Multi-channel adaptive switching method and device for large-scale unmanned aerial vehicle group network, medium and product

Abstract

The invention relates to the technical field of communication, and provides a large-scale unmanned aerial vehicle group network multi-channel adaptive switching method and device, a medium and a product, and the method comprises the steps: enabling an unmanned and unmanned cooperative radio station to start up and enter a scanning state, scanning a superframe resource management period, and carrying out the optimal channel access according to the scanning condition; in the operation process of the active and unmanned cooperative radio stations, the active and unmanned cooperative radio stations are adaptively switched to the optimal channel according to the real-time service condition, so that the active and unmanned cooperative radio stations with the same service path belong to the same channel; and detecting whether the scale of the unmanned cooperative radio station accessed to the current channel exceeds the upper limit of the scale of the unmanned cooperative radio station bearable by the single channel in real time, and if so, determining whether to switch the channel according to the service flow attribute of the unmanned cooperative radio station. The method can effectively improve the utilization efficiency of wireless resources under large-scale and high-mobility conditions, and is easy to deploy and convenient to use.

Description

Technical Field

[0001] The present invention relates to the field of communication technologies, and in particular, to a multi-channel adaptive switching method, device, medium, and product for a large-scale unmanned aerial vehicle (UAV) swarm network. Background Art

[0002] Wireless channel access and switching technologies mainly achieve the function of effectively allocating time-frequency resources when multiple nodes form a network. The waveforms of manned / unmanned cooperative broadband radios need to meet requirements such as dynamic changes in network topology, large scale, and spectrum limitation. Therefore, there are relatively large challenges in the selection of the system of channel access technologies.

[0003] In existing channel access technologies, according to the number of channels actually used for wireless ad-hoc network channel access, they are divided into single-channel based access technologies and multi-channel based access technologies; according to different channel access strategies, the channel access methods can be divided into allocation-based access methods, competition-based access methods, and hybrid access methods; according to the channel resource allocation method, they can be divided into fixed allocation-based access methods and dynamic allocation-based access methods.

[0004] I. Channel Access Modes

[0005] For the requirements of large-scale flat networking, in the case of single-frequency point access and networking, the resource reuse degree in the time domain dimension is low. After the scale of user nodes increases, it cannot meet the service requirements within a region. Taking a fully connected network of 200 nodes as an example, if the single-frame duration is 1 ms, the minimum service delay of the nodes is 200 ms, which cannot meet the low-delay requirements of command and control services. At the same time, the maximum traffic of a single node with a single frequency point is affected by the topology. For example, if the maximum throughput of the whole network is 100 Mbps, the theoretical throughput capacity of a single node is only 500 kbps. Affected by the actual environment and channel fading, the maximum throughput capacity cannot be achieved in most scenarios.

[0006] Based on the above analysis, for large-scale flat networking, it is necessary to expand in two-dimensional space through multi-channel access and networking methods to increase the parallel service transmission capacity and networking capacity. In this solution, a multi-channel access method is selected for the access channel data.

[0007] II. Channel Access Methods

[0008] When implementing based on a multi-channel method in a large-scale flat networking, problems such as variable channel load and changing traffic flows still exist. In the case of multiple channels, the best transmission method between nodes is to select low-latency and high-capacity channels for traffic transmission. The conventional multi-channel usage method is to bind channels or channel groups to a fixed number of nodes. In this way, both the access process and the resource management process are relatively simple, but its flexibility is insufficient and it is not suitable for scenarios with densely distributed nodes. As the task progresses, the positional relationship between nodes changes. Nodes with different initial channel configurations move to adjacent positions. At this time, physically adjacent nodes cannot communicate directly in one hop because they belong to different channels and need to relay through multi-channel switching. On the one hand, this causes waste of resources, and on the other hand, it brings additional service delays. In addition, the method of binding nodes to fixed channels / subnets lacks flexibility and cannot meet the actual frequency usage requirements when spectrum resources are limited. The use of channels by each communication node needs to change flexibly in combination with traffic flow and networking neighbor relationships to maximize channel utilization while balancing the load of each channel. Summary of the Invention

[0009] The present invention aims to provide a multi-channel adaptive switching method, device, medium and product for a large-scale unmanned aerial vehicle swarm network. Based on adaptive channel access and adaptive channel switching technologies, it supports an access control strategy in which each node flexibly and adaptively accesses and switches to the optimal channel according to factors such as traffic flow and channel scale bearing, so as to solve various problems faced by large-scale networking based on hierarchical and clustering.

