated as follows:

[0075]

[0076] where Neigh i (t - 1) is the number of neighbor nodes of node n at the previous moment i .

[0077] (5) Calculate the topology variation index TVI of node n at time t i as follows: i t as follows:

[0078] TVI i t = ω11·DVI i t + ω2·MVI i t + ω3·RVI i t + ω4·NVI i t;

[0079] where the values of the weights ω1, ω2, ω3, and ω4 range from 0 to 1, and the sum of the four weights is 1. The specific weight values can be adjusted according to specific situations.

[0080] In addition, the topology variation index analysis of the present invention can also reveal the interaction between different factors affecting network dynamics. For example, changes in node density and node movement speed may jointly affect the connectivity of the network and the stability of the link, while changes in the transmission range directly determine whether nodes can maintain a stable communication link. The dynamic changes of these factors make the network topology show complex fluctuations, and the topology variation index can effectively capture these fluctuations, thus providing a new perspective for the study of network dynamics.

[0081] By analyzing these metrics, data support can be provided for access, link management, and resource allocation in FANET, ensuring the network operation stability in a highly dynamic environment. Through comprehensive analysis of the above multi-dimensional metrics, TVI can comprehensively quantify the dynamic characteristics of the network topology, evaluate the appropriate location and timing for accessing the network, thereby optimizing the access efficiency and reducing the cost of link establishment and maintenance. In addition, based on the analysis of TVI, the network can reasonably allocate key resources such as bandwidth and computing power according to the requirements of the dynamic environment, significantly improving the overall network performance.

[0082] In the embodiment of the present invention, calculate the link duration LD i between node n j and its neighbor node n ij (t) as follows:

[0083]

[0084] where, Δd represents the distance change amount of node n i and n j starting from the current moment after a time interval T1, T max represents the maximum time limit for the link between nodes to continue; d ij (t + T1) represents the distance between node n i and n j at the moment of t + T1.

[0085] As Figure 4 shown, in a specific time frame structure designed in the embodiment of the present invention, a complete clock cycle includes N + 1 time frames. Among them, the 0th time frame is mainly used for time synchronization of all network nodes to ensure the clock consistency of all nodes. The time slot design of the 0th time frame includes 1 synchronization time slot, and the coordination node broadcasts a synchronization signal, and all nodes receive the synchronization signal and adjust their local clocks. The 1st to the Nth time frames: are used for control information interaction and information time slot allocation. Each time frame is divided into a control period and an information period. The control period is used for control information interaction, and the information period is used for data transmission. The control period includes N control time slots, and the ID of the control time slot corresponds to the ID of the node. N represents the number of communication nodes in the same frequency band. Each node sends a control packet in the corresponding control time slot, and other nodes are in a listening state in the non-transmitting control time slots. The information period is used for data transmission and supports dynamic adjustment of the number of time slots and allocation strategies. Suppose the information period includes M information time slots, and the value of M is dynamically adjusted according to network load and topology changes. The information time slots are dynamically allocated to nodes by the coordination node according to the requests of the nodes in the control time slots.

[0086] The specific uses of the control time slots include:

[0087] (1) Send time slot request: The node sends information such as the data queue length, priority, and topology change index.

[0088] (2) Broadcast topology information: The node broadcasts information such as the positions, speeds, and topology change indexes of its neighbor nodes.

[0089] (3) Send network access request: The new node sends a network access request, and the coordination node allocates time slots and updates the time slot allocation table.

[0090] The node sends the above three types of data packets in the control time slot according to its own needs. The coordination node can obtain the current network topology state based on the topology information sent by other nodes, and dynamically allocates information time slots for nodes according to different requests of the nodes. The method for calculating the time slot allocation can be implemented according to the existing technology and will not be elaborated here. If the number of time slots applied for by all nodes collected by the coordination node exceeds the maximum number, the coordination node will consider giving priority to satisfying the transmission of high-priority data packets and allocate time slots to this type of node first.

