Topology control method and application of heterogeneous wireless converged network for unmanned clusters

Abstract

This invention discloses a heterogeneous wireless converged network topology control method and its application for unmanned swarms, belonging to the field of wireless network communication technology. Addressing the problems of selfish behavior of network nodes and poor robustness of network topology in existing network topology control methods, this invention utilizes a network model, a wireless communication energy consumption model, and a node reliability model of the heterogeneous wireless converged network to construct a heterogeneous wireless converged network topology quality assessment model with node reliability, network connectivity, and lifespan as indicators. This model is used to evaluate node power control schemes and incorporates blockchain technology to achieve control over the network topology. The heterogeneous wireless converged network topology control method of this invention can effectively limit the potential selfish behavior of network nodes while ensuring the coverage and connectivity of the heterogeneous wireless converged network.

Description

Technical Field

[0001] This invention relates to the field of wireless network communication technology, and in particular to a method and application for topology control of heterogeneous wireless converged networks for unmanned clusters. Background Technology

[0002] Unmanned swarm systems typically consist of various unmanned devices (such as drones, unmanned vehicles, and unmanned boats). These devices are heterogeneous, differing not only in physical structure and communication protocols, but also in their mission requirements and collaboration methods. With the development of wireless communication technology, different wireless access technologies offer varying network performance and are suitable for different communication environments. In future highly dynamic and heavily denied environments, ad hoc networks built with a single wireless access technology will struggle to meet the high reliability, high bandwidth, and low latency requirements of heterogeneous unmanned swarm systems. Therefore, heterogeneous wireless converged networks composed of multiple wireless access technologies will be one of the main development directions for future unmanned swarm communication technology.

[0003] In heterogeneous wireless converged networks, cross-network communication technology breaks down communication barriers between multiple wireless networks and integrates them. The merged network incorporates various types and standards of wireless access technologies. Network topology control is fundamental for the unified management and use of nodes, and an effective network topology provides physical support for routing algorithms and MAC protocols. The network topology is determined by the transmit power of nodes. When nodes operate at high transmit power, their energy is rapidly consumed by communication devices, resulting in many redundant communication links in the network topology. Conversely, when nodes operate at low transmit power, the network topology exhibits poor robustness, is prone to isolated nodes, affecting the quality of wireless communication and reducing network throughput. Therefore, topology control, as a crucial technology for improving network topology robustness and extending network lifespan, has become a research hotspot and challenge in heterogeneous wireless converged networks. Establishing a stable and efficient topology control method for heterogeneous wireless converged networks can ensure seamless communication between various heterogeneous devices, meeting the real-time communication requirements of unmanned clusters performing complex tasks.

[0004] Existing topology control algorithms are mainly divided into two types. The first is the proximity graph-based topology control algorithm, which primarily improves network performance by adjusting node transmission power to increase channel spatial reuse and reduce interference, such as MRTC and DRNG. The second is the clustered topology control algorithm, which utilizes the cluster head to aggregate intra-cluster data and forward inter-cluster data to reduce data fusion and management complexity, thereby improving energy efficiency, such as LEACH and PEGASID. However, the topology control algorithms designed for unmanned clustered ad hoc networks do not consider the potential selfish behavior of network nodes in saving energy during data forwarding and are not applicable to heterogeneous wireless converged networks. Summary of the Invention

[0005] To address the aforementioned problems, this invention aims to provide a topology control method and application for heterogeneous wireless converged networks oriented towards unmanned clusters. This method can prevent selfish behavior of nodes, improve the utilization rate of network resources, and extend the life cycle of heterogeneous wireless converged networks while ensuring the robustness and connectivity of the networks. It also provides strong technical support for the rapid deployment and topology adjustment of heterogeneous wireless converged networks in different application scenarios.

