Ad-hoc network method for unmanned equipment

Abstract

The invention discloses an unmanned equipment ad hoc network method, which belongs to the technical field of wireless communication, and comprises the following steps: S1, respectively fixing video acquisition equipment, ad hoc network equipment, an antenna and a battery on an unmanned aerial vehicle and an unmanned ship, connecting the video acquisition equipment of the unmanned aerial vehicle and the ad hoc network equipment of the unmanned ship, and connecting the ad hoc network equipment with the antenna, the video acquisition device and the ad hoc network device are connected with the battery; s2, respectively fixing the ad hoc network device, the antenna and the battery in the ground station, connecting the ad hoc network device of the ground station with the antenna, and connecting the ad hoc network device with the battery; s3, starting the ad hoc network equipment of the unmanned aerial vehicle, the unmanned ship and the ground station, and configuring parameters between the ad hoc network equipment; s4, the unmanned aerial vehicle, the unmanned ship and the ground station perform wireless communication based on the configured parameters between the ad hoc network devices; the method does not depend on a fixed base station or a center node, and the problem that application of the method in dynamic and complex environments is limited in the prior art is solved.

Description

Technical Field

[0001] The present invention belongs to the technical field of wireless communication, and particularly relates to a self-organizing network method for unmanned devices. Background Art

[0002] In recent years, with the rapid development of technologies of unmanned devices such as unmanned aerial vehicles and unmanned ships, their applications in multiple fields such as civilian and military have become increasingly widespread.

[0003] As a flexible and scalable form of communication network, the self-organizing network of unmanned devices can achieve autonomous communication and collaborative operations among unmanned devices, and improve the application efficiency among unmanned devices.

[0004] The existing self-organizing network methods for unmanned devices have the following drawbacks:

[0005] 1. Dependence on fixed base stations or central nodes limits its application in dynamic and complex environments;

[0006] 2. Difficulty in adapting to rapidly changing network topologies limits its application in high-speed mobile scenarios;

[0007] 3. Lack of effective cluster management functions, making it difficult to achieve coordinated operations of multiple unmanned devices. Summary of the Invention

[0008] To solve the problems raised in the above background art, the present invention provides a self-organizing network method for unmanned devices, which has the characteristics of solving the common drawbacks of the existing technologies.

[0009] To achieve the above object, the present invention provides the following technical solution: A self-organizing network method for unmanned devices, comprising the following steps:

[0010] S1: Fix a video acquisition device, a self-organizing network device, an antenna, and a battery on an unmanned aerial vehicle and an unmanned ship respectively, connect the video acquisition devices of the unmanned aerial vehicle and the unmanned ship to the self-organizing network device, connect the self-organizing network device to the antenna, and connect the video acquisition device and the self-organizing network device to the battery;

[0011] S2: Fix the self-organizing network device, the antenna, and the battery in a ground station respectively, connect the self-organizing network device of the ground station to the antenna, and connect the self-organizing network device to the battery;

[0012] S3: Start the self-organizing network devices of the unmanned aerial vehicle, the unmanned ship, and the ground station, and configure the parameters among the self-organizing network devices, including architecture, cluster management, self-diagnosis, and repair rules;

[0013] The architecture among the self-organizing network devices adopts a three-layer network communication framework structure. Among them, the bottom layer is multi-hop networking, the middle layer is a centerless structure, and the upper layer is dynamic routing selection. Specifically:

[0014] The multi - hop network at the bottom layer consists of the OLSR protocol, the distributed Bellman - Ford algorithm, and the GPSR protocol, which can be selected and combined according to actual requirements and network conditions. Among them, the OLSR protocol establishes basic multi - hop connections to provide basic network connections and topology information. Each node maintains a neighbor table and a topology table, and exchanges HELLO messages and TC messages regularly. The distributed Bellman - Ford algorithm dynamically calculates the shortest path, and the GPSR protocol dynamically calculates the shortest path;