[0091] As Figure 5 shown, in the present invention, the node executes a topology awareness process with a variable period and adaptively obtains the network topology change. In a dynamic network environment, the node adjusts the time slot allocation strategy in real time by sensing the topology change to adapt to the dynamic change of the network state. To achieve this goal, each node maintains a neighbor information table, and based on the neighbor information table, each node calculates the current topology change index. The present invention draws on the pheromone evaporation mechanism in the ant colony algorithm and analogizes the process of obtaining the topology change index to the process of obtaining pheromone. The sensing period is set as the time for pheromone evaporation. By dynamically adjusting the sensing period, the node can respond to the change of the network state in a timely manner. Specifically, the faster the topology changes, the faster the pheromone evaporates, and the shorter the sensing period; on the contrary, the slower the topology changes, the slower the pheromone evaporates, and the longer the sensing period. When the pheromone evaporates to a small enough degree, that is, it is considered that the pheromone has evaporated completely, the node will perform the next topology sensing. The initialization will randomly set a sensing period, and then the coordination node will collect the topology changes of the network within the sensing period and adjust the sensing period according to the collected network topology information. The sensing period T is a function of TVI. Let the coordination node be n k , the specific calculation of T in the embodiment of the present invention is as follows:

[0092] T = T base / TVI k (t);

[0093] Among them, T base is the basic sensing period, and TVI k (t) is the topology change index of the coordination node n k at the current t moment.

[0094] As shown Figure 5 In the topology-aware process, as shown, a node first performs topology awareness according to the current awareness moment, obtaining the real-time position information, real-time speed information, and instantaneous motion direction of the node itself and its neighbor nodes. Subsequently, the node confirms the information of neighbor nodes within one-hop range, and discards the information that does not belong to neighbor nodes. Next, the node updates the local neighbor information table and calculates the topology change index according to the following three situations:

[0095] (1) Increase in neighbor nodes: When the newly obtained neighbor node information does not exist in the local neighbor information table, the current position, speed, perception time, etc. of the neighbor node need to be added to the list, and the neighbor existence flag is set to true. Since the previous record is empty, the position and speed information of the newly added neighbor node at the previous perception are both set to 0, and only the influence of the angle is considered.

[0096] (2) Update of neighbor node information: When the latest information of a neighbor node is obtained, it is updated to the local neighbor information table.

[0097] (3) Decrease in neighbor nodes: When the latest position and speed information of a certain node in the local neighbor information table are not obtained in the current perception cycle, the current position and speed information are set to 0 and saved, and the neighbor existence flag is set to false.

[0098] The coordination node determines the next perception moment according to the newly calculated topology change index of itself.

[0099] For a single node n i , its neighbor node information is stored in the neighbor information table. In the initial stage, the neighbor information table is empty, and then the key information such as the position and speed of neighbor nodes is dynamically updated through information interaction between nodes. Each node will regularly send data packets during the control time slot and receive feedback information from neighbor nodes. Through this process, the node can collect and record the speed and position information of all neighbors. Based on these data, the node can calculate the topology change index during this time period to measure the dynamicity of the network topology. Through the topology-aware process, it is ensured that the node can timely adjust the perception cycle according to the dynamic changes of the network state, so as to effectively perceive and respond to the changes of the network topology.

[0100] In the initial stage of the network, the connections between nodes have not been established. At this time, it is necessary to establish and maintain the node neighbor information table through information interaction between neighbors. Similar to other access protocols such as the FPRP protocol, each node in the network will regularly perform message interaction to maintain the topology structure of the network through data packet interaction. In the present invention, the neighbor nodes mainly interact with important information such as the link state between nodes, the node neighbor table, and the position and speed of nodes. The specific format of the interaction packet in the present invention is shown in Table 1:

[0101] Table 1 Data Packet Format for Interaction Information between Nodes

[0102]

[0103] The meanings of each field are as follows:

[0104] Type, indicating the data packet type. In the embodiments of the present invention, the field of the interaction data packet is set to 0x00.

[0105] TimeStamp, indicating the time stamp of the data packet.

[0106] Sequence Number, indicating the sequence number of the data packet.

[0107] Source Address, indicating the address of the source node.

[0108] Node Position, indicating the three-dimensional position information p(t) of the source node, including Position_X, Position_Y, and Position_Z.

[0109] Node Velocity, indicating the three-dimensional motion speed information v(t) of the source node, including Velocity_X, Velocity_Y, and Velocity_Z.

[0110] Node Status, indicating the on-network status identifier of the node. true indicates on-network, and false indicates off-network.

[0111] The data packet format sent by the node in the control time slot is shown in Table 2 below, which is mainly used for time slot application, topology change information broadcast, and new node access application. The format design is as follows: Time slot request: The node sends information such as the data queue length, priority, and topology change index.