[0006] To achieve the above objectives, the technical solution adopted by the present invention is as follows:

[0007] A topology control method for heterogeneous wireless converged networks oriented towards unmanned clusters includes the following steps:

[0008] S1: Construct a network model, a wireless communication energy consumption model, and a node reliability model for a heterogeneous wireless converged network;

[0009] S2: Based on the network model, wireless communication energy consumption model and node reliability model constructed in step S1, construct a heterogeneous wireless converged network topology quality assessment model with node reliability, network connectivity and lifespan as indicators.

[0010] S3: Based on the heterogeneous wireless converged network topology quality assessment model constructed in step S2, and combined with blockchain technology, perform topology control on the heterogeneous wireless converged network.

[0011] Furthermore, the network model of the heterogeneous wireless converged network constructed in step S1 is as follows: ;

[0012] in, This represents the set of network nodes in a heterogeneous wireless converged network. Indicates the first Network nodes, This represents the total number of network nodes; each network node is randomly equipped with two wireless access technologies, namely wireless access technology... and wireless access technology , This represents the set of communication links in a heterogeneous wireless converged network. It utilizes wireless access technology in heterogeneous wireless converged networks. The established communication link set It utilizes wireless access technology in heterogeneous wireless converged networks. The established communication link set Indicates the first One network node; It is the set of weights for links between single-hop nodes; Represents network nodes With network nodes The weights of the links between them are specifically represented as follows:

[0013] ;

[0014] In the formula, and It is a weighting factor. It is a network node With network nodes The Euclidean distance between them and These respectively represent wireless access technologies and wireless access technology The quality of the constructed wireless communication link.

[0015] Furthermore, the wireless communication energy consumption model of the heterogeneous wireless converged network constructed in step S1 includes network nodes. via link To network nodes send Energy consumed when sending data packets and network nodes take over Energy consumed by data packets ;

[0016] ;

[0017] ;

[0018] In the formula, , representing network nodes With network nodes The length of the wireless communication link between them; and These respectively indicate the use of wireless access technology. and wireless access technology The amount of data sent ; and Representing network nodes Using wireless access technology and wireless access technology The energy required to send 1 bit of data; and Representing network nodes Using wireless access technology and wireless access technology The amount of data received ; and Representing network nodes When receiving 1 bit of data, wireless access technology and wireless access technology The energy consumed by the receiving circuit.

[0019] Furthermore, the node reliability model of the heterogeneous wireless converged network constructed in step S1 is as follows:

[0020] ;

[0021] In the formula, For network nodes Node reliability; Represents network nodes The degree of the node; It is the node failure probability coefficient. and Representing network nodes The amount of data received and the amount of data sent. for The area of ​​the region where network nodes are randomly deployed. Represents network nodes The initial energy value.

[0022] Furthermore, the heterogeneous wireless converged network topology quality assessment model constructed in step S2 is expressed as follows:

[0023] ;

[0024] In the formula, This represents a topology quality assessment model for heterogeneous wireless converged networks. K Represents the reciprocal of the connected components of the network; The revenue function representing the network topology. This represents the connection cost of the network topology.

[0025] Furthermore, the specific operation of step S3 includes the following steps:

[0026] S301: Each network node obtains information about its physical neighbor nodes;

[0027] S302: Each network node establishes a node power control scheme chain based on the collected physical neighbor node information and combines blockchain technology to determine the optimal global node power control scheme.

[0028] S303: Construct a minimum rigid topology based on the Delaunay triangulation diagram, and combine it with the network topology formed by the optimal global node power control scheme to select communication links for heterogeneous wireless converged networks and select logical neighbor nodes from physical neighbor nodes.

[0029] S304: Network nodes adjust the transmit power of their own wireless access technology to the minimum power required to cover all logical neighbor nodes, thereby achieving topology control of the heterogeneous wireless converged network.

[0030] Furthermore, the specific operation of step S302 includes the following steps:

[0031] S3021: Each network node designs a local node power control scheme based on the information of its physical neighbor nodes and broadcasts it.

[0032] S3022: Each network node compensates and expands the local node power control schemes received from its physical neighbor nodes to obtain a global node power control scheme set, in which the network nodes... The global node power control scheme set is represented as In the formula, Represents network nodes For network nodes The global node power control scheme is obtained by compensating the local node power control scheme.

