Networking and resource allocation method of mobile ad hoc network, terminal equipment and satellite equipment

Abstract

The invention relates to the technical field of communication, and discloses a networking and resource allocation method of a mobile ad hoc network, terminal equipment and satellite equipment, and the method comprises the steps that the mobile ad hoc network receives a clustering result sent by a satellite; the clustering result is used for indicating a grouping result of all nodes in the mobile ad hoc network by the satellite; and the mobile ad hoc network determines the cluster head of each cluster according to the received clustering result. According to the invention, the communication resource utilization rate and the network stability of the mobile ad hoc network are improved, and the overhead of the whole mobile ad hoc network is reduced.

Description

Technical Field

[0001] The present application relates to the field of communication technology, and in particular to a method for networking and resource allocation of a mobile ad hoc network, a terminal device, and a satellite device. Background Art

[0002] Mobile ad hoc networks (MANETs), due to their self-organizing, temporary, multi-hop transmission, and independence from infrastructure, are widely used in scenarios such as disaster relief, communications, and distributed collaborative communications. Furthermore, low-orbit satellite networks, with their wide coverage, high communication capacity, and flexible network construction, can be combined with terrestrial mobile MANETs to effectively expand and supplement the shortcomings of terrestrial MANETs. In dynamically changing environments (such as disaster zones), the wide coverage of satellite networks supports the flexibility and mobility of mobile nodes, adapting to rapid changes in network topology. Dual-mode communication terminals that integrate low-orbit satellites and MANETs can avoid the network limitations of traditional satellite-to-ground communications due to the need for dedicated satellite gateways, thereby enhancing the flexibility and scalability of the entire network.

[0003] In the convergence of satellite and terrestrial mobile ad hoc networks, existing research often utilizes network technologies such as SDN (Software Defined Network) and NFV (Network Function Virtualization) to decouple heterogeneous networks, thereby designing separate mobile ad hoc and satellite networks. In terrestrial ad hoc networks, nodes flood a large amount of probe information to obtain global network information. This not only increases node computational overhead but also leads to slow network convergence. Currently, ad hoc clustering algorithms, such as the minimum ID algorithm, the highest altitude algorithm, and the weighted clustering algorithm, can manage clusters in ad hoc networks and reduce node overhead. However, existing clustering algorithms are executed in a distributed manner across mobile ad hoc nodes. Each node determines operations such as cluster establishment, cluster joining, and cluster head election based on information exchanged with neighboring nodes. As the number of ad hoc nodes increases, these nodes consume significant resources for information exchange, resulting in slow network convergence and increased energy consumption. Summary of the Invention

[0004] In view of this, the present application provides a networking and resource allocation method for a mobile ad hoc network, a terminal device, and a satellite device. In a satellite-ground fusion scenario, by utilizing the wide coverage of the satellite network, cluster networking can be performed from a global network perspective, which helps to improve the efficiency of operations such as the formation, maintenance, and dismantling of mobile ad hoc network clusters, and reduce the computing overhead and energy consumption of ad hoc network nodes; at the same time, in order to address data conflicts that may be caused by random data transmission when ground ad hoc network nodes communicate with satellites, time slot resources are allocated to each dual-mode communication node to ensure collision-free communication between the satellite and the ground, thereby improving the utilization rate of the entire network communication resources.

[0005] The present application discloses a method for establishing and allocating resources in a mobile ad hoc network, which includes: The mobile ad hoc network receives a clustering result sent by a satellite; the clustering result is used to indicate a grouping result of all nodes in the mobile ad hoc network by the satellite; The mobile ad hoc network determines a cluster head of each cluster according to the received clustering result; The mobile ad hoc network is composed of a first type of nodes and a second type of nodes; in the mobile ad hoc network, only the first type of nodes can communicate with the satellite; the first type of nodes is composed of a plurality of first nodes; and the second type of nodes is composed of a plurality of second nodes.

[0006] Furthermore, the mobile ad hoc network determines a cluster head of each cluster according to the received clustering result, including: Filtering out nodes whose residual energy is greater than or equal to a preset residual energy threshold from all nodes in each cluster, and using all the filtered out nodes as candidate cluster heads of each cluster; Determining a comprehensive score of each candidate cluster head according to node information corresponding to each candidate cluster head in each cluster; the node information includes node number, remaining energy, location information, movement speed, and satellite signal strength; The cluster head of each cluster is determined according to the comprehensive score of each candidate cluster head.

[0007] Furthermore, the method further comprises: the mobile ad hoc network determining a candidate cluster head for each cluster according to the received clustering result; The mobile ad hoc network determines a candidate cluster head for each cluster according to the received clustering result, including: Filtering out nodes whose residual energy is greater than or equal to a preset residual energy threshold from all nodes in each cluster, and using all the filtered out nodes as candidate cluster heads of each cluster; Obtaining a comprehensive score for each candidate cluster head according to node information corresponding to each candidate cluster head in each cluster; the node information includes node number, remaining energy, location information, movement speed, and satellite signal strength; According to the comprehensive score of each candidate cluster head, a candidate cluster head for each cluster is determined; the comprehensive score of the candidate cluster head is smaller than the comprehensive score of the cluster head.

[0008] Furthermore, the mobile ad hoc network receives the clustering result sent by the satellite, including: The first node in the mobile ad hoc network receives the clustering result sent by the satellite.

[0009] Furthermore, the cluster head in each cluster determines whether a first node exists in each cluster according to the satellite signal strength corresponding to each node in the cluster, and if the first node exists, communicates with the satellite through the first node.

[0010] Furthermore, before the mobile ad hoc network receives the clustering result sent by the satellite, the method further includes: Each node in the mobile ad hoc network sends a neighbor node information table to the nodes within its preset range; each node in the mobile ad hoc network corresponds to a neighbor node information table, and the neighbor node information table is used to store node information corresponding to the nodes within the preset range corresponding to each node; the nodes within the preset range belong to the mobile ad hoc network; the node information includes node number, remaining energy, location information, movement speed and satellite signal strength; the satellite signal strength corresponding to the second node is empty.

[0011] Furthermore, the neighbor node information table received by each node in the mobile ad hoc network is compared with the neighbor node information table corresponding to each node. If there is a node in the neighbor node information table received by each node that does not appear in the neighbor node information table corresponding to each node, the existing node is added to the neighbor node information table corresponding to each node, and the next hop node number of the added node is set to the node number corresponding to the node that sends the neighbor node information table to each node.

