Space-time resource scheduling method and system for aircraft cluster

Abstract

A space-time resource scheduling method and system for an aircraft cluster, the method comprising: according to node scheduling rules corresponding to different time slot types in a network to be planned, establishing a space resource scheduling mathematical model corresponding to each time slot type, the mathematical model comprising a node set and a node transmit-receive pair set; running a singleness arrangement algorithm on the mathematical model, and forming a node receiving and transmitting group by all receiving and transmitting pairs which do not conflict with each other to communicate in a time slot; and according to the service weight of each node in the previous communication period, determining the service weight of each node transmit-receive group in the current communication period, sorting according to the service weight, and sequentially allocating time slots to all node transmit-receive groups according to the sorting. According to the method and the device, the space resource scheduling and the time resource scheduling are respectively implemented, so that the resource scheduling calculation complexity is remarkably reduced, and relatively high scheduling efficiency and flexible adaptation of service time-varying characteristics are realized while high throughput is guaranteed.

Description

Technical Field

[0001] This application relates to the field of telemetry, tracking, and communication technology, specifically to a spatiotemporal resource scheduling method and system for aircraft clusters. Background Technology

[0002] With the development of aerospace technology, multi-aircraft swarm operations are gradually becoming the mainstream form of aviation operations. As the swarm size expands and application scenarios become more complex, higher demands are placed on the swarm data link network system. This data link network needs to carry high throughput commensurate with the swarm size to meet the communication needs of each swarm platform, and to achieve rapid response to dynamic topologies and flexible adaptation to time-varying service requirements.

[0003] In existing spatiotemporal resource scheduling technologies, mainstream solutions are generally limited to optimizing only one dimension of time or space resources, leading to a local optimization dilemma in resource utilization and failing to achieve efficient global allocation of communication resources. While existing spatiotemporal resource joint scheduling methods can improve resource utilization through complex planning models, their computational complexity increases exponentially with network size as aircraft nodes are dynamically added, resulting in low efficiency and difficulty in meeting the rapid response requirements of dynamic network topologies. Furthermore, these spatiotemporal resource joint scheduling methods struggle to flexibly adapt to sudden surges in traffic within the scheduling cycle, failing to guarantee the dynamic real-time requirements of services. Summary of the Invention

[0004] This application provides a spatiotemporal resource scheduling method and system for aircraft clusters, which can solve the problems of low efficiency in spatiotemporal resource scheduling and insufficient flexibility in adapting to time-varying services in the prior art.

[0005] In a first aspect, embodiments of this application provide a method for scheduling spatiotemporal resources of an aircraft cluster, including: Based on the node scheduling rules corresponding to different time slot types in the network to be planned, a spatial resource scheduling mathematical model corresponding to each time slot type is established. The mathematical model includes a set of nodes and a set of node transmit / receive pairs. The singleness orchestration algorithm is run on the mathematical model to form a node transceiver group by combining all transmit and receive pairs that do not conflict with each other in a time slot. Based on the service weight of each node in the previous communication cycle, determine the service weight of each node's transceiver group in the current communication cycle and sort them according to the service weight. Then, allocate time slots to all node transceiver groups in sequence according to the sorting.

[0006] Furthermore, in one embodiment, if the node scheduling rule is multi-node to multi-node bidirectional communication, a singleness orchestration algorithm is run on the mathematical model to form a node transceiver group consisting of all non-conflicting transmit / receive pairs communicating within a time slot, including: If the number of network nodes n to be planned is even, the node initialization sequence is determined based on the node set. The nodes at the beginning and end of the initialization sequence are respectively used as the sending end and the receiving end to form a node transmit-receive pair. All node transmit-receive pairs constitute the first node transmit-receive group. The second node transmit-receive group is generated from the first node transmit-receive group according to the mirror principle. The last n-1 nodes of the initialization sequence are cyclically shifted to form a new sequence, and the process of generating node transceiver groups is repeated until the loop is repeated n-2 times to obtain all node transceiver groups.