[0015] The centerless structure in the middle layer stores and retrieves global information in the network by DHT, balances node loads by the consistent hashing algorithm, and propagates network state information updates by the Gossip protocol;

[0016] The dynamic routing selection in the upper layer consists of the predictive routing algorithm, multi - path routing, QoS - aware routing, beacon - based neighbor discovery mechanism, hierarchical routing update mechanism, and pre - calculated alternative paths, which can be selected and combined according to actual requirements and types. Among them, the predictive routing algorithm predicts routing decisions based on historical data stored in DHT and adjusts routing decisions according to real - time state information propagated by the Gossip protocol. Multi - path routing selects routing decisions based on multiple paths. QoS - aware routing selects routing decisions based on types. The beacon - based neighbor discovery mechanism quickly detects joining and leaving nodes to update and reconstruct the routing. The hierarchical routing update mechanism updates and reconstructs the routing based on local changes within a small range. The pre - calculated alternative paths quickly switch to alternatives when the main path fails to update and reconstruct the routing;

[0017] The cluster management among ad - hoc network devices is designed based on behavior trees for cluster behavior, then coordinated based on the particle swarm optimization algorithm for cluster movement, and finally optimized for cluster collaborative movement based on the distributed constraint optimization algorithm;

[0018] The self - diagnosis and repair rules among ad - hoc network devices are implemented based on a rule engine for fault diagnosis, then the category of faults is detected based on the random forest algorithm, then the network topology is automatically adjusted according to the fault situation based on the adaptive reconstruction algorithm, then the network configuration is dynamically adjusted through the software - defined network by the central controller, and finally predefined repair operations are executed based on automation scripts;

[0019] S4: UAVs, unmanned boats, and ground stations perform wireless communication based on the parameters among the configured ad - hoc network devices.

[0020] Furthermore, in step S3, the specific steps for DHT to store and retrieve global information in the network are as follows:

[0021] The characteristics of the node are hashed through a hash function to obtain the unique identifier of the node;

[0022] A node joins the DHT network, and the DHT network constructs a routing table based on its unique identifier and network characteristics;

[0023] The DHT network divides the entire hash value space into multiple intervals. A node determines the interval it is responsible for according to the position of its unique identifier in the hash space. Each interval is responsible by one or more nodes, and each node only needs to manage the key-value pairs within the interval it is responsible for;

[0024] When storing data, first calculate the hash value of the data to determine which node's responsibility area it should be stored in, and then send the data and its hash value to the node responsible for the interval where the hash value is located. This node stores the data locally and copies the data to other nodes to increase fault tolerance;

[0025] When retrieving data, first calculate the hash value of the data, and then use the DHT routing algorithm to find the node responsible for the interval where the hash value is located in the network. When the responsible node is found, send a data retrieval request to this node. After receiving the request, the node searches for and returns the requested data;

[0026] When a new node joins the DHT network, it broadcasts its existence to other nodes and updates the routing tables of other nodes;

[0027] When a node leaves the DHT network, it notifies other nodes so that other nodes can update the routing table and reallocate the responsibility area

[0028] At the same time, the nodes in the DHT network will regularly check and optimize their routing tables through the DHT algorithm to ensure the accuracy and efficiency of the routing tables.

[0029] Furthermore, in step S3, the specific steps for the consistent hashing algorithm to balance node loads are as follows:

[0030] First, organize all possible hash values into a logically circular structure, which is called a hash ring, that is, construct a hash ring;

[0031] Each node calculates its hash value through a hash function and then maps this hash value to a certain position on the hash ring, that is, node hashing;

[0032] Each data item calculates its hash value through a hash function and then maps this hash value to a certain position on the hash ring, that is, data hashing;

[0033] When storing data, the data item is stored on the node closest to its hash value in the clockwise direction. That is, after the hash value of the data item is calculated, the algorithm will search clockwise on the hash ring from this point, and the first node encountered is the storage node of this data item;

[0034] When data needs to be retrieved, the data item is retrieved from the node closest to its hash value in the clockwise direction;

[0035] Create a number of virtual nodes for each physical node, where the virtual node is generated by adding an identifier after the hash value of the physical node;

[0036] Map the virtual nodes onto the hash ring and map them back to the actual physical nodes, making the distribution of nodes on the hash ring more uniform;

[0037] Monitor the load situation of each node in real time and adjust the number of virtual nodes to balance the node load.

