Active routing communication method suitable for wireless ad hoc network

Abstract

The invention relates to the technical field of communication, and discloses an active routing communication method suitable for a wireless ad hoc network. The method comprises the following steps that: a node acquires own motion state and neighbor link quality data in real time through a sensor; constructing a node mobility instability index, and fusing physical motion and link disturbance characteristics; based on the index, adaptively deciding a route update period and an announcement range; and carrying the instability index in the routing notification, so that the receiving node dynamically adjusts the effective duration of the routing entry according to the instability index. According to the invention, on-demand updating and intelligent aging of the routing information are realized through the mechanism, the control overhead is reduced while the real-time performance is ensured, and the communication robustness and the resource utilization efficiency of the network in a high dynamic environment are improved.

Description

Technical Field

[0001] This invention belongs to the field of communication technology, and specifically relates to an active routing communication method suitable for wireless ad hoc networks. Background Technology

[0002] With the widespread application of wireless ad hoc networks in dynamic scenarios such as emergency communication, intelligent transportation, and IoT edge collaboration, higher demands are placed on the real-time performance and robustness of routing protocols. Wireless ad hoc networks do not rely on fixed infrastructure; nodes achieve autonomous networking and data transmission through multi-hop forwarding. Their core challenge lies in the continuous change of network topology as nodes move. Traditional proactive routing protocols (such as OLSR and DSDV) generally employ fixed-period broadcast mechanisms to update routing information to maintain the consistency of the entire network's routing table.

[0003] However, this strategy is based on the assumption of static or slow movement, ignoring the dynamic heterogeneity of node motion states, which makes it difficult to adapt effectively when the network environment changes drastically.

[0004] Active routing communication methods suitable for wireless ad hoc networks need to balance control overhead and convergence speed while ensuring connectivity. Existing solutions typically flood link status or route update messages periodically at preset time intervals, attempting to reduce the risk of route expiration through high-frequency broadcasting. However, such update strategies do not consider the actual movement characteristics of nodes, especially in high-speed movement scenarios, where a fixed period cannot match the rate of topology change, resulting in severe lag in routing information.

[0005] In existing technologies, fixed-period route broadcasting causes a sharp increase in routing table expiration rates when nodes move at high speeds. A large number of data packets are frequently retransmitted due to forwarding along failed paths, exacerbating channel contention and collisions, and wasting valuable bandwidth resources. Simultaneously, blindly extending the broadcast interval to suppress overhead leads to routing convergence delays, affecting end-to-end communication reliability. Although some studies have attempted to introduce location prediction or neighbor detection mechanisms, these often rely on high-power modules such as GPS or complex computational models, making lightweight deployment on resource-constrained embedded nodes difficult.

[0006] Therefore, without the need for additional hardware support, there is an urgent need for an active routing communication method that can adaptively adjust the broadcast frequency according to the real-time movement status of nodes, so as to achieve a precise balance between routing timeliness and control overhead in dynamic topologies. Summary of the Invention

[0007] To address the technical problems of existing wireless ad hoc network protocols, such as the inability of fixed-period broadcast mechanisms to adapt to the high-speed mobility of nodes, resulting in severe delays in routing information, waste of network resources, and communication link interruptions, this invention provides an active routing communication method suitable for wireless ad hoc networks.

[0008] This invention establishes a dynamic feature quantification model that combines the node's own motion state with the local link quality, driving the adaptive adjustment of the route update frequency and range, and introduces a route timeliness prediction mechanism based on path stability. Thus, while ensuring the real-time nature of routing information, it greatly reduces unnecessary routing overhead and improves the communication robustness and resource utilization efficiency of the entire ad hoc network in dynamic topology environments.

[0009] This invention provides an active routing communication method suitable for wireless ad hoc networks, comprising the following steps: At each node in the network, the following operations are performed periodically: The physical motion status data of this node and the wireless link quality data with neighboring nodes are acquired in real time through an airborne sensor cluster. Based on the acquired physical motion state data and wireless link quality data, a comprehensive node mobility instability index is constructed and calculated. The index is used to quantitatively characterize the motion state of the node at the current moment and the stability of the link connection. Based on the quantification results of the node mobility instability index, the routing information update mode of this node is adaptively determined. The routing information update mode includes the triggering period of routing updates and the notification range of routing information. Based on the determined routing information update mode, a corresponding routing announcement message is generated and broadcast or directed to other nodes in the network via a wireless transceiver. It receives routing advertisement messages from other nodes and, based on the source node mobility instability index carried in the message, predictively adjusts the validity period of relevant routing entries in its routing table to achieve proactive aging and elimination of routing information.