[0007] Furthermore, in one embodiment, if the node scheduling rule is multi-node to multi-node bidirectional communication, and the singleness orchestration algorithm is run on the mathematical model to form a node transceiver group by grouping all non-conflicting transmit / receive pairs communicating within a time slot, the method further includes: If the number of nodes n in the network to be planned is odd, the node initialization sequence is determined based on the node set. After initializing the sequence, add a virtual node to make the number of nodes even, run the single-node orchestration algorithm for the network to be planned with an even number of nodes, and generate all node transceiver groups; Remove transmit / receive pairs that contain virtual nodes from the node transmit / receive group.

[0008] Furthermore, in one embodiment, if the node scheduling rule is unidirectional communication from one node to multiple nodes, a singleness orchestration algorithm is run on the mathematical model to form a node transceiver group consisting of all non-conflicting transmit / receive pairs communicating within a time slot, including: The receiving nodes are traversed sequentially, and each node is paired with a sending node to form a send / receive pair. Each send / receive pair is treated as a separate node send / receive group.

[0009] Furthermore, in one embodiment, if the node scheduling rule is bidirectional communication from multiple nodes to a single node, a singleness orchestration algorithm is run on the mathematical model to form a node transceiver group consisting of all non-conflicting transmit / receive pairs communicating within a time slot, including: When a single node acts as the receiver, the sending nodes are traversed sequentially and each node forms a send-receive pair with the receiving node. Each send-receive pair is treated as a separate node send-receive group, and the node send-receive groups are used to generate corresponding reverse send-receive groups according to the mirroring principle.

[0010] Furthermore, in one embodiment, determining the service weight of each node's transceiver group in the current communication cycle and sorting them according to the service weight of each node in the previous communication cycle includes: Within the current communication cycle, obtain the service weights of all nodes from the previous communication cycle; Based on the service weights of all nodes, the sum of the service weights of each sending node in the node's transceiver group is calculated and used as the service weight of that node's transceiver group. Sort all node transceiver groups in descending order of business weight; During each communication cycle, the service weight of a node is dynamically adjusted based on the urgency of the message being sent by that node.

[0011] Furthermore, in one embodiment, obtaining the service weights of all nodes in the previous communication cycle includes: During the previous communication cycle, each node informed other nodes of its own business weight; The network to be planned includes a management node. During the current communication cycle, the management node integrates the service weights collected by all nodes, determines the service weight of each node, and sends the determined service weights of all nodes to each node. Each node receives the business weights of all nodes as determined by the management node.

[0012] Furthermore, in one embodiment, the network to be planned includes a management node. If, during the current communication cycle, the management node detects that a node is dynamically joining or leaving the network to be planned, in the next communication cycle, the management node notifies each member node of the current network node information, and each node re-schedules its spatiotemporal resources based on the current network node information.

[0013] Furthermore, in one embodiment, each communication cycle corresponds to a time frame. Within the time frame, time slots of the same time slot type are arranged consecutively to form a time slot block. Time slot blocks of different time slot types are arranged sequentially according to a preset order. The number of time slots of each time slot type is determined by the number of node transceiver groups corresponding to that time slot type.

[0014] Secondly, embodiments of this application provide a spatiotemporal resource scheduling system for an aircraft cluster, comprising: The network modeling module is used to establish a spatial resource scheduling mathematical model for each time slot type based on the node scheduling rules corresponding to different time slot types in the network to be planned. The mathematical model includes a set of nodes and a set of node transmit / receive pairs. The spatial planning module is used to run a singleness orchestration algorithm on the mathematical model to form a node transceiver group by combining all transmit and receive pairs that do not conflict with each other in a time slot. The time planning module is used to determine the service weight of each node's transceiver group in the current communication cycle based on the service weight of each node in the previous communication cycle, sort them according to the service weight, and allocate time slots to all node transceiver groups in sequence according to the sorting.

