Self-adaptive unmanned aerial vehicle network networking method, unmanned aerial vehicle network and electronic equipment

Abstract

The invention relates to the technical field of unmanned aerial vehicle network management, and provides an adaptive unmanned aerial vehicle network networking method, an unmanned aerial vehicle network and electronic equipment. The method is applied to any member node in an unmanned aerial vehicle network, and comprises the following steps: identifying current identity information of the member node in the unmanned aerial vehicle network; if the current identity information indicates that the current identity information is a slave node, acquiring a communication state with a current center node; when it is determined that communication with the current center node is disconnected, a state monitoring task is started, and whether the center node is pushed again or not is determined according to the execution condition of the state monitoring task; and when the central node is determined to be pushed again, determining whether the central node is a target alternative central node according to a preset pushing strategy, and if so, switching the current identity information to the central node, thereby ensuring stable operation of the central node, and further improving the stability of the network.

Description

Technical Field

[0001] This application relates to the technical field of unmanned aerial vehicle (UAV) network management, and in particular, to an adaptive UAV network networking method, a UAV network, and an electronic device. Background Art

[0002] With the rapid development of UAV technology, multi-UAV cooperation has become a research hotspot in multiple fields such as military, scientific research, and civilian applications. However, traditional UAV cluster network management often relies on a preset central node for scheduling and data transmission. Once the central node fails, the connectivity and stability of the entire network will be severely affected. Especially in the application process in the military combat field, due to the complex and dynamic battlefield environment, the central node UAV is more likely to fly out of the network coverage area, be damaged in battle, or malfunction, thus triggering the collapse of the UAV network and causing other UAVs in the network to be unable to transmit service data normally. Summary of the Invention

[0003] To achieve the stable state of the UAV network and ensure the normal transmission of service data, an embodiment of this application provides an adaptive UAV network networking method. The method is applied to any member node in the UAV network and includes the steps of: identifying its current identity information in the UAV network; if the current identity information indicates a slave node, obtaining the communication status with the current central node; in the case of determining that the communication with the current central node is disconnected, starting a status monitoring task, and determining whether to re-elect a central node according to the execution situation of the status monitoring task; in the case of determining to re-elect a central node, determining whether itself is the target alternative central node according to a preset election strategy, and if so, switching the current identity information to the central node; where the status monitoring task includes starting a timer and monitoring the communication status between each slave node in the UAV network and the current central node. When all the slave nodes are disconnected from the current central node and the duration exceeds a first preset duration, it is determined that the execution situation is to re-elect a central node.

[0004] Based on the above technical solution, each member node in the UAV network automatically re-elects the central node according to the execution of the status monitoring task to cope with the state of the central node being out of contact and maintain network stability.

[0005] In one embodiment, the method further includes: when it is determined not to re-elect a central node according to the execution situation, extracting the time axis from the data sent by other slave nodes that are communicatively connected to the current central node and performing local time axis synchronization, and performing data transmission in a fixed allocated time slot based on the synchronized local time axis.

[0006] Based on the above technical solution, when the communication with the current central node is disconnected, it is possible to achieve the time axis synchronization with the current central node based on the data sent by other slave nodes, so as to ensure the normal transmission of service data even when disconnected from the current central node.

[0007] In one embodiment, the method further includes: when it is determined that the communication connection with the current central node is established, if the network status information sent by other slave nodes indicates that the continuous communication disconnection from the current central node exceeds a second preset duration, then switch the current identity information to the central node.

[0008] Based on the above technical solution, it is possible to re-determine a more suitable central node according to the actual network status, thereby ensuring the normal communication between each slave node and the central node and ensuring the transmission of service data.

[0009] In one embodiment, the method further includes: if the current identity information indicates that it is the central node, sequentially receive the network status information sent by each slave node based on the local time axis, update the network maintenance information of the UAV network according to the network status information, and broadcast the network maintenance information based on a preset broadcast period.

[0010] In one embodiment, the method further includes: receiving and processing a node network access request.

[0011] In one embodiment, the method further includes: when the network maintenance information sent by another central node is received and can be correctly parsed, obtain the in-network identifier of the other central node from the received network maintenance information, and determine whether to switch the current identity information to the slave node by comparing it with its own in-network identifier.

[0012] Based on the above technical solution, it is possible to quickly select from two central nodes without negotiation.