[0012] Furthermore, after each node in the mobile ad hoc network sends a neighbor node information table to nodes within its preset range, and before the mobile ad hoc network receives a clustering result sent by a satellite, the method further includes: Each of the first nodes sends an access request packet to the satellite, and after receiving a successful access packet fed back by the satellite, each of the first nodes sends its corresponding comprehensive score to the satellite; The first node receives a time slot table sent by the satellite; the time slot table is used to indicate a data transmission time slot corresponding to each first node; The first node sends data to the satellite in the corresponding data transmission time slot.

[0013] Furthermore, the second node sends the data packet required to communicate with the external network to the first node before the data transmission time slot corresponding to the first node to achieve communication with the external network.

[0014] Furthermore, the mobile ad hoc network receives the clustering result sent by the satellite, including: The first nodes in the mobile ad hoc network receive the clustering results sent by the satellite, and all the first nodes respectively transmit the clustering results to the second nodes that have established communication connections with the first nodes; Each node in the mobile ad hoc network only retains node information corresponding to the nodes in the same cluster to which it belongs in its corresponding neighbor information table.

[0015] Furthermore, after the mobile ad hoc network determines the cluster head of each cluster according to the received clustering result, the mobile ad hoc network further includes: Each cluster head sends cluster head election information to other nodes in its cluster. When the other nodes receive the cluster head election information, they compare their remaining energy with a preset energy threshold. If their remaining energy is greater than or equal to the preset energy threshold, they continue to participate in the cluster head election. The cluster head and candidate cluster heads of each cluster are determined based on the comprehensive score of each node that continues to participate in the cluster head election; the comprehensive score of the candidate cluster head is less than the comprehensive score of the cluster head; the comprehensive score of each node is determined based on its corresponding node information; the node information includes node number, remaining energy, location information, movement speed and satellite signal strength.

[0016] Furthermore, after the mobile ad hoc network determines the cluster head of each cluster according to the received clustering result, the mobile ad hoc network further includes: The node in each cluster that is closest to other clusters is used as a cluster gateway node; the cluster gateway node is used to implement communication between the nodes in the cluster where it is located and the nodes in other clusters.

[0017] The present application also discloses a method for establishing and allocating resources in a mobile ad hoc network, which includes: The satellite receives second information sent by the mobile ad hoc network; the second information is node information corresponding to each node in the mobile ad hoc network; The satellite divides the mobile ad hoc network into a plurality of clusters according to the received second information, thereby obtaining a clustering result; The satellite sends the clustering result to the mobile ad hoc network.

[0018] Furthermore, the satellite divides the mobile ad hoc network into a plurality of clusters according to the received second information, including: Obtaining multiple cluster centers according to node information corresponding to each node in the mobile ad hoc network; Node allocation: allocating each non-cluster center node to the corresponding cluster center according to the distance between each non-cluster center node and each cluster center in the mobile ad hoc network; Cluster center update: taking the centroid of all nodes in each cluster as the cluster center of each cluster; The node allocation and the cluster center update are re-executed until the change range of the cluster center of each cluster meets the requirement.

[0019] Furthermore, the mobile ad hoc network is composed of first-type nodes and second-type nodes; only first-type nodes in the mobile ad hoc network can communicate with the satellite; the first-type nodes are composed of several first nodes; and the second-type nodes are composed of multiple second nodes.

[0020] Furthermore, the satellite sends the clustering result to the mobile ad hoc network, including: The satellite sends the multiple clusters to each first node in the mobile ad hoc network; the first node sends the multiple clusters to the second node in the mobile ad hoc network; and the first node establishes a communication connection with the second node.

[0021] Furthermore, before the satellite receives the second information sent by the mobile ad hoc network, the method further includes: The satellite divides its single communication cycle to obtain a time slot allocation result; the time slot allocation result includes a first node access phase, a time slot table allocation phase and a data transmission phase; During the first node access phase, the satellite receives an access request packet sent by each of the first nodes; the satellite verifies the received access request packet, and after verification, sends a successful access packet to the first node; the satellite receives third information sent by each of the first nodes, where the third information is a comprehensive score corresponding to each of the first nodes; In the time slot table allocation phase, the satellite determines a data transmission time slot corresponding to each first node based on the received third information sent by each first node; all the data transmission time slots together constitute a time slot table; and the satellite sends the time slot table to each first node; In the data transmission phase, the satellite receives data sent by the first node in the mobile ad hoc network.

[0022] Furthermore, the satellite determines, based on the received third information sent by each of the first nodes, a data transmission time slot corresponding to each of the first nodes, including: The satellite receives the comprehensive score of each first node sent by each first node; The satellite obtains a weight corresponding to each first node according to the comprehensive score of each first node; The satellite allocates a corresponding number of time slots to each first node according to a weight corresponding to each first node.

[0023] Furthermore, the obtaining of multiple cluster centers according to the node information corresponding to each node in the mobile ad hoc network includes: Determine a comprehensive index value of each node according to the node information corresponding to each node in the mobile ad hoc network; the distance in the comprehensive index value is the distance between each node and the initial cluster center; Obtaining the probability of each node being selected as a cluster center according to the comprehensive index value of each node; and obtaining the next cluster center according to the probability of each node being selected as a cluster center; The next cluster center is regarded as the initial cluster center, and the steps of determining the comprehensive index value of each node and obtaining the next cluster center are repeated until the required number of cluster centers are obtained.

[0024] Furthermore, the initial cluster center is the first node corresponding to the maximum value of the satellite signal strengths corresponding to the first nodes in the mobile ad hoc network; The required number is determined according to the coverage of the satellite and the communication radius of each node in the mobile ad hoc network.

[0025] The present application also discloses a terminal device, which includes at least one processor, which is coupled to at least one memory, and the at least one processor is used to read the computer program stored in the at least one memory to execute the mobile self-organizing network and resource allocation method corresponding to the terminal device. The present application also discloses a satellite device, which includes at least one processor, which is coupled to at least one memory, and the at least one processor is used to read the computer program stored in the at least one memory to execute the mobile ad hoc networking and resource allocation method corresponding to the satellite terminal. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments recorded in the embodiments of the present application. For ordinary technicians in this field, other drawings can also be obtained based on these drawings.

