A pre-planning cluster head election method for rapid network construction of a directional network of a UAV group

Abstract

The application discloses a pre-planning cluster head election method for fast network establishment of a directional network of a UAV group, and the method filters a potential candidate cluster head set according to a comprehensive energy value of each UAV node, and according to a single-beam coverage capacity of a directional antenna, excludes redundant UAV nodes in the potential cluster head candidate set in an overlapping area to obtain a candidate cluster head, then quantitatively evaluates the candidate cluster head in network communication quality, energy state and topological stability, takes a UAV node with the highest quantitative evaluation score as a cluster head, and takes a UAV node with the second highest quantitative evaluation score as a backup cluster head, so that the cluster head is determined in time and accurately, and the beam resource utilization rate is improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of unmanned aerial vehicle group ad hoc network communication, in particular to a pre-planned cluster head election method and device for rapid network construction of a directional network of an unmanned aerial vehicle group. BACKGROUND

[0002] In the field of unmanned aerial vehicle group ad hoc network communication, the cluster head election mechanism is the core technology that determines network performance. Existing methods usually adopt pre-flight customized cluster heads or random election mechanisms. However, in the high-speed, narrow-beam phased array networking scenario, the method of determining the cluster head based on only the node position or energy index lacks multidimensional collaborative optimization, and in the high-speed flight scenario, the mobility of nodes leads to a sharp increase in cluster head failure probability. Therefore, how to determine the cluster head in a timely and accurate manner to improve the utilization rate of beam resources has become a problem that needs to be solved urgently. SUMMARY

[0003] The present application provides a pre-planned cluster head election method and device for rapid network construction of a directional network of an unmanned aerial vehicle group to solve the problem that existing methods cannot determine the cluster head in a timely and accurate manner, thereby causing waste of beam resources and coverage blind spots.

[0004] In a first aspect, the present application provides a pre-planned cluster head election method for rapid network construction of a directional network of an unmanned aerial vehicle group, which comprises: based on the initial position coordinates, motion speed and direction parameters of each unmanned aerial vehicle node in the unmanned aerial vehicle cluster, constructing a directional network topology structure of the unmanned aerial vehicle cluster;

[0005] According to the directional network topology structure, each unmanned aerial vehicle node calculates its own comprehensive energy value based on the information of its neighbor unmanned aerial vehicle nodes , and screens the unmanned aerial vehicle nodes with a comprehensive energy value greater than a preset energy threshold as potential candidate cluster heads;

[0006] According to the single-beam coverage capability of the directional antenna, the redundant unmanned aerial vehicle nodes in the overlapping coverage area of the potential candidate cluster heads are excluded to obtain candidate cluster heads;

[0007] The candidate cluster heads are quantitatively evaluated in terms of energy state, network communication quality and topology stability, the unmanned aerial vehicle node with the highest quantitative evaluation score is selected as the cluster head, and the unmanned aerial vehicle node with the second highest quantitative evaluation score is selected as the backup cluster head;

[0008] During the flight of the unmanned aerial vehicle cluster, the network topology state is monitored in real time, and the cluster head upgrade is triggered when the cluster head replacement trigger condition is met;

[0009] Wherein, the neighbor unmanned aerial vehicle nodes of each unmanned aerial vehicle node are determined based on a preset minimum distance principle, is the distance variance, used to represent the centrality of the cluster head, speed consistency, for characterizing the UAV nodes the difference in speed between the UAV node and its neighbor UAV nodes, horizontal angle, for characterizing the time delay in establishing a communication connection between the UAV nodes when the directional antenna is polled, weight for evaluating the comprehensive performance of the UAV nodes in terms of position, weight for evaluating the comprehensive performance of the UAV nodes in terms of speed consistency, weight for evaluating the comprehensive performance of the UAV nodes in terms of distribution azimuth angle.

[0010] Optionally, the distance variance is wherein, denotes the Euclidean distance between the UAV node and the UAV node ; denotes the average distance of the UAV node to the rest of the UAV nodes in the cluster; denotes the set of all UAV nodes in the cluster;

[0011] The speed consistency is , including direction difference and speed size difference wherein, denotes the speed vector of the UAV node ; denotes the average speed vector of the neighbor UAV nodes, is the direction difference, and is the speed difference;

[0012] The horizontal angle is wherein, threshold is the horizontal angle threshold, is the horizontal angle between the UAV node and the UAV node , and , denotes the horizontal coordinate difference between the UAV node and the UAV node ; denotes the vertical coordinate difference between the UAV node and the UAV node .

[0013] Optionally, according to the single-beam coverage capability of the directional antenna, the redundant UAV nodes in the coverage overlap area of the potential candidate cluster head are excluded to obtain the candidate cluster head, including:

[0014] According to the single-beam coverage ability of the directional antenna, the beam coverage range is calculated, and the beam pointing is controlled by adjusting the phase of the phased array antenna based on a preset beam avoidance strategy to avoid multiple UAV nodes in the same beam from simultaneously accessing the network, and the potential candidate cluster head is screened to obtain the candidate cluster head

[0015] Optionally, the candidate cluster head is quantitatively evaluated in terms of energy state, network communication quality and topology stability, including:

[0016] According to The energy state, network communication quality and topology stability of each candidate cluster head are quantitatively evaluated, wherein, is the remaining energy, is the remaining energy weight, is the network communication quality, is the network communication quality weight, is the topology stability, is the topology stability weight.

[0017] Optionally, the network topology state is monitored in real time, and the cluster head upgrade is triggered when the cluster head replacement trigger condition is met, including:

[0018] Based on The current network topology state and transmission energy consumption of the UAV cluster are calculated in real time, and it is judged whether the cluster head needs to be upgraded according to the calculation result, and if so, the cluster head upgrade is triggered;

[0019] Wherein, is the number of neighbor UAV nodes of the UAV node i, is the average connectivity of the UAV node, and is the transmission energy consumption between the UAV nodes, is the total remaining energy of the UAV node, is the network connectivity weight, Transmission energy consumption weight.

[0020] Optionally, the network topology state is monitored in real time, and the cluster head upgrade is triggered when the cluster head replacement trigger condition is met, including:

[0021] The probability of the cluster head itself leaving the cluster is judged at the cluster head end Wherein, is the remaining energy weight, is the ratio of consumed energy to total energy, is the link awareness weight, is the number of UAV nodes that have built links, is the ratio of the damaged value to the normal value of the link between the current UAV node and the UAV node ​a flag for task adjustment quality;

[0022] If is less than the critical value Q and the current cluster head is not failed, each backup cluster head calculates a weight value of becoming a recommended cluster head through the current cluster head and determines the next cluster head;

[0023] If is less than the critical value Q and the current cluster is failed, each backup cluster head calculates a weight value of becoming a recommended cluster head through the current cluster head , and determines the next cluster head through the weight value ordering.