[0013] In one embodiment, the method for forming the UAV network includes: identifying the initial identity information; when it is determined that the initial identity information is the central node, periodically broadcast the network maintenance information and update the network maintenance information based on the local time axis; when it is determined that the initial identity information is the slave node, enter the receiving state; after receiving the network maintenance information sent by the central node, send a network access request in the second target time slot.

[0014] In one embodiment, the method further includes that before sending the network access request, if it is determined based on the network maintenance information that the number of in-network nodes has reached the upper limit or a UAV with the same in-network identifier has accessed the network, then maintain the receiving state or retreat to the silent state, otherwise send the network access request.

[0015] Based on the above technical solution, it is possible to configure standby drones for each member node, so that when a member node fails or is damaged in battle, it can be replaced in time to ensure the continuous execution of the mission.

[0016] Based on the same inventive concept, an embodiment of the present application further provides a drone network, which is composed of multiple member nodes, and each of the member nodes forms a network through the above method.

[0017] In addition, an embodiment of the present application further provides an electronic device, which includes a processor, a memory, and a program or instruction stored on the memory and executable on the processor. When the program or instruction is executed by the processor, the above method is implemented. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] The drawings forming a part of this application are used to provide a further understanding of this application. The schematic embodiments of this application and their descriptions are used to explain this application and do not constitute an improper limitation to this application.

[0019] In order to more clearly illustrate the technical solutions in the embodiments of this application, the following will briefly introduce the drawings required for the description of the embodiments. Obviously, the drawings in the following description are only some embodiments of this application. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on these drawings.

[0020] Figure 1 Show a schematic diagram of the drone network structure provided by the embodiment of this application.

[0021] Figure 2 Show a flowchart of the method for a drone to access the network provided by the embodiment of this application.

[0022] Figure 3 Show a flowchart of the method for self - adaptive drone network formation provided by the embodiment of this application. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0023] The following will clearly and completely describe the technical solutions in the embodiments of this application with reference to the drawings in the embodiments of this application. Obviously, the described embodiments are only a part of the embodiments of this application, rather than all of the embodiments. Based on the embodiments in this application, all other embodiments obtained by those of ordinary skill in the art without creative efforts belong to the scope of protection of this application.

[0024] In the description of the embodiments of this application, unless otherwise specified, "a plurality of" means two or more. The "first", "second" and various numerical numbers are only for the convenience of description and do not limit the scope of the embodiments of this application.

[0025] The features, structures or characteristics in this application can be combined in one or more embodiments in any suitable manner. In various embodiments of this application, the magnitude of the serial numbers of the processes does not mean the sequence of execution. The execution sequence of each process should be determined according to its function and internal logic, and should not constitute any limitation to the implementation process of the embodiments of this application.

[0026] Some optional features in the embodiments of this application can, in some scenarios, be implemented independently without relying on other features, solve corresponding technical problems, and achieve corresponding effects. In some scenarios, they can also be combined with other features according to requirements.

[0027] In this application, unless otherwise specified, the same or similar parts between various embodiments can be referred to each other. In various embodiments of this application, if there is no special specification and logical conflict, the terms and / or descriptions between different embodiments are consistent and can be cited from each other. The technical features in different embodiments can be combined to form new embodiments according to their internal logical relationships. The embodiments of this application do not constitute a limitation to the protection scope of this application.

[0028] The embodiments of this application will be described in detail below with reference to the drawings.

[0029] The embodiments of this application provide an adaptive unmanned aerial vehicle (UAV) network networking method, which can cope with the problem that slave nodes cannot communicate normally when the central node is out of contact by implementing a network maintenance mechanism with a variable center.

[0030] The adaptive UAV network networking method provided by the embodiments of this application is applied to a UAV network. Please refer to Figure 1 , in the UAV network, multiple UAV aircraft are connected. Each UAV aircraft serves as a member node in the UAV network. At any network operation moment, at least one member node in the UAV network serves as the central node 11, and the rest are slave nodes 12. The central node 11 is used to interact with the ground station for data, receive control instructions sent by the ground station and execute them, and is also used to manage the UAV network to maintain the stability of the UAV network.

[0031] The central node 11 and the slave nodes 12 realize business data interaction with the ground station and between nodes based on the UAV network to achieve business data transmission. In one application, the UAV aircraft can be a fighter plane.