[0033] S3023: Each network node uses the heterogeneous wireless converged network topology quality assessment model constructed in step S2 to evaluate the global node power control scheme obtained in step S3022, selects the optimal global node power control scheme, and broadcasts it.

[0034] S3024: Each network node will package the multiple optimal global node power control schemes it receives into a block and broadcast it globally;

[0035] S3025: Each network node verifies the received block using the TQEM+POW mechanism; if the verification is successful, it is added to the power control scheme chain, otherwise it is discarded; in addition, each network node determines whether the optimal global node power control scheme in the verified block meets the termination condition. If it does not meet the condition, it continues to execute step S3026; if it does meet the condition, it exits the loop and executes step S303.

[0036] S3026: Each network node reads the optimal global node power control scheme in the power control scheme chain and updates its own global node power control scheme; for the updated global node power control scheme, repeat steps S3023-S3025.

[0037] Furthermore, in step S304, the network node The wireless access technology will be equipped and wireless access technology Transmission power and Adjusted to:

[0038] ;

[0039] ;

[0040] In the formula, and Wireless access technology and wireless access technology The receiving power, The path loss index; and It is a constant. and Network nodes Equipped with wireless access technology and wireless access technology The communication radius.

[0041] The present invention also provides a heterogeneous wireless converged network topology control system, including a basic model construction module, a network topology quality assessment module, and a network topology control module;

[0042] The basic model building module is used to build network models, wireless communication energy consumption models, and node reliability models for heterogeneous wireless converged networks;

[0043] The network topology quality assessment module is used to construct a heterogeneous wireless converged network topology quality assessment model based on node reliability, network connectivity, and lifespan as indicators.

[0044] The network topology control module performs topology control on the heterogeneous wireless converged network based on the heterogeneous wireless converged network topology quality assessment model and in conjunction with blockchain technology.

[0045] The basic model construction module, network topology quality assessment module, and network topology control module all adopt the heterogeneous wireless converged network topology control method for unmanned clusters as described above.

[0046] Furthermore, the present invention also provides an electronic device, including at least one processor; and a memory communicatively connected to the processor; wherein the memory stores instructions executable by the processor, the instructions being executed by the processor to enable the processor to perform the heterogeneous wireless converged network topology control method for unmanned clusters as described above.

[0047] The beneficial effects of this invention are:

[0048] 1. This invention proposes a topology control method for heterogeneous wireless converged networks, specifically for heterogeneous unmanned clusters. This method utilizes the network model, wireless communication energy consumption model, and node reliability model of the heterogeneous wireless converged network to construct a topology quality evaluation model for the heterogeneous wireless converged network, using node reliability, network connectivity, and lifespan as indicators. This model is used to evaluate node power control schemes. Furthermore, this method designs a consensus mechanism and process for the heterogeneous wireless converged network topology based on blockchain technology, enabling real-time control of the heterogeneous wireless converged network topology. Compared with existing methods, this method can achieve efficient switching and resource allocation between different communication protocols and frequency bands, establishing robust communication links between various heterogeneous devices. Moreover, while ensuring the robustness and connectivity of the heterogeneous wireless converged network, it can avoid selfish behavior of network nodes, improve network resource utilization, and extend the lifespan of the heterogeneous wireless converged network.

[0049] 2. The topology control method for heterogeneous wireless converged networks in this invention has strong versatility and scalability, and can be applied to a variety of practical application scenarios (such as disaster emergency response, urban monitoring, intelligent logistics, etc.), as well as to a variety of unmanned swarm systems (such as drones, unmanned vehicles, unmanned ships, etc.), providing strong technical support for the rapid deployment and topology adjustment of heterogeneous wireless networks in different application scenarios. Attached Figure Description

[0050] Figure 1 This is a topology diagram obtained from different network topology control methods in the simulation experiment of this invention. Detailed Implementation

[0051] To enable those skilled in the art to better understand the technical solutions of the present invention, the technical solutions of the present invention will be further described below in conjunction with the accompanying drawings and embodiments.