[0024] Optionally, each backup cluster head calculates a weight value of becoming a recommended cluster head through the current cluster head and determines the next cluster head, including:

[0025] The current cluster head calculates a weight value of each backup cluster head becoming a recommended cluster head according to , wherein, is the total number of cluster members, is the weight of the number of built chains of the unmanned aerial vehicle node, is the weight of the address ordering of the unmanned aerial vehicle node, is the address number of the unmanned aerial vehicle node; The calculated weight value

[0026] is ordered, the backup cluster head with the highest weight value is taken as the next cluster head, and each backup cluster head is informed.

[0027] Optionally, each backup cluster head calculates a weight value of becoming a recommended cluster head through the current cluster head , and determines the next cluster head through the weight value ordering, including:

[0028] Each backup cluster head calculates a weight value of becoming a recommended cluster head based on , and determines the next cluster head through ordering all backup cluster heads' weight values , wherein the backup cluster head with the highest weight value is taken as the next cluster head.

[0029] , wherein, is the remaining energy weight, is the ratio of the consumed energy to the total energy, is the ratio of the damaged value to the normal value of the link between the current and the unmanned aerial vehicle node , and is the distance weight of the backup cluster head and the original failed cluster head.​​ Distance between the backup cluster head and the original faulty cluster head.

[0030] In a second aspect, the application provides a pre-planned cluster head election device for fast network construction of a directional network of a UAV swarm, the device comprising:

[0031] A first processing unit is configured to construct a directional network topology of the UAV swarm based on initial position coordinates, motion speed and direction parameters of each UAV node in the UAV swarm.

[0032] A second processing unit is configured to calculate a comprehensive energy value of each UAV node based on neighbor UAV node information of the UAV node according to the directional network topology. The neighbor UAV nodes of each UAV node are determined based on a preset minimum distance principle. is a distance variance, used to represent centrality of the cluster head, is a speed consistency, used to represent a difference in speed between the UAV node and its neighbor UAV nodes, is a horizontal angle, used to represent a time delay in establishing a communication connection between the UAV nodes when polling by a directional antenna, is used to evaluate the comprehensive performance of the UAV node in terms of position, is used to evaluate the comprehensive performance of the UAV node in terms of speed consistency, is used to evaluate the comprehensive performance of the UAV node in terms of distribution azimuth, is used to evaluate the comprehensive performance of the UAV node in terms of distribution azimuth.

[0033] A third processing unit is configured to exclude redundant UAV nodes in an overlapping coverage area in the potential candidate cluster head according to a single-beam coverage capability of the directional antenna, to obtain a candidate cluster head.

[0034] A quantitative evaluation unit is configured to quantitatively evaluate the energy state, network communication quality and topological stability of the candidate cluster head, to select a UAV node with the highest quantitative evaluation score as the cluster head, and to select a UAV node with the second highest quantitative evaluation score as a backup cluster head.

[0035] A monitoring unit is configured to monitor a network topology state in real time during flight of the UAV swarm, and to trigger cluster head upgrading when a cluster head replacement trigger condition is met.

[0036] In a third aspect, the application provides a computer-readable storage medium, wherein the storage medium stores a computer program, and the program is executed by a processor to implement any of the pre-planned cluster head election methods for fast network construction of a directional network of a UAV swarm.

[0037] The application has the following advantages:

[0038] The application screens potential candidate cluster heads according to the comprehensive energy value of each unmanned aerial vehicle node, and excludes redundant unmanned aerial vehicle nodes in the overlapping coverage area in the potential candidate cluster heads according to the single-beam coverage capability of the directional antenna to obtain candidate cluster heads, then quantitatively evaluates the network communication quality, energy state and topological stability of the candidate cluster heads, takes the unmanned aerial vehicle node with the highest quantitative evaluation score as the cluster head, and takes the unmanned aerial vehicle node with the second highest quantitative evaluation score as the backup cluster head, thereby determining the cluster head in time and accurately, and then improving the beam resource utilization rate.

[0039] The above description is only a summary of the technical scheme of the application, in order to enable the technical means of the application to be more clearly understood and implemented according to the content of the specification, and in order to enable the above and other purposes, characteristics and advantages of the application to be more apparent and easy to understand, the following specific embodiments of the application are described. BRIEF DESCRIPTION OF DRAWINGS

[0040] Various other advantages and benefits will become apparent to those of ordinary skill in the art upon reading the following detailed description of the preferred embodiments. The accompanying drawings are included to provide a description of the preferred embodiments and are not meant to limit the present application. Furthermore, the same reference numerals are used throughout the several drawings to refer to same or like parts. In the drawings:

[0041] Figure 1 is a flowchart of a cluster head election method for rapid network construction of a directional network of a UAV group provided by an embodiment of the application;

[0042] Figure 2 is a flowchart of the cluster head election method provided by an embodiment of the application;

[0043] Figure 3 is a schematic diagram of node changes in cluster head election provided by an embodiment of the application;

[0044] Figure 4 is a flowchart of a cluster head itself determining to initiate network reconstruction provided by an embodiment of the application;

[0045] Figure 5 is a flowchart of a backup cluster head itself determining to initiate network reconstruction provided by an embodiment of the application;

[0046] Figure 6 is a structural schematic diagram of a cluster head election device for rapid network construction of a directional network of a UAV group provided by an embodiment of the application. DETAILED DESCRIPTION

[0047] The application will be further described in detail below in combination with the drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the application and do not limit the application.

[0048] In view of the problems that the beam space characteristics are disconnected with resource allocation in the existing unmanned aerial vehicle group ad hoc network, the existing cluster head selection is only based on node position or energy index, lacks multi-dimensional cooperative optimization, and in a high-speed flight scene, node mobility can cause the cluster head failure probability to increase sharply, and the existing reselection mechanism is difficult to meet the real-time requirement due to the dependence on global information synchronization.

[0049] In view of the above problems, the embodiment of the application provides a pre-planned cluster head election method for rapid network construction of a directional network of an unmanned aerial vehicle group, referring to Figure 1 , the method comprises:

[0050] S101, based on initial position coordinates, motion speed and direction parameters of each unmanned aerial vehicle node in the unmanned aerial vehicle cluster, a directional network topology structure of the unmanned aerial vehicle cluster is constructed;

[0051] Specifically, the embodiment of the application is to first construct the topology structure of the unmanned aerial vehicle cluster, and then select the cluster head based on the topology result. Of course, the topology structure is updated in real time along with the motion of the unmanned aerial vehicle node, so the cluster head also needs to be updated in real time.

[0052] In specific implementation, the embodiment S101 of the application specifically comprises:

[0053] After the unmanned aerial vehicle group is started, all unmanned aerial vehicle nodes (hereinafter referred to as nodes) broadcast a beacon frame through a preset communication protocol; then each node collects its own three-dimensional position (including longitude, latitude and degree), speed vector (including horizontal speed and vertical speed), flight direction (heading angle) and the like; and through the TDMA time division multiplexing mechanism, data is periodically exchanged to ensure that the information of adjacent nodes can be synchronized in real time; and through the neighbor discovery mechanism, a dynamic adjacency table is constructed based on signal strength and distance estimation, the adjacent node list and real-time state are recorded, and finally the topology structure of the unmanned aerial vehicle cluster is established, and the topology structure is updated in real time according to the change of the node.