[0010] In a first aspect, the present invention provides a multi-channel adaptive switching method for a large-scale unmanned aerial vehicle swarm network, including:

[0011] The unmanned collaborative radio is powered on and enters the scanning state, scans a superframe resource management cycle, and performs optimal channel access according to the scanning situation;

[0012] During the operation of the unmanned collaborative radio, according to the real-time service situation, it adaptively switches to the optimal channel so that the unmanned collaborative radios with the same service path belong to the same channel;

[0013] Real-time detect whether the scale of unmanned collaborative radios accessing the current channel exceeds the upper limit of the scale of unmanned collaborative radios that a single channel can withstand. If it exceeds, decide whether to switch channels according to the service flow attributes of its own unmanned collaborative radio.

[0014] In some embodiments, the unmanned collaborative radio is powered on and enters the scanning state, scans a superframe resource management cycle, and performs optimal channel access according to the scanning situation, including:

[0015] Does the human - machine collaborative radio power - on and enter the scanning state, scanning for one super - frame resource management cycle; scans all candidate frequency points, and adaptively selects frequencies to rank multiple available frequency points according to the frequency interference conditions of all candidate frequency points;

[0016] If no in - network device is found, it accesses the optimal channel according to the adaptive frequency - selection result and works.

[0017] If an in - network device is found, according to the channel busy status of all in - network devices and the scale of human - machine collaborative radios already connected in the channel, select a non - busy channel with an appropriate scale.

[0018] In some embodiments, the channel busy status is judged by the wireless resource utilization rate in the channel.

[0019] In some embodiments, if the real - time service scenario is a new service, the adaptive switching to the optimal channel includes:

[0020] Judge whether the channel to which the next - hop node of the service belongs is the same as the channel to which the current node belongs. If not, the current node switches to the channel to which the next - hop node belongs.

[0021] In some embodiments, if the real - time service scenario is an existing service, the adaptive switching to the optimal channel includes:

[0022] If the channel to which the next - hop node of the service belongs changes, the current node also switches accordingly.

[0023] In some embodiments, if the real - time service scenario is a large - traffic real - time service, the adaptive switching to the optimal channel includes:

[0024] If the corresponding channel of the destination - node radio of the large - traffic real - time service is found to change by the human - machine collaborative radio, it switches to the corresponding channel.

[0025] In some embodiments, the decision of whether to switch channels according to the service - flow attribute of the human - machine collaborative radio itself includes:

[0026] The node uses control signaling to detect and record the networking scale and busy situation of all channels in real - time;

[0027] When there is no service at the current node and the channel resource occupied by the services of other nodes in the current channel exceeds the preset threshold, it switches to a non - busy channel with an appropriate scale, that is, releases all wireless resources of the current channel to ensure that the nodes transmitting services can occupy more wireless resources.

[0028] In a second aspect, the present invention provides an electronic device, including:

[0029] At least one processor; and a memory communicatively connected to the at least one processor;

[0030] Among them, the memory stores instructions executable by the at least one processor. By executing the instructions stored in the memory, the at least one processor causes the at least one processor to execute the above method.

[0031] In a third aspect, the present invention provides a computer-readable storage medium for storing instructions, which, when executed, implement the above method.

[0032] In a fourth aspect, the present invention provides a computer program product which, when called by a computer, causes the computer to execute the above method.

[0033] In summary, due to the adoption of the above technical solutions, the beneficial effects of the present invention are as follows:

[0034] The present invention can effectively improve the utilization efficiency of wireless resources under large-scale and highly mobile conditions, and is easy to deploy and convenient to use. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] Figure 1 It is a flowchart of a method for multi-channel adaptive switching in a large-scale UAV swarm network provided by an embodiment of the present invention.