[0027] Figure 1 A schematic diagram of an application scenario of an embodiment of the present application; Figure 2 This is a flow chart of a method for networking and resource allocation of a mobile ad hoc network according to an embodiment of the present application; Figure 3 This is a flowchart of a method for allocating time slots from a satellite to a dual-mode communication node according to an embodiment of the present application; Figure 4This is a schematic diagram of the time slot division results of a single communication cycle of a low-orbit satellite according to an embodiment of the present application; Figure 5 This is a flow chart of a node in a mobile ad hoc network participating in a round of cluster head election according to an embodiment of the present application. DETAILED DESCRIPTION

[0028] The present application is further described with reference to the accompanying drawings and embodiments. The embodiments described are only a part of the embodiments of the present application, not all of the embodiments. All other embodiments obtained by ordinary technicians in this field should fall within the scope of protection of the embodiments of the present application.

[0029] There are problems with the current clustering networking method in dynamic ad hoc networks. On the one hand, in the cluster formation stage, the ad hoc network nodes are executed in a distributed manner, and each node needs to exchange a large amount of information. As the number of network nodes increases, the overhead of the entire network will become larger and larger, and the convergence speed will become slower and slower. On the other hand, in the cluster head election stage, the current clustering networking method has defects in its method of handling node mobility and cannot meet the high dynamic requirements of mobile ad hoc networks, resulting in frequent changes in cluster heads and frequent convergence of the entire network, thereby increasing network overhead.

[0030] In satellite-ground converged communication systems, random node data transmission can cause multiple nodes to use uplink resources simultaneously, leading to data collisions. This prevents the satellite from correctly decoding received data, increasing data transmission latency and reducing uplink resource utilization. Existing TDMA (Time Division Multiple Access) solutions fail to comprehensively consider factors such as node mobility, remaining energy, and satellite communication strength. As a result, some time slots allocated to specific nodes may not be fully utilized, resulting in wasted uplink resources.

[0031] In view of this, the embodiments of the present application provide a networking and resource allocation method, terminal equipment and satellite equipment for a mobile ad hoc network, utilizing the wide coverage of satellite nodes, and at the same time utilizing dual-mode communication nodes (which can be dual-mode communication terminals) that integrate low-orbit satellites and ad hoc network communications. The satellite obtains network information of the entire mobile ad hoc network by communicating with the dual-mode communication terminal, and performs clustering of the mobile ad hoc network from a global perspective, thereby improving the rationality and stability of clustering.

[0032] In the networking and resource allocation method for a mobile ad hoc network provided by an embodiment of the present application, the mobile ad hoc network can receive the clustering result sent by a satellite; wherein, the clustering result is used to indicate the grouping result of all nodes in the mobile ad hoc network by the satellite; then, the mobile ad hoc network determines the cluster head of each cluster according to the received clustering result. In this way, the mobile ad hoc network comprehensively considers the remaining energy, location information, movement speed, and satellite signal strength of each node for cluster head election, improving the rationality of cluster head election, avoiding frequent changes of cluster heads, and effectively reducing the network overhead.

[0033] Figure 1 It is a schematic diagram of an application scenario involved in the networking and resource allocation method for a mobile ad hoc network provided by an embodiment of the present application. As Figure 1 shown, within the coverage area of a low-earth orbit satellite, M self-organizing network nodes are deployed. The self-organizing network nodes can be divided into two types according to their communication capabilities. One is a dual-mode communication node , where i = 1,..., d, and the communication radius of the dual-mode communication node is . It can establish communication connections with other self-organizing network nodes within its communication range and also has the ability to communicate with satellite nodes; the other is a common node , where i = 1,..., s, and the communication radius of the common node is . It can establish communication connections with other self-organizing network nodes within its communication range. Since the deployment cost of dual-mode communication nodes is significantly higher than that of common nodes, d < s and there is . Within the coverage area of the low-earth orbit satellite S, a communication vehicle is also deployed, which can serve as a command center or as a gateway to connect to an external network.

[0034] It should be noted that in an embodiment of the present application, the dual-mode communication nodes in the mobile ad hoc network are referred to as the first nodes, and the common nodes are referred to as the second nodes; the nodes in the mobile ad hoc network are composed of the first nodes and the second nodes. Both the first nodes and the second nodes can be user devices. All nodes in the mobile ad hoc network are within the signal coverage area of the satellite, and this is not elaborated in this embodiment of the present application. In the subsequent description of this embodiment of the present application, the dual-mode communication nodes, the first nodes, the common nodes, and the second nodes will be used simultaneously.

[0035] In Figure 1 the application scenario shown, when the mobile ad hoc network is in the initialization process, each node is in an independent state, and each node first obtains its own node information. The node information includes the node number, remaining energy , location information ( and are the geographical latitude and longitude of the dual-mode communication node respectively) and movement speed In addition, the dual-mode communication node can also obtain the satellite signal strength it receives through the satellite , The specific calculation method is as follows: In one possible implementation, nodes in a mobile ad hoc network use radio signals for data transmission. A free space path loss model can be used to represent the satellite signal strength received by the nodes in the mobile ad hoc network. The free space path loss model is applicable to the propagation of radio waves in free space and takes into account the effects of distance and frequency on signal attenuation.

[0036] The free space path loss formula can be expressed as:

[0037] in, is the path loss in decibels (dB); D is the distance between the node and the satellite in the mobile ad hoc network in meters (m); f is the frequency of the signal in Hertz (Hz); c is the speed of light, approximately .

[0038] Satellite S and dual-mode communication node The distance D calculation formula can be expressed as:

[0039] in, is the orbital radius of the satellite in km; is the radius of the earth, which approximately represents the distance between the nodes in the mobile ad hoc network and the center of the earth; and are the satellite’s geocentric latitude and longitude, respectively; and Dual-mode communication nodes The geographical latitude and longitude.

[0040] Then the satellite signal strength received by the dual-mode communication node can be expressed as:

[0041] in, 、 、 、 and FSPL are dual-mode communication nodes Received satellite signal strength, ad hoc network node transmit power, transmit antenna gain, receive antenna gain, and path loss, all in dB.

[0042] In the above implementation, the satellite obtains the node information corresponding to the dual-mode communication node and the ordinary node with which it establishes communication connection in the mobile ad hoc network by exchanging information with the dual-mode communication node. The node information includes the node number, the remaining energy, , location information , movement speed and the received satellite signal strength .

[0043] Considering the beneficial role of satellites in mobile ad hoc networking in the satellite-ground fusion scenario, Figure 2 A flowchart of a mobile ad hoc network construction and resource allocation method in a satellite-ground fusion scenario is given. The mobile ad hoc network construction and resource allocation method can be applied to Figure 1 In the application scenario shown, Figure 2 As shown, the method for establishing and allocating resources in a mobile ad hoc network may include the following steps: Step 201: The satellite receives second information sent by a mobile ad hoc network; the second information is node information corresponding to all nodes in the mobile ad hoc network.