[0054] S102, according to the directional network topology structure, each unmanned aerial vehicle node calculates its own comprehensive energy value based on the information of its neighbor unmanned aerial vehicle node , and screens the unmanned aerial vehicle node with a comprehensive energy value greater than a preset energy threshold as a potential candidate cluster head;

[0055] Since the potential candidate cluster head is usually multiple, it can also be a potential candidate cluster head set;

[0056] Specifically, the embodiment of the application calculates the comprehensive energy value of the node according to the neighbor unmanned aerial vehicle node, and screens the unmanned aerial vehicle node with a comprehensive energy value greater than a preset energy threshold as a potential candidate cluster head, and then further selects a candidate cluster head from the potential candidate cluster head.

[0057] In particular implementation, the distance variance of the embodiment of the present application is used to represent the centrality of the cluster head, represents the Euclidean distance between the UAV node and the UAV node ; represents the average distance between the UAV node and the remaining UAV nodes in the cluster; represents the set of all UAV nodes in the cluster;

[0058] The speed consistency of the embodiment of the present application is used to quantify the difference in speed between the UAV node and the neighbor, including the difference in direction and the difference in speed size , wherein, represents the speed vector of the node ; represents the average speed vector of the neighbor node; represents the direction consistency; represents the speed size difference;

[0059] The horizontal included angle of the embodiment of the present application is used to represent the time delay of establishing a communication connection when polling the directional antenna, wherein threshold is the horizontal included angle threshold, , represents the horizontal coordinate difference between the node and the node ; represents the vertical coordinate difference between the node and the node ; is the horizontal included angle of the node and the node .

[0060] , wherein, is the weight for evaluating the comprehensive performance of the UAV node in terms of position, is the weight for evaluating the comprehensive performance of the UAV node in terms of speed consistency, is the weight for evaluating the comprehensive performance of the UAV node in terms of distribution azimuth.

[0061] It should be noted that the values of the preset energy threshold and , and in the embodiment of the present application are determined through experiments, and of course, in particular implementation, a person skilled in the art can also arbitrarily set them according to actual needs, and the present application does not make a detailed discussion on this.

[0062] In particular implementation, the centrality evaluation in the embodiment of the application is: The smaller the node is, the closer it is to the central area in the network topology, and it has stronger cluster head candidate qualification;

[0063] In particular implementation, the embodiment of the application determines the neighbor nodes based on a preset minimum distance principle, that is, the distance of each node and its nearest connected node is added respectively, and the smallest node is taken as a cluster, and the minimum distance, that is, the sum of the distances of the nodes, can be set according to the number of nodes in the unmanned aerial vehicle cluster, the number of clusters and specific control timeliness and the like, for example, the minimum distance can be set to 20 meters, that is, the sum of the distances between all nodes in the cluster is 20 meters, and the node exceeding this value will be allocated to other clusters;

[0064] In particular implementation, the method for screening the cluster head candidate set of the application specifically includes: preliminary screening: selecting the smallest 10% of nodes from the adjacent nodes as the candidate set; the candidate node set N={1, 2, 3, …, N}: the position of node i , ;

[0065] Beam synthesis and coverage range: , wherein, is a beam main lobe pointing angle, is a signal wavelength, and an element spacing;

[0066] The phase offset of the nth element is .

[0067] Conflict detection: if there is another candidate node in the current beam coverage area of the candidate node, the candidate node is excluded through .

[0068] S103, according to the single-beam coverage capability of the directional antenna, excluding redundant unmanned aerial vehicle nodes in the overlapping coverage area of the potential candidate cluster head, to obtain a candidate cluster head;

[0069] Specifically, the embodiment of the application calculates the beam coverage range according to the single-beam coverage capability of the directional antenna, and controls the beam pointing by adjusting the phase of the phased array antenna based on a preset beam avoidance strategy to avoid multiple unmanned aerial vehicle nodes entering the network at the same time under the same beam, and screens the potential candidate cluster head to determine the final candidate cluster head.

[0070] The beam avoidance strategy realizes dynamic change of the beam pointing by adjusting the phase of the phased array antenna: , is the signal wavelength, N is the number of array elements, and d is the array element spacing.

[0071] S104, the energy state, network communication quality and topology stability of the candidate cluster head are quantitatively evaluated, the unmanned aerial vehicle node with the highest quantitative evaluation score is taken as the cluster head, and the unmanned aerial vehicle node with the second highest quantitative evaluation score is taken as the backup cluster head;

[0072] According to The energy state, network communication quality and topology stability of each candidate cluster head are quantitatively evaluated, wherein, is the residual power of the candidate cluster head, is the residual power weight, is the network communication quality of the candidate cluster head, is the network communication quality weight, is the topology stability of the candidate cluster head, is the topology stability weight. In the embodiment of the application, each weight can be determined according to experiments, and can be specifically set by a person skilled in the art, and the application does not specifically limit this.

[0073] It should be noted that there can be multiple unmanned aerial vehicle nodes with the same quantitative evaluation score in the embodiment of the application. In the case that there are multiple highest quantitative evaluation scores, the application can randomly select an unmanned aerial vehicle node with the highest quantitative evaluation score as the cluster head. More often, the second highest quantitative evaluation score is multiple, or the quantitative evaluation scores of multiple unmanned aerial vehicle nodes are very close, all within a common score range, such as 8.1, 8.5, 8.7, 8.9, etc. They are all within an acceptable score range [8-9] (the specific score range can be arbitrarily set according to actual needs, and the application only illustrates this through an example). In this case, multiple backup cluster heads can be set, so that an optimal cluster head can be selected from multiple backup cluster heads when the cluster head is upgraded later.

[0074] S105, in the process of unmanned aerial vehicle cluster flight, the network topology state is monitored in real time, and the cluster head upgrade is triggered when the cluster head replacement trigger condition is met.

[0075] In specific implementation, the embodiment of the application calculates whether the cluster head needs to be upgraded based on the current network topology state and transmission energy consumption in the cluster in the process of cluster flight through the ground control end or the current cluster head, wherein, is the number of neighbors of the unmanned aerial vehicle node i, is the network connectivity weight, is the node transmission energy consumption, is This represents the average connectivity of the nodes. This represents the total remaining energy of the node. If the calculated... The value is lower than the preset value If the threshold is reached, a cluster head upgrade will be triggered.

[0076] In addition, in specific implementation, those skilled in the art can also set various cluster head upgrade triggering conditions according to actual needs. For example, during the flight of a drone swarm, the probability of the cluster head leaving the swarm can be determined by the current cluster head. ,in, To decouple from the cluster weight value, For the remaining energy weight, It is the ratio of energy consumed to total energy. For link-aware weights, This represents the number of nodes that have already established a chain. For the current node The ratio of the damaged value to the normal value of the link. The indicator for adjusting the quality of the task;

[0077] If calculation Less than the critical value If the current cluster head is not faulty, then the weight value of the nominated cluster head for each backup cluster head is calculated based on the current cluster head. And determine the next cluster head;

[0078] if Less than the critical value If the current cluster fails, the weight values ​​for each cluster to become the nominated cluster leader are calculated using the backup cluster leaders. And determine the next cluster head by sorting;

[0079] In other words, for drone swarm flight, the first step is through calculation. This involves quantitatively evaluating the energy state, network communication quality, and topology stability of each candidate cluster head to determine the cluster head and backup cluster heads, and then... The system calculates the current network topology and transmission energy consumption of the drone swarm in real time, determines whether the cluster head needs to be upgraded based on the calculation results, and assesses the probability of the cluster head leaving the swarm. This determines whether a cluster head upgrade is needed. When any condition for a cluster head upgrade is met, the upgrade is triggered, thus identifying the cluster head in a timely and accurate manner, thereby improving beam resource utilization.