[0036] Figure 2 It is a schematic diagram of optimal channel decision in an embodiment of the present invention.

[0037] Figure 3 It is a schematic diagram of fixed-channel networking services in an embodiment of the present invention.

[0038] Figure 4 It is a schematic diagram of adaptive channel networking services in an embodiment of the present invention.

[0039] Figure 5 It is a schematic diagram of the execution process of adaptive channel networking services in an embodiment of the present invention.

[0040] Figure 6 It is a comparison diagram of adaptive channel switching and subnet fixed resource usage in an embodiment of the present invention.

[0041] Figure 7 It is a schematic diagram of the structure of an electronic device provided by an embodiment of the present invention. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0042] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. Apparently, the described embodiments are some, but not all, of the embodiments of the present invention. The components of the embodiments of the present invention usually described and illustrated in the accompanying drawings here can be arranged and designed in various different configurations.

[0043] Therefore, the following detailed description of the embodiments of the present invention provided in the accompanying drawings is not intended to limit the scope of the claimed invention, but merely represents selected embodiments of the present invention. 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 scope of protection of the present invention.

[0044] An embodiment of the present invention provides a method for multi-channel adaptive switching in a large-scale unmanned aerial vehicle (UAV) swarm network. Based on adaptive channel access and adaptive channel switching technologies, it supports an access control strategy that enables each node to flexibly and adaptively access and switch to the optimal channel according to factors such as traffic flow and channel scale carrying, so as to solve various problems faced by large-scale networking based on layering and clustering.

[0045] As Figure 1 shown, a method for multi-channel adaptive switching in a large-scale UAV swarm network provided by an embodiment of the present invention includes the following steps:

[0046] S1, the unmanned collaborative radio is powered on and enters the scanning state, scans a superframe resource management period, and performs optimal channel access according to the scanning situation;

[0047] S2, during the operation of the unmanned collaborative radio, according to the real-time service situation, it adaptively switches to the optimal channel, so that the unmanned collaborative radios with the same service path belong to the same channel;

[0048] S3, it is detected in real time whether the scale of the unmanned collaborative radios accessing the current channel exceeds the upper limit of the scale of the unmanned collaborative radios that a single channel can bear. If it exceeds, it is determined whether to switch channels according to the service flow attributes of its own unmanned collaborative radios.

[0049] In some embodiments, in step S1, the unmanned collaborative radio is powered on and enters the scanning state, scans a superframe resource management period, and performs optimal channel access according to the scanning situation, including:

[0050] S11, the unmanned collaborative radio is powered on and enters the scanning state, scans a superframe resource management period; performs scanning processing on all candidate frequency points, and adaptively selects frequencies to sort the multiple available frequency points according to the frequency interference situation of all candidate frequency points;

[0051] S12. If no on-network device is found, access and operate on the optimal channel according to the adaptive frequency selection result; the adaptive frequency selection result is the frequency interference situation of scanning all candidate frequency points in step S11. As Figure 2 shown, the adaptive frequency selection result needs to consider spectrum availability, low channel occupancy rate, excellent node connection relationship, and compliance with the service flow direction.

[0052] S13. If an on-network device is found, select an unbusy and appropriately sized channel according to the channel busy status of all on-network devices and the scale of the non-collaborative radios already connected in the channel. The channel busy status is judged by the utilization of wireless resources in the channel.

[0053] In some embodiments, in step S2, during the operation of the non-collaborative radio, according to the real-time service situation, it adaptively switches to the optimal channel, so that the non-collaborative radios with the same service path belong to the same channel, including the following situations:

[0054] For a new service, judge whether the channel to which the next-hop node of the service belongs is the same as the channel to which this node belongs. If not, this node switches to the channel to which the next-hop node belongs;

[0055] For an existing service, if the channel to which the next-hop node of the service belongs changes, this node also switches accordingly.