[0112] Table 2 Format of Node Time Slot Request Packet

[0113]

[0114] The meanings of each field are as follows:

[0115] Type, identifying the type of the data packet. In the embodiments of the present invention, 0x01 is set as the time slot request, 0x02 is set as the topology change broadcast request, and 0x03 is set as the new node access application.

[0116] TimeStamp, indicating the data packet time stamp.

[0117] Sequence Number, indicating the sequence packet of the data packet.

[0118] Time Slot represents the information time slot number applied by the node.

[0119] Packet Priotity represents the priority of the data packet.

[0120] Packet Length represents the amount of data to be transmitted by the current node.

[0121] Source Address represents the address of the source node.

[0122] Destination Address represents the address of the destination node.

[0123] Node Position represents the three-dimensional position information p(t) of the source node, including Position_X, Position_Y, and Position_Z.

[0124] Node Velocity represents the three-dimensional motion speed information v(t) of the source node, including Velocity_X, Velocity_Y, and Velocity_Z.

[0125] Topology Message represents the node topology information, including the current topology change index of the node and the network topology relationship with the surrounding neighbor nodes;

[0126] Link Message represents the link status information of the node, including the link duration between the node and each surrounding neighbor node.

[0127] The specific descriptions of the three types of data packets are as follows:

[0128] (1) The node sends a data packet with a time slot request (0x01) in the control time slot. This data packet contains the following information:

[0129] Data queue length: represents the amount of data to be transmitted by the current node;

[0130] Priority: represents the priority of the data. High-priority data (such as topology change information) is preferentially allocated time slots;

[0131] Topology change index: reflects the degree of topology change around the node and is used to dynamically adjust the time slot allocation strategy.

[0132] (2) The node sends a data packet with a topology change broadcast (0x02) in the control time slot. This data packet contains the following information:

[0133] Neighbor node information: includes the ID, position, speed, etc. of the neighbor nodes, as well as the link duration between the node and each neighbor node, and is used to update the whole network topology information;

[0134] Topological change index: It reflects the degree of topological change around a node and is used to dynamically adjust the sensing period and time slot allocation strategy.

[0135] (3) The new node sends a data packet for network access request (0x03) in the control time slot, and this data packet contains the following information:

[0136] Node ID: The unique identifier of the new node;

[0137] Data queue length: The initial data queue length of the new node;

[0138] Priority: The initial data priority of the new node;

[0139] Topological change index: The initial topological change index calculated by the new node.

[0140] The system device of distributed dynamic TDMA provided by the embodiments of the present invention is as Figure 3 shown. The dynamic time slot allocation device or method of the present invention is deployed on each communication node of the network. The figure shows the interaction relationships between these modules at different levels, as well as the information exchange between nodes and neighbor nodes. This architecture supports dynamic resource allocation and efficient communication in a distributed system, especially in mobile devices and dynamic network environments.

[0141] The dynamic time slot allocation device of the present invention can be implemented in the form of various computing devices, including but not limited to the following devices:

[0142] 1) Desktop computer: The dynamic time slot allocation algorithm is implemented through a high-performance processor and a large-capacity memory.

[0143] 2) Notebook: A portable computing device suitable for dynamic time slot allocation in mobile scenarios.

[0144] 3) Personal digital assistant (PDA): A miniaturized computing device suitable for resource-constrained network environments.

[0145] 4) Cloud server: The dynamic time slot allocation for large-scale networks is realized through a cloud computing platform, supporting high-concurrency and high-performance computing requirements.

[0146] The dynamic time slot allocation device includes the following core devices:

[0147] 1) Processor: It is used to execute the dynamic time slot allocation algorithm, including computing tasks such as topology awareness, time slot allocation, and priority scheduling.

[0148] 2) Memory: It is used to store data such as program code, topology information table, time slot allocation table, and neighbor node information.

[0149] 3) Network interface: Used to communicate with other nodes in the network, sending and receiving control information and data.

[0150] 4) Other optional devices:

[0151] A) Dedicated hardware accelerator: Used to accelerate computationally intensive tasks such as calculating the topology change index and slot allocation.

[0152] B) Power management module: Suitable for energy-constrained devices to optimize energy consumption.

[0153] C) Sensor module: Used to obtain information such as the real-time position and speed of the node.

[0154] The present invention also provides a computer-readable storage medium for storing a computer program for implementing the dynamic slot allocation method of the present invention. When the computer program is executed by a processor, the following steps can be implemented:

[0155] 1) Network initialization: Initialize the neighbor information table and the slot allocation table.