[0015] The beneficial effects of the technical solutions provided in this application include: In terms of spatial resource scheduling, a mathematical model for spatial resource scheduling is established based on the node scheduling rules corresponding to different time slot types in the network to be planned. A single-function orchestration algorithm is then run based on this model to maximize the orchestration of non-conflicting transmitting and receiving nodes within a time slot, achieving efficient utilization of spatial resources with relatively low computational complexity. In terms of temporal resource scheduling, the service weights of each node's transmitting and receiving groups in the current communication cycle are determined based on the service weights of each node in the previous communication cycle, and these groups are sorted according to their service weights. Time slots are then allocated sequentially to all transmitting and receiving groups based on this sorting, ensuring that the allocation order of time slot resources in each communication cycle can quickly respond to dynamic changes in the real-time requirements of services. This scheme significantly reduces the overall computational complexity of resource scheduling by implementing spatial and temporal resource scheduling separately, achieving high scheduling efficiency and flexible adaptation to time-varying service requirements while ensuring high throughput. Attached Figure Description

[0016] Figure 1 This is a flowchart illustrating the spatiotemporal resource scheduling method for an aircraft cluster according to an embodiment of this application. Figure 2 This is a schematic diagram of the aircraft cluster network topology organized using a clustered architecture in an embodiment of this application; Figure 3 This is a schematic diagram of the spatiotemporal resource scheduling system for an aircraft cluster according to an embodiment of this application. Detailed Implementation

[0017] To enable those skilled in the art to better understand the present application, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present application, and not all embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of the present application.

[0018] In aircraft swarm data link networks, the core of improving network capacity lies in the multiplexing of communication resources. Common existing multiplexing methods for communication resources include time-division multiplexing and space-division multiplexing. Time-division multiplexing divides the time axis into multiple periodically repeating, non-overlapping time slots and allocates different time slots to different communication nodes. Space-division multiplexing utilizes spatially isolated communication links to achieve parallel communication across multiple links simultaneously. To further improve network capacity, leveraging the orthogonality of time and space within the physical channel to achieve effective multiplexing of limited communication resources has become crucial for the further development of aircraft swarm data link networks.

[0019] To make the objectives, technical solutions, and advantages of this application clearer, the embodiments of this application will be described in further detail below with reference to the accompanying drawings.

[0020] In a first aspect, embodiments of this application provide a method for scheduling spatiotemporal resources of an aircraft cluster.

[0021] In one embodiment, reference is made to Figure 1 , Figure 1 This is a flowchart illustrating the spatiotemporal resource scheduling method for aircraft clusters. For example... Figure 1 As shown, the spatiotemporal resource scheduling method includes: S1. Based on the node scheduling rules corresponding to different time slot types in the network to be planned, establish a spatial resource scheduling mathematical model for each time slot type. The mathematical model includes a set of nodes and a set of node transmit / receive pairs.

[0022] S2. Run the singleness orchestration algorithm on the above mathematical model to form a node transceiver group by combining all transmit and receive pairs that do not conflict with each other in a time slot.

[0023] S3. Based on the service weight of each node in the previous communication cycle, determine the service weight of each node's transceiver group in the current communication cycle and sort them according to the service weight. Then, allocate time slots to all node transceiver groups in sequence according to the sorting.

[0024] Specifically, in S1 above, network communication resources are organized in the time domain into a periodically repeating frame structure, where each frame is divided into multiple time slots. These time slots are classified into different time slot types according to the communication services they carry. The network to be planned has preset node scheduling rules for different time slot types to specify the communication tasks they need to carry in a single complete interaction process. Completing this communication task requires multiple time slot resources of that time slot type. In order to minimize the use of time slot resources, it is necessary to make full use of spatial resources to maximize the arrangement of node transmit / receive pairs that can communicate without conflict within a time slot. To this end, the above spatial planning problem is modeled as a spatial resource scheduling mathematical model. This mathematical model includes the set of nodes consisting of all nodes in the network, and the set of node transmit / receive pairs consisting of all directional communication transmit / receive pairs that need to communicate.