[0044] In the examples of this application, continue to refer to Figure 1 , the satellite receives the node information corresponding to all nodes in the mobile ad hoc network sent by the first node in the mobile ad hoc network; each node has corresponding node information, and the node information includes node number, remaining energy, location information, movement speed and satellite signal strength. Among them, each node corresponds to a node number; the remaining energy can be the remaining power of each node, the location information refers to the latitude and longitude of the node's own geographical location, and the satellite signal strength is the strength of the satellite signal received by each node. The satellite signal strength received by each node can be obtained using the calculation formula for the satellite signal strength mentioned in the above embodiment, and the embodiments of this application will not be repeated later.

[0045] Step 202: The satellite divides the mobile ad hoc network into multiple clusters according to the received second information, thereby obtaining a clustering result.

[0046] When each node in a mobile ad hoc network acquires the entire network's node information through mutual information transmission, the topology of the mobile ad hoc network changes at any time. Maintaining this frequently changing network node information for a single node will significantly consume the node's energy, which is clearly undesirable in scenarios where energy cannot be continuously supplied. Therefore, embodiments of the present application require clustering management of the entire mobile ad hoc network. Ordinary nodes within a cluster only need to maintain information about the nodes within their own cluster, while the cluster head node additionally maintains node number information for other clusters.

[0047] The embodiments of the present application utilize the wide coverage and broadcast characteristics of satellite networks to assist in clustering mobile ad hoc networks, improve the rationality of cluster head selection, reduce redundant information of the entire network, better balance the energy consumption of the entire network, and improve the resource utilization of the entire network.

[0048] In a possible implementation, the satellite divides the mobile ad hoc network into multiple clusters according to the received second information, which can be achieved by the following method: According to the node information corresponding to each node in the mobile ad hoc network, multiple cluster centers are obtained; node allocation: according to the distance between each non-cluster center node in the mobile ad hoc network and each cluster center, each non-cluster center node is allocated to the corresponding cluster center; cluster center update: the center of mass of all nodes in each cluster is used as the cluster center of each cluster; the node allocation and cluster center update are re-executed until the change range of the cluster center of each cluster meets the requirements.

[0049] Optionally, obtaining multiple cluster centers based on the node information corresponding to each node in the mobile ad hoc network can be achieved by the following method: Based on the node information corresponding to each node in the mobile ad hoc network, the comprehensive index value of each node is determined; the distance in the comprehensive index value is the distance between each node and the initial cluster center; based on the comprehensive index value of each node, the probability of each node being selected as the cluster center is obtained; based on the probability of each node being selected as the cluster center, the next cluster center is obtained; the next cluster center is regarded as the initial cluster center, and the determination of the comprehensive index value of each node and the acquisition of the next cluster center are repeated until the required number of cluster centers are obtained.

[0050] The initial cluster center may be the first node corresponding to the maximum value of the satellite signal strength received by each first node in the mobile ad hoc network; the required number is determined according to the coverage of the satellite and the communication radius of each node in the mobile ad hoc network.

[0051] In combination with the above possible implementation methods, the embodiment of the present application provides an example of how a satellite divides a mobile ad hoc network into multiple clusters. The specific implementation process is as follows: After satellites integrate and obtain the network topology of the entire mobile ad hoc network, they can perform cluster division by executing the K-Mediods algorithm. The K-Mediods algorithm has the characteristics of high computational efficiency and easy implementation. It is more suitable for mobile ad hoc networks. However, it requires setting the initial cluster center and the number of clusters K, which are directly related to the final clustering results. The specific implementation method is as follows: First, determine the number of clusters K, which can be determined by the satellite coverage range A and the communication radius of the ad hoc network nodes. OK, that is .

[0052] Secondly, in order to separate the initial cluster centers as much as possible and obtain better clustering results, the distance between nodes in the ad hoc network and the remaining energy are taken into consideration when selecting the initial cluster centers. The specific steps for selecting the initial cluster centers are as follows: The first step is to select the dual-mode communication node with the largest signal strength as the initial cluster center .

[0053] The second step is to calculate the Euclidean distance between each node and the nearest cluster center, using Represent and calculate the comprehensive index value :

[0054] in, It should be noted that when calculating the comprehensive index, the signal strength of the satellite received by the ordinary node is Treated as 0.

[0055] The probability of the node being selected as the next cluster center is then calculated:

[0056] After obtaining the probability of each node, the next cluster center is obtained using the turntable method.

[0057] The third step is to repeat the second step until K cluster centers are obtained. .

[0058] Based on the above improved cluster center selection method, the initial cluster centers are evenly distributed throughout the network with a high probability, and tend to select dual-mode communication nodes and nodes with more residual energy as cluster centers. This also ensures that there are dual-mode communication nodes in each cluster to a certain extent.

[0059] Afterwards, for each non-cluster center node in the mobile ad hoc network, the distance between it and each cluster center is calculated and assigned to the cluster center closest to it. The distance calculation formula is:

[0060] Then, for each cluster, recalculate its cluster center. The new cluster center is the centroid of all nodes in the cluster, and the calculation formula is:

[0061] in, is the set of nodes in the ith cluster, is the number of nodes in the cluster.

[0062] Finally, the node assignment and cluster center update steps are re-executed until the cluster centers no longer change significantly.

[0063] Through the above steps, the satellite clusters the entire mobile ad hoc network. Leveraging the wide coverage of satellite nodes and dual-mode communication nodes, the dual-mode communication nodes transmit information about all network nodes to the satellite within the allocated time slots during each satellite communication TDMA time slot cycle. The satellite then integrates the information to obtain the entire network topology. This means that the satellite acquires network information from the entire mobile ad hoc network through communication with the dual-mode communication nodes. The satellite then uses the K-Mediods algorithm to perform global clustering. The ad hoc network uses a multi-factor weighted algorithm to select cluster heads, thereby improving network stability and reducing overall network overhead. Finally, the satellite broadcasts the clustering results to the entire mobile ad hoc network via the dual-mode communication nodes.

[0064] Step 203: The satellite sends the clustering result to the mobile ad hoc network.

[0065] After clustering the entire mobile ad hoc network, the satellite can broadcast the clustering results to the entire mobile ad hoc network through the dual-mode communication node.

