Unmanned cluster hierarchical networking system and self-adaptive multi-hop clustering method

Abstract

The invention discloses an unmanned cluster hierarchical networking system and a self-adaptive multi-hop clustering method, the hierarchical networking system comprises a core layer network, a backbone layer network, a physical clustering network and a logic clustering network, the backbone layer is composed of cluster head nodes generated by election of the self-adaptive multi-hop clustering method; the adaptive multi-hop clustering method comprises the following steps: calculating the weight of a cluster head borne by each node according to a preset cluster head weight algorithm; the preset cluster head weight algorithm comprises the following steps: carrying out combined weighting on four factors, namely, the distance between nodes with and without people, the quality of links with and without people, node mobility and battery energy, selecting the node with the minimum weight as a cluster head, and selecting the node with the minimum node ID value as the cluster head when the weights are the same. The optimal link quality member directly communicated with a manned node is preferably selected as a cluster head, multi-channel resources are adopted to support multi-layer network coverage and partition service exchange, and the system has the functions of network control, broadcast distribution, multicast transmission and relay transmission.

Description

Technical Field

[0001] The present invention relates to the technical field of wireless ad hoc network communication, and in particular to an unmanned cluster hierarchical networking system and an adaptive multi-hop clustering method. Background Art

[0002] In the context of cross-domain joint operations across land, sea, and air, manned-unmanned collaborative networking requires scalable hierarchical clustering ad hoc networking technology to achieve dynamic topology control, wireless resource management, and network capacity improvement in large-scale self-organizing networks. However, the high-speed mobility, limited energy consumption, dynamic inter-platform links, and mission-oriented nature of unmanned platforms pose new challenges to clustering mechanisms in large-scale unmanned swarm ad hoc networks.

[0003] On the one hand, small formation task subnets for intelligence reconnaissance, target guidance, attack and defense missions constitute a multi-task alliance networking architecture, requiring compatible task clustering technology to form a hierarchical clustered network. On the other hand, cross-domain and cross-cluster transmission technology is required between multiple task clusters to support inter-cluster task coordination. For example, real-time transmission of target indication information is required between the target guidance cluster and the attack and defense cluster to ensure the rapid closure of the kill chain from sensor to shooter.

[0004] Multi-hop routing technologies based on MANETs can be categorized into three types based on forwarding mode: unicast routing, multicast routing, and multipath routing. Unicast routing is the most commonly used routing protocol in MANETs, ​​and includes table-driven, reactive, hybrid, and location-assisted routing.

[0005] Table-driven routing protocols, such as Destination Sequenced Distance Vector (DSDV), Optimal Link State Routing (OLSR), and Fish-eye State Routing (FSR), use a spanning tree algorithm to establish and maintain routing tables for all nodes in the network. These protocols are suitable for scenarios where network topology dynamics are less variable. Reactive routing protocols, such as Dynamic Source Routing (DSR), Ad hoc On-demand Distance Vector (AODV), and Temporally Ordered Routing Algorithm (TORA), do not require periodic broadcasts of topology information. Instead, they search for routes only when a node sends a packet request. This allows them to better adapt to network topology changes and reduce routing maintenance overhead. However, the biggest drawback of reactive routing is that the end-to-end transmission delay of data packets cannot be guaranteed.

[0006] Hybrid-structured partitioned and hierarchical routing protocols combine the advantages of low latency of table-driven routing and low overhead of reactive routing, making them suitable for large-scale ad hoc networks. Examples include the Zone Routing Protocol (ZRP), Clusterhead Gateway Switch Routing (CGSR), and Hierarchy State Routing (HSR). Geolocation-based routing, such as Location Aided Routing (LAR), Distance Routing Effect Algorithm for Mobility (DREAM), and Greedy Perimeter Stateless Routing (GPSR), enhances routing accuracy by adding location information to implement directional routing.

[0007] However, the existing mesh network topology based on a planar structure adopts a flat networking method, which supports end-to-end interconnection of the entire network and has large routing overhead. It has problems such as weak network scale expansion and lack of support for long-range relay transmission, and cannot support large-scale manned and unmanned collaborative networking. Summary of the Invention

[0008] Therefore, the present invention aims to provide an unmanned, clustered hierarchical networking system and an adaptive multi-hop clustering method. This system utilizes multi-channel resources for hierarchical clustering, supports multi-layer network coverage and zoned service exchange, and provides network control, broadcast distribution, multicast transmission, and remote relay transmission capabilities. This hierarchical clustering system uses a self-recommendation algorithm to dynamically generate a virtual backbone network, supporting scalability, flexible networking, and dynamic reconfiguration.