[0032] Among them, the same network control program runs on each member node, and each network control program can implement an adaptive network maintenance function according to the real-time status information of the corresponding member node. In one example, the network control program runs on the member node in the form of an embedded bare core, which can ensure that the time from the power-on loading of the digital baseband main chip to the working state of the code is less than 10s, thereby improving the network access efficiency of the drone.

[0033] The methods executed by the member nodes in each stage of the drone networking and maintenance will be described in detail below.

[0034] Specifically, the networking and maintenance of the drone network specifically include a preparation stage, a networking stage, and a maintenance stage.

[0035] Among them, in the preparation stage, it is necessary to determine in advance the number of member nodes in the network, allocate initial roles, time slots, and in-network identifiers for each member node, and establish a fixed mapping relationship between each in-network identifier and the time slot. The initial roles include a central node and a slave node, which are used to indicate the roles of the member nodes in the networking stage.

[0036] It should be noted that in the embodiments of the present application, the number of member nodes in the network needs to be determined in advance according to service requirements, and the time frame length can be set according to service scenario requirements. In one example, taking a four-node star-shaped networking as an example, the number of member nodes is 5, and the time frame design meets the service transmission of one master node and four slave nodes, with a length of 48.79ms, including 15 service time slots. Each of the 5 member nodes occupies 3 time slots (a total of 9758us). If it is necessary to increase the number of nodes within the cluster later, corresponding time slots need to be added under the current time frame structure design.

[0037] In the preparation stage, it also includes powering on the drone device and performing software and hardware self-checks after power-on to determine that the operating state of the drone is normal. After the self-check passes, the initial role of the drone is assigned and the corresponding in-network identifier is configured, and then the parameter binding is completed, so that the network control program on the drone can execute the corresponding control steps by reading the bound parameters. The bound parameters include, but are not limited to, in-network identifiers, time slot mapping relationships, and time frame lengths.

[0038] After completing the parameter binding, the drone aircraft enters the networking stage. Please refer to Figure 2 , and the method for the drone to access the network specifically includes the following steps.

[0039] S201, identify the initial identity information.

[0040] In one implementation, the network control program can determine the initial identity information according to the in-network identifier. Specifically, the in-network identifier can be identified through the program. If the in-network identifier is the minimum value among the member nodes, the initial identity information is determined to be the central node, otherwise it is the slave node.

[0041] In another implementation, the initial identity information in the parameters can be directly read.

[0042] It can be understood that the initial identity information has been determined in the preparation stage, and the corresponding parameters have been bound. Therefore, the network control program can identify the initial identity information according to the bound parameters. The specific implementation method can be adjusted according to the program design and is not limited thereto.

[0043] S202. When it is determined that the initial identity information is the central node, the network maintenance information is periodically broadcast based on the local time axis.

[0044] In the implementation, the central node can determine the time frame period based on the local time and the time frame length as the local time axis, and determine the corresponding time slot position according to the time slot mapping relationship. Furthermore, the first target time slot is determined according to the local time axis, and the network maintenance information is broadcast in the first target time slot corresponding to the preset broadcast period. In an example, the central node can broadcast the latest network maintenance information with a period of two time frames.

[0045] When the central node starts to broadcast the network information, it means that the network formation stage has been entered. Other member nodes can request to join the network by sending an access request to the central node. Correspondingly, the central node also needs to process the received access requests, broadcast the access results in the first time slot, and update the information of the member nodes that have successfully joined the network to the network maintenance information.

[0046] In one implementation, the central node's processing of the access request may include verifying the application information carried in the access request to determine the legitimacy of the request and rejecting illegal requests. In an example, the central node's method of determining the legitimacy of the request includes identifying the in-network identifier carried in the request to determine whether the in-network identifier is already included in the in-network nodes. If it is already included, the request is determined to be illegal; if not, the request is determined to be legal.

[0047] In another example, the central node can also determine whether the request is legal according to whether the sending time slot of the access request is consistent with the corresponding time slot of the in-network identifier.

[0048] It can be understood that the central node can also verify the legitimacy of the access request by combining other information, and this application is not limited thereto.

[0049] When a member node successfully joins the network, the central node also needs to receive the in-network status indication information sent by each in-network node in the corresponding time slot and update the network maintenance information based on the in-network status indication information. Thus, the accuracy of the network maintenance information is ensured.

[0050] S203. When it is determined that the initial identity information is a slave node, enter the frame receiving state; after receiving the network maintenance information sent by the central node in the frame, send an access request in the second target time slot.