[0052] Example 1:

[0053] Example 1 provides a topology control method for heterogeneous wireless converged networks for unmanned clusters, specifically including the following steps:

[0054] S1: Construct a network model, a wireless communication energy consumption model, and a node reliability model for a heterogeneous wireless converged network;

[0055] More specifically, S101: Constructing a network model for heterogeneous wireless converged networks;

[0056] exist Randomly deployed within a rectangular area Individual unmanned clusters, i.e., heterogeneous wireless converged networks, possess... There are 1 network node, and each network node is randomly equipped with two wireless access technologies, denoted as _____ wireless access technology_. and wireless access technology , Individual network nodes can utilize these two wireless access technologies to form a fully connected heterogeneous wireless converged network. Considering wireless access technologies... and wireless access technology Different communication performance between them, using undirected graphs To represent a heterogeneous wireless converged network model, where, This represents the set of network nodes in a heterogeneous wireless converged network. Indicates the first Network nodes, This represents the set of communication links in a heterogeneous wireless converged network. It utilizes wireless access technology in heterogeneous wireless converged networks. The established communication link set It utilizes wireless access technology in heterogeneous wireless converged networks. The established communication link set Indicates the first One network node; It is the set of weights for links between single-hop nodes; Represents network nodes With network nodes The weights of the links between them are specifically represented as follows:

[0057] ;

[0058] In the formula, and It is a weighting factor. It is a network node With network nodes The Euclidean distance between them and These respectively represent wireless access technologies and wireless access technology The quality of the constructed wireless communication link.

[0059] S102: Construct a wireless communication energy consumption model for heterogeneous wireless converged networks;

[0060] Make network nodes With network nodes The wireless communication link length between them is That is, network nodes With network nodes The wireless communication link length between the network nodes is [number]. With network nodes The Euclidean distance between network nodes. via link To network nodes send When sending data packets, the energy consumed is Represented as:

[0061] ;

[0062] In the formula, and These respectively indicate the use of wireless access technology. and wireless access technology The amount of data sent , and Representing network nodes Using wireless access technology and wireless access technology The energy required to send 1 bit of data mainly consists of two parts: transmission circuit loss and power amplification loss.

[0063] ;

[0064] ;

[0065] in, and They represent wireless access technologies. and wireless access technology The energy consumed by the transmitting circuit and Network nodes Equipped with wireless access technology and wireless access technology The RF parameters are affected by the power amplifier.

[0066] Based on the above description, network nodes take over The energy consumed by the data packets This indicates that due to network nodes The energy consumed in receiving data packets is mainly consumed by the circuitry; therefore... It can be represented as:

[0067] ;

[0068] In the formula, and Representing network nodes Using wireless access technology and wireless access technology The amount of data received ; and Representing network nodes When receiving 1 bit of data, wireless access technology and wireless access technology The energy consumed by the receiving circuit.

[0069] S103: Construct a node reliability model for heterogeneous wireless converged networks;

[0070] First, define the set of physical neighbor nodes; network nodes. Equipped with wireless access technology and wireless access technology Based on transmission power and Send information in all directions around it as the center of the sphere, among which , ; and Representing network nodes Equipped with wireless access technology and wireless access technology The maximum transmit power. If the network node It can correctly receive the information and is able to transmit it to network nodes. Sending confirmation messages indicates that a symmetrical communication link can be formed between them, then the network nodes... Considered a network node A certain physical neighbor node. Using Represents network nodes The set of physical neighbor nodes. Node degree is represented as the number of nodes in the network. Number of existing end-to-end communication links ,use Represents network nodes The degree of the node, .