[0009] In order to achieve the above object, the present invention provides an adaptive multi-hop clustering method, comprising the following steps:

[0010] According to the preset hierarchical network topology, each node is divided into network segments and cluster head information is dynamically updated periodically;

[0011] Calculate the weight of each node as the cluster head according to a preset cluster head weight algorithm; the preset cluster head weight algorithm includes: combining and weighting four factors: distance to unmanned nodes, quality of unmanned links, node mobility, and battery energy; select the node with the smallest weight as the cluster head; if the weights are the same, select the node with the smallest node ID value as the cluster head;

[0012] W v =ω1D v +ω2 / L v+ω3M v +ω4P v

[0013] Among them, W v Represents the weight of unmanned nodes; D v is the distance between the manned node and the unmanned node; L v is the link quality of the link with or without human; M v represents the mobility of unmanned nodes; P v represents the battery energy consumption of the unmanned node. ω1, ω2, ω3, and ω4 are weight factors, and ω1+ω2+ω3+ω4=1;

[0014] The node weight information is transmitted through the multi-hop broadcast method until the cluster head election process is completed;

[0015] According to the elected cluster head, the cluster network structure is established and maintained.

[0016] Further preferably, the preset hierarchical network topology includes a core layer network, a backbone layer network, a physical cluster network and a logical cluster network.

[0017] Further preferably, the transmitting the node weight information by the multi-hop broadcast method until the cluster head election process is completed includes: transmitting the node weight information by a multi-round maximum k-round flooding method;

[0018] S301, each node establishes a local weight information table to store {node, weight} pairs, and initializes the local weight information table with {node, weight} pairs consisting of its own node ID and weight;

[0019] S302, each node stores the weight information table in the corresponding field of the broadcast frame and broadcasts the broadcast frame;

[0020] S303. The node that receives the broadcast frame obtains the {node, weight} pair and compares the received weight with the weight stored in the local weight information table. If the received weight is smaller, the {node, weight} pair is updated. If the weights are equal, the node IDs are replaced according to their sizes. The updated {node, weight} or the replaced node ID is broadcast to the next hop node. Otherwise, the original {node, weight} pair is maintained and broadcasting is stopped at the current node.

[0021] S304, repeat S302 to S303, according to the set maximum hop number k, until the data packet stops transmitting after the kth round, each node checks whether the weight information stored in the local weight information table is its own weight information, and if so, marks itself as the cluster head node;

[0022] S305: The cluster head node sets the cluster head identifier in the broadcast frame and informs all nodes in the cluster through k rounds of broadcast frame transmission. The cluster head election process ends.

[0023] Further preferably, the method further includes starting a cluster head update timer after the cluster head election is completed, and when a predetermined time of the timer is reached, each node recalculates the weight and re-elects the cluster head.

[0024] Further preferably, establishing a cluster network structure according to the elected cluster head and maintaining the cluster structure includes:

[0025] Maintain the topology within the cluster, using a timer to recalculate the weight of each node, elect a new cluster head, and establish a new cluster network structure;

[0026] Node cross-cluster mobility maintenance, inspection of whether there are out-cluster nodes in the network, if there are out-cluster nodes, the node dynamic network access process is executed.

[0027] Further preferably, the node dynamic network access process includes:

[0028] Step 1: Use the MAC protocol to control the detection of detached nodes and listen to the network invitation messages sent by other nodes on different frequency bands;

[0029] Step 2: When the node leaving the cluster receives a network invitation message from a node in another cluster, it indicates that there is a new cluster to join.

[0030] Step 3: The de-clustering node selects the cluster with the best average received signal strength as the cluster entry target based on the average received signal strength of different clusters;

[0031] Step 4: At the end of the detection frame, the node that has left the cluster switches its operating frequency band to the frequency band of the new cluster and continues to listen for network invitation messages sent by nodes in the new cluster. At this time, the node's identity is transformed from a node that has left the cluster to a node that is about to join the cluster.

[0032] Step 5: The node to be admitted to the cluster sends a "network admission request message" to the cluster head of the new cluster in the reserved time slot and waits for the cluster head's approval.

[0033] Step 6: The cluster head determines whether the number of nodes in the cluster exceeds the acceptance threshold. If not, it sends a "network admission response message" to the node entering the cluster, thereby allowing the node to enter the cluster and allocating time slot resources to it.