[0010] As one embodiment of the present invention, the real-time acquisition of the physical motion state data of the node and the wireless link quality data with neighboring nodes through an airborne sensor cluster specifically includes: The three-dimensional geographic coordinates, ground velocity vector, and motion acceleration vector data of this node are obtained through a global navigation satellite system receiver. The attitude angular velocity and linear acceleration data of this node are acquired by the inertial measurement unit and fused with the data of the global navigation satellite system receiver to improve the update rate and accuracy of the physical motion state data. The wireless RF transceiver module of this node measures and records the real-time received signal strength indication, link quality indicator, and packet error rate when receiving data frames from each neighboring node.

[0011] Furthermore, after acquiring the above data, the method further includes a preprocessing step for the data, specifically including: Unify all sensor data onto the same time base to form a timestamp-aligned multi-dimensional time series data stream; A Kalman filter is used to fuse and filter the raw data from the global navigation satellite system receiver and the inertial measurement unit in order to suppress measurement noise and output a smooth motion state estimate. The received signal strength indicator, link quality indicator, and packet error rate data are subjected to moving average filtering within a preset time window to eliminate the interference of instantaneous jitter on link quality assessment.

[0012] As one embodiment of the present invention, the construction and calculation of the comprehensive node mobility instability index specifically includes the following steps: First, the physical motion component index is calculated. This index is determined as follows: within a preset time window, the standard deviation of the velocity magnitude and the average value of the acceleration magnitude of this node are calculated. After normalizing these two statistics, they are weighted and summed according to the first preset weighting coefficient to obtain the physical motion component index that characterizes the intensity of the physical motion of this node. Next, the link disturbance component index is calculated. This index is determined as follows: For each neighboring node, within a preset time window in the past, the standard deviation of the received signal strength indication and the average of the packet error rate of the communication link with that neighboring node are calculated. After normalizing these two statistics and weighting and summing them, the average of the results for all neighboring nodes is taken to obtain the link disturbance component index that characterizes the stability of the local network environment of this node. Finally, the physical motion component index and the link disturbance component index are weighted and summed according to the second preset weighting coefficient to obtain the comprehensive node mobility instability index.

[0013] Furthermore, the normalization process is the process of mapping the original physical quantity to a closed numerical range, and its specific implementation is as follows: Divide the standard deviation of the speed by a preset maximum speed standard deviation threshold, and limit the result to within 1; Divide the average value of the acceleration by a preset maximum average acceleration threshold, and limit the result to within 1; Divide the standard deviation of the received signal strength indication by a preset maximum signal strength standard deviation threshold, and limit the result to within 1; The average value of the grouping error rate is considered as a normalized value, ranging from 0 to 1.

[0014] As one embodiment of the present invention, the step of adaptively deciding the routing information update mode of the node based on the quantification result of the node mobility instability index specifically includes: A first instability index threshold and a second instability index threshold are preset, wherein the second instability index threshold is greater than the first instability index threshold; When the calculated node mobility instability index is less than the first instability index threshold, the node is determined to be in a stable state, and a decision is made to adopt the long-cycle global announcement mode, that is, to set the longest basic route update cycle and generate a global topology announcement message. When the calculated node mobility instability index is greater than or equal to the first instability index threshold, but less than the second instability index threshold, the node is determined to be active and a decision is made to adopt the medium-cycle global announcement mode, that is, the basic route update cycle is divided by the first preset reduction factor to obtain a shorter update cycle, and a global topology announcement message is generated. When the calculated node mobility instability index is greater than or equal to the second instability index threshold, the node is determined to be in a high dynamic state, and an immediate local announcement mode is adopted, that is, a route update is immediately triggered, the shortest update period is set, and a local topology announcement message containing only changes in neighbor relationships is generated.