[0025] In step S2 above, the singleness orchestration algorithm generates the node transmit / receive group orchestration result based on the deterministic arrangement of the mathematical model, instead of generating a mutually non-conflicting maximum subset by traversing the set of node transmit / receive pairs. This achieves the maximization of the node transmit / receive group orchestration with lower computational complexity.

[0026] In step S3 above, the time period required for all time slot types to complete a full interaction process is defined as a communication cycle, and time resource scheduling is performed once for each time slot type within each communication cycle. Depending on the design of the time frame, a communication cycle may contain one or more time frames. For each time slot type, the time resource scheduling algorithm calculates the service weight of each node's transceiver group based on the service weight of each node in the previous communication cycle, sorts them according to the service weight, and allocates time slot resources to each transceiver group in sequence according to this sorting.

[0027] Furthermore, in step S3 above, each node can dynamically adjust its service weight based on the real-time requirements of its own transmission services during the communication process. The changes in the service weight of a node in the previous communication cycle will directly affect the service weight and time slot allocation order of its corresponding node's transceiver group. This mechanism enables the system to prioritize the allocation of communication resources to high real-time services, thereby flexibly meeting the dynamic real-time requirements of various services.

[0028] In this embodiment, a corresponding spatial resource scheduling mathematical model is established based on the node scheduling rules for different time slot types in the network to be planned. A single-function orchestration algorithm is then run based on this mathematical model to obtain the node transceiver groups with maximized orchestration. Time slot resources are then allocated sequentially to each node transceiver group according to its service weight. By implementing spatial resource scheduling and temporal resource scheduling separately, the computational complexity of resource scheduling is significantly reduced. This ensures high throughput while achieving high scheduling efficiency and flexible adaptation to time-varying service requirements.

[0029] Furthermore, in one embodiment, the network to be planned in the above-mentioned aircraft cluster is divided into multiple network types. The time slot type is divided according to the network type of the network to be planned and the communication function undertaken by the time slot, and each time slot type corresponds to a node scheduling rule.

[0030] like Figure 2 As shown, this embodiment employs a clustered architecture for network resource scheduling of an aircraft cluster. This clustered architecture divides the aircraft cluster into several clusters. Each cluster consists of a cluster head node and several intra-cluster nodes, and its internal communication network is the intra-cluster network. The communication network connecting all clusters is the inter-cluster network, which is composed of the cluster head nodes of each cluster, with the first cluster head node serving as the inter-cluster network head node. This embodiment requires spatiotemporal resource scheduling for both the intra-cluster and inter-cluster networks within the cluster. The network types to be planned include intra-cluster networks and inter-cluster networks.

[0031] In the network to be planned, the communication functions undertaken by time slots include three types: time synchronization, network management, and task management, which respectively fulfill the necessary requirements for network time synchronization, network connection management, and task data transmission. Based on the network type of the network to be planned and the communication functions undertaken by the time slots, six time slot types are divided into six types. These six time slot types and their corresponding node scheduling rules are shown in Table 1.

[0032] Table 1

[0033] Intra-cluster networks communicate using three time slot types: intra-cluster management, intra-cluster time synchronization, and intra-cluster tasks, with the remaining time slots being idle. Inter-cluster networks communicate using three time slot types: inter-cluster management, inter-cluster time synchronization, and inter-cluster tasks, with the remaining time slots being idle. The cluster head node in an intra-cluster network belongs to both networks, therefore requiring communication using all six time slot types mentioned above. This method of dividing time slots based on network type and communication function allows all nodes in the cluster to synchronize according to a unified frame structure, simplifying the resource scheduling process for the cluster head node participating in communication across both networks, avoiding resource scheduling conflicts between different networks, and reducing the overall complexity of the resource scheduling algorithm.

[0034] Furthermore, in one embodiment, each communication cycle corresponds to a time frame. Within the time frame, time slots of the same time slot type are arranged consecutively to form a time slot block. Time slot blocks of different time slot types are arranged sequentially according to a preset order. The number of time slots of each time slot type is determined by the number of node transceiver groups corresponding to that time slot type.