[0034] Step 7: When the node to be admitted receives the "network admission response message" from the cluster head, it updates its time slot resources and becomes a new member of the cluster.

[0035] The present invention also provides an unmanned cluster hierarchical networking system, comprising a core layer network, a backbone layer network, a physical cluster network and a logical cluster network;

[0036] The core layer network is deployed in a safe area as manned nodes, which are used for remote control, telemetry, networking control and task allocation of all unmanned nodes;

[0037] The backbone network is deployed in the contention area and is composed of cluster head nodes elected by the adaptive multi-hop clustering method, forming regional coverage for all unmanned nodes.

[0038] The physical cluster network is deployed within the communication coverage of the cluster head in the combat zone, and is used to execute combat tasks distributed by manned nodes or cluster head nodes, so that cluster members can occupy the shared channel in the cluster in a time-sharing manner under TDMA resource planning to share situation, perform relative ranging, and return telemetry information;

[0039] The logical clustering network is implemented by manned nodes or cluster head nodes elected by the above-mentioned adaptive multi-hop clustering method to perform task division, member admission judgment, and the establishment, maintenance and closing of task subnets.

[0040] The unmanned cluster hierarchical networking system and adaptive multi-hop clustering method disclosed in the present application, compared with the existing technology, the unmanned cluster hierarchical networking system provided by the present application performs network layering based on communication coverage and elastic anti-destruction requirements, including four layers: core layer, backbone layer, physical clustering, and logical clustering, which are deployed in the safe zone, competition zone, engagement zone and mission execution zone respectively, supporting multi-level network coverage, flexible networking control and task-driven networking functions.

[0041] It uses multi-channel resources to support multi-layer network coverage and partitioned service exchange, and has network control, broadcast distribution, multicast transmission and relay transmission functions, allowing support for networked measurement and control, remote intelligence return, intra-cluster situation sharing and cross-domain and cross-cluster service transmission.

[0042] The cluster head selection method based on link quality takes the quality of the communication link between manned and unmanned nodes as the main factor, and refers to factors such as relative distance, node mobility and energy consumption. By selecting the member with the best link quality directly connected to the manned node as the cluster head, it can support the distribution of measurement and control information and reliable data transmission between manned and unmanned nodes. BRIEF DESCRIPTION OF THE DRAWINGS

[0043] Figure 1 This is a structural diagram of the unmanned cluster hierarchical networking system provided by the present invention.

[0044] Figure 2 This is a flow chart of the adaptive multi-hop clustering method provided by the present invention.

[0045] Figure 3 This is a schematic diagram of cluster networking after clustering using the clustering method of the present invention. DETAILED DESCRIPTION

[0046] The present invention is further described in detail below with reference to the accompanying drawings and specific embodiments.

[0047] like Figure 1 As shown, the unmanned cluster hierarchical networking system provided by an embodiment of one aspect of the present invention is divided into a four-layer networking architecture, including: a core layer network, a backbone layer network, a physical cluster network and a logical cluster network. The functional composition of each layer of the network is described as follows.

[0048] (1) Core layer network

[0049] like Figure 3 The core network shown is composed of manned nodes, such as helicopters and ground control stations, deployed in a secure area. These nodes are responsible for remote control and telemetry, networking control, and task allocation for all unmanned nodes. Manned nodes implement a networked measurement and control model for remote control and telemetry of unmanned nodes. Manned nodes connect to cluster heads, which then perform multi-hop broadcasting, reducing bandwidth requirements for measurement and control channels.

[0050] Manned nodes use dedicated control channels to control the cluster network and distribute network control information to the cluster head node, supporting tasks driven networking, dynamic resource allocation and adaptive frequency planning.

[0051] Manned nodes use a logical clustering approach to assign tasks to unmanned clusters, distributing task information to a group of execution units in a multicast manner, and supporting functions such as task subnet establishment, task subnet maintenance, and task subnet shutdown.

[0052] In addition, multiple manned nodes can use core network connections for tactical interconnection and network control signaling interaction, supporting online mission planning, subnet merging / separation, mission handover and other functions.

[0053] (2) Backbone network

[0054] The backbone network consists of cluster head nodes dynamically selected by the cluster network. It is deployed in the competition area and within the communication coverage of manned nodes. It is responsible for member management, resource management and routing management of the cluster network, as well as inter-cluster communication.