[0056] If a non-collaborative radio finds that the corresponding channel of the destination node radio of a large-traffic real-time service (such as a video service flow) changes, it switches to the corresponding channel.

[0057] In some embodiments, in step S3, it is determined whether to switch channels according to the service flow attribute of its own non-collaborative radio, including the following steps:

[0058] S31. The node detects and records the networking scale and busy situation of all channels in real time through control signaling;

[0059] S32. When there is no service at this node and the channel resource occupied by the services of other nodes in the current channel exceeds a preset threshold (a threshold set as needed), switch to an unbusy and appropriately sized channel, that is, release all wireless resources of the current channel to ensure that the nodes transmitting services can occupy more wireless resources.

[0060] The clustered fixed channels require gateway relaying, and the resources within two hops cannot be reused, resulting in a reduction in resource utilization and a decrease in the traffic that the entire network can carry, as Figure 3 shown. In a large-scale networking scenario, the adaptive channel switching scheme of the present invention requires fewer resources, can support the transmission of more service flows, and has higher resource utilization, as Figure 4 、 5As shown in the figure. When the adaptive channel switching scheme of the present invention is adopted, the source node and the destination node switch to the same channel and are connected in one hop. The number of resource requirements is reduced by 2 / 3 compared with the clustered fixed channel, as Figure 6 shown.

[0061] The channel access and switching signaling are broadcast on the periodic control time slots. Since there is a certain time interval between the control time slots of each unmanned cooperative radio station, when a radio station node accesses and switches the channel, all neighbor radio stations update the channel information simultaneously. When entering the processing flow of their respective control time slots, the channel busy state is judged uniformly. Therefore, the channel access and switching of the unmanned cooperative radio stations online in the whole network are carried out in a flowing linear manner, and there is no problem of channel switching jitter caused by a large number of unmanned cooperative radio stations switching channels simultaneously.

[0062] Based on the same technical concept, the embodiment of the present invention also provides an electronic device, which can implement the large-scale UAV swarm network multi-channel adaptive switching method flow provided by the above embodiment of the present invention. In one embodiment, the electronic device can be a server, a terminal device or other electronic devices. As Figure 7 shown, the electronic device may include:

[0063] At least one processor, and a memory connected to at least one processor. In the embodiment of the present invention, the specific connection medium between the processor and the memory is not limited. Figure 7 In the example, it is assumed that the processor and the memory are connected through a bus. The bus is Figure 7 represented by a thick line in the figure. The connection methods between other components are only for illustrative purposes and are not limited thereto. The bus can be divided into an address bus, a data bus, a control bus, etc. For the sake of simplicity, Figure 7 only one thick line is used to represent it in the figure, but it does not mean that there is only one bus or one type of bus. Alternatively, the processor can also be called a controller, and the name is not limited.

[0064] In the embodiment of the present invention, the memory stores instructions executable by at least one processor. By executing the instructions stored in the memory, at least one processor can execute a large-scale UAV swarm network multi-channel adaptive switching method described above. The processor can implement Figure 7 the functions of each module in the device shown in the figure.

[0065] Among them, the processor is the control center of the device, and can connect various parts of the entire control device through various interfaces and lines. By running or executing the instructions stored in the memory and calling the data stored in the memory, various functions of the device and processing data are performed, so as to monitor the device as a whole.

[0066] In an alternative design, the processor may include one or more processing units. The processor may integrate an application processor and a modem processor. Among them, the application processor mainly processes the operating system, user interface, application programs, etc., and the modem processor mainly processes wireless communications. It can be understood that the above-mentioned modem processor may not be integrated into the processor. In some embodiments, the processor and the memory may be implemented on the same chip, and in some embodiments, they may also be separately implemented on independent chips.

[0067] The processor may be a general-purpose processor, such as a CPU, a digital signal processor, an application-specific integrated circuit, a field-programmable gate array, or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, and can implement or execute the various methods, steps, and logic block diagrams disclosed in the embodiments of the present invention. The general-purpose processor may be a microprocessor or any conventional processor, etc. The steps of a large-scale UAV swarm network multi-channel adaptive switching method disclosed in combination with the embodiments of the present invention can be directly embodied as being executed and completed by a hardware processor, or by a combination of hardware and software modules in the processor.