[0066] In a possible implementation, a satellite sends a plurality of clusters to a first node in a mobile ad hoc network; the first node sends the plurality of clusters to a second node in the mobile ad hoc network; and the first node establishes a communication connection with the second node.

[0067] Step 204: The mobile ad hoc network receives the clustering result sent by the satellite; the clustering result is used to indicate the satellite's grouping result for all nodes in the mobile ad hoc network.

[0068] In a possible implementation, a first node in the mobile ad hoc network receives a clustering result sent by a satellite. The clustering result refers to a plurality of grouping results obtained by dividing all nodes in the entire mobile ad hoc network.

[0069] The first node transmits the clustering result to the second node that establishes a communication connection with the first node; each node in the mobile ad hoc network only retains node information corresponding to nodes in the same cluster to which it belongs in its corresponding neighbor information table.

[0070] Step 205: The mobile ad hoc network determines the cluster head of each cluster according to the received clustering result.

[0071] Nodes in a mobile ad hoc network know the cluster they are in. , the number of all nodes in the cluster After obtaining the node information, a cluster head is selected for each cluster to perform intra-cluster management. A backup cluster head can also be selected for the cluster to perform intra-cluster management.

[0072] In a possible implementation, the mobile ad hoc network determines the cluster head of each cluster according to the received clustering result by: Filter out nodes whose residual energy is greater than or equal to a preset residual energy threshold from all nodes in each cluster, and use all the filtered nodes as candidate cluster heads of each cluster; Based on the node information corresponding to each candidate cluster head in each cluster, the comprehensive score of each candidate cluster head is determined; the node information includes the node number, remaining energy, location information, movement speed and satellite signal strength; it should be noted that all comprehensive scores appearing in the embodiments of the present application can be obtained by referring to the calculation formula for the comprehensive score given in the following section on how to determine the cluster head of each cluster.

[0073] The cluster head of each cluster is determined according to the comprehensive score of each candidate cluster head.

[0074] Optionally, the cluster head in each cluster may determine whether there is a first node in each cluster according to the satellite signal strength corresponding to each node in the cluster, and if the first node exists, communicate with the satellite through the first node.

[0075] Optionally, the method further includes: the mobile ad hoc network determining a candidate cluster head for each cluster according to the received clustering result; The mobile ad hoc network determines a candidate cluster head for each cluster according to the received clustering result, including: Filter out nodes whose residual energy is greater than or equal to a preset residual energy threshold from all nodes in each cluster, and use all the filtered nodes as candidate cluster heads of each cluster; According to the node information corresponding to each candidate cluster head in each cluster, a comprehensive score of each candidate cluster head is obtained; the node information includes node number, remaining energy, location information, movement speed and satellite signal strength; According to the comprehensive score of each candidate cluster head, a candidate cluster head of each cluster is determined; the comprehensive score of the candidate cluster head is less than the comprehensive score of the cluster head.

[0076] In combination with the above possible implementation methods, the embodiment of the present application provides an example of how a mobile ad hoc network determines the cluster head of each cluster based on the received clustering results. The specific implementation process is as follows: Nodes in a mobile ad hoc network learn about their clusters. , the number of all nodes in the cluster After obtaining the node information, in order to maintain the connection between clusters, it is necessary to select a cluster head for each cluster to manage the nodes within the cluster.

[0077] The factors to be considered in selecting cluster heads include node residual energy , location information , movement speed and the signal strength of satellite communications .

[0078] For the remaining energy of the node ,The cluster head needs additional cluster management, which requires more communication and computing tasks, so it can give priority to nodes with higher residual energy, which can extend the life of the network. In order to avoid nodes with too low energy becoming cluster heads, which will lead to low transmission efficiency, a residual energy threshold can be set ,in, The value range is (0, 1). is the total energy of the nodes in the ad hoc network. Only nodes with a residual energy higher than the threshold can participate in the cluster head election.

[0079] For node location The farther the distance between nodes when transmitting information, the higher the delay and the greater the probability of packet loss. Therefore, the node with the shorter average distance to other nodes in the cluster can be selected as the cluster head. The average distance calculation formula can be expressed as:

[0080] in, is the node position of the i-th node The total number of nodes in the cluster except the i-th node.

[0081] Select Average Distance Smaller nodes serve as cluster heads, which helps to reduce the transmission distance of nodes within the cluster and reduce latency.

[0082] For movement speed Nodes with fast movement speed may frequently leave the cluster range, causing frequent changes in cluster structure and increasing network overhead. Therefore, nodes with lower average relative movement speed are preferred. The calculation formula of average relative movement speed can be expressed as:

[0083] Select the average relative speed Lower nodes help enhance the stability of the network.

[0084] Taking all the above factors into consideration, the comprehensive score of the nodes in the cluster is calculated. The comprehensive score calculation formula is as follows:

[0085] in, For the comprehensive score, 、 、 and are weights of the parameters, all within the range of (0, 1). It should be noted that the comprehensive scores of all nodes in the mobile ad hoc network in the embodiment of the present application can be obtained by referring to the calculation formula of the comprehensive score.

[0086] At the same time, in order to avoid cluster head failure in complex scenarios, which may lead to cluster loss before the next cluster head election is completed, the node with the second highest score can be selected as the backup cluster head in each round of cluster head election. When the cluster head fails for some reason, the backup cluster head immediately acts as the cluster head and continues to act until the next round of cluster head election is completed.

[0087] In the embodiment of the present application, before step 201, the following steps may also be included: To avoid data conflicts caused by random data transmission from ground nodes, the satellite's single communication cycle is divided into TDMA time slots. That is, the satellite divides its single communication cycle to obtain a time slot allocation result. This time slot allocation result includes the first node access phase, the time slot table allocation phase, and the data transmission phase, ensuring collision-free communication between the satellite and the ground, and improving the communication resource utilization of the entire network.

[0088] Optionally, during the first node access phase, the satellite receives an access request packet sent by each of the first nodes; the satellite verifies the received access request packet, and after verification, sends a successful access packet to the first node; the satellite receives third information sent by each of the first nodes, where the third information is a comprehensive score corresponding to each of the first nodes; In the time slot table allocation phase, the satellite determines a data transmission time slot corresponding to each first node based on the third information sent by each first node; all the data transmission time slots together constitute a time slot table; the satellite sends the time slot table to each first node, and the time slot table may be sent to each first node in the form of broadcasting; During the data transmission phase, the satellite receives data sent by the first node in the mobile ad hoc network.