[0015] Furthermore, the generation of the corresponding routing announcement message and its broadcast or targeted propagation to other nodes in the network via a wireless transceiver specifically includes: In the long-cycle global announcement mode and the medium-cycle global announcement mode, the generated global topology announcement message contains a complete list of the node's neighbors and link metric information to these neighbor nodes. The time-to-live field in the Internet Protocol header of the message is set to the upper limit of the network diameter to ensure that the message can spread to the entire network. In the immediate local announcement mode, the generated local topology announcement message only contains information about the neighboring nodes that have been added or lost by this node. The Time to Live field in the Internet Protocol header of this message is set to a small value, which limits the propagation range of the message to the two-hop or three-hop neighbors of this node.

[0016] All generated route announcement messages encapsulate the node mobility instability index value currently calculated by this node.

[0017] As one embodiment of the present invention, the step of receiving routing advertisement messages from other nodes and predictively adjusting the validity period of relevant routing entries in the routing table of the local node based on the source node mobility instability index carried in the message specifically includes: When a route advertisement message is received and a new route entry is updated or created, the mobility instability index of all intermediate nodes on the route path is parsed out. These indices are attached by the nodes along the route when forwarding the message. The overall path instability of the route is calculated by taking the maximum value of the mobility instability index of all nodes on the path. Based on the path instability, the dynamic validity period of the routing entry is calculated using the following formula: ; Indicates the dynamic validity period. The preset maximum base duration, As a regulating factor, This is due to path synthesis instability.

[0018] Set a timer for this route entry, and the timeout period is the calculated dynamic validity period. If no update information about the route is received after the timer expires, the route entry will be actively set to an invalid state.

[0019] In this way, routing information originating from or passing through highly dynamic nodes will be given a shorter lifespan, thus being eliminated more quickly from the routing table of this node, avoiding data forwarding based on outdated information.

[0020] Compared with the prior art, the beneficial effects of the present invention are as follows: 1. This invention introduces a quantitative model of node mobility instability index, combining the physical movement of nodes with the dynamic changes in link quality, thereby achieving accurate perception of node status and providing reliable data basis for routing update decisions. 2. The adaptive routing update mechanism proposed in this invention can independently and differentiate the update frequency and broadcast range of routing information according to the real-time dynamic status of each node. In a highly stable network state, the control overhead of the routing protocol is reduced by extending the update cycle, saving valuable wireless channel resources. In a highly dynamic network state, the rapid convergence of topology information is ensured by shortening the update cycle and triggering instant updates, thus maintaining the continuity of the communication link. 3. This invention achieves proactive and intelligent management of the routing table by carrying an instability index in the routing information and establishing a routing entry timeliness prediction model based on path instability. It can reduce the probability of using unreliable routes before the link is actually interrupted and accelerate the clearing of invalid routes, thereby reducing the packet loss rate and retransmission rate caused by using outdated routes, and improving the end-to-end data delivery success rate and network throughput. 4. The method of the present invention, without changing the basic framework of the existing active routing protocol, endows network nodes with the ability to perceive the environment and make intelligent decisions, and constructs an elastic routing mechanism that can dynamically adapt to topology changes, thereby improving the overall performance, stability and resource efficiency of wireless ad hoc networks in complex scenarios such as high-speed node movement. Attached Figure Description

[0021] Figure 1 This is a schematic diagram of the overall technical solution architecture of an active routing communication method suitable for wireless ad hoc networks proposed in this invention. Figure 2 This is a schematic diagram of the core principle framework of the dynamic feature quantification model of the node mobility instability index in this invention; Figure 3 This is a logical flowchart of the sensor data fusion and link quality preprocessing in this invention; Figure 4 This is a diagram of the decision logic framework for the adaptive route update mode based on the mobility instability index in this invention. Figure 5 This is a logical flowchart of the generation and propagation range control of global and local announcement messages in this invention. Figure 6 This is a logical flowchart of the routing announcement message reception and path integration instability calculation in this invention; Figure 7 This is a schematic diagram of the core principle framework of the dynamic validity duration prediction mechanism for routing entries based on path stability in this invention. Detailed Implementation

[0022] Please refer to Figures 1 to 7 This invention provides an active routing communication method suitable for wireless ad hoc networks. Its core lies in constructing a dynamic feature quantification model through joint perception of node motion state and local link quality, driving adaptive adjustment of route update frequency and range, and introducing a route timeliness prediction mechanism based on path stability. This reduces unnecessary routing overhead and improves network robustness and resource utilization efficiency in highly dynamic topology environments while ensuring the real-time nature of routing information. The specific embodiments of this invention will be described in detail below with reference to the accompanying drawings.