[0035] In this embodiment, the six time slot types are arranged in the following order within a time frame: inter-cluster time synchronization, inter-cluster network management, inter-cluster task, intra-cluster time synchronization, intra-cluster network management, and intra-cluster task. Within one communication cycle, the network to be planned will sequentially perform one complete time synchronization message exchange, one network management message exchange, and one task message exchange.

[0036] In this embodiment, within a time frame, time slots of the same time slot type are arranged consecutively to form a time slot block. Time slot blocks of different time slot types are arranged sequentially according to a preset order. The number of time slots of each time slot type is determined by the number of node transceiver groups corresponding to that time slot type. This design ensures that the capacity of the frame structure can accurately match the communication service requirements of the network, thereby achieving efficient utilization of time resources.

[0037] In step S1 above, the node scheduling rules in the network to be planned include one-way communication from one node to multiple nodes, two-way communication from multiple nodes to one node, and two-way communication from multiple nodes to multiple nodes. A spatial resource scheduling mathematical model of the network to be planned is established according to different node scheduling rules. The mathematical model includes a set of nodes and a set of node transmit / receive pairs.

[0038] In this embodiment, there are n communication nodes in the network to be planned. All communication nodes constitute a node set. The corresponding mathematical model is shown in equation (1): (1) In one embodiment, for node scheduling rules that define unidirectional communication from a single node to multiple nodes, a single node... As the sending end, it interacts with other nodes that act as receiving ends. A set of node transceiver pairs is formed by transceiver nodes using directional communication. ,use Represents a node Towards The mathematical model for targeted information transmission is shown in equation (2): (2) In one embodiment, for node scheduling rules that allow bidirectional communication from multiple nodes to a single node, when a single node... When acting as a receiver, it interacts with other nodes acting as senders. Forming a send / receive pair, when a single node When acting as the sender, it interacts with other nodes acting as receivers. A set of node transceiver pairs is formed by transceiver nodes using directional communication. The corresponding mathematical model is shown in equation (3): (3) In one embodiment, for bidirectional communication with a node scheduling rule of multiple nodes to multiple nodes, the transmitting and receiving nodes using directional communication constitute a set of node transmitting and receiving pairs. The corresponding mathematical model is shown in equation (4): (4) To fully utilize spatial resources and maximize network throughput through spatial division multiplexing technology, it is necessary to maximize the selection of non-conflicting transmit / receive pairs from the set of node transmit / receive pairs to form node transmit / receive groups. In other words, the spatial resource allocation problem is modeled as a permutation and combination problem.

[0039] If the above node scheduling rule is a multi-node to multi-node bidirectional communication, in step S2, the singleness orchestration algorithm is run on the above mathematical model to form a node transceiver group by combining all transmit and receive pairs that do not conflict with each other within a time slot. The specific steps are as follows: In one embodiment, if the number of network nodes n to be planned is even, the node set of the above mathematical model is arranged according to the node number to obtain the initialization sequence I0I1…I n-1The nodes at the beginning and end of the above initialization sequence are used as the sender and receiver to form node transmit / receive pairs. That is, the nodes at positions 0 and n-1, 1 and n-2, ..., n / 2-1 and n / 2 are used as the sender and receiver to form node transmit / receive pairs. All node transmit / receive pairs constitute the first node transmit / receive group. The second node transceiver group is generated from the first node transceiver group according to the mirroring principle. As shown in equations (5) and (6): (5) (6) Finally, shift the last n-1 nodes of the above sequence in a circular manner to form a new sequence, and repeat the process of generating node transceiver groups until the loop is repeated n-2 times to obtain all node transceiver groups.