[0080] Specifically, in this embodiment of the invention, cluster head upgrade can be determined based on different cluster head upgrade conditions, such as the current network topology state within the cluster and transmission energy consumption calculations. ,if If the value is greater than a pre-designed threshold value, the cluster head is triggered to upgrade, or the cluster head judges the probability of its own departure from the cluster If the value is greater than a pre-designed threshold value, the cluster head is triggered to upgrade, or the cluster head judges the probability of its own departure from the cluster If the value is less than a critical value Q, the cluster head is triggered to upgrade, of course, in the specific implementation, those skilled in the art can also set other various upgrade rules according to actual needs to ensure the accuracy of the cluster head, so as to realize the efficient self-control of the unmanned aerial vehicle cluster, and finally complete the predetermined task target through the unmanned aerial vehicle cluster.

[0081] In the embodiment of the application, the weight value of each backup cluster head becoming a recommended cluster head is calculated by the current cluster head, and the next cluster head is determined, including:

[0082] The current cluster head calculates the weight value of each backup cluster head becoming a recommended cluster head according to The weight value of each backup cluster head becoming a recommended cluster head is calculated one by one , wherein, is the total number of cluster members, is the weight of the number of unmanned aerial vehicle nodes connected, is the weight of the address sequence of the unmanned aerial vehicle node, is the address number of the unmanned aerial vehicle node;

[0083] The calculated weight value is sorted , the weight value of the highest backup cluster head is taken as the next cluster head, and the weight value of the backup cluster head with the second highest value is taken as the next backup cluster head, and each backup cluster head is informed.

[0084] It should be noted that, in the specific implementation, the weight value of the backup cluster head with the second highest value is taken as the next backup cluster head, so that the next cluster head can be better determined in the subsequent process. In short, the embodiment of the application is to take the highest backup cluster head as the next cluster head, and take the backup cluster head with the highest value and a preset number (for example, 3) of backup cluster heads as the next backup cluster head, so that the next cluster head can be better determined from the backup cluster head in the subsequent process.

[0085] Specifically, the embodiment of the application calculates the weight value of each backup cluster head becoming a recommended cluster head one by one through the cluster head, and the difference between the priority and the order of magnitude ; after the calculation is completed one by one, the calculation result is sorted and informed to each backup cluster head, after receiving the message, the backup cluster head judges whether it is a recommended cluster head, if yes, it initiates a handshake with each member in the network management time slot of the original cluster head after N seconds, if not, it waits for the new cluster head to handshake with itself, and after each member responds to the handshake, the new cluster network is completed.

[0086] Furthermore, the embodiment of the present invention describes calculating the weight value of each backup cluster head to become the nominated cluster head, and determining the next cluster head by sorting, including: each backup cluster head based on Calculate the weight value for each to become the head of the nominated cluster. And by weighting all backup cluster heads. Sort by weight values The highest-ranking alternate cluster head becomes the next cluster head, and the weight value is set accordingly. The second-highest spare cluster head becomes the next spare cluster head;

[0087] It should be noted that, in specific implementation, this invention uses weight values... The next few backup cluster heads are used as the next backup cluster heads, so that the cluster heads for the next subsequent iteration can be better determined. For example, the next few backup cluster heads can be... The highest-ranking alternate cluster head will become the next cluster head, and will The maximum number of backup cluster heads (e.g., 3) are used as backup cluster heads for the next term, so that the next cluster head can be better determined from these backup cluster heads.

[0088] Specifically, in this embodiment of the invention, each backup cluster head calculates its own weight value for becoming a nominated cluster head based on a self-nominated cluster head comprehensive metric function, and sends it to other backup cluster heads. The weight values ​​of all nodes are then obtained through statistical analysis. And sorted, the autonomously recommended cluster head comprehensive metric function is as follows: ,in, For the remaining energy weight, It is the ratio of energy consumed to total energy. For link-aware weights, This represents the number of nodes that have already established a chain. For the current node The ratio of the damaged value to the normal value of the link. Distance weight between the standby cluster head and the original failed cluster head. The standby cluster head determines its own weight value based on the distance between the standby cluster head and the original failed cluster head. After ranking first, it updates its role to cluster head. N seconds later, in the network management time slot of the original cluster head, it initiates a handshake with each member. After each member responds to the handshake, the new cluster network is established.

[0089] In general, the method described in the embodiments of the present invention can realize the pre-planning and dynamic recommendation of cluster heads and backup cluster heads in directional networks. By accurately recommending cluster heads, the network can be built quickly, thereby improving the utilization rate of beam resources.

[0090] The following will combine Figures 2-5The method according to the embodiment of the application is explained and described in detail through a specific example.

[0091] The existing dynamic clustering technology is based on the mobility of nodes to perform dynamic clustering, reduces the influence of topology change by updating cluster heads in real time, but does not consider the beam space characteristics, and the resource utilization rate is still limited; and multi-dimensional resource joint allocation is performed in the spatial-time domain joint resource allocation model, but it focuses on downlink optimization and does not solve the beam conflict problem caused by uplink multi-node competition. The embodiment of the application provides a pre-planned cluster head election method for rapid network construction of a directional network of a UAV group, and the method comprises the following steps:

[0092] Referring to Figure 2 , the embodiment of the application first performs node initialization, after the UAV group is started, position, speed and direction information and other data are exchanged through data frames;

[0093] System startup: after the UAV group is started, all nodes broadcast beacon frames through a preset communication protocol;

[0094] Information collection: each node collects three-dimensional position (longitude, latitude, height), speed vector (horizontal speed, vertical speed), flight direction (heading angle) and other information;

[0095] Data synchronization: nodes periodically interact data through a TDMA time division multiplexing mechanism to ensure real-time synchronization of information of adjacent nodes;

[0096] Neighbor discovery: based on signal strength and distance estimation, a dynamic adjacency table is constructed to record a list of adjacent nodes and real-time states.

[0097] Secondly, a comprehensive metric is calculated, each node calculates a comprehensive metric thereof based on neighbor information

[0098] ;

[0099] In the embodiment of the application, the distance variance sub-index is used to represent the centrality of the cluster head, and the calculation formula is as follows: , wherein, represents the Euclidean distance between node and node ; represents the average distance of node to the remaining nodes in the cluster; represents the set of all nodes in the cluster.

[0100] The smaller the distance variance is, the more uniform the distribution of the remaining nodes is when node serves as the cluster head, and the communication delay is more balanced.