[0055] The inter-cluster communication of the backbone layer network uses dedicated channels, supports air relay and backbone network connection, forms regional coverage of all unmanned nodes, and meets the tactical coordination and business transmission needs across domains and clusters.

[0056] (3) Physical clustering network

[0057] The physical cluster network consists of cluster members that share a set of wireless channel resources, are deployed in the combat area, are within the communication coverage of the cluster head, and are responsible for executing combat tasks distributed by manned nodes or cluster head nodes.

[0058] Cluster members occupy the shared channel within the cluster in a time-sharing manner under TDMA resource planning to share situation information and perform relative ranging, while also supporting the backhaul of telemetry information and business information such as pictures / videos.

[0059] (4) Logical clustering network

[0060] When the physical clustering network is large, cluster members can be grouped into tasks and perform multiple combat missions simultaneously. Task-oriented member groupings form a logical cluster network, differentiated by multicast addresses. Multicast security mechanisms are used within the group to share task information, while shielding it from members outside the cluster.

[0061] The logical cluster network is managed by manned nodes or cluster head nodes to perform task division, member admission and security control, and supports functions such as task subnet establishment, task subnet maintenance and task subnet shutdown.

[0062] like Figure 2 As shown, in order to support the construction of hierarchical networks and the topology maintenance of backbone networks, Figure 2 As shown, the present invention also provides an adaptive multi-hop clustering method, which supports reliable data transmission between manned nodes and unmanned nodes by selecting the member with the best link quality directly connected to the manned node as the cluster head, which serves as a communication relay between the manned node and the unmanned cluster subnet; the method includes the following steps:

[0063] S1. According to the preset hierarchical network topology, each node is divided into networks and the cluster head information is periodically updated dynamically; the preset hierarchical network topology is the 4-layer network designed for the above-mentioned unmanned cluster hierarchical networking system, including the core layer network, backbone layer network, physical cluster network and logical cluster network.

[0064] During network operation, a specific clustering algorithm is used to partition each node within the established network and periodically update cluster head information. This ensures that nodes do not conflict with each other in time slot utilization, thereby improving channel utilization. Based on multi-channel clustering and practical application considerations, a demand-based weighted multi-hop clustering algorithm (MH-WCA) is used to elect and update cluster heads.

[0065] In terms of the number of cluster heads, unlike the two-hop clustering algorithm of traditional self-organizing networks, the on-demand weighted multi-hop clustering algorithm (MH-WCA) adopts a multi-hop clustering approach and uses a multi-hop broadcast method to elect cluster heads for logical clustering. Only a unique cluster head node is elected in a logical subnet. Compared with the multi-cluster head clustering of the traditional two-hop clustering algorithm of self-organizing networks, the clustering is more stable and has less cluster head maintenance overhead, making it more suitable for unmanned cluster networking application scenarios.

[0066] S2. Calculate the weight of each node as the cluster head according to a preset cluster head weight algorithm; the preset cluster head weight algorithm includes: combining and weighting four factors: distance to unmanned nodes, quality of unmanned links, node mobility, and battery energy; selecting the node with the smallest weight as the cluster head; and selecting the node with the smallest node ID value as the cluster head if the weights are the same;

[0067] W v =ω1D v +ω2 / L v +ω3M v +ω4P v

[0068] Among them, W v Represents the weight of unmanned nodes; D v is the distance between the manned node and the unmanned node; L v is the link quality of the link with or without human; M v represents the mobility of unmanned nodes; P v represents the battery energy consumption of an unmanned node. ω1, ω2, ω3, and ω4 are weight factors, and ω1 + ω2 + ω3 + ω4 = 1. Although this clustering algorithm is more complex than the clustering algorithms based on ID or node degree, the formula shows that the importance of each parameter can be adjusted by adjusting the weight factors to adapt to different network environments, making cluster head election more reasonable and fair, and achieving a lower cluster head turnover rate.

[0069] S3, transmit the node weight information through the multi-hop broadcast method until the cluster head election process is completed;

[0070] Specifically, it includes: using multiple rounds of maximum k-round flooding to transmit node weight information; the traditional broadcast process can only transmit broadcast messages in a local network. This application performs cluster networking and then realizes multi-hop broadcast to transmit information to more distant nodes. At the same time, in order to avoid causing broadcast storms, especially when the network scale is large, a large number of duplicate data packets will be generated, consuming bandwidth and resources; this application sets a maximum number of hops K, and limits the scope of propagation through maximum K-round flooding to ensure that information does not spread indefinitely, thereby saving energy and bandwidth.