[0040] From the mathematical model, the number of transmit / receive pairs in the network to be planned that can communicate without conflict in the same time slot is n / 2, and the number of transmit / receive pairs contained in the node transmit / receive pair set is... The relationship between the number of node transmit / receive pairs N and the number of nodes in the network is shown in equation (7): (7) In one embodiment, if the number of network nodes n to be planned is odd, the node set of the above mathematical model is arranged according to the node number to obtain the initialization sequence I0I1…I n-1 Add a virtual node after initializing the sequence. The number of nodes is padded to an even number, and the singleness arrangement algorithm for an even number of nodes in the network to be planned is executed to generate all node transceiver groups. Finally, virtual nodes are removed from all node transceiver groups. Sending and receiving pairs.

[0041] From the mathematical model, the number of transmit / receive pairs in the network to be planned that can communicate without conflict in the same time slot is (n + 1) / 2, and the number of transmit / receive pairs contained in the node transmit / receive pair set is... The relationship between the number of node transmit / receive pairs N and the number of nodes in the network can be represented by equation (8): (8) The process of generating node transceiver groups is illustrated in Table 2, taking an example of 5 network nodes to be planned (n).

[0042] Table 2

[0043] In the above embodiments, when the node scheduling rule is multi-node to multi-node bidirectional passage, an ordered sequence is constructed through a mathematical model, and nodes with symmetrical beginnings and ends in the sequence are paired to determine a node transceiver group. All other node transceiver groups are then quickly generated based on the mirror principle and cyclic shifting. Compared to traversing the set of node transceiver pairs to divide node transceiver groups, this method reduces the computational complexity of the orchestration algorithm from O(n!) to O(n).

[0044] Furthermore, if the above node scheduling rule is a one-way communication from a single node to multiple nodes, in step S2, the singleness orchestration algorithm is run on the above mathematical model to form a node transceiver group by combining all non-conflicting transmit / receive pairs communicating within a time slot. The specific steps are as follows: In one embodiment, the number of network nodes to be planned is n, and a single node As the sending end, it traverses the receiving end nodes sequentially according to their node numbers. and respectively with the sending node Form send / receive pairs, with each send / receive pair acting as a separate node send / receive group. As shown in equation (9): (9) in, .

[0045] As can be seen from the mathematical model, since the sending node is a single node, the number of transmit and receive pairs that can communicate without conflict in the same time slot is 1. The relationship between the set of node transmit and receive pairs and the number of node transmit and receive groups N and the number of nodes in the network is shown in equation (10): (10) Furthermore, if the above node scheduling rule is bidirectional communication from multiple nodes to a single node, in step S2, the singleness orchestration algorithm is run on the above mathematical model to form a node transceiver group by combining all non-conflicting transmit / receive pairs communicating within a time slot. The specific steps are as follows: In one embodiment, the number of network nodes to be planned is n, and a single node When acting as a receiver, traverse other nodes sequentially according to their node numbers. As the sending end and respectively with the receiving end node Form send / receive pairs, with each send / receive pair acting as a separate node send / receive group. And generate corresponding reverse transceiver groups according to the mirroring principle. As shown in equations (11) and (12): (11) (12) in, .

[0046] As can be seen from the mathematical model, due to the limitation of a single node, the number of transmit and receive pairs that can communicate without conflict in the same time slot is also 1. The relationship between the set of node transmit and receive pairs and the number of node transmit and receive groups N and the number of nodes in the network is shown in equation (13): (13) Further, in step S3 above, the service weights of each node's transceiver group in the current communication cycle are determined based on the service weights of each node in the previous communication cycle, and then sorted according to the service weights, including: S11. In the current communication cycle, obtain the service weights of all nodes in the previous communication cycle.

[0047] S12. Based on the service weights of all nodes, calculate the sum of the service weights of each sending node in the node's transceiver group, and use this sum as the service weight of the node's transceiver group.

[0048] S13. Sort all node transceiver groups in descending order of business weight.

[0049] In each communication cycle, the service weight of a node is dynamically adjusted based on the urgency of the message sent by that node.