[0089] Optionally, a method for the satellite to determine, based on the third information sent by each first node, the data transmission time slot corresponding to each first node may be: The satellite receives the comprehensive score of the first node sent by the first node; The satellite obtains a weight corresponding to each first node according to the comprehensive score of each first node; The satellite allocates a corresponding number of time slots to each first node according to a weight corresponding to each first node.

[0090] Illustratively, an embodiment of the present application provides a specific implementation process for a satellite to divide its single communication cycle to obtain a time slot allocation result, specifically: With the help of the wide coverage characteristics of the satellite, in each satellite TDMA communication cycle, the dual-mode communication node transmits the entire network node information to the satellite in its allocated communication time slot. The satellite integrates the entire network topology map. The specific allocation process is as follows: In order to avoid data collision and increase delay caused by random data transmission of dual-mode communication nodes, the satellite divides its single communication cycle into TDMA time slots to obtain the dual-mode communication node access phase. , time slot table allocation stage and data transmission phase , ensuring collision-free communication between satellite and ground, and improving resource utilization of the entire network.

[0091] During the dual-mode communication node access phase, the node will send an access request packet to the satellite node. After the satellite receives the access request packet and successfully verifies it, it will reply with a successful access packet. The node will then send its own comprehensive score to the satellite. In the time slot table allocation phase, the satellite calculates and allocates transmission time slots based on the comprehensive score of each dual-mode communication node, and then broadcasts the time slot table to the ad hoc network.

[0092] During the data transmission phase, the ad hoc network nodes transmit data based on whether they are within the transmission time slot.

[0093] Figure 3 This is a flow chart of the method by which the satellite allocates time slots for dual-mode communication nodes, which is explained as follows: The satellite initializes and receives access information from the dual-mode communication node, thereby obtaining the comprehensive score of each cluster head . Figure 4 The diagram below shows the time slot division results of a single communication cycle (including TDMA frame structure) of a low-orbit satellite, where the total transmission time is , the time of a single time slot is set to , then the total number of time slots is .

[0094] Then, the satellite calculates the weight of each dual-mode communication node according to the comprehensive score .

[0095] Then, the satellite allocates the number of time slots to each dual-mode communication node according to the weight: Since rounding is performed when allocating time slots, some time slots may remain unallocated, so these remaining time slots can be allocated according to weight from high to low.

[0096] In the embodiment of the present application, before the satellite divides its single communication cycle to obtain the time slot allocation result, the following steps are further included: Each node in a mobile ad hoc network sends a neighbor node information table to nodes within its preset range; each node in the mobile ad hoc network corresponds to a neighbor node information table, and the neighbor node information table is used to store node information corresponding to nodes within the preset range corresponding to each node; the nodes within the preset range of each node belong to the mobile ad hoc network; the node information includes node number, remaining energy, location information, movement speed and satellite signal strength; the satellite signal strength corresponding to the second node is empty.

[0097] Optionally, the neighbor node information table received by each node in the mobile self-organizing network is compared with the neighbor node information table corresponding to each node. If there is a node in the neighbor node information table received by each node that does not appear in the neighbor node information table corresponding to each node, the existing node is added to the neighbor node information table corresponding to each node, and the next hop node number of the added node is set to the node number corresponding to the node that sends the neighbor node information table to each node.

[0098] In the embodiment of the present application, the steps before the satellite divides its single communication cycle and obtains the time slot allocation result are described in detail, specifically: After the MANET is initialized, it enters the neighbor discovery phase, which is: Each node is within its communication range. Time to send HELLO message, which contains its own node number, remaining energy , location information , movement speed and satellite signal strength , satellite signal strength in ordinary nodes Set to empty to distinguish it from the case where the dual-mode communication node cannot communicate with the satellite for some reason and the received satellite signal strength is 0. This also helps to distinguish whether the node is a dual-mode communication node.

[0099] By sending HELLO messages periodically, each node can obtain information about surrounding nodes, thereby forming a neighbor node information table, which contains the node number, remaining energy, and other information of the neighbor node. , location information , movement speed and the signal strength of satellite communications , and there will be the next hop node number of the corresponding node. If the node number is consistent with the next hop node number, it proves that the node is a one-hop neighbor node. When a node receives a neighbor node information table from another node, if there is a node in the neighbor node information table that it does not have, it will add it to its own neighbor node information table, and the next hop node number will be set to the node number that sent this information table.

[0100] To prevent packets carrying neighbor node information tables from flooding the entire network, the TTL (Time To Live, which specifies the maximum number of network segments an IP packet is allowed to pass through before being discarded by a router) of packets carrying neighbor node information tables can be set to 2. Based on this, each node in the aforementioned mobile ad hoc network sends neighbor node information tables to nodes within its preset range. The preset range can be within the range of each node's two-hop nodes, that is, each node can send neighbor node information tables to both its first-hop node and its two-hop node.

[0101] Optionally, in the above embodiment of the present application, after each node in the mobile ad hoc network sends the neighbor node information table to the nodes within its preset range, and before the mobile ad hoc network receives the clustering result sent by the satellite, the process further includes: Each of the first nodes sends an access request packet to the satellite, and after receiving a successful access packet fed back by the satellite, each of the first nodes sends its corresponding comprehensive score to the satellite; The first node receives a time slot table sent by the satellite; the time slot table is used to indicate a data transmission time slot corresponding to each first node; The first node sends data to the satellite in the corresponding data transmission time slot.

[0102] Optionally, the second node sends a data packet that needs to communicate with an external network to the first node before the data transmission time slot corresponding to the first node.

[0103] Optionally, in the above-mentioned embodiment of the present application, after the mobile ad hoc network determines the cluster head of each cluster based on the received clustering results, a cluster head election algorithm is proposed that comprehensively considers the node's remaining energy, location information, movement speed, and satellite signal strength. This improves the rationality of cluster head election, avoids frequent changes in cluster heads, and effectively reduces network overhead. The specific process is as follows: See also Figure 5 , Figure 5 This is a flow chart of a cluster head election in which nodes in a mobile ad hoc network participate. The cluster head node sends out a cluster head election start broadcast. When the node receives a new round of cluster head election broadcast, the node obtains its own remaining energy. , and compare it with the minimum energy threshold delivered with the broadcast Compare and compare, if it is lower than the minimum energy threshold, then exit the cluster head election, otherwise continue to participate in the cluster head election. Then, the nodes in the mobile ad hoc network calculate the average distance between themselves and the nodes in the cluster. and relative speed , and comprehensively consider the remaining energy of the node , average distance and relative speed , calculate the comprehensive score of the node and broadcast it in the cluster. The node with the highest score becomes the main cluster head, the second highest one is called the candidate cluster head, and the other nodes withdraw from the election.