[0023] At each node in the network, a series of operations are periodically performed to achieve the above objectives. First, the physical motion status data of the node and the wireless link quality data with neighboring nodes are acquired in real time through an onboard sensor cluster.

[0024] The process specifically includes: The three-dimensional geographic coordinates, ground velocity vector, and motion acceleration vector data of this node are obtained through a global navigation satellite system receiver. The attitude angular velocity and linear acceleration data of this node are acquired by the inertial measurement unit and fused with the data of the global navigation satellite system receiver to improve the update rate and accuracy of the physical motion state data. The wireless RF transceiver module of this node measures and records the real-time received signal strength indication, link quality indicator, and packet error rate when receiving data frames from each neighboring node.

[0025] After acquiring the raw data, a data preprocessing step is performed. All sensor data are unified to the same time base, forming a timestamp-aligned multivariate time series data stream.

[0026] A Kalman filter is used to fuse and filter the raw data from the global navigation satellite system receiver and the inertial measurement unit to suppress measurement noise and output smooth motion state estimates.

[0027] The received signal strength indicator, link quality indicator, and packet error rate data are subjected to moving average filtering within a preset time window to eliminate the interference of instantaneous jitter on link quality assessment.

[0028] This preprocessing process ensures that the data upon which subsequent feature extraction depends has a high signal-to-noise ratio and temporal consistency.

[0029] Subsequently, based on the preprocessed data, a comprehensive node mobility instability index is constructed and calculated. This index is used to quantitatively characterize the node's motion state and the stability of its link connection at the current moment.

[0030] The calculation process is divided into three sub-steps.

[0031] First, calculate the physical motion component exponents. Within a pre-defined time window, calculate the standard deviation of the velocity magnitude and the average of the acceleration magnitude at this node.

[0032] After normalizing these two statistics, they are weighted and summed according to the first preset weighting coefficient to obtain the physical motion component index, which characterizes the intensity of the physical motion of this node. Next, the link disturbance component index is calculated.

[0033] For each neighboring node, within a preset time window in the past, calculate the standard deviation of the received signal strength indication and the average of the packet error rate of the communication link with that neighboring node.

[0034] After normalizing and weighting the sum of these two statistics, the average of the results for all neighboring nodes is taken to obtain the link disturbance component index, which characterizes the stability of the local network environment of this node.

[0035] Finally, the physical motion component index and the link disturbance component index are weighted and summed according to the second preset weighting coefficient to obtain the comprehensive node mobility instability index.

[0036] The normalization process is the process of mapping the original physical quantity to a closed numerical range.

[0037] The specific implementation is as follows: Divide the standard deviation of the speed by a preset maximum speed standard deviation threshold, and limit the result to within 1; Divide the average value of the acceleration by a preset maximum average acceleration threshold, and limit the result to within 1; Divide the standard deviation of the received signal strength indication by a preset maximum signal strength standard deviation threshold, and limit the result to within 1; The average value of the grouping error rate is considered as a normalized value, ranging from 0 to 1.

[0038] This normalization mechanism ensures that features of different physical dimensions participate in the fusion calculation at the same scale, avoiding feature-dominated bias caused by differences in magnitude.

[0039] Based on the quantification results of the node mobility instability index, the routing information update mode of this node is adaptively determined. This mode includes the triggering period for routing updates and the scope of routing information announcement.

[0040] A first instability index threshold and a second instability index threshold are preset, wherein the second instability index threshold is greater than the first instability index threshold.

[0041] When the calculated node mobility instability index is less than the first instability index threshold, the node is determined to be in a stable state, and a decision is made to adopt the long-cycle global announcement mode, that is, to set the longest basic route update cycle and generate a global topology announcement message. When the calculated node mobility instability index is greater than or equal to the first instability index threshold, but less than the second instability index threshold, the node is determined to be active and a decision is made to adopt the medium-cycle global announcement mode, that is, the basic route update cycle is divided by the first preset reduction factor to obtain a shorter update cycle, and a global topology announcement message is generated. When the calculated node mobility instability index is greater than or equal to the second instability index threshold, the node is determined to be in a high dynamic state, and an immediate local announcement mode is adopted, that is, a route update is immediately triggered, the shortest update period is set, and a local topology announcement message containing only changes in neighbor relationships is generated.