[0101] The speed consistency score in the embodiment of the application For quantifying nodes The difference in speed with neighbor nodes, including the difference in direction and size: , Wherein, represents the speed vector of the node ; represents the average speed vector of the neighbor node; represents the direction consistency, the closer to 1, the more consistent the direction is; represents the speed size difference. Finally, the speed consistency score is calculated as: .

[0102] The horizontal included angle in the embodiment of the application is used for characterizing the time delay of establishing a communication connection when polling a directional antenna, and the calculation steps include: Wherein, represents the horizontal coordinate difference between the node and the node ; represents the vertical coordinate difference between the node and the node ; is the horizontal included angle between the node and the node .

[0103] In the embodiment of the application, the horizontal included angles of all nodes are calculated, and the horizontal included angles greater than the threshold value are taken as negative: The formula indicates that the smaller the horizontal included angle value is, the higher the aggregation of the distribution of the remaining nodes when the node serves as a cluster head is.

[0104] The centrality evaluation in the embodiment of the application: The smaller the node is, the closer it is to the central area in the network topology, and has a stronger cluster head candidate qualification.

[0105] Then, cluster head candidate screening is performed, and the node that meets the phased array beam pointing constraint with the smallest distance is selected as a cluster head candidate;

[0106] Preliminary screening: from the adjacent nodes, the smallest 10% of nodes are selected as the candidate set;

[0107] The candidate node set N={1, 2, 3…, N}: the position of the node i

[0108] ;

[0109] Beam synthesis and coverage range: ;

[0110] wherein, is a beam main lobe pointing angle, is a signal wavelength, an array element spacing, is a phase offset of the nth array element .

[0111] Conflict detection: if there is another candidate node in the current beam coverage area of the candidate node, the following rules are used for exclusion: ;

[0112] Then, the pre-planned cluster head and backup cluster head are carried out, the network communication quality, energy state and topology stability of the candidate cluster head are marked, and the comprehensive score of the candidate cluster head is calculated ;

[0113] The ratio of the residual energy of the node to the initial energy: ;

[0114] wherein : the residual energy of the node i, the initial maximum energy of the node.

[0115] The link reliability between the node and the candidate cluster head: ;

[0116] wherein, is the signal power from the node i to the cluster head j, is the environmental noise power.

[0117] The topology stability: wherein : the number of neighbors of the node i, the survival time of the node, is the total running time of the network, is a weight coefficient For example, the alpha can be set to 0.5 and the beta can be set to 0.3.

[0118] In the specific implementation, the following can be set , , .

[0119] Referring to Figure 3 , initially, the node 0 is a customized cluster head, the node 1, the node 3 and the node 4 are already networked nodes, and the node 2 is a node to be networked. After the cluster head election method of the embodiment of the application is used for calculation, it is determined that the node 1 is a recommended cluster head, and the node 0, the node 2, the node 3 and the node 4 are already networked nodes.

[0120] Specifically, the embodiment of the present application is first to quantitatively evaluate the energy state, network communication quality and topology stability of the candidate cluster head to determine the cluster head, and when new nodes join subsequently, or when the cluster head upgrade condition is met or The cluster head upgrade can be performed, thereby maximizing the network rapid network building performance, and further improving the beam resource utilization, thereby providing strong support for various tasks such as final combat.

[0121] In the implementation, the cluster head election and dynamic update of the embodiment of the present application is to dynamically update the cluster head role according to the node movement characteristics, so as to maintain the network stability.

[0122] That is, after the first cluster head election is completed, the cluster head node broadcasts a control frame to notify the sub-group nodes, and then the stability maintenance is performed, that is, based on the current network topology state, the number of node neighbors is counted, the transmission energy consumption is calculated, and the maximum benefit If , the cluster head and the backup cluster head are upgraded using the cluster head election strategy; if , the original pre-planned cluster head is maintained until the cluster head and the backup cluster head are upgraded.

[0123] In addition, during the flight of the unmanned aerial vehicle, the embodiment of the present application can calculate the cluster departure weight value of the cluster head in real time.

[0124] In the embodiment of the present application, the cluster head end judges the cluster departure weight calculation , wherein is the cluster departure weight value, is the remaining energy weight, is the ratio of the consumed energy to the total energy, is the link awareness weight, is the number of built link nodes, is the ratio of the damaged value to the normal value of the link between the current node and the node , and is the task adjustment quality delivery flag, if the cluster head actively departs from the cluster according to the task requirement, the is set to 1.

[0125] Specifically, the embodiment of the present application is to calculate whether the cluster departure weight value is less than a critical value Q in real time by the cluster head, and the critical value Q can be planned in advance through task configuration. When the cluster departure weight value , it is further judged whether it is a sudden failure, if it is normal, the cluster head starts the reconstruction process, for details, see Figure 4 . When the cluster head encounters a sudden situation such as strong interference, physical impact, falling into water, etc., which causes itself to be unable to communicate, it cannot inform other backup cluster heads that it has retired, and then the backup cluster head starts the reconstruction process, for details, seeFigure 5 .

[0126] Referring to Figure 4 , the cluster head initiates the reconstruction process specifically includes:

[0127] S401, the cluster head calculates the chain and the number of each backup cluster head and other nodes in the cluster. The cluster head will obtain the position, speed and chain of each node in the chain maintenance of the backup cluster head in the usual time, so as to calculate the weight value of each backup cluster head to become the recommended cluster head ;

[0128] S402, the cluster head ranks according to the chain node number weight and the number ranking weight;

[0129] Specifically, the cluster head of the embodiment of the application is to calculate the weight value of each backup cluster head to become the recommended cluster head , and sorting, the calculation result is informed to each backup cluster head, and after informing, it exits the cluster network, and the recommended cluster head comprehensive measurement function is ; wherein, is the number of nodes built by the backup cluster head and itself, is the total number of members in the cluster, is the weight of the number of nodes built, is the number of nodes built, is the node address sorting weight, is the node address number.

[0130] According to the priority and there is an order of magnitude difference, .

[0131] S403, determine the node to be recommended, reconstruct the networking, and inform each backup cluster head of the result;

[0132] The weight value of each backup cluster head to become the recommended cluster head is calculated and sorted, and the node corresponding to the maximum value is the recommended cluster head, and the message is broadcast to each backup cluster head;

[0133] S404, the backup cluster head receives the message and confirms whether it is the recommended cluster head;

[0134] After receiving the message, the backup cluster head judges whether it is the recommended cluster head, if yes, it initiates handshaking with each member in the network management time slot of the original cluster head after N seconds, and if not the new cluster head, it waits for the new cluster head to handshake with itself. After each member replies to the handshaking, the new cluster network is completed.

[0135] S405, start the network building process, and handshake with other members in the time slot of the original cluster head;

[0136] S406, start a network building process, and wait for a new cluster head to handshake with itself.