[0104] After cluster head election, the edge cluster node closest to the other clusters acts as the cluster gateway node, completing communication with the external network. That is, when a node in each cluster needs to communicate (transmit data) with nodes in other clusters, the data to be transmitted is forwarded to the corresponding node in the other cluster via the cluster gateway node. At the same time, the cluster head determines whether there are dual-mode communication nodes in the cluster based on the satellite communication signal strength in the neighbor node information table. If so, the dual-mode communication node will be prioritized for satellite transmission when transmitting long-distance or emergency information.

[0105] An embodiment of the present application also provides a terminal device, which includes at least one processor, which is coupled to at least one memory, and the at least one processor is used to read the computer program stored in the at least one memory to execute the networking and resource allocation method of the mobile self-organizing network corresponding to the terminal device. An embodiment of the present application also provides a satellite device, which includes at least one processor, which is coupled to at least one memory, and the at least one processor is used to read the computer program stored in the at least one memory to execute the networking and resource allocation method of the mobile ad hoc network corresponding to the satellite terminal.

[0106] It should be noted that in the various embodiments of the present application, the size of the serial numbers of the above-mentioned processes does not mean the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of the present application.

[0107] It should be noted that the terms "first" and "second" in this application are used solely for descriptive purposes and are not to be construed as indicating or implying relative importance or order. Technical feature names with the same serial number may correspond to different technical features.

[0108] Those skilled in the art will understand that all or part of the steps to implement the above embodiments may be accomplished by hardware, or may be accomplished by instructing the relevant hardware through a program, and the program may be stored in a computer-readable storage medium, and the above-mentioned storage medium may be a read-only memory, a disk, or an optical disk, etc.

[0109] The above are only optional embodiments of the present application, which are only used to illustrate the technical solution of the present application rather than to limit it. Without departing from the spirit and scope of the present application, modifications, equivalent replacements, improvements, etc. to the specific implementation methods of the present application should be included in the scope of protection of the present application.

Claims

1. A method for establishing and allocating resources in a mobile ad hoc network, characterized in that: include: The mobile ad hoc network receives the clustering results sent by the satellite; The clustering result is used to indicate the grouping result of the satellite on all nodes in the mobile ad hoc network; The mobile ad hoc network determines a cluster head of each cluster according to the received clustering result; The mobile ad hoc network is composed of a first type of nodes and a second type of nodes; in the mobile ad hoc network, only the first type of nodes can communicate with the satellite; the first type of nodes is composed of a plurality of first nodes; and the second type of nodes is composed of a plurality of second nodes.

2. The method for establishing and allocating resources in a mobile ad hoc network according to claim 1, wherein: The mobile ad hoc network determines a cluster head of each cluster according to the received clustering result, including: Filtering out nodes whose residual energy is greater than or equal to a preset residual energy threshold from all nodes in each cluster, and using all the filtered out nodes as candidate cluster heads of each cluster; Determining a comprehensive score of each candidate cluster head according to node information corresponding to each candidate cluster head in each cluster; the node information includes node number, remaining energy, location information, movement speed, and satellite signal strength; The cluster head of each cluster is determined according to the comprehensive score of each candidate cluster head.

3. The method for establishing and allocating resources in a mobile ad hoc network according to claim 1, wherein: Also includes: The mobile ad hoc network determines a candidate cluster head for each cluster according to the received clustering result; The mobile ad hoc network determines a candidate cluster head for each cluster according to the received clustering result, including: Filtering out nodes whose residual energy is greater than or equal to a preset residual energy threshold from all nodes in each cluster, and using all the filtered out nodes as candidate cluster heads of each cluster; Obtaining a comprehensive score for each candidate cluster head according to node information corresponding to each candidate cluster head in each cluster; the node information includes node number, remaining energy, location information, movement speed, and satellite signal strength; According to the comprehensive score of each candidate cluster head, a candidate cluster head for each cluster is determined; the comprehensive score of the candidate cluster head is smaller than the comprehensive score of the cluster head.

4. The method for establishing and allocating resources in a mobile ad hoc network according to claim 1, wherein: The mobile ad hoc network receives a clustering result sent by a satellite, including: The first node in the mobile ad hoc network receives the clustering result sent by the satellite.

5. The method for establishing and allocating resources in a mobile ad hoc network according to claim 1, wherein: The cluster head in each cluster determines whether a first node exists in each cluster according to the satellite signal strength corresponding to each node in the cluster, and if the first node exists, communicates with the satellite through the first node.

6. The method for establishing and allocating resources in a mobile ad hoc network according to claim 1, wherein: Before the mobile ad hoc network receives the clustering result sent by the satellite, the method further includes: Each node in the mobile ad hoc network sends a neighbor node information table to the nodes within its preset range; each node in the mobile ad hoc network corresponds to a neighbor node information table, and the neighbor node information table is used to store node information corresponding to the nodes within the preset range corresponding to each node; the nodes within the preset range belong to the mobile ad hoc network; the node information includes node number, remaining energy, location information, movement speed and satellite signal strength; the satellite signal strength corresponding to the second node is empty.

7. The method for establishing and allocating resources in a mobile ad hoc network according to claim 6, wherein: The neighbor node information table received by each node in the mobile ad hoc network is compared with the neighbor node information table corresponding to each node. If there is a node in the neighbor node information table received by each node that does not appear in the neighbor node information table corresponding to each node, the existing node is added to the neighbor node information table corresponding to each node, and the next hop node number of the added node is set to the node number corresponding to the node that sends the neighbor node information table to each node.

8. The method for establishing and allocating resources in a mobile ad hoc network according to claim 6, wherein: After each node in the mobile ad hoc network sends a neighbor node information table to nodes within a preset range thereof, and before the mobile ad hoc network receives a clustering result sent by a satellite, the method further includes: Each of the first nodes sends an access request packet to the satellite, and after receiving a successful access packet fed back by the satellite, each of the first nodes sends its corresponding comprehensive score to the satellite; The first node receives a time slot table sent by the satellite; the time slot table is used to indicate a data transmission time slot corresponding to each first node; The first node sends data to the satellite in the corresponding data transmission time slot.