[0071] S301, each node establishes a local weight information table to store {node, weight} pairs, and initializes the local weight information table with {node, weight} pairs consisting of its own node ID and weight;

[0072] S302, each node stores the weight information table in the corresponding field of the broadcast frame and broadcasts the broadcast frame;

[0073] S303. The node that receives the broadcast frame obtains the {node, weight} pair and compares the received weight with the weight stored in the local weight information table. If the received weight is smaller, the {node, weight} pair is updated. If the weights are equal, the node IDs are replaced according to their sizes. The updated {node, weight} or the replaced node ID is broadcast to the next hop node. Otherwise, the original {node, weight} pair is maintained and broadcasting is stopped at the current node.

[0074] S304, repeat S302 to S303, according to the set maximum hop number k, until the data packet stops transmitting after the kth round, each node checks whether the weight information stored in the local weight information table is its own weight information, and if so, marks itself as the cluster head node;

[0075] S305: The cluster head node sets the cluster head identifier in the broadcast frame and informs all nodes in the cluster through k rounds of broadcast frame transmission. The cluster head election process ends.

[0076] It also includes starting a cluster head update timer after the cluster head election is completed. When the timer preset time is reached, each node recalculates the weight and re-elects the cluster head.

[0077] S4. Establish a cluster network structure according to the elected cluster head and maintain the cluster structure.

[0078] Specifically include:

[0079] Maintain the topology within the cluster, using a timer to recalculate the weight of each node, elect a new cluster head, and establish a new cluster network structure;

[0080] Node cross-cluster mobility maintenance, inspection of whether there are out-cluster nodes in the network, if there are out-cluster nodes, the node dynamic network access process is executed.

[0081] The node dynamic network access process includes:

[0082] Step 1: Use the MAC protocol to control the detection of detached nodes and listen to the network invitation messages sent by other nodes on different frequency bands;

[0083] Step 2: When the node leaving the cluster receives a network invitation message from a node in another cluster, it indicates that there is a new cluster to join.

[0084] Step 3: The de-clustering node selects the cluster with the best average received signal strength as the cluster entry target based on the average received signal strength of different clusters;

[0085] Step 4: At the end of the detection frame, the node that has left the cluster switches its operating frequency band to the frequency band of the new cluster and continues to listen for network invitation messages sent by nodes in the new cluster. At this time, the node's identity is transformed from a node that has left the cluster to a node that is about to join the cluster.

[0086] Step 5: The node to be admitted to the cluster sends a "network admission request message" to the cluster head of the new cluster in the reserved time slot and waits for the cluster head's approval.

[0087] Step 6: The cluster head determines whether the number of nodes in the cluster exceeds the acceptance threshold. If not, it sends a "network admission response message" to the node entering the cluster, thereby allowing the node to enter the cluster and allocating time slot resources to it.

[0088] Step 7: When the node to be admitted receives the "network admission response message" from the cluster head, it updates its time slot resources and becomes a new member of the cluster.

[0089] Obviously, the above embodiments are merely examples for clarity of explanation and are not intended to limit the implementation methods. Those skilled in the art will readily appreciate that other variations or modifications based on the above descriptions are possible. It is not necessary and impossible to enumerate all implementation methods here. Obvious variations or modifications arising therefrom remain within the scope of protection of the present invention.

Claims

1. An adaptive multi-hop clustering method, characterized in that: The following steps are involved: According to the preset hierarchical network topology, each node is divided into network segments and cluster head information is dynamically updated periodically; According to the preset cluster head weight algorithm, calculate the weight of each node as the cluster head; The preset cluster head weight algorithm includes: combining and weighting four factors: distance between unmanned nodes, quality of unmanned links, node mobility, and battery energy, and selecting the node with the smallest weight as the cluster head. If the weights are the same, the node with the smallest node ID value is selected as the cluster head. W v =ω1D v +ω2 / L v +ω3M v +ω4P v Among them, W v Represents the weight of unmanned nodes; D v is the distance between the manned node and the unmanned node; L v is the link quality of the link with or without human; M v represents the mobility of unmanned nodes; P v represents the battery energy consumption of the unmanned node. ω1, ω2, ω3, and ω4 are weight factors, and ω1+ω2+ω3+ω4=1; The node weight information is transmitted through the multi-hop broadcast method until the cluster head election process is completed; According to the elected cluster head, the cluster network structure is established and maintained.