[0137] Referring to Figure 5 , the standby cluster head starts a reconstruction process, and the standby cluster head starts a reconstruction process specifically includes:

[0138] S501, each standby cluster head fails to handshake with the cluster head for m times in succession, resulting in inability to communicate, and considering that the cluster head is passively retired from the network;

[0139] When the cluster head encounters a sudden situation such as strong interference, physical impact, falling into water, and the like, resulting in inability to communicate, the standby cluster head cannot inform other standby cluster heads that the cluster head has retired from the network. At this time, the standby cluster head waits for times of original handshake link maintenance messages.

[0140] S502, the standby cluster heads inform each other that the cluster head is out of connection (link maintenance information does not transfer information of the cluster head).

[0141] If the m times of handshakes have all failed, the standby cluster head first informs other standby cluster heads through normal link maintenance messages that the standby cluster head is disconnected from the cluster head, and counts whether other standby cluster heads are disconnected from the original cluster head;

[0142] S503, whether the nodes that have been built have failed to build a link with the cluster head;

[0143] If the other nodes that have been built by the standby cluster head are disconnected from the original cluster head, it is judged that the cluster head has retired from the network at this time, and the standby cluster head starts reconstruction. If the position and speed information of the original cluster head can be obtained through other nodes, the original cluster head is attempted to recover the network.

[0144] S504, a process of starting reconstruction is started, and the situation of building a link with other nodes in the cluster, the remaining energy situation, the link sensing situation, the distance and number of the original cluster head node are counted, and the weight value of the self is calculated .

[0145] In the embodiment of the application, the autonomous cluster head promotion comprehensive measurement function is , the remaining energy weight, the ratio of consumed energy to total energy, the link sensing weight, the number of nodes that have been built, the ratio of the damaged value to the normal value of the link between the current node and the node , the distance weight of the standby cluster head and the original faulty cluster head, the distance of the standby cluster head and the original faulty cluster head. In order to prevent the cluster head from being promoted to fail again or to be separated in the vicinity, then It has a higher priority. , .

[0146] S505: Backup cluster heads send their respective weight values ​​to each other, with the highest weight value being the recommended cluster head.

[0147] S506. Based on information from other nodes, determine the location and speed of the cluster head, and attempt to re-establish a link with the cluster head;

[0148] If the location and speed information of the original cluster head are obtained from other nodes, then an attempt is made to restore the network using the original cluster head;

[0149] S507. The alternate cluster head confirms whether it is the nominated cluster head;

[0150] S508, Initiate the network establishment process and shake hands with other members in the original cluster head's time slot;

[0151] S509, Initiate the network construction process and wait for the new cluster head to connect with you.

[0152] Accordingly, embodiments of the present invention provide a pre-planned cluster leader election device for rapid network construction of UAV swarm-oriented networks, see [link to relevant documentation]. Figure 6 The device includes:

[0153] The first processing unit is used to construct the directional network topology of the UAV cluster based on the initial position coordinates, movement speed and direction parameters of each UAV node in the UAV cluster.

[0154] Specifically, in this embodiment of the invention, the topology of the drone swarm is first constructed, and then the cluster head is selected based on the topology. Of course, this topology is updated in real time as the drone nodes move, so the cluster head also needs to be updated in real time.

[0155] The second processing unit is used to calculate the comprehensive energy value of each UAV node based on its neighboring UAV node information according to the directional network topology. Drone nodes with a comprehensive energy value greater than a preset energy threshold are selected as potential candidate cluster heads. The neighboring drone nodes of each drone node are determined based on a preset minimum distance principle. The distance variance is used to characterize the centrality of the cluster heads. For speed consistency, used to characterize drone nodes The speed difference with its neighboring drone nodes The horizontal angle is used to characterize the delay in establishing a communication connection between UAV nodes during directional antenna polling. Used to evaluate the overall performance of drone nodes in terms of location. to evaluate the comprehensive performance of the UAV node in terms of speed consistency, to evaluate the comprehensive performance of the UAV node in terms of distributed azimuth,

[0156] Specifically, the embodiment of the present application calculates the comprehensive energy value of the node according to the neighbor UAV node, and screens the UAV node with a comprehensive energy value greater than a preset energy threshold as a potential candidate cluster head, and then further selects the candidate cluster head from the potential candidate cluster head.

[0157] In particular implementation, the distance variance of the embodiment of the present application to represent the centrality of the cluster head, represents the Euclidean distance between the UAV node and the UAV node ; represents the average distance between the UAV node and the remaining UAV nodes in the cluster; represents the set of all UAV nodes in the cluster;

[0158] The speed consistency of the embodiment of the present application to quantify the difference in speed between the UAV node and the neighbor, including the difference in direction and the difference in speed size , wherein, represents the speed vector of the node ; represents the average speed vector of the neighbor node; represents the direction consistency; represents the speed size difference;

[0159] The horizontal included angle of the embodiment of the present application to represent the time delay of establishing a communication connection when polling the directional antenna, wherein threshold is the horizontal included angle threshold, , represents the horizontal coordinate difference between the node and the node ; represents the vertical coordinate difference between the node and the node ; is the horizontal included angle between the node and the node .

[0160] wherein, is the UAV node as the cluster center, to evaluate the comprehensive performance of the UAV node in terms of location, The UAV node serves as a cluster center, and is used for evaluating comprehensive performance of the UAV node in speed consistency, The UAV node serves as a cluster center, and is used for evaluating comprehensive performance of the UAV node in distributed azimuth;

[0161] It should be noted that the values of the preset energy threshold and , and are determined through experiments, and of course, in specific implementation, a person skilled in the art can also set them arbitrarily according to actual needs, and the present application does not make a detailed discussion.

[0162] In specific implementation, the centrality evaluation in the embodiment of the present application is: The smaller the node is, the closer it is to the central area in the network topology, and it has stronger cluster head candidate qualifications;

[0163] In specific implementation, the embodiment of the present application determines the neighbor node based on the preset minimum distance principle, that is, the distances of each node and its nearest connected node are added respectively, and the smallest node is taken as a cluster, and the minimum distance, that is, the sum of distances of the nodes, can be set according to the number of nodes in the UAV cluster, the number of clusters and specific control timeliness and the like, for example, it can be set to 20 meters, that is, the sum of distances between all nodes in the cluster is 20 meters, and the node exceeding this value will be allocated to other clusters.

[0164] The third processing unit is used for excluding redundant UAV nodes in the overlapping coverage area in the potential candidate cluster head according to the single-beam coverage capability of the directional antenna, to obtain a candidate cluster head.

[0165] Specifically, the embodiment of the present application calculates the beam coverage range according to the single-beam coverage capability of the directional antenna, and controls the beam pointing by adjusting the phase of the phased array antenna based on a preset beam avoidance strategy, to avoid multiple UAV nodes entering the network at the same time under the same beam, and filters and determines the candidate cluster head from the potential candidate cluster head.

[0166] The beam avoidance strategy realizes dynamic change of the beam pointing by adjusting the phase of the phased array antenna. , is the signal wavelength, is the element spacing, and N is the number of elements and d is the element spacing.

[0167] The quantitative evaluation unit is used for quantitatively evaluating the energy state, network communication quality and topological stability of the candidate cluster head, taking the UAV node with the highest quantitative evaluation score as the cluster head, and taking the UAV node with the second highest quantitative evaluation score as the backup cluster head.