9. The method for establishing and allocating resources in a mobile ad hoc network according to claim 8, wherein: According to the data transmission time slot corresponding to the first node, the second node sends the data packet required to communicate with the external network to the first node before the data transmission time slot to achieve communication with the external network.

10. The method for establishing and allocating resources in a mobile ad hoc network according to any one of claims 1 to 9, wherein: The mobile ad hoc network receives a clustering result sent by a satellite, including: The first nodes in the mobile ad hoc network receive the clustering results sent by the satellite, and all the first nodes respectively transmit the clustering results to the second nodes that have established communication connections with the first nodes; Each node in the mobile ad hoc network only retains node information corresponding to the nodes in the same cluster to which it belongs in its corresponding neighbor information table.

11. The method for establishing and allocating resources in a mobile ad hoc network according to any one of claims 1 to 9, characterized in that: After the mobile ad hoc network determines the cluster head of each cluster according to the received clustering result, the mobile ad hoc network further includes: Each cluster head sends cluster head election information to other nodes in its cluster. When the other nodes receive the cluster head election information, they compare their remaining energy with a preset energy threshold. If their remaining energy is greater than or equal to the preset energy threshold, they continue to participate in the cluster head election. The cluster head and candidate cluster heads of each cluster are determined based on the comprehensive score of each node that continues to participate in the cluster head election; the comprehensive score of the candidate cluster head is less than the comprehensive score of the cluster head; the comprehensive score of each node is determined based on its corresponding node information; the node information includes node number, remaining energy, location information, movement speed and satellite signal strength.

12. The method for establishing and allocating resources in a mobile ad hoc network according to any one of claims 1 to 9, characterized in that: After the mobile ad hoc network determines the cluster head of each cluster according to the received clustering result, the mobile ad hoc network further includes: The node in each cluster that is closest to other clusters is used as a cluster gateway node; the cluster gateway node is used to implement communication between the nodes in the cluster where it is located and the nodes in other clusters.

13. A method for establishing and allocating resources in a mobile ad hoc network, characterized in that: include: The satellite receives the second information sent by the mobile ad hoc network; The second information is node information corresponding to each node in the mobile ad hoc network; The satellite divides the mobile ad hoc network into a plurality of clusters according to the received second information, thereby obtaining a clustering result; The satellite sends the clustering result to the mobile ad hoc network.

14. The method for establishing and allocating resources in a mobile ad hoc network according to claim 13, wherein: The satellite divides the mobile ad hoc network into a plurality of clusters according to the received second information, including: Obtaining multiple cluster centers according to node information corresponding to each node in the mobile ad hoc network; Node allocation: allocating each non-cluster center node to the corresponding cluster center according to the distance between each non-cluster center node and each cluster center in the mobile ad hoc network; Cluster center update: taking the centroid of all nodes in each cluster as the cluster center of each cluster; The node allocation and the cluster center update are re-executed until the change range of the cluster center of each cluster meets the requirement.

15. The method for establishing and allocating resources in a mobile ad hoc network according to claim 13, wherein: The mobile ad hoc network is composed of a first type of nodes and a second type of nodes; in the mobile ad hoc network, only the first type of nodes can communicate with the satellite; the first type of nodes is composed of a plurality of first nodes; and the second type of nodes is composed of a plurality of second nodes.

16. The method for establishing and allocating resources in a mobile ad hoc network according to claim 15, wherein: The satellite sending the clustering result to the mobile ad hoc network includes: The satellite sends the multiple clusters to each first node in the mobile ad hoc network; the first node sends the multiple clusters to the second node in the mobile ad hoc network; and the first node establishes a communication connection with the second node.

17. The method for establishing and allocating resources in a mobile ad hoc network according to claim 13, wherein: Before the satellite receives the second information sent by the mobile ad hoc network, the method further includes: The satellite divides its single communication cycle to obtain a time slot allocation result; the time slot allocation result includes a first node access phase, a time slot table allocation phase and a data transmission phase; During the first node access phase, the satellite receives an access request packet sent by each of the first nodes; the satellite verifies the received access request packet, and after verification, sends a successful access packet to the first node; the satellite receives third information sent by each of the first nodes, where the third information is a comprehensive score corresponding to each of the first nodes; In the time slot table allocation phase, the satellite determines a data transmission time slot corresponding to each first node based on the received third information sent by each first node; all the data transmission time slots together constitute a time slot table; and the satellite sends the time slot table to each first node; In the data transmission phase, the satellite receives data sent by the first node in the mobile ad hoc network.

18. The method for establishing and allocating resources in a mobile ad hoc network according to claim 17, wherein: The satellite determines, based on the received third information sent by each of the first nodes, a data transmission time slot corresponding to each of the first nodes, including: The satellite receives the comprehensive score of each first node sent by each first node; The satellite obtains a weight corresponding to each first node according to the comprehensive score of each first node; The satellite allocates a corresponding number of time slots, ie, data transmission time slots, to each first node according to a weight corresponding to each first node.

19. The method for establishing and allocating resources in a mobile ad hoc network according to claim 14, wherein: The obtaining of multiple cluster centers according to the node information corresponding to each node in the mobile ad hoc network includes: Determine a comprehensive index value of each node according to the node information corresponding to each node in the mobile ad hoc network; the distance in the comprehensive index value is the distance between each node and the initial cluster center; Obtaining the probability of each node being selected as a cluster center according to the comprehensive index value of each node; and obtaining the next cluster center according to the probability of each node being selected as a cluster center; The next cluster center is regarded as the initial cluster center, and the steps of determining the comprehensive index value of each node and obtaining the next cluster center are repeated until the required number of cluster centers are obtained.

20. The method for establishing and allocating resources in a mobile ad hoc network according to claim 19, wherein: The initial cluster center is the first node corresponding to the maximum value of the satellite signal strengths corresponding to the first nodes in the mobile ad hoc network; The required number is determined according to the coverage of the satellite and the communication radius of each node in the mobile ad hoc network.

21. A terminal device, characterized in that: The method comprises at least one processor coupled to at least one memory, and the at least one processor is used to read a computer program stored in the at least one memory to execute the networking and resource allocation method for a mobile ad hoc network according to any one of claims 1 to 12.

22. A satellite device, characterized in that: The method comprises at least one processor coupled to at least one memory, and the at least one processor is used to read a computer program stored in the at least one memory to execute the mobile ad hoc network networking and resource allocation method according to any one of claims 13 to 20.

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