[0038] Furthermore, in the step S3, the specific steps for the Gossip protocol to propagate the update of network state information are as follows:

[0039] Initialize each Gossip node;

[0040] Each Gossip node periodically and randomly selects a number of neighbor Gossip nodes for communication;

[0041] When a Gossip node has state information, randomly select a number of neighbor Gossip nodes as target nodes, optimize the randomly selected number of neighbor Gossip nodes based on network topology information, and send the Gossip message containing the state information to the optimized number of Gossip nodes and perform message confirmation;

[0042] When a Gossip node receives a Gossip message, first authenticate the Gossip node, then check whether the message has been received before. If it has not been received before, the Gossip node will receive the message and store it in the local message list, and at the same time select other neighbor Gossip nodes and spread the information to other neighbor Gossip nodes;

[0043] Each Gossip node can adaptively adjust its neighbor node list and information propagation frequency according to the importance and urgency of the state information;

[0044] During the information propagation process of each Gossip node, when the Gossip node is overloaded, limit the amount of messages entering the node based on the backpressure mechanism;

[0045] During the information propagation process of each Gossip node, judge whether the information has been fully propagated based on the distributed convergence detection algorithm. If it has not been fully propagated, continue to propagate until it has been fully propagated.

[0046] Further, in step S3, configuring the parameters between the ad-hoc network devices further includes: transmission power, transmission service type, transmission network type, identity authentication method, and encrypted communication method. Among them, the transmission power is adjustable and can be automatically adjusted according to the communication distance and environment. The transmission service types include voice, data, images, and videos, and can be automatically scheduled according to the preset service priorities. The transmission network types also include 4G / 5G LTE public network access and 2.4G WIFI. The identity authentication method is an identity authentication mechanism based on elliptic curve cryptography. The encrypted communication combines physical layer scrambling encryption, link layer frame encryption, and application layer end-to-end encryption.

[0047] Compared with the prior art, the beneficial effects of the present invention are as follows:

[0048] 1. The architecture of the self-organizing network method for unmanned devices of the present invention adopts a three-layer network communication framework structure. Among them, the bottom layer is multi-hop networking, the middle layer is a centerless structure, and the upper layer is dynamic route selection. This framework structure does not rely on fixed base stations or central nodes, solving the problem in the prior art that limits its application in dynamic and complex environments.

[0049] 2. The architecture, cluster management, self-diagnosis, and repair rules set by the present invention can perceive network topology changes at the millisecond level and quickly adjust the routing strategy, solving the problem in the prior art that limits its application in high-speed mobile scenarios.

[0050] 3. The cluster management set by the present invention can effectively perform cluster management and achieve the coordinated operation of multiple unmanned devices. BRIEF DESCRIPTION OF THE DRAWINGS

[0051] Figure 1 It is a flowchart of the self-organizing network method for unmanned devices of the present invention. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0052] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts shall fall within the protection scope of the present invention.

[0053] A self-organizing network method for unmanned devices includes the following steps:

[0054] S1: Fix the video acquisition device, ad-hoc network device, antenna, and battery on the unmanned aerial vehicle and the unmanned ship respectively. Connect the video acquisition devices of the unmanned aerial vehicle and the unmanned ship to the ad-hoc network device, connect the ad-hoc network device to the antenna, and connect the video acquisition device and the ad-hoc network device to the battery;

[0055] S2: Fix the ad-hoc network device, antenna, and battery to the ground station respectively. Connect the ad-hoc network device of the ground station to the antenna and the ad-hoc network device to the battery.

[0056] S3: Start the ad-hoc network devices of the drone, unmanned ship, and ground station, and configure the parameters between the ad-hoc network devices, including architecture, cluster management, self-diagnosis, and repair rules.