2. The adaptive multi-hop clustering method according to claim 1, characterized in that: The preset hierarchical network topology includes a core layer network, a backbone layer network, a physical cluster network and a logical cluster network.

3. The adaptive multi-hop clustering method according to claim 1, characterized in that: The node weight information is transmitted by the multi-hop broadcast method until the cluster head election process is completed, including: transmitting the node weight information by using a multi-round maximum k-round flooding method; S301, each node establishes a local weight information table to store {node, weight} pairs, and initializes the local weight information table with {node, weight} pairs consisting of its own node ID and weight; S302, each node stores the weight information table in the corresponding field of the broadcast frame and broadcasts the broadcast frame; S303. The node that receives the broadcast frame obtains the {node, weight} pair and compares the received weight with the weight stored in the local weight information table. If the received weight is smaller, the {node, weight} pair is updated. If the weights are equal, the node IDs are replaced according to their sizes. The updated {node, weight} or the replaced node ID is broadcast to the next hop node. Otherwise, the original {node, weight} pair is maintained and broadcasting is stopped at the current node. S304, repeat S302 to S303, according to the set maximum hop number k, until the data packet stops transmitting after the kth round, each node checks whether the weight information stored in the local weight information table is its own weight information, and if so, marks itself as the cluster head node; S305: The cluster head node sets the cluster head identifier in the broadcast frame and informs all nodes in the cluster through k rounds of broadcast frame transmission. The cluster head election process ends.

4. The adaptive multi-hop clustering method according to claim 3, characterized in that: It also includes starting a cluster head update timer after the cluster head election is completed. When the timer preset time is reached, each node recalculates the weight and re-elects the cluster head.

5. The adaptive multi-hop clustering method according to claim 1, characterized in that: The steps of establishing a cluster network structure according to the elected cluster head and maintaining the cluster structure include: Maintain the topology within the cluster, using a timer to recalculate the weight of each node, elect a new cluster head, and establish a new cluster network structure; Node cross-cluster mobility maintenance, inspection of whether there are out-cluster nodes in the network, if there are out-cluster nodes, the node dynamic network access process is executed.

6. The adaptive multi-hop clustering method according to claim 5, characterized in that: The node dynamic network access process includes: Step 1: Use the MAC protocol to control the detection of detached nodes and listen to the network invitation messages sent by other nodes on different frequency bands; Step 2: When the node leaving the cluster receives a network invitation message from a node in another cluster, it indicates that there is a new cluster to join. Step 3: The de-clustering node selects the cluster with the best average received signal strength as the cluster entry target based on the average received signal strength of different clusters; Step 4: At the end of the detection frame, the node that has left the cluster switches its operating frequency band to the frequency band of the new cluster and continues to listen for network invitation messages sent by nodes in the new cluster. At this time, the node's identity is transformed from a node that has left the cluster to a node that is about to join the cluster. Step 5: The node to be admitted to the cluster sends a "network admission request message" to the cluster head of the new cluster in the reserved time slot and waits for the cluster head's approval. Step 6: The cluster head determines whether the number of nodes in the cluster exceeds the acceptance threshold. If not, it sends an "admission response message" to the node entering the cluster, allowing the node to join the cluster and allocating time slot resources to it. Step 7: When the node to be admitted receives the "network admission response message" from the cluster head, it updates its time slot resources and becomes a new member of the cluster.

7. An unmanned clustered hierarchical networking system, comprising a core layer network, a backbone layer network, a physical cluster network, and a logical cluster network; The core layer network is deployed in a safe area as manned nodes, which are used for remote control, telemetry, networking control and task allocation of all unmanned nodes; The backbone network is deployed in a contention area and is composed of cluster head nodes elected by the adaptive multi-hop clustering method according to any one of claims 1 to 6, forming regional coverage for all unmanned nodes; The physical cluster network is deployed within the communication coverage of the cluster head in the combat zone, and is used to execute combat tasks distributed by manned nodes or cluster head nodes, so that cluster members can occupy the shared channel in the cluster in a time-sharing manner under TDMA resource planning to share situation, perform relative ranging, and return telemetry information; The logical cluster network is implemented by manned nodes or cluster head nodes elected by the adaptive multi-hop clustering method according to any one of claims 1-6 to perform task division, member admission judgment, and establishment, maintenance and shutdown of task subnets.

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