[0156] 2) Topology awareness: Through a variable-period topology awareness process, obtain network topology changes and calculate the topology change index.

[0157] 3) Slot allocation: Dynamically adjust the slot allocation strategy according to the topology change index and network load.

[0158] 4) Data transmission: Transmit data in the allocated information slots, supporting priority scheduling and slot multiplexing.

[0159] The computer-readable storage medium includes but is not limited to the following forms:

[0160] The physical storage medium includes the following:

[0161] ● USB flash drive: A portable storage device suitable for program distribution in small networks.

[0162] ● External hard drive: A large-capacity storage device suitable for storing programs and data of large-scale networks.

[0163] ● Magnetic disk: A traditional storage medium suitable for offline storage.

[0164] ● Optical disc: Including CD, DVD, Blu-ray disc, etc., suitable for program distribution and long-term storage.

[0165] ● Computer memory: Including RAM and ROM, used for temporarily storing and quickly accessing program code.

[0166] The virtual storage medium includes the following:

[0167] · Electrical carrier signal: Transmit program code through an electrical signal.

[0168] ·Telecommunication signal: Transmitting program code through a wireless or wired communication network.

[0169] ·Software distribution medium: Distributing program code through the Internet or a local area network.

[0170] The above dynamic time slot allocation method can be implemented in the form of software functional units and sold or used as an independent product. These software functional units can be stored in a computer-readable storage medium. By installing and executing this software, users can implement the dynamic time slot allocation function. The specific functional units include:

[0171] Topology awareness module: Used to perceive network topology changes in real time and calculate the topology change index.

[0172] Time slot allocation module: Used to dynamically allocate time slot resources according to the topology change index and network load.

[0173] Except for the technical features described in the specification, the rest are known technologies to those skilled in the art. The present invention omits the description of well-known components and well-known technologies to avoid redundancy and unnecessary limitation of the present invention. The implementation manners described in the above embodiments do not represent all implementation manners consistent with the present application. Based on the technical solution of the present invention, various modifications or deformations that can be made by those skilled in the art without creative efforts are still within the protection scope of the present invention.

Claims

1. A method for dynamic time slot allocation in a highly dynamic mobile ad hoc network, characterized in that: The steps include: Step 1: Network initialization, including: all communication nodes initialize their own neighbor information table and time slot allocation table; initially randomly set the perception cycle; select a node closest to the network centroid as the coordination node; The neighbor information table records the information of all neighbor nodes of the node, including the ID of the neighbor node, the current position, speed and movement direction, the position, speed and movement direction of the previous sensing moment, and the sensing moment; the neighbor information table is initialized to be an empty table; the neighbor node is the neighbor node within one hop range of the node; The time slot allocation table records the time slots occupied by each node, and initializes and sets each node to occupy one time slot in the control period and one time slot in the information period; Step 2: At the current sensing moment, each node broadcasts its own position, speed, and direction of movement; Step 3: Each node updates the neighbor information table based on the obtained neighbor node information, calculates the link duration between the node and each neighbor node, and the topology change index of the current node; The link duration is calculated based on the relative speed between nodes and the communication range of the nodes; the topology change index of the current node is calculated based on the distance change, direction change, relative speed change and the change in the number of neighbor nodes of the node relative to the previous moment; Step 4: Each node sends a request in the control time slot corresponding to the current time frame. The coordination node allocates information time frames to the nodes according to the requests of each node in the current time frame, and records them in the time slot allocation table and broadcasts them. After obtaining the time slot allocation table, each node transmits data in the corresponding information time slot. Step 5: The coordination node dynamically adjusts the sensing period T according to the current network topology changes and broadcasts it to the entire network. Each node executes step 2 every sensing period T.