[0057] The architecture between the ad-hoc network devices adopts a three-layer network communication framework structure. Specifically, the bottom layer is multi-hop networking, the middle layer is a centerless structure, and the upper layer is dynamic routing selection. Specifically:

[0058] The bottom-layer multi-hop network consists of the OLSR protocol, distributed Bellman-Ford algorithm, and GPSR protocol, which can be selected and combined according to actual needs and network conditions. Among them, the OLSR protocol establishes basic multi-hop connections to provide basic network connections and topology information. Each node maintains a neighbor table and a topology table, and regularly exchanges HELLO messages and TC messages. The distributed Bellman-Ford algorithm dynamically calculates the shortest path, and the GPSR protocol dynamically calculates the shortest path.

[0059] The centerless structure in the middle layer stores and retrieves global information in the network through DHT, balances node loads through the consistent hashing algorithm, and propagates network status information updates through the Gossip protocol.

[0060] The specific steps for DHT to store and retrieve global information in the network are as follows:

[0061] Calculate the hash value of the node's characteristics through a hash function to obtain the unique identifier of the node.

[0062] The node joins the DHT network, and the DHT network constructs a routing table based on its unique identifier and network characteristics.

[0063] The DHT network divides the entire hash value space into multiple intervals. The node determines the interval it should be responsible for according to the position of its unique identifier in the hash space. Each interval is responsible for by one or more nodes, and each node only needs to manage the key-value pairs within the interval it is responsible for.

[0064] When storing data, first calculate the hash value of the data to determine which node's responsibility area it should be stored in, and then send the data and its hash value to the node responsible for the interval where the hash value is located. This node stores the data locally and copies the data to other nodes to increase fault tolerance.

[0065] When data needs to be retrieved, first calculate the hash value of the data, and then use the DHT routing algorithm to find the node responsible for the interval where the hash value is located in the network. When the responsible node is found, send a data retrieval request to this node. After receiving the request, the node searches for and returns the requested data;

[0066] When a new node joins the DHT network, it broadcasts its existence to other nodes and updates the routing tables of other nodes;

[0067] When a node leaves the DHT network, it notifies other nodes so that other nodes can update the routing table and reallocate the responsibility area

[0068] At the same time, the nodes in the DHT network will regularly check and optimize their routing tables through the DHT algorithm to ensure the accuracy and efficiency of the routing tables;

[0069] The specific steps for the consistent hashing algorithm to balance node loads are as follows:

[0070] First, organize all possible hash values into a logically circular structure, which is called a hash ring, that is, construct a hash ring;

[0071] Each node calculates its hash value through a hash function, and then maps this hash value to a certain position on the hash ring, that is, node hashing;

[0072] Each data item calculates its hash value through a hash function, and then maps this hash value to a certain position on the hash ring, that is, data hashing;

[0073] When data needs to be stored, the data item is stored on the node closest to its hash value in the clockwise direction. That is, after the hash value of the data item is calculated, the algorithm will search clockwise on the hash ring, and the first node encountered is the storage node of this data item;

[0074] When data needs to be retrieved, the data item is retrieved from the node closest to its hash value in the clockwise direction;

[0075] Create several virtual nodes for each physical node. Among them, the virtual nodes are generated by adding an identifier after the hash value of the physical node;

[0076] Map the virtual nodes to the hash ring and map them back to the actual physical nodes, making the distribution of nodes on the hash ring more uniform;

[0077] Monitor the load situation of each node in real time and adjust the number of virtual nodes to balance node loads;

[0078] The specific steps for the Gossip protocol to propagate network status information updates are as follows:

[0079] Initialize each Gossip node;

[0080] Each Gossip node randomly selects several neighbor Gossip nodes for communication periodically;

[0081] When a Gossip node has state information, it randomly selects several neighbor Gossip nodes as target nodes. The randomly selected several neighbor Gossip nodes are optimized based on network topology information, and the Gossip message containing the state information is sent to the optimized several Gossip nodes, and message confirmation is performed;