[0168] According to The energy state, network communication quality and topology stability of each candidate cluster head are quantitatively evaluated, wherein, is the residual energy, is the residual energy weight, is the network communication quality, is the network communication quality weight, is the topology stability, is the topology stability weight. It should be noted that the weights in the embodiments of the present application can be determined according to experiments, and the specific person skilled in the art can specifically set, and the present application does not specifically limit this.

[0169] The monitoring unit is used for monitoring the network topology state in real time during the flight of the UAV cluster, and triggering the cluster head upgrade when the cluster head replacement trigger condition is met.

[0170] In specific implementation, the embodiments of the present application are used for calculating the cluster head upgrade trigger condition in the cluster flight process by the ground control terminal or the current cluster head based on the current network topology state and transmission energy consumption in the cluster , and determining whether the cluster head needs to be upgraded.

[0171] In addition, in specific implementation, the person skilled in the art can also set various cluster head upgrade trigger conditions according to actual needs, for example, the current cluster head can be used to determine the probability of its own separation from the cluster in the UAV cluster flight process , wherein, is the separation weight value, is the residual energy weight, is the ratio of the consumed energy to the total energy, is the link awareness weight, is the number of built link nodes, is the ratio of the damaged value to the normal value of the link between the current node and the node , and is the task adjustment quality issuing flag; if is less than the critical value Q and the current cluster head is not faulty, the current cluster head is used to calculate the weight value of each backup cluster head becoming the recommended cluster head and determine the next cluster head; if is less than the critical value Q and the current cluster is faulty, each backup cluster head calculates the weight value of itself becoming the recommended cluster head , and determines the next cluster head by sorting the weight values .

[0172] In other words, for cluster head upgrades, embodiments of the present invention can determine the upgrade based on different cluster head upgrade conditions, or based on the current network topology and transmission energy consumption within the cluster. ,if If the value exceeds a preset calculation threshold, a cluster head upgrade is triggered, or the probability of the cluster head leaving the cluster is determined by the cluster head itself. ,if If the value is less than the critical value Q, the cluster head upgrade is triggered. Of course, in specific implementation, those skilled in the art can also set other upgrade rules according to actual needs to ensure the accuracy of the cluster head, thereby achieving efficient self-control of the drone swarm and ultimately completing the predetermined mission objectives through the drone swarm.

[0173] In this embodiment of the invention, the weight value of the proposed cluster head for each backup cluster head is calculated based on the current cluster head, and the next cluster head is determined, including:

[0174] Current cluster head based on Calculate the weight value for each backup cluster head to become the nominated cluster head. ,in, The total number of members in the cluster. Weights for the number of drone nodes in the established blockchain. Assign weights to the drone node addresses. This refers to the drone node address number;

[0175] For the calculated weight values Sort by weight values The highest-ranking alternate cluster head becomes the next cluster head, and all alternate cluster heads are informed accordingly.

[0176] Specifically, in this embodiment of the invention, the weight value for each backup cluster head to become the nominated cluster head is calculated one by one by the cluster heads, based on priority. and Order of magnitude difference After each calculation is completed, the results are sorted and communicated to each backup cluster head. Upon receiving the message, the backup cluster head determines whether it is the nominated cluster head. If so, it initiates a handshake with each member in the network management time slot of the original cluster head after N seconds. If it is not the new cluster head, it waits for the new cluster head to handshake with it. Once each member responds to the handshake, the new cluster network is established.

[0177] Furthermore, the embodiment of the present invention describes calculating the weight value of each backup cluster head to become the nominated cluster head, and determining the next cluster head by sorting, including: each backup cluster head based on Calculate the weight value for each to become the head of the nominated cluster. And by weighting all backup cluster heads. Sort by weight values The highest-ranking alternate cluster head becomes the next cluster head;

[0178] Specifically, in this embodiment of the invention, each backup cluster head calculates its own weight value for becoming a nominated cluster head based on a self-nominated cluster head comprehensive metric function, and sends it to other backup cluster heads. The weight values ​​of all nodes are then obtained through statistical analysis. And sorted, wherein the autonomously nominated cluster head comprehensive metric function is: ,in, For the remaining energy weight, It is the ratio of energy consumed to total energy. For link-aware weights, This represents the number of nodes that have already established a chain. For the current node The ratio of the damaged value to the normal value of the link. Distance weight between the standby cluster head and the original failed cluster head. The standby cluster head determines its own weight value based on the distance between the standby cluster head and the original failed cluster head. After ranking first, it updates its role to cluster head. N seconds later, in the network management time slot of the original cluster head, it initiates a handshake with each member. After each member responds to the handshake, the new cluster network is established.

[0179] In general, the method described in the embodiments of the present invention can realize the pre-planning and dynamic recommendation of cluster heads and backup cluster heads in directional networks. By accurately recommending cluster heads, the network can be built quickly, thereby improving the utilization rate of beam resources.

[0180] In other words, the cluster head election device of the present invention can realize the pre-planning and dynamic election of cluster heads and backup cluster heads in directional networks, while improving the network's rapid deployment performance, thereby improving beam resource utilization.

[0181] Meanwhile, embodiments of the present invention also provide a computer-readable storage medium storing a computer program, which, when executed by a processor, implements any of the above-described methods for rapid network establishment of UAV swarm-oriented networks.

[0182] The relevant content of the device embodiment and storage medium embodiment of the present invention can be understood by referring to the method embodiment of the present invention, and will not be discussed in detail here.

[0183] Although preferred embodiments of the invention have been disclosed for illustrative purposes, those skilled in the art will recognize that various modifications, additions, and substitutions are possible, and therefore the scope of the invention should not be limited to the embodiments described above.

Claims

1. A pre-planned cluster head election method for fast network formation of a directional network of a UAV swarm, characterized in that, The method comprises: Based on the initial position coordinates, motion speed and direction parameters of each unmanned aerial vehicle node in the unmanned aerial vehicle cluster, a directional network topology structure of the unmanned aerial vehicle cluster is constructed; According to the directional network topology, each unmanned aerial vehicle node calculates its own comprehensive energy value based on neighbor unmanned aerial vehicle node information , and screens unmanned aerial vehicle nodes with a comprehensive energy value greater than a preset energy threshold as potential candidate cluster heads According to the single-beam coverage capability of the directional antenna, redundant unmanned aerial vehicle nodes in the overlapping coverage area of the potential candidate cluster head are excluded to obtain a candidate cluster head; The candidate cluster head is quantitatively evaluated in terms of energy state, network communication quality and topological stability, the unmanned aerial vehicle node with the highest quantitative evaluation score is taken as the cluster head, and the unmanned aerial vehicle node with the second highest quantitative evaluation score is taken as the backup cluster head; During the flight of the unmanned aerial vehicle cluster, the network topology state is monitored in real time, and the cluster head is upgraded when the cluster head replacement trigger condition is met. wherein the neighbor UAV nodes of each UAV node are determined based on a preset minimum distance principle, a distance variance for characterizing the centrality of the cluster head, a velocity consistency for characterizing the difference in velocity between the UAV node and its neighbor UAV nodes, a velocity consistency for characterizing the difference in velocity between the UAV node and its neighbor UAV nodes, a horizontal angle for characterizing the time delay in establishing a communication connection between the UAV nodes when polling by the directional antenna, a weight for evaluating the comprehensive performance of the UAV node in terms of the position, a weight for evaluating the comprehensive performance of the UAV node in terms of the velocity consistency, a weight for evaluating the comprehensive performance of the UAV node in terms of the distribution azimuth.