[0051] Among them, the second target time slot is an allocated time slot corresponding to the in-network identifier determined based on the binding parameters. Specifically, the time axis can be synchronized with the central node based on the time data of the network maintenance information, and the second target time slot can be determined based on the synchronized time axis, the in-network identifier, and the time slot mapping relationship. In one example, the central node time axis can be determined based on the sending time of the network maintenance information and the time slot corresponding to the central node, and then the local time axis can be synchronized with the central node time axis.

[0052] After sending the access request, broadcast the access result sent by the central node to determine whether the access is successful. After successful access, enter the network maintenance stage. If the access fails, continue to maintain the frame receiving state or retreat to silence.

[0053] In some embodiments of the present application, in order to cope with situations such as UAV failures and battle damages due to environmental reasons during the combat process, multiple standby machines can be configured for each slave node during the preparation stage, or when it is determined that the UAV is out of contact, new standby UAVs can be added to replace the out-of-contact UAVs, so as to maintain the stable operation of the unmanned network or meet relevant service requirements.

[0054] Based on this, when a slave node applies for access, there may be a situation where the number of nodes in the network has reached the upper limit, or there are UAVs with the same in-network identifier already accessing the network. In response to this situation, the slave node can first determine whether the current number of nodes in the network has reached the upper limit according to the network maintenance information, or whether the in-network identifier of the nodes in the network is the same as its own. If the upper limit has been reached or there is the same in-network identifier, maintain the frame receiving state or retreat to silence until the network maintenance information indicates that the number of nodes in the network has not reached the upper limit or there are no nodes in the network with the same in-network identifier, and then send an access request.

[0055] Correspondingly, the central node can also confirm the legality of the access application according to whether the data of the nodes in the network has reached the upper limit or the member nodes with the same in-network identifier have already accessed the network. In this way, the smooth access of the standby UAV can be realized to maintain the network operation and ensure the smooth execution of the service.

[0056] In the network maintenance stage, each member node that has joined the UAV network realizes the adaptive maintenance of the UAV network according to the adaptive UAV network networking method provided in the embodiments of the present application to cope with the adaptive maintenance of the UAV network when a member node flies out of the network coverage area or fails and loses contact.

[0057] Please refer to Figure 3 , the adaptive UAV network networking method provided in the embodiments of the present application specifically includes the following steps.

[0058] S301. Identify the current identity information of itself in the drone network.

[0059] In implementation, each member node in the drone network has determined its initial identity information during the network formation stage. During the network maintenance stage, abnormal situations such as flying out of the coverage network, equipment failure resulting in network disconnection may occur. To prevent network collapse, the identity information of some node members may change. Therefore, during the network maintenance stage, the current identity information of the member nodes can be determined based on the latest recorded identity information.

[0060] If the current identity information indicates a slave node, execute step S302A; if it is a central node, execute step S302B.

[0061] S302A. Obtain the communication status with the current central node.

[0062] In implementation, the slave node determines its communication status with the current central node based on whether it can normally receive the network maintenance information sent by the current central node. If it cannot receive the network maintenance information of the current central node, it determines that the communication is disconnected; if it can receive the network maintenance information of the current central node, it determines that the communication is connected.

[0063] Meanwhile, the slave node writes the communication status with the current central node into the network status information and broadcasts it in the corresponding time slot so that other member nodes can receive the network status information.

[0064] S302B. Execute the central node tasks.

[0065] Among them, the current central node may be the initial central node or the one re-elected from among the slave nodes. The current central node needs to execute the central node tasks to ensure the normal transmission of service data and the stability of the network, that is, execute the same tasks as the initial central node.

[0066] In implementation, the central node tasks include updating and broadcasting network maintenance information.

[0067] Specifically, the update of the network maintenance information includes sequentially receiving the network status information sent by each slave node based on the local time axis, updating the network maintenance information of the drone network according to the network status information, and broadcasting the network maintenance information based on a preset broadcast period.

[0068] The central node tasks also include receiving and processing node access requests, and updating the network maintenance information based on the processing results of the access requests. The specific processing method of the access requests can refer to the relevant descriptions in the network formation stage and will not be elaborated here.

[0069] In an embodiment of the present application, the central node task further includes determining the current identity information according to the network status information.

[0070] Specifically, in the actual application process, it may occur that the original central node re-determines a new central node due to some objective reasons resulting in a temporary interruption of communication. When the communication of the original central node is restored, there are two central nodes in the drone network. At the same time, due to the fixed mapping relationship between time slots and each member node, the original central node can still communicate with the current central node after the communication is restored.