[0082] When a Gossip node receives a Gossip message, it first authenticates the Gossip node, then checks whether the message has been received before. If it has not been received before, the Gossip node will receive the message and store it in the local message list. At the same time, it selects other neighbor Gossip nodes and spreads the information to other neighbor Gossip nodes;

[0083] Each Gossip node can adaptively adjust its neighbor node list and information dissemination frequency according to the importance and urgency of the state information;

[0084] During the information dissemination process of each Gossip node, when the Gossip node is overloaded, the message volume entering the node is restricted based on the backpressure mechanism;

[0085] During the information dissemination process of each Gossip node, it is judged whether the information has been fully disseminated based on the distributed convergence detection algorithm. If it has not been fully disseminated, continue to disseminate until it has been fully disseminated;

[0086] The parameters configured between ad-hoc network devices also include: transmit power, transmission service type, transmission network type, identity authentication method, and encryption communication method. Among them, the transmit power is adjustable and can be automatically adjusted according to the communication distance and environment. The transmission service type includes voice, data, image, and video, and can be automatically scheduled according to the preset service priority. The transmission network type also includes 4G / 5G LTE public network access and 2.4G WIFI. The identity authentication method is an identity authentication mechanism based on elliptic curve cryptography. The encryption communication is a combination of physical layer scrambling encryption, link layer frame encryption, and application layer end-to-end encryption;

[0087] The specific steps of the identity authentication mechanism based on elliptic curve cryptography are as follows:

[0088] Select a suitable elliptic curve equation;

[0089] Select a prime number p, and all operations are performed in the finite field Fp modulo p;

[0090] Select a point G on the elliptic curve as the base point, and disclose its coordinates and order n;

[0091] The user randomly selects an integer d, requiring that d < n and d is relatively prime to n;

[0092] Calculate the public key Q = dG through point multiplication on the elliptic curve, and disclose the public key Q;

[0093] The user selects a random number k, requiring that k < n and k is relatively prime to n;

[0094] Calculate kG = (x1, y1);

[0095] Extract an integer r from x1;

[0096] Calculate s = k -1 (h(m) + rd) mod n, where h(m) is the hash value of the message m, and k -1 is the multiplicative inverse of k modulo n;

[0097] The signature is (r, s);

[0098] After the verifier receives the message m and the signature (r, s), calculate u1 = h(m)s -1 mod n and u2 = rs -1 mod n;

[0099] Calculate u1G + u2Q = (x2, y2);

[0100] Verify whether r is equal to x2 mod n. If it is equal, the signature is valid; otherwise, the signature is invalid;

[0101] The upper-layer dynamic routing selection consists of a predictive routing algorithm, multipath routing, QoS-aware routing, a beacon-based neighbor discovery mechanism, a hierarchical routing update mechanism, and pre-computed alternate paths, which can be selected and combined according to actual requirements and types. Among them, the predictive routing algorithm predicts routing decisions based on historical data stored in the DHT and adjusts routing decisions according to real-time status information propagated by the Gossip protocol. Multipath routing selects routing decisions based on multiple paths. QoS-aware routing selects routing decisions based on types. The beacon-based neighbor discovery mechanism quickly detects nodes joining and leaving to update and reconstruct the routing. The hierarchical routing update mechanism updates and reconstructs the routing based on local changes within a small range. The pre-computed alternate paths quickly switch to the alternate path when the main path fails to update and reconstruct the routing;

[0102] The cluster management among ad-hoc network devices is to design cluster behavior based on a behavior tree, then coordinate cluster movement based on the particle swarm optimization algorithm, and finally optimize cluster collaborative movement based on the distributed constraint optimization algorithm;

[0103] The self-diagnosis and repair rules between ad-hoc network devices adopt fault diagnosis based on a rule engine, then detect the type of faults based on the random forest algorithm, then automatically adjust the network topology according to the fault situation based on the adaptive reconstruction algorithm, then dynamically adjust the network configuration through the central controller based on software-defined networking, and finally execute predefined repair operations based on automation scripts;

[0104] S4: The drone, unmanned ship, and ground station perform wireless communication based on the parameters between the configured ad-hoc network devices.