2. The method of claim 1, wherein, the distance variance is wherein, denotes the Euclidean distance between the UAV node and the UAV node ; denotes the average distance of the UAV node to the remaining UAV nodes within the cluster; denotes the set of all UAV nodes within the cluster; The speed consistency is , including direction difference and speed size difference , wherein, The speed vector of the unmanned aerial vehicle node ; The average speed vector of the neighbor unmanned aerial vehicle node, The direction difference anomaly amount, The speed difference anomaly amount; the horizontal included angle is wherein threshold is a horizontal included angle threshold, a UAV node a horizontal included angle between the UAV node and the UAV node , represents a horizontal coordinate difference between the UAV node and the UAV node ; represents a vertical coordinate difference between the UAV node and the UAV node .

3. The method of claim 1, wherein, According to the single-beam coverage capability of the directional antenna, redundant unmanned aerial vehicle nodes in the overlapping coverage area of the potential candidate cluster head are excluded to obtain a candidate cluster head, comprising: According to the single-beam coverage capability of the directional antenna, the beam coverage range is calculated, the beam pointing is controlled by adjusting the phased array antenna phase based on a preset beam avoidance strategy to avoid multiple unmanned aerial vehicle nodes entering the network at the same time under the same beam, and the potential candidate cluster head is screened to obtain the candidate cluster head.

4. The method according to any one of claims 1 to 3, characterized in that, The candidate cluster head is quantitatively evaluated in terms of energy state, network communication quality and topological stability, comprising: According to a quantitative evaluation of energy state, network communication quality and topology stability is performed for each candidate cluster head, wherein, is the residual energy, is the residual energy weight, is the network communication quality, is the network communication quality weight, is the topology stability, is the topology stability weight.

5. The method according to any one of claims 1-3, characterized in that, The real-time monitoring of the network topology state, and the triggering of the cluster head upgrade when the cluster head replacement trigger condition is met, comprising: based on The current network topology state and transmission energy consumption of the UAV cluster are calculated in real time, and whether the cluster head needs to be upgraded is judged according to the calculation result, and if so, the cluster head upgrade is triggered. wherein, is the number of neighbor UAV nodes of the UAV node i, is the average connectivity of the UAV nodes, is the transmission energy consumption between the UAV nodes, is the total residual energy of the UAV nodes, is the network connectivity weight, is the transmission energy consumption weight.

6. The method according to any one of claims 1 to 3, characterized in that, The real-time monitoring of the network topology state, and the triggering of the cluster head upgrade when the cluster head replacement trigger condition is met, comprising: Determine the probability of a cluster leaving the cluster by its cluster head. ,in, For the remaining energy weight, It is the ratio of energy consumed to total energy. For link-aware weights, This represents the number of drone nodes that have already established a blockchain. For the current drone node The ratio of the damaged value to the normal value of the link. The indicator for adjusting the quality of the task; If If the weight value of each backup cluster head is less than the threshold Q and the current cluster head is not failed, the weight value of each backup cluster head becoming the elected cluster head is calculated by the current cluster head And the next cluster head is determined; If If the current cluster head fails and the weight value is less than the threshold Q, each backup cluster head calculates its own weight value to become the elected cluster head And determines the next cluster head through the weight value ranking.

7. The method of claim 6, wherein, calculating, by the current cluster head, a weight value for each backup cluster head to become a nominated cluster head and determining a next cluster head, comprising: The current cluster head calculates the weight value of each backup cluster head becoming the elected cluster head according to The weight value of each backup cluster head becoming the elected cluster head is calculated one by one Wherein, The total number of cluster members is, The weight of the number of unmanned aerial vehicle nodes in the built chain is, The weight of the unmanned aerial vehicle node address sorting is, The unmanned aerial vehicle node address number is; The calculated weight values are sorted, and the weight values of the highest backup cluster heads are selected as the next cluster heads, and each backup cluster head is informed.

8. The method of claim 7, wherein, The respective backup cluster head calculates a weight value of itself becoming the elected cluster head and determines the next cluster head through weight value sorting Each backup cluster head is based on Calculate the weight value for each to become the head of the nominated cluster. And by weighting all backup cluster heads. Sort by weight values The highest-ranking alternate cluster head becomes the next cluster head; wherein, is a remaining energy weight, is a ratio of consumed energy to total energy, is a ratio of a damaged value to a normal value of a link between the current and the UAV node a distance weight of the backup cluster head and the original faulty cluster head, is a distance of the backup cluster head and the original faulty cluster head.​ 9. A pre-planned cluster head election device for fast network formation of a UAV swarm-oriented directional network, characterized in that, The device comprises: A first processing unit configured to construct a directional network topology structure of the unmanned aerial vehicle cluster based on initial position coordinates, motion speed and direction parameters of each unmanned aerial vehicle node in the unmanned aerial vehicle cluster; a second processing unit configured to calculate, according to the directional network topology, a comprehensive energy value of each UAV node based on information of neighbor UAV nodes of the UAV node , and screen a UAV node with a comprehensive energy value greater than a preset energy threshold as a potential candidate cluster head, wherein the neighbor UAV nodes of each UAV node are determined based on a preset minimum distance principle, is a distance variance, used to represent centrality of the cluster head, is a speed consistency, used to represent difference in speed of the UAV node and its neighbor UAV nodes, is a horizontal angle, used to represent time delay of establishing a communication connection between the UAV nodes when polling by the directional antenna, used to evaluate comprehensive performance of the UAV node in terms of position, used to evaluate comprehensive performance of the UAV node in terms of speed consistency, used to evaluate comprehensive performance of the UAV node in terms of distribution azimuth. A third processing unit configured to exclude redundant unmanned aerial vehicle nodes in the overlapping coverage area of the potential candidate cluster head according to the single-beam coverage capability of the directional antenna to obtain a candidate cluster head; A quantitative evaluation unit configured to quantitatively evaluate the candidate cluster head in terms of energy state, network communication quality and topological stability, take the unmanned aerial vehicle node with the highest quantitative evaluation score as the cluster head, and take the unmanned aerial vehicle node with the second highest quantitative evaluation score as the backup cluster head; A monitoring unit configured to monitor the network topology state in real time during the flight of the unmanned aerial vehicle cluster, and trigger the cluster head upgrade when the cluster head replacement trigger condition is met.

10. A computer-readable storage medium, the storage medium storing a computer program, the program being executed by a processor to implement the pre-planned cluster head election method for fast network construction of a directional network of an unmanned aerial vehicle cluster according to any one of claims 1-8.

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