[0071] Based on this, when the current central node receives network maintenance information sent by other central nodes in a frame and can correctly parse it, in one example, it can obtain the in-network identifier of other central nodes from the network maintenance information received in the frame, and determine whether to switch the current identity information to a slave node by comparing it with its own in-network identifier. For example, it can be set that the one with the larger in-network identifier switches to a slave node, or it can also be set that the one with the smaller in-network identifier switches to a slave node. At the same time, it can also be selected to preferentially retain the initial central node as the current central node.

[0072] Among them, being able to correctly parse the network maintenance information means that at least the communication status between other master nodes and some other slave nodes is normal.

[0073] The specific selection strategy can be adjusted according to actual needs.

[0074] In addition, the central node can determine the communication status between each slave node and itself according to the frame reception situation of the network status information. If it is determined that the communication with all member nodes is disconnected and the disconnection duration exceeds the first preset duration, the central node retreats to the frame reception state, switches the current identity information to a slave node, and when receiving network maintenance information in a frame, first synchronizes the time axis with the current central node, and determines its own time slot based on the synchronized local time axis, and transmits data according to its own time slot. For example, when the central node flies out of the network signal coverage space and exceeds the first preset duration, the slave nodes will re-elect a central node to replace the current central node, and when the central node flies back to the coverage space, it should return to the network as a slave node.

[0075] It can be understood that the central node task may further include other data processing and transmission tasks, which are specifically determined according to the requirements of the service scenario, and the present application is not limited thereto.

[0076] S303, determine whether the communication status is disconnected.

[0077] In the case of determining that the communication with the current central node is disconnected, execute step S304A; otherwise, execute S304B.

[0078] S304A, start the status monitoring task and obtain the execution situation of the status monitoring task.

[0079] Among them, the status monitoring task includes starting a timer and monitoring the communication status between each slave node and the current central node in the drone network. When all slave nodes are disconnected from the current central node and the duration of continuous disconnection exceeds the first preset duration, it is determined that the execution situation is to re-elect the central node; otherwise, it is determined that the execution situation is to retain the current central node. Among them, the communication status between the two can be obtained by receiving the network status information sent by other slave nodes to the current central node through frames.

[0080] It should be noted that during the network maintenance phase, a status monitoring task is started on each member node to monitor the communication status between member nodes, so that corresponding operations can be performed when the central node needs to be re-elected.

[0081] In an example, the first preset duration is eight frame lengths, that is, each slave node cannot receive the network maintenance information sent by the current central node through frames and lasts for 4 preset broadcast cycles.

[0082] In an implementation, if a slave node monitors that it is disconnected from all other member nodes, that is, it cannot receive the network status information sent by other slave nodes through frames and cannot receive the network maintenance information through frames, it indicates that the slave node has flown out of the network signal coverage space. At this time, data transmission continues based on the local time axis, and when it is disconnected from all other member nodes and the duration exceeds the first preset duration, it enters the frame receiving state, and when it receives the network maintenance information through frames, it re-applies to join the network.

[0083] S304B, if the network status information sent by other slave nodes indicates that they are continuously disconnected from the current central node for more than the second preset duration, then switch the current identity information to the central node.

[0084] In the implementation, when a slave node is communicatively connected to the current central node, it performs slave node tasks, including maintaining the connection status with the current central node, transmitting service data, etc.

[0085] In addition, it is also necessary to monitor the communication status between other slave nodes and the current central node in real time. If it is monitored that all other slave nodes are disconnected from the current central node and exceed the second preset duration, it indicates that the communication between itself and other member nodes is normal, but other slave nodes cannot communicate with the current central node. Therefore, the current identity information can be autonomously switched to the central node.

[0086] In an example, the second preset duration can be 20 frame lengths.

[0087] It can be understood that the above preset broadcast cycle, the first preset duration, and the second preset duration can be adjusted according to the requirements of the project network duration, and are not limited thereto.

[0088] S305. Determine whether to re-elect a central node according to the execution situation.

[0089] In the case of determining to re-elect a central node, execute step S306A; otherwise, execute step S306B.

[0090] S306A. Determine whether itself is the target alternative central node according to the preset election strategy.