[0071] In heterogeneous wireless converged networks, the reliability of network nodes is mainly affected by the remaining energy and node degree of the network nodes. Therefore, the reliability of network nodes is... node reliability Defined as:

[0072] ;

[0073] In the formula, For network nodes The probability of failure due to energy depletion is affected by network nodes. initial energy value and energy consumption value The impact, among which, and Representing network nodes The amount of data received and the amount of data sent; then:

[0074] ;

[0075] .

[0076] Therefore, the greater the probability of a network node failing due to energy depletion, the lower the node's reliability; conversely, the lower the probability of a network node failing due to energy depletion, the higher the node's reliability.

[0077] Assumption A network node is randomly deployed in the area. Top (area) Then the network node coordinates probability density function for:

[0078] ;

[0079] Network nodes fall within the communication radius circular area The probability within for:

[0080] ;

[0081] This allows us to determine the wireless communication link length of the network node. Its node degree The following relationship exists between them:

[0082] .

[0083] Then, the network nodes can be further obtained. Energy consumption value and node degree The relationship of change is as follows:

[0084] ;

[0085] Therefore, network nodes Probability of failure due to energy depletion It can also be further expressed as:

[0086] ;

[0087] in, It is the node failure probability coefficient.

[0088] In summary, network nodes node reliability It can be represented as:

[0089] ;

[0090] Among them, node reliability is not only related to node degree, but also to the amount of data sent and received by the network node.

[0091] Further, step S2: Based on the network model, wireless communication energy consumption model and node reliability model constructed in step S1, construct a heterogeneous wireless converged network topology quality assessment model with node reliability, network connectivity and lifespan as indicators.

[0092] Specifically, in order to compare network topologies more accurately and quickly, this invention constructs a heterogeneous wireless converged network topology quality assessment model using node reliability, network connectivity, and lifespan as indicators. , represented as:

[0093] ;

[0094] In the formula, An undirected graph representing a heterogeneous wireless converged network, containing information about network nodes and links; K It represents the reciprocal of the connected components of a network, and is an indicator of network connectivity; The revenue function representing the network topology. This represents the connection cost of the network topology, a metric reflecting its lifespan. In heterogeneous wireless converged networks, the larger the network topology's benefit function, the smaller the connection cost, and the higher the node reliability, the better the quality of the heterogeneous wireless converged network's topology and the stronger its robustness. Furthermore:

[0095] ;

[0096] ;

[0097] in, and Representing network nodes With network nodes The weights and hop counts of the links between them.

[0098] Further, step S3: Based on the heterogeneous wireless converged network topology quality assessment model constructed in step S2, and combined with blockchain technology, perform topology control on the heterogeneous wireless converged network.

[0099] Specifically, S301: Each network node obtains information about its physical neighbor nodes;

[0100] During the physical neighbor discovery phase, network nodes broadcast HELLO messages carrying their own information at maximum transmit power while simultaneously receiving HELLO messages from other network nodes. The HELLO message information includes the network node ID, remaining power, maximum transmission distance, and the type of wireless access technology used.

[0101] Further, in step S302: Each network node establishes a node power control scheme chain based on the collected physical neighbor node information and combines blockchain technology to determine the optimal global node power control scheme.

[0102] More specifically, S3021: Randomly distributed heterogeneous network nodes design local node power control schemes based on information from their physical neighbor nodes and broadcast them.

[0103] S3022: Each network node compensates and expands the local node power control schemes received from its physical neighbor nodes to obtain a global node power control scheme set, in which the network nodes... The global node power control scheme set is represented as In the formula, Represents network nodes For network nodes The global node power control scheme is obtained by compensating the local node power control scheme.

[0104] S3023: Each network node uses the heterogeneous wireless converged network topology quality assessment model constructed in step S2 to evaluate the global node power control scheme obtained in step S3022, selects the optimal global node power control scheme, and broadcasts it.

[0105] S3024: Each network node packages the multiple optimal global node power control schemes it receives into a block and broadcasts it globally. A total of network nodes form Each block.

[0106] S3025: Each network node verifies the received block using the TQEM+POW mechanism. If the verification passes, the block is added to the power control scheme chain; otherwise, it is discarded. Furthermore, the network node needs to determine whether the optimal global node power control scheme in the verified block meets the termination condition. If not, proceed to step S3026; if so, exit the loop and execute step S303.