[0042] Based on the determined routing information update mode, a corresponding routing announcement message is generated and broadcast or directed to other nodes in the network via a wireless transceiver.

[0043] In the long-cycle global announcement mode and the medium-cycle global announcement mode, the generated global topology announcement message contains a complete list of the node's neighbors and link metric information to these neighbor nodes. The time-to-live field in the Internet Protocol header of the message is set to the upper limit of the network diameter to ensure that the message can spread to the entire network. In the immediate local announcement mode, the generated local topology announcement message only contains information about the neighboring nodes that have been added or lost by this node. The Time to Live field in the Internet Protocol header of this message is set to a small value, which limits the propagation range of the message to the two-hop or three-hop neighbors of this node.

[0044] All generated route advertisement messages encapsulate the node mobility instability index value currently calculated by this node, so that the receiving node can use this value to predict the timeliness of route entries.

[0045] It receives routing advertisement messages from other nodes and, based on the source node mobility instability index carried in the message, predictively adjusts the validity period of relevant routing entries in its routing table to achieve proactive aging and elimination of routing information.

[0046] When a route advertisement message is received and a new route entry is updated or created, the mobility instability index of all intermediate nodes on the route path is parsed out. These indices are appended by the nodes along the route when forwarding the message.

[0047] The overall path instability of the route is calculated by taking the maximum value of the mobility instability index of all nodes on the path.

[0048] Based on the path instability, the dynamic validity period of the routing entry is calculated using the following formula: ; Indicates the dynamic validity period. The preset maximum base duration, As a regulating factor, This is due to path synthesis instability.

[0049] A timer is set for this route entry, and its timeout period is the calculated dynamic validity period. When the timer expires, if no update information about the route is received, the route entry is actively set to invalid. In this way, route information originating from or passing through highly dynamic nodes will be given a shorter lifespan, thus being eliminated more quickly from the local node's routing table, avoiding data forwarding based on outdated information.

[0050] During the execution of the above method, there are strict data dependencies and state synchronization mechanisms between each step.

[0051] The sensor data acquisition module operates at a fixed sampling frequency, and its output is fed into a time-aligned buffer.

[0052] The Kalman filter reads the buffer data at a rate matching the sampling frequency and outputs the fused motion state estimate.

[0053] The link quality monitoring module updates the link quality metrics immediately after each successful data frame reception and writes them to the sliding window register. At the beginning of each routing decision cycle, the instability index calculation module reads the latest statistical data from the register and performs normalization and weighted summation operations. The routing update decision module queries a preset threshold table based on the calculation results to determine the appropriate update mode and configures the parameters of the routing advertisement generator.

[0054] The announcement generator fills in the message content according to the mode selection and sets the time-to-live field. After receiving the transmit command, the wireless transceiver immediately injects the message into the physical layer for broadcast or targeted transmission.

[0055] At the receiving end, after detecting a valid routing message, the route advertisement parsing module first extracts the source node identifier, neighbor list, link metric, and instability index. If it is a global advertisement, the local topology database is updated; if it is a local advertisement, only the affected neighbor relationships are updated.

[0056] The path instability calculation module traverses newly established or updated routing paths, collects the instability index of all nodes on the path, and calculates the maximum value as the overall path instability.

[0057] The dynamic validity period calculator calls the above formula to generate a new timeout value and resets the aging timer of the corresponding route entry.

[0058] This timer is maintained by the operating system kernel. When the timeout event occurs, it triggers the route entry failure handler, which marks the entry as unavailable and notifies the upper-layer application or forwarding engine to stop using the path.

[0059] The execution of the entire method relies on a sophisticated internal data structure.

[0060] The node maintains a local circular buffer for sensor data, which stores raw and fused data from the last few seconds.

[0061] The link quality register assigns an independent sliding window to each neighbor node, and the window length is configurable.

[0062] The instability index calculation module includes a normalized parameter table, a weight coefficient register, and an intermediate result storage area. A new field for path comprehensive instability and dynamic validity duration has been added to the routing table entry structure to support an active aging mechanism.

[0063] The announcement message format extends the standard routing protocol by adding a source node instability index field, which is located in the message header.