[0091] In one implementation, the preset election strategy includes selecting the in-network node with the smallest in-network identifier as the target alternative central node. In this way, the slave node can determine whether itself is the target alternative central node according to its own in-network identifier and the in-network identifiers of other in-network nodes.

[0092] In another implementation, the preset election strategy includes having multiple central standby nodes take over the current central node in sequence according to a preset order. Specifically, during the network formation stage, the initial central node can determine multiple central standby nodes from the in-network slave nodes, set the takeover priority, and broadcast the information. Among them, the takeover priority can be set according to the size of the in-network identifiers of the in-network nodes, or according to the access time. In the example, if the number of slave nodes in the UAV network is 4, then 3 slave nodes are determined as central standby nodes.

[0093] When re-electing the central node, select the central standby node with the highest priority in the takeover order to take over the current central node. If the network construction is successful, the election of the new central node is completed. If the network construction fails, select the one with the highest priority from the remaining central standby nodes to take over the current central node, and so on. If none of the three central standby nodes can successfully construct the network, it is determined that the network has crashed.

[0094] For example, the takeover is carried out in the order of central standby node 1, central standby node 2, and central standby node 3 to take over the current central node. Node-to-node negotiation is not allowed. That is, after the current central node drops the network, central standby node 1 takes over first. If the network cannot be successfully constructed continuously for one superframe (16 * 48.79 ms), then central standby node 2 takes over, and so on. If none of the three central standby nodes can successfully construct the network, the network crashes.

[0095] Based on this, the slave node can determine whether itself is a central standby node according to the central standby node setting information received in the frame, as well as the corresponding takeover priority, and determine whether itself is the target alternative central node in combination with the network construction results of the previous central standby nodes.

[0096] If it is determined that itself is the target alternative central node, execute step S307; otherwise, continue to maintain the current data processing state.

[0097] Slave node S306B extracts the time axis from the transmitted data of other slave nodes communicatively connected to the current central node and synchronizes the local time axis, and performs data transmission in the fixedly allocated time slots based on the synchronized local time axis.

[0098] In implementation, when its communication with the current central node is disconnected, but at least one of the other slave nodes can be connected to the current central node, or all slave nodes are disconnected from the current central node but the disconnection duration does not exceed the second preset duration, the current central node is still retained, and the time axis is extracted from the transmitted data sent by the other slave nodes communicatively connected to the current central node and the local time axis is synchronized with it, so as to realize the synchronization between the local time axis and the current central node, and further ensure that the time slots determined based on the synchronized local time axis are the same as those determined by the current central node, thus ensuring the normal transmission of service data. It should be noted that when the slave node can receive network maintenance information, it synchronizes the local time axis based on the network maintenance information, so as to maintain synchronization with the current central node.

[0099] S307, switch the current identity information to the central node.

[0100] In implementation, after the slave node switches its current identity information to the central node, the network control program identifies it as the central node based on the current identity information and executes the corresponding operation steps based on the above method.

[0101] Based on the above technical solutions, the network control programs on each member node can realize the dynamic adjustment of the central node according to the binding parameters and the communication status between each member node and the central node, so as to cope with abnormal network conditions and enable the UAV network to operate stably; by determining the in-network identifiers of each member node in the preparation stage and allocating fixed time slots based on each in-network identifier, it is possible to conduct access application inspection based on the fixedly allocated time slots during the network formation stage and the network maintenance stage, and be able to resume listening to the network at any time after a member node is out of contact and normally send service data. Furthermore, through the control of access applications, it is possible to configure standby machines for member nodes at any time, so that when a member node is damaged or fails in battle, it can apply for access to fill in the position in time, thus ensuring the normal interaction of service data to meet different mission requirements.

[0102] In addition, an embodiment of the present application further provides an electronic device, which includes a processor, a memory, and a program or instruction stored on the memory and executable on the processor. When the program or instruction is executed by the processor, the method in any implementation manner in the embodiment of the present application is implemented; wherein, the processor may adopt a general central processing unit (CPU), a microprocessor, an application specific integrated circuit (ASIC), a graphics processing unit (GPU), or one or more integrated circuits, and is used to execute relevant programs to implement the method in any implementation manner in the embodiment of the present application.

[0103] The processor may also be an integrated circuit electronic device with the ability to process signals. In the implementation process, each step of the method in any implementation manner in the embodiment of the present application may be completed by the integrated logic circuit in the hardware of the processor or the instruction in the form of software.