[0107] S3026: Each network node reads the optimal global node power control scheme from the power control scheme chain and updates its own global node power control scheme; for the updated global node power control scheme, repeat steps S3023-S3025. It should be noted here that network nodes... The specific method for updating the global node power control scheme is existing technology and will not be described in detail in this invention.

[0108] Further, step S303: Construct a minimum rigid topology based on the Delaunay triangulation diagram, and combine it with the network topology formed based on the optimal global node power control scheme to select communication links for the heterogeneous wireless converged network and select logical neighbor nodes from physical neighbor nodes.

[0109] Specifically, a minimum rigid topology based on a Delaunay triangulation graph is constructed according to network node information. This minimum rigid topology is then compared with the network topology obtained in step S302 based on the optimal global node power control scheme. While ensuring network connectivity, redundant communication links with smaller weights in the network topology formed by the optimal global node power control scheme are removed, and a globally minimum rigid network topology is constructed to limit the average node degree of the network. Logical neighbor nodes are then selected from physical neighbor nodes based on the globally minimum rigid network topology.

[0110] Furthermore, in step S304: the network node adjusts the transmission power of its own wireless access technology to the minimum power required to cover all logical neighbor nodes, thereby achieving topology control of the heterogeneous wireless converged network.

[0111] Specifically, the maximum communication distance for each wireless access technology used by a network node can be set as the Euclidean distance between the network node and its farthest logical neighbor node in the network topology that uses that wireless access technology to establish a communication link with the network node. Therefore, the network node... Equipped with wireless access technology and wireless access technology Communication radius and They can be represented as:

[0112] ;

[0113] Correspondingly, in a real-world environment, network nodes Equipped with wireless access technology and wireless access technology Transmission power and Adjusted to:

[0114] ;

[0115] ;

[0116] In the formula, and Wireless access technology and wireless access technology The receiving power, The path loss index depends on the environment; and It is a constant and is related to factors such as antenna gain and frequency.

[0117] Simulation experiment:

[0118] This simulation experiment analyzes the heterogeneous wireless converged network topology control method proposed in this invention. In the experiment, network nodes carrying SINK nodes are deployed at the center of the region, while others... Several network nodes are randomly distributed within the area. During the simulation, the SINK node sends one data packet per second to other network nodes, meaning that the SINK node needs to send one data packet per second. The data packets are 1024 bits in size. The area is 500m × 600m, the initial energy of the nodes is 100 J, the wireless access technology WiFi has a communication range of 150m, the wireless access technology ZigBee has a communication range of 80m, and the network node mobility model is Gauss Markov.

[0119] Simulation results are attached. Figure 1 As shown, from the appendix Figure 1 As can be seen, 50 network nodes are randomly distributed in the area environment. Among them, (1) is the initial network topology without any topology control algorithm. In this network topology, the network nodes build communication links with the maximum transmission power, which not only generates a large number of redundant communication links, but also shortens the network life cycle; (2), (3) and (4) are the network topologies obtained by using the existing RNA, CONE and DELAUNAY topology control algorithms, respectively. These algorithms do not consider the selfish behavior of nodes in the network. In the established network topology, WiFi wireless links and ZigBee wireless links will interfere with each other; (5) is the network topology obtained by using the existing MIA topology control algorithm. This algorithm combines the idea of ​​game theory to avoid the selfish behavior of network nodes, but the resulting network topology has poor robustness; (6) is the network topology obtained by using the topology control method proposed in this invention. The heterogeneous wireless fusion network topology control method based on blockchain technology uses the blockchain consensus mechanism to restrict the selfish behavior of network nodes. There are no WiFi and ZigBee edge communication links in the established network topology, which reduces the mutual interference between different wireless access technologies.