[0068] As a non-volatile computer-readable storage medium, the memory can be used to store non-volatile software programs, non-volatile computer-executable programs, and modules. The memory may include at least one type of storage medium, for example, it may include flash memory, a hard disk, a multimedia card, a card-type memory, a random access memory (RAM), a static random access memory (SRAM), a programmable read-only memory (PROM), a read-only memory (ROM), an electrically erasable programmable read-only memory (EEPROM), a magnetic memory, a magnetic disk, an optical disk, and so on. The memory is any other medium that can be used to carry or store the desired program code in the form of instructions or data structures and can be accessed by a computer, but is not limited thereto. The memory in the embodiments of the present invention may also be a circuit or any other device capable of implementing a storage function, for storing program instructions and / or data.

[0069] By programming the processor, the code corresponding to the method for multi-channel adaptive switching of a large-scale UAV swarm network introduced in the foregoing embodiments can be solidified into the chip, so that the chip can execute the steps of the method of the foregoing embodiments when running. How to program the processor is a well-known technology to those skilled in the art and will not be elaborated here.

[0070] Based on the same inventive concept, an embodiment of the present invention further provides a storage medium storing computer instructions, which, when run on a computer, cause the computer to execute a method for multi-channel adaptive switching of a large-scale UAV swarm network described above.

[0071] In some alternative embodiments, the present invention also provides that various aspects of a method for multi-channel adaptive switching of a large-scale UAV swarm network can also be implemented in the form of a program product, which includes program code that, when the program product runs on a device, is used to cause the control device to execute the steps in a method for multi-channel adaptive switching of a large-scale UAV swarm network according to various exemplary embodiments of the present invention described above in this specification.

[0072] It should be noted that although several units or subunits of the device are mentioned in the foregoing detailed description, this division is merely exemplary and not mandatory. In fact, according to the embodiments of the present invention, the features and functions of the two or more units described above can be embodied in one unit. Conversely, the features and functions of one unit described above can be further divided and embodied by multiple units. In addition, although the operations of the method of the present invention are described in a specific order in the drawings, this does not require or imply that these operations must be performed in that specific order, or that all the operations shown must be performed to achieve the desired result. Additionally or alternatively, some steps may be omitted, multiple steps may be combined into one step for execution, and / or one step may be decomposed into multiple steps for execution.

[0073] Those skilled in the art should understand that the embodiments of the present invention can be provided as a method, a system, or a computer program product. Therefore, the present invention can take the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware aspects. Moreover, the present invention can take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0074] The present invention is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the invention. It should be understood that each flow and / or block in the flowchart illustrations and / or block diagrams, and combinations of flows and / or blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to the processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing device to produce a machine, such that the instructions executed by the processor of the computer or other programmable data processing device create means for implementing the functions specified in the flowchart flow or flows and / or block or blocks. Figure 1 a flow or flows and / or block Figure 1 or blocks.

[0075] Program code for carrying out operations of the present invention may be written in any combination of one or more programming languages, including object oriented programming languages such as Java, C++, etc., as well as conventional procedural programming languages such as the "C" language or similar programming languages. The program code may execute entirely on the user's computing device, partly on the user's device, as a stand-alone software package, partly on the user's computing device and partly on a remote computing device, or entirely on the remote computing device or server.

[0076] In the case of a remote computing device, the remote computing device may be connected to the user's computing device through any type of network, including a local area network (LAN) or a wide area network (WAN), or may be connected to an external computing device (e.g., through the Internet using an Internet service provider).

[0077] These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing device to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means for implementing the functions specified in the flowchart flow or flows and / or block or blocks. Figure 1 a flow or flows and / or block Figure 1 or blocks.

[0078] These computer program instructions may also be loaded onto a computer or other programmable data processing device, such that a series of operational steps are performed on the computer or other programmable device to produce a computer-implemented process, whereby the instructions executed on the computer or other programmable device provide steps for implementing the functions specified in the flowchart flow or flows and / or block or blocks. Figure 1 a flow or flows and / or block Figure 1 or blocks.