[0064] An exception handling mechanism is implemented throughout the entire process.

[0065] If the signal loss of the Global Navigation Satellite System exceeds the preset time limit, the system will switch to pure inertial calculation mode and reduce the weight of the physical motion component index.

[0066] If the link quality data remains unchanged for several consecutive windows, the link disturbance component index of the corresponding neighbor will be set to its maximum value to trigger a local announcement. If the calculated instability index exceeds the theoretical range, it will be forcibly clamped to 0 or 1, and a diagnostic log will be recorded.

[0067] If the route advertisement generation fails, a retry mechanism will be initiated. After a maximum of three attempts, the update will be abandoned and the next decision cycle will be extended.

[0068] This method demonstrates good adaptability across different network sizes and mobile scenarios.

[0069] In scenarios with small network size and low node density, the propagation overhead of global announcements is controllable, and long-cycle mode can save bandwidth.

[0070] In scenarios with large-scale networks and high-speed node movement, local notification mechanisms limit the flooding range of control messages, while real-time updates from highly dynamic nodes ensure the rapid convergence of critical link information.

[0071] The path stability prediction mechanism makes the data forwarding path tend to choose a stable route that passes through low dynamic nodes, thereby reducing the end-to-end packet loss rate.

[0072] In summary, this invention achieves fine-grained control of routing update behavior by constructing a dynamic quantification model of node mobility instability index. This method not only solves the routing table outdated problem caused by fixed-period broadcasts in highly dynamic environments, but also optimizes routing table quality through an intelligent aging mechanism. Ultimately, while ensuring communication connectivity, it improves the resource utilization efficiency and overall performance of wireless ad hoc networks.

[0073] It should be noted that, in this document, relational terms such as "first" and "second" are used only to distinguish an entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus.

[0074] Although embodiments of the invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. An active routing communication method suitable for a wireless ad hoc network, characterized in that, The application comprises: Real-time acquisition of physical motion state data of the node and wireless link quality data between the node and neighbor nodes through an on-board sensor cluster; Based on the acquired physical motion state data and wireless link quality data, a comprehensive node mobility instability index is constructed and calculated, which is used to quantify the motion state of the node at the current time and the stability degree of link connection; According to the quantification result of the node mobility instability index, the routing information update mode of the node is adaptively decided, which includes the trigger period of routing update and the announcement range of routing information; Based on the decided routing information update mode, a corresponding routing announcement packet is generated, and broadcasted or directionally propagated to other nodes in the network through a wireless transceiver; The routing announcement packet from other nodes is received, and the effective time of the relevant routing entry in the routing table of the node is predictively adjusted according to the source node mobility instability index carried in the packet, so as to realize the active aging and elimination of routing information.

2. The proactive routing communication method for a wireless ad hoc network according to claim 1, wherein, Real-time acquisition of physical motion state data of the node and wireless link quality data between the node and neighbor nodes through an on-board sensor cluster, comprising: Acquisition of three-dimensional geographic coordinate, ground speed vector and motion acceleration vector data of the node through a global navigation satellite system receiver; Fusion calculation of attitude angular velocity and linear acceleration data of the node through an inertial measurement unit, and data of the global navigation satellite system receiver, so as to improve the update rate and accuracy of physical motion state data; Measurement and recording of real-time received signal strength indication, link quality indicator and packet error rate of each neighbor node when receiving data frames from the neighbor node through the wireless radio frequency transceiver module of the node.

3. The proactive routing communication method for a wireless ad hoc network according to claim 2, wherein, After acquiring the physical motion state data and wireless link quality data, the data is preprocessed, specifically including: Unifying all sensor data to the same time reference to form a timestamp-aligned multi-element time series data stream; Fusion filtering of the original data of the global navigation satellite system receiver and the inertial measurement unit through a Kalman filter to suppress measurement noise and output smooth motion state estimation value; Sliding average filtering of the received signal strength indication, link quality indicator and packet error rate data within a preset time window to eliminate the interference of instantaneous jitter on link quality evaluation.