[0120] Example 2:

[0121] Example 2 provides a heterogeneous wireless converged network topology control system, including a basic model construction module, a network topology quality assessment module, and a network topology control module;

[0122] The basic model building module is used to build network models, wireless communication energy consumption models, and node reliability models for heterogeneous wireless converged networks;

[0123] The network topology quality assessment module is used to construct a heterogeneous wireless converged network topology quality assessment model based on node reliability, network connectivity, and lifespan as indicators.

[0124] The network topology control module performs topology control on the heterogeneous wireless converged network based on the heterogeneous wireless converged network topology quality assessment model and in conjunction with blockchain technology.

[0125] The basic model construction module, network topology quality assessment module, and network topology control module all adopt the heterogeneous wireless converged network topology control method for unmanned clusters described in Example 1.

[0126] Example 3:

[0127] Embodiment 3 provides an electronic device, which includes at least one processor and a memory communicatively connected to the processor; wherein the memory stores instructions executable by the processor, which are executed by the processor to enable the processor to perform the heterogeneous wireless converged network topology control method for unmanned clusters described in Embodiment 1.

[0128] The foregoing has shown and described the basic principles, main features, and advantages of the present invention. Those skilled in the art should understand that the present invention is not limited to the above embodiments. The embodiments and descriptions in the specification are merely illustrative of the principles of the invention. Various changes and modifications can be made to the invention without departing from its spirit and scope, and all such changes and modifications fall within the scope of the present invention as claimed. The scope of protection of this invention is defined by the appended claims and their equivalents.

Claims

1. A topology control method for heterogeneous wireless converged networks for unmanned clusters, characterized in that, Includes the following steps: S1: Construct a network model, a wireless communication energy consumption model, and a node reliability model for a heterogeneous wireless converged network; S2: Based on the network model, wireless communication energy consumption model and node reliability model constructed in step S1, construct a heterogeneous wireless converged network topology quality assessment model with node reliability, network connectivity and lifespan as indicators. S3: Based on the heterogeneous wireless converged network topology quality assessment model constructed in step S2, and combined with blockchain technology, perform topology control on the heterogeneous wireless converged network. The specific operation of step S3 includes the following steps: S301: Each network node obtains information about its physical neighbor nodes; S302: Each network node establishes a node power control scheme chain based on the collected physical neighbor node information and combines blockchain technology to determine the optimal global node power control scheme. S303: Construct a minimum rigid topology based on the Delaunay triangulation diagram, and combine it with the network topology formed by the optimal global node power control scheme to select communication links for heterogeneous wireless converged networks and select logical neighbor nodes from physical neighbor nodes. S304: Network nodes adjust the transmit power of their own wireless access technology to the minimum power required to cover all logical neighbor nodes, thereby achieving topology control of the heterogeneous wireless converged network; The specific operation of step S302 includes the following steps: S3021: Each network node designs a local node power control scheme based on the information of its physical neighbor nodes and broadcasts it. S3022: Each network node compensates and expands the local node power control schemes received from its physical neighbor nodes to obtain a global node power control scheme set, in which the network nodes... The global node power control scheme set is represented as In the formula, Represents network nodes For network nodes The global node power control scheme is obtained by compensating the local node power control scheme. This represents the set of network nodes in a heterogeneous wireless converged network. Indicates the first Network nodes, Indicates the first Network nodes, Indicates the total number of network nodes; S3023: Each network node uses the heterogeneous wireless converged network topology quality assessment model constructed in step S2 to evaluate the global node power control scheme obtained in step S3022, selects the optimal global node power control scheme, and broadcasts it. S3024: Each network node will package the multiple optimal global node power control schemes it receives into a block and broadcast it globally; S3025: Each network node verifies the received block using the TQEM+POW mechanism; if the verification is successful, it is added to the power control scheme chain, otherwise it is discarded; in addition, each network node determines whether the optimal global node power control scheme in the verified block meets the termination condition. If it does not meet the condition, it continues to execute step S3026; if it does meet the condition, it exits the loop and executes step S303. S3026: Each network node reads the optimal global node power control scheme in the power control scheme chain and updates its own global node power control scheme; for the updated global node power control scheme, repeat steps S3023-S3025.