[0104] The above-mentioned processor may also be a general-purpose processor, a digital signal processor, an application specific integrated circuit (ASIC), a field programmable gate array (FPGA), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components. It can implement or execute the various methods, steps, and logic block diagrams disclosed in the embodiments of the present application. The general-purpose processor may be a microprocessor or the processor may also be any conventional processor, etc. The steps of the method disclosed in combination with the embodiments of the present application may be directly embodied as being executed and completed by the hardware decoding processor, or executed and completed by the combination of the hardware and software modules in the decoding processor.

[0105] The software module may be located in a mature storage medium in the art such as a random access memory, a flash memory, a read-only memory, a programmable read-only memory, or an electrically erasable programmable memory, a register, etc. This storage medium is located in the memory, and the processor reads the information in the memory and combines its hardware to complete the functions required to be executed by the units included in the data processing device of the embodiment of the present application, or executes the method in any implementation manner in the embodiment of the present application.

[0106] Those skilled in the art can understand that all or part of the steps in the above implementation methods can be completed by instructing relevant hardware through a program. This program is stored in a storage medium, including several instructions to enable a device (which can be a single-chip microcomputer, a chip, etc.) or a processor to execute all or part of the steps of the methods of various embodiments of the present invention. The aforementioned storage medium includes: various media that can store program codes such as USB flash drives, mobile hard disks, read-only memories (ROM, Read-Only Memory), random access memories (RAM, Random Access Memory), magnetic disks, or optical discs.

[0107] The above are all preferred embodiments of this application. The protection scope of this application is not limited thereby. Therefore, all equivalent changes made according to the structure, shape, and principle of this application shall be covered within the protection scope of this application.

Claims

1. An adaptive UAV network networking method, characterized in that: The method is applied to any member node in the drone network, and comprises the steps of: Identify the current identity information of the drone in the drone network; If the current identity information indicates a slave node, obtaining the communication status with the current central node; In the case where it is determined that the communication with the current central node is disconnected, starting a status monitoring task, and determining whether to re-elect a central node according to the execution status of the status monitoring task; In the case of determining to re-elect the central node, determine whether it is the target candidate central node according to the preset election strategy. If so, switch the current identity information to the central node; wherein the status monitoring task includes starting a timer and monitoring the communication status between each slave node in the drone network and the current central node. When the communication between each slave node and the current central node is disconnected and lasts for more than a first preset time, determine that the execution status is to re-elect the central node.

2. The method according to claim 1, characterized in that The method also includes: when it is determined not to re-elect the central node based on the execution situation, extracting the timeline from the transmitted data of other slave nodes that are in communication connection with the current central node and performing local timeline synchronization, and transmitting data in a fixed allocated time slot based on the synchronized local timeline.

3. The method according to claim 1, characterized in that: The method further includes: when determining that the communication connection with the current central node is established, if the network status information sent by other slave nodes indicates that the communication with the current central node has been disconnected for more than a second preset time, switching the current identity information to the central node.

4. The method according to claim 1, characterized in that: The method further comprises: If the current identity information indicates a central node, the network status information sent by each slave node is received in sequence based on the local timeline, the network dimension information of the drone network is updated according to the network status information, and the network dimension information is broadcast based on a preset broadcast period.

5. The method according to claim 4, characterized in that The method further includes: receiving and processing a node network access request.

6. The method according to claim 4, characterized in that The method further comprises: When the frame receives network dimension information sent by other central nodes and can be correctly parsed, the network identification of the other central nodes is obtained from the network dimension information received by the frame, and by comparing it with its own network identification, it is determined whether to switch the current identity information to a slave node.

7. The method according to claim 1, characterized in that The method for establishing the drone network includes: Identify initial identity information; When the initial identity information is determined to be a central node, based on the local time axis, periodically broadcasting network maintenance information and updating the network maintenance information; When it is determined that the initial identity information is a slave node, the frame receiving state is entered; after the frame receives the network maintenance information sent by the central node, a network access request is sent in the second target time slot.

8. The method according to claim 7, characterized in that The method also includes maintaining a frame receiving state or returning to a silent state before sending the network access request if it is determined based on the network maintenance information that the number of nodes in the network has reached an upper limit or a drone with the same network identification has entered the network, otherwise sending the network access request.

9. A drone network, characterized in that: The drone network is composed of multiple member nodes, and each member node implements network maintenance by executing any one of the methods described in claims 1 to 8.

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

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