4. The proactive routing communication method for a wireless ad hoc network according to claim 1, wherein, Construction and calculation of a comprehensive node mobility instability index, comprising: Calculation of a physical motion component index, which is obtained by calculating the standard deviation of the node speed and the average value of the acceleration within a preset time window in the past, normalizing the two statistics respectively, and then weighting and summing according to a first preset weight coefficient; Calculation of a link disturbance component index, which is obtained by calculating the standard deviation of the received signal strength indication and the average value of the packet error rate of the communication link with each neighbor node within a preset time window in the past, normalizing the two statistics and weighting and summing, and then taking the average value of the results of all neighbor nodes; The physical motion component index and the link disturbance component index are weighted and summed according to a second preset weight coefficient to obtain the node mobility instability index.

5. The proactive routing communication method for a wireless ad hoc network according to claim 4, wherein, The normalization process comprises: The standard deviation of the speed magnitude is divided by a preset maximum speed standard deviation threshold, and the result is limited within 1; The average value of the acceleration magnitude is divided by a preset maximum acceleration average threshold, and the result is limited within 1; The standard deviation of the received signal strength indication is divided by a preset maximum signal strength standard deviation threshold, and the result is limited within 1; The average value of the packet error rate is taken as a normalized value, which ranges from 0 to 1.

6. The proactive routing communication method for a wireless ad hoc network as claimed in claim 1, wherein, According to the quantization result of the node mobility instability index, the routing information update mode of the node is adaptively decided, comprising: A first instability index threshold and a second instability index threshold are preset, and the second instability index threshold is greater than the first instability index threshold; When the node mobility instability index is less than the first instability index threshold, it is determined that the node is in a stable state, and a long-period global announcement mode is decided, i.e. the longest basic routing update period is set, and a global topology announcement packet is generated; When the node mobility instability index is greater than or equal to the first instability index threshold but less than the second instability index threshold, it is determined that the node is in an active state, and a medium-period global announcement mode is decided, i.e. the basic routing update period is divided by a first preset reduction factor to obtain a shorter update period, and a global topology announcement packet is generated; When the node mobility instability index is greater than or equal to the second instability index threshold, it is determined that the node is in a high dynamic state, and an instant local announcement mode is decided, i.e. a routing update is triggered immediately, the shortest update period is set, and a local topology announcement packet containing only the information of newly added or lost neighbor nodes is generated.

7. The proactive routing communication method for a wireless ad hoc network according to claim 6, wherein, Corresponding routing announcement packets are generated and broadcast or directionally propagated to other nodes in the network through a wireless transceiver, comprising: In the long-period global announcement mode and the medium-period global announcement mode, the generated global topology announcement packet contains the complete neighbor list of the node and the link metric information to the neighbor nodes, and the time to live field in the Internet protocol packet header of the packet is set to the upper limit value of the network diameter; In the instant local announcement mode, the generated local topology announcement packet contains only the information of newly added or lost neighbor nodes of the node, and the time to live field in the Internet protocol packet header of the packet is set to a smaller value, limiting the propagation range of the packet within the two-hop or three-hop neighbors of the node; All generated routing announcement packets are encapsulated with the node mobility instability index value currently calculated by the node.

8. The proactive routing communication method for a wireless ad hoc network as claimed in claim 1, wherein, Routing announcement packets from other nodes are received, and the effective time of the relevant routing entry in the routing table of the node is predictively adjusted according to the source node mobility instability index carried in the packet, comprising: When receiving the route advertisement packet and updating or creating a new route entry, the mobility instability indexes of all intermediate nodes on the route path are parsed, which are attached by the nodes along the route path when forwarding the packet; The path comprehensive instability of the route path is calculated, which is the maximum value of the mobility instability indexes of all nodes on the route path; The dynamic validity duration of the route entry is calculated according to the path comprehensive instability, and the calculation formula is: ； represents a dynamic validity duration, is a preset maximum base duration, is a tuning factor, is a path synthesis instability; A timer is set for the route entry, and the timeout time of the timer is the calculated dynamic validity duration, and when the timer times out, if no update information about the route is received, the route entry is actively set to an invalid state.

9. The proactive routing communication method for a wireless ad hoc network according to claim 8, wherein, The adjustment factor is a positive real constant, which is used to control the influence intensity of the path comprehensive instability on the dynamic validity duration.

10. The proactive routing communication method for a wireless ad hoc network according to claim 8, wherein, The route advertisement packet extends a source node instability index field based on the standard route protocol format, which is located in the packet body header.

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