[0079] The above are only the preferred embodiments of the present invention and are not intended to limit the present invention. For those skilled in the art, various modifications and variations can be made to the present invention. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included within the protection scope of the present invention.

Claims

1. A multi-channel adaptive switching method for a large-scale UAV swarm network, characterized in that Including: The manned-unmanned collaborative radio powers on and enters the scanning state, scans a superframe resource management cycle, and accesses the optimal channel according to the scanning situation; During the operation of the manned-unmanned collaborative radio, according to the real-time service situation, it adaptively switches to the optimal channel, so that the manned-unmanned collaborative radios with the same service path belong to the same channel; It is detected in real time whether the scale of the manned-unmanned collaborative radios accessing the current channel exceeds the upper limit of the scale of the manned-unmanned collaborative radios that a single channel can bear. If it exceeds, it decides whether to switch channels according to the service flow attributes of its own manned-unmanned collaborative radio.

2. The multi-channel adaptive switching method for a large-scale UAV swarm network according to claim 1, characterized in that The manned-unmanned collaborative radio powers on and enters the scanning state, scans a superframe resource management cycle, and accesses the optimal channel according to the scanning situation, including: The manned-unmanned collaborative radio powers on and enters the scanning state, scans a superframe resource management cycle; scans all candidate frequency points, and adaptively selects frequencies to rank multiple available frequency points according to the frequency interference situation of all candidate frequency points; If no in-network device is found, it accesses the optimal channel for operation according to the adaptive frequency selection result; If in-network devices are found, according to the channel busy status of all in-network devices and the scale of the manned-unmanned collaborative radios already connected in the channel, select a channel that is not busy and has an appropriate scale.

3. The multi-channel adaptive switching method for a large-scale UAV swarm network according to claim 2, wherein The channel busy status is judged by the wireless resource utilization rate in the channel.

4. The multi-channel adaptive switching method for a large-scale UAV swarm network according to claim 1, wherein If the real-time service situation is a new service, the adaptive switching to the optimal channel includes: Judge whether the channel to which the next-hop node of the service belongs is the same as the channel to which the current node belongs. If not, the current node switches to the channel to which the next-hop node belongs.

5. The multi-channel adaptive switching method for a large-scale UAV swarm network according to claim 1, characterized in that If the real-time service situation is an existing service, the adaptive switching to the optimal channel includes: If the channel to which the next-hop node of the service belongs changes, the current node also switches accordingly.

6. The multi-channel adaptive switching method for a large-scale UAV swarm network according to claim 1, characterized in that If the real-time service situation is a large-traffic real-time service, the adaptive switching to the optimal channel includes: If a manned-unmanned collaborative radio finds that the corresponding channel of the destination node radio of the large-traffic real-time service has changed, it switches to the corresponding channel.

7. The multi-channel adaptive switching method for a large-scale UAV swarm network according to claim 1, wherein The decision on whether to switch channels according to the service flow attributes of its own manned-unmanned collaborative radio includes: The node detects and records the networking scale and busy situation of all channels in real time through control signaling; When there is no service at the current node and the service of other nodes in the current channel occupies the channel resources exceeding the preset threshold, it switches to a channel that is not busy and has an appropriate scale, that is, releases all wireless resources of the current channel to ensure that the nodes transmitting services can occupy more wireless resources.

8. An electronic device, characterized in that, Including: At least one processor; And a memory communicatively connected to the at least one processor; Wherein, the memory stores instructions executable by the at least one processor, and the at least one processor, by executing the instructions stored in the memory, causes the at least one processor to execute the method according to any one of claims 1-7.

9. A computer-readable storage medium, characterized in that, The computer-readable storage medium is used to store instructions, and when the instructions are executed, the method according to any one of claims 1-7 is implemented.

10. A computer program product, characterized in that, When the computer program product is called by a computer, the computer is caused to execute the method according to any one of claims 1-7.

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