[0105] Although the embodiments of the present invention have been shown and described, it will be understood by those of ordinary skill in the art that various changes, modifications, substitutions, and variations can be made to these embodiments without departing from the principles and spirit of the present invention, and the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A method for self-organizing a network of unmanned devices, characterized in that: The following steps are involved: S1: Fix the video acquisition device, the ad hoc network device, the antenna and the battery on the drone and the unmanned ship respectively, connect the video acquisition device of the drone and the unmanned ship with the ad hoc network device, connect the ad hoc network device with the antenna, and connect the video acquisition device and the ad hoc network device with the battery; S2: fix the ad hoc network device, antenna and battery in the ground station respectively, connect the ad hoc network device of the ground station with the antenna, and connect the ad hoc network device with the battery; S3: Start the self-organizing network devices of the drone, unmanned ship and ground station, and configure the parameters between the self-organizing network devices, including architecture, cluster management, self-diagnosis and repair rules; The architecture between self-organizing network devices adopts a three-layer network communication framework structure, in which the bottom layer is multi-hop networking, the middle layer is a centerless structure, and the upper layer is dynamic routing selection, specifically: The bottom layer multi-hop network consists of OLSR protocol, distributed Bellman-Ford algorithm and GPSR protocol, which can be selected and used in combination according to actual needs and network conditions. Among them, OLSR protocol establishes basic multi-hop connection to provide basic network connection and topology information. Each node maintains a neighbor table and topology table, and regularly exchanges HELLO messages and TC messages. Distributed Bellman-Ford algorithm dynamically calculates the shortest path, and GPSR protocol dynamically calculates the shortest path. The middle layer has a decentralized structure. DHT stores and retrieves global information in the network, the consistent hashing algorithm balances the node load, and the Gossip protocol propagates network status information updates. The upper layer dynamic routing selection consists of predictive routing algorithm, multi-path routing, QoS-aware routing, beacon-based neighbor discovery mechanism, hierarchical routing update mechanism and pre-calculated backup paths, which can be selected and used in combination according to actual needs and types. Among them, the predictive routing algorithm predicts routing decisions based on historical data stored in DHT, and adjusts routing decisions based on real-time status information propagated by the Gossip protocol. Multi-path routing selects routing decisions based on multiple paths. QoS-aware routing selects routing decisions based on types. The beacon-based neighbor discovery mechanism quickly detects nodes that join and leave to update and reconstruct routes. The hierarchical routing update mechanism updates and reconstructs routes based on local changes within a small range. The pre-calculated backup paths quickly switch to backup paths when the main paths fail to update and reconstruct routes. The cluster management between the devices in the ad hoc network adopts the design of cluster behavior based on the behavior tree, then coordinates the cluster movement based on the particle swarm optimization algorithm, and finally optimizes the cluster coordinated movement based on the distributed constraint optimization algorithm; The self-diagnosis and repair rules between self-organizing network devices are based on rule engines to implement fault diagnosis, then detect fault categories based on random forest algorithms, then automatically adjust network topology according to fault conditions based on adaptive reconstruction algorithms, then dynamically adjust network configuration through a central controller based on software-defined networks, and finally execute predefined repair operations based on automated scripts; S4: The UAV, the unmanned ship and the ground station communicate wirelessly based on the configured parameters between the ad hoc network devices.