2. The topology control method for heterogeneous wireless converged networks oriented towards unmanned clusters according to claim 1, characterized in that: The network model of the heterogeneous wireless converged network constructed in step S1 is as follows: ; Each network node is randomly equipped with two wireless access technologies, namely wireless access technology. and wireless access technology , This represents the set of communication links in a heterogeneous wireless converged network. It utilizes wireless access technology in heterogeneous wireless converged networks. The established communication link set It utilizes wireless access technology in heterogeneous wireless converged networks. The established communication link set; It is the set of weights for links between single-hop nodes; Represents network nodes With network nodes The weights of the links between them are specifically represented as follows: ； In the formula, and It is a weighting factor. It is a network node With network nodes The Euclidean distance between them and These respectively represent wireless access technologies and wireless access technology The quality of the constructed wireless communication link.

3. The heterogeneous wireless converged network topology control method for unmanned clusters according to claim 2, characterized in that: The wireless communication energy consumption model of the heterogeneous wireless converged network constructed in step S1 includes network nodes. via link To network nodes send Energy consumed when sending data packets and network nodes take over Energy consumed by data packets ; ； ； In the formula, , representing network nodes With network nodes The length of the wireless communication link between them; and These respectively indicate the use of wireless access technology. and wireless access technology The amount of data sent ; and Representing network nodes Using wireless access technology and wireless access technology The energy required to send 1 bit of data; and Representing network nodes Using wireless access technology and wireless access technology The amount of data received ; and Representing network nodes When receiving 1 bit of data, wireless access technology and wireless access technology Energy consumed by the receiving circuit.

4. The heterogeneous wireless converged network topology control method for unmanned clusters according to claim 3, characterized in that: The node reliability model of the heterogeneous wireless converged network constructed in step S1 is as follows: ； In the formula, For network nodes Node reliability; Represents network nodes The degree of the node; It is the node failure probability coefficient. and Representing network nodes The amount of data received and the amount of data sent. for The area of ​​the region where network nodes are randomly deployed. Represents network nodes The initial energy value.

5. The heterogeneous wireless converged network topology control method for unmanned clusters according to claim 4, characterized in that: The heterogeneous wireless converged network topology quality assessment model constructed in step S2 is expressed as follows: ； In the formula, This represents a topology quality assessment model for heterogeneous wireless converged networks. K Represents the reciprocal of the connected components of the network; The revenue function representing the network topology. This represents the connection cost of the network topology.

6. The heterogeneous wireless converged network topology control method for unmanned clusters according to claim 5, characterized in that, Network nodes in step S304 The wireless access technology will be equipped and wireless access technology Transmission power and They were adjusted to: ； ； In the formula, and Wireless access technology and wireless access technology The receiving power, The path loss index; and It is a constant. and Network nodes Equipped with wireless access technology and wireless access technology The communication radius.

7. A heterogeneous wireless converged network topology control system, characterized in that: It includes a basic model building module, a network topology quality assessment module, and a network topology control module; The basic model building module is used to build network models, wireless communication energy consumption models, and node reliability models for heterogeneous wireless converged networks; The network topology quality assessment module is used to construct a heterogeneous wireless converged network topology quality assessment model based on node reliability, network connectivity, and lifespan as indicators. The network topology control module performs topology control on the heterogeneous wireless converged network based on the heterogeneous wireless converged network topology quality assessment model and in conjunction with blockchain technology. The basic model construction module, network topology quality assessment module, and network topology control module all adopt the heterogeneous wireless converged network topology control method for unmanned clusters as described in any one of claims 1-6.

8. An electronic device, characterized in that: It includes at least one processor; and a memory communicatively connected to the processor; wherein the memory stores instructions executable by the processor, the instructions being executed by the processor to enable the processor to perform the heterogeneous wireless converged network topology control method for unmanned clusters as described in any one of claims 1-6.

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