2. The method according to claim 1, characterized in that In step 3, the topology change index of the node is calculated as follows: For node n i , first calculate the distance change index DVI of the node at the current time t i (t), Direction Change Index MVI i (t), relative velocity change index RVI i (t) and Neighborhood Node Number Change Index NVI i (t) are as follows: Assume that at the current time t and time t-1, node n i The number of neighbors is Neigh i (t), Neigh i (t-1); Calculate the node n at time t i The distance variation index d i (t), d i (t-1) represents the node n at time t and time t-1 respectively i The average distance to all neighbor nodes; Calculate the node n at time t i Direction change index where θ ij (t),θ ij (t-1) represents the node n at time t and time t-1 respectively i With neighbor node n j The relative direction of motion; Calculate the node n at time t i The relative speed change index where relv ij (t), relv ij (t-1) represents the node n at time t and time t-1 respectively i and neighbor node n j The relative speed of the parameter ∈ is 10 -6 ; Calculate the node n at time t i The change index of the number of neighbor nodes Then, for DVI i (t), MVI i (t), RVI i (t) and NVI i (t) Weighted sum to get node n i Topological change index TVI at time t i t.

3. The method according to claim 1, characterized in that In step 3, the node n at time t is calculated i and neighbor node n j The link duration between ij (t) are as follows: Where Δd represents the node n i and n j The distance change from time t over time interval T, T max Indicates the maximum duration of the link between nodes; d ij (t+T) means node n at time t+T i and n j The distance between.

4. The method according to claim 1, characterized in that In step 3, after obtaining the information broadcast by other nodes, the node retains the information of neighbor nodes within one hop range and updates its own neighbor information table, including: (1) If it is a newly added neighbor node, add the position, speed and movement direction of the neighbor node at the current sensing time to its own neighbor information table, set the position, speed and movement direction at the previous sensing time to 0, and set the neighbor to the online state; (2) If it is an existing neighbor node, update the neighbor node information in its own neighbor information table; (3) If the information of a certain node in its neighbor information table is not obtained within the current sensing cycle, the current position, speed and movement direction of the node are all set to 0, and the node is set to an offline state.

5. The method according to claim 1, characterized in that In the step 4, within the current clock cycle, the time frame numbered 0 is set for time synchronization of all network nodes, and the remaining numbered time frames are divided into two parts: a control period and an information period. The control period includes N control time slots, where N is the number of communication nodes currently in the same frequency band. Each node sends a time slot request or a topology information broadcast or a network access request in the corresponding control time slot; the information period includes M information time slots, which are dynamically allocated to each node by the coordination node.

6. The method according to claim 1, characterized in that In step 5, let the coordination node be n k , n k The topology change index calculated at the current time t is TVI k (t), then adjust the sensing period T as follows: T=T base / TVI k (t); Among them, T base It is the basic perception cycle.

7. The method according to claim 1 or 5, characterized in that: In step 4, the node controls the time slot: When sending a time slot request data packet, the data packet contains: the length of the data queue, which indicates the amount of data to be transmitted by the current node; the priority of the data; the topology change index of the node; When sending a topology information broadcast data packet, the data packet contains: the node's neighbor node information, including the neighbor node's ID, current location and speed; the link duration between the node and each neighbor node; the node's topology change index; When sending a network access request data packet, the data includes: node ID; data queue length, the initial amount of data to be transmitted by the new node; data priority; and the topology change index of the node.

8. A highly dynamic mobile ad hoc network dynamic time slot allocation device, deployed on each communication node in the application scenario, set between the upper application module and the bottom communication module, characterized in that: The device comprises a topology perception module, a time frame construction module, an idle time slot allocation module, a GNSS module and an information interaction module; the topology perception module broadcasts the position, speed and movement direction of the current node perceived by the GNSS module at each perception moment, saves the neighbor node information within a hop range of the node according to the acquired neighbor node information, calculates the link duration between the node and each neighbor node, and the topology change index of the current node; the time frame construction module constructs the time frame of the network, and initializes and sets each node to occupy one time slot in the control period and information period of the current time frame; each node sends a time slot request or a topology information broadcast or a network access request in the control time slot through the information interaction module; the idle time slot allocation module of the coordination node dynamically allocates the current idle time slot to each node according to the request of the node, and updates the time slot allocation table for broadcasting; The time slot allocation table records the time slots occupied by each node; each node transmits data in the information time slot through the information interaction module according to the time slot allocation table; the topology perception module of the coordination node adjusts the perception cycle according to the current network topology changes and broadcasts it to the entire network.

9. A distributed dynamic TDMA system device, deployed on each communication node, the device comprising a memory, a processor and a computer program stored in the memory; when the computer program is executed by the processor, the dynamic time slot allocation method as described in any one of claims 1 to 6 is implemented.

10. A readable storage medium having a computer program stored thereon, characterized in that: When the program is executed by a processor, the dynamic time slot allocation method according to any one of claims 1 to 6 is implemented.

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