2. The unmanned equipment self-organizing network method according to claim 1, characterized in that: In step S3, the specific steps of DHT storing and retrieving global information in the network are: The node's features are hashed using a hash function to obtain the node's unique identifier; The node joins the DHT network, and the DHT network builds a routing table based on its unique identifier and network characteristics; The DHT network divides the entire hash value space into multiple intervals. A node determines the interval it is responsible for based on the position of its unique identifier in the hash space. Each interval is managed by one or more nodes, and each node only needs to manage the key-value pairs within the interval it is responsible for. When data needs to be stored, the hash value of the data is first calculated to determine which node's responsibility zone it should be stored in. The data and its hash value are then sent to the node responsible for the interval where the hash value is located. The node stores the data locally and copies the data to other nodes to increase fault tolerance. When data needs to be retrieved, the hash value of the data is calculated first, and then the DHT routing algorithm is used to find the node responsible for the interval where the hash value is located in the network. When the responsible node is found, a data retrieval request is sent to the node. After receiving the request, the node finds and returns the requested data. When a new node joins the DHT network, it broadcasts its existence to other nodes and updates the routing tables of other nodes; When a node leaves the DHT network, it notifies other nodes so that they can update their routing tables and redistribute responsibility areas. At the same time, nodes in the DHT network will regularly check and optimize their routing tables through the DHT algorithm to ensure the accuracy and efficiency of the routing tables.

3. The unmanned equipment self-organizing network method according to claim 1, characterized in that: In step S3, the specific steps of the consistent hashing algorithm to balance the node load are: First, organize all possible hash values ​​into a logical ring, which is called a hash ring, that is, build a hash ring; Each node calculates its hash value through a hash function, and then maps this hash value to a certain position on the hash ring, namely the node hash; Each data item calculates its hash value through a hash function, and then maps this hash value to a certain position on the hash ring, i.e., data hash; When data needs to be stored, the data item is stored on the node closest to its hash value in the clockwise direction. That is, when the hash value of the data item is calculated, the algorithm will search clockwise from that point on the hash ring, and the first node encountered is the storage node of the data item; When data needs to be retrieved, the data item is retrieved from the node closest to its hash value in the clockwise direction; Create several virtual nodes for each physical node, where the virtual node is generated by adding an identifier after the hash value of the physical node; Map virtual nodes to the hash ring and map them back to actual physical nodes, making the nodes more evenly distributed on the hash ring; Monitor the load of each node in real time and adjust the number of virtual nodes to balance the node load.

4. The unmanned equipment self-organizing network method according to claim 1, characterized in that: In step S3, the specific steps of the Gossip protocol to propagate the network status information update are: Initialize each Gossip node; Each Gossip node periodically randomly selects several neighboring Gossip nodes for communication; When a Gossip node has status information, it randomly selects several neighboring Gossip nodes as target nodes, optimizes the randomly selected neighboring Gossip nodes based on the network topology information, and sends the Gossip message containing the status information to the optimized Gossip nodes, and confirms the message; When a Gossip node receives a Gossip message, it first authenticates the Gossip node and then checks whether the message has been received before. If it has not been received, the Gossip node receives the message and stores it in the local message list. At the same time, it selects other neighbor Gossip nodes and propagates the information to other neighbor Gossip nodes. Each Gossip node can adaptively adjust its neighbor node list and information dissemination frequency based on the importance and urgency of the status information; During the information propagation process of each Gossip node, when the Gossip node is overloaded, the amount of messages entering the node is limited based on the back pressure mechanism; During the information dissemination process of each Gossip node, the distributed convergence detection algorithm is used to determine whether the information has been fully disseminated. If it has not been fully disseminated, the information will continue to be disseminated until it has been fully disseminated.

5. The unmanned equipment self-organizing network method according to claim 1, characterized in that: In the step S3, the parameters configured between the self-organizing network devices also include: transmission power, transmission service type, transmission network type, identity authentication method and encrypted communication method, wherein the transmission power is adjustable and can be automatically adjusted according to the communication distance and environment, the transmission service types include voice, data, image and video, and can be automatically scheduled according to the preset service priority, the transmission network type also includes 4G / 5GLTE public network access and 2.4GWIFI, the identity authentication method is an identity authentication mechanism based on elliptic curve cryptography, and the encrypted communication is a combination of physical layer scrambling encryption, link layer frame encryption and application layer end-to-end encryption.

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