[0050] When the time resource scheduling algorithm is run for the first time, the service weight of each node is set to 0, and therefore the service weight of the node transceiver group is also 0. At this time, time slot resources are allocated sequentially according to the default order in which the node transceiver groups are generated. During subsequent communication tasks, if a node encounters an emergency and needs to notify other nodes as soon as possible, it can increase its own service weight. Therefore, the weight of the transceiver group containing that sending node will be increased. In the next communication cycle, all node transceiver groups are sorted in descending order of service weight, and time slots are allocated sequentially. These node transceiver groups will also be given priority in allocating time slot resources. The above process is illustrated using an example of 5 nodes to be planned in the network, as shown in Table 3.

[0051] Table 3

[0052] Among the time slots, network management time slots, and task time slots used in the planned network, only the task time slot needs to be dynamically adjusted according to the urgency of the task data it carries, and its service weight will change with the real-time status of the task. The time slot and network management time slot mainly undertake the internal operation and maintenance needs of the network, and their service weight will not change.

[0053] In this embodiment, since the increase in the service weight of network nodes is sudden, such as when a node discovers a detection target and needs to inform the remaining nodes, the time scheduling algorithm ensures the timeliness of information dissemination.

[0054] Furthermore, the network to be planned includes one management node and multiple member nodes. In S12 above, the service weights of all nodes in the previous communication cycle are obtained, including: S121. During the previous communication cycle, each node informs other nodes of its own business weight.

[0055] S122. During the current communication cycle, the management node integrates the service weights collected by all nodes, determines the service weight of each node, and sends the determined service weights of all nodes to each node respectively.

[0056] S123. Each node receives the business weights of all nodes as determined by the management node.

[0057] In one embodiment, the cluster head node of the network is a management node, and the other nodes are member nodes.

[0058] Specifically, in S121, during the previous communication cycle, each node frames and transmits service data and weight information in task time slots, and communicates with other nodes in the network according to the planned time sequence. At the end of a communication cycle, each node holds global weight information. Because the service weights of nodes may change at any time during communication, and packet loss may occur in service messages, the global weight information held by each node may differ.

[0059] In S122, within the current communication cycle, each member node reports the global node weight obtained by itself in the previous communication cycle to the cluster head node in the time slot. The cluster head node collects and calculates the mode of the service weights of each node, which is used as the weight information for each node to calculate the current communication cycle. The weight information is then packaged in the network management information in the network management time slot and updated to each member node.

[0060] In S123, each node receives the business weights of all nodes as determined by the management node.

[0061] In this embodiment, each node informs the other nodes of its own business weight, and the management node calculates and determines the final business weight before distributing it to each member node. Even in the event of network packet loss or unexpected node disconnection, each node in the network can obtain globally consistent weight information, thereby ensuring that the system has high robustness.

[0062] Furthermore, if the management node detects that a node is dynamically joining or leaving the planned network during the current communication cycle, the management node will notify each member node of the current network node information in the next communication cycle, and each node will re-schedule the spatiotemporal resources based on the current network node information.

[0063] In one embodiment, the cluster head node of the network is a management node, and the other nodes are member nodes.

[0064] Before joining the network, a node periodically applies for network access via the broadcast channel. Upon sensing this application, the cluster head node informs the node of its current network connectivity information. In the next communication cycle, the cluster head node communicates this information to the remaining member nodes via network management messages. Before leaving the network, a node submits a withdrawal application via network management messages to the cluster head node. In the next communication cycle, the cluster head node communicates this information to the remaining member nodes via network management messages. If the cluster head node does not receive a time synchronization message and a network management message from a member node within a preset time (10 seconds in this embodiment), it considers the node offline and communicates this information to the remaining member nodes via network management messages in the next communication cycle.

[0065] When a node joins or leaves the network, the cluster head node will notify all member nodes of the current network node information. All nodes in the network will then run the aforementioned spatiotemporal resource scheduling method according to the current network node information, dynamically update the spatiotemporal resource scheduling, and uniformly use the new resource scheduling scheme for communication in the next communication cycle after receiving the notification.

[0066] In this embodiment, the management node of the network to be planned senses the dynamic addition or removal of nodes from the network, and then disseminates the change information to all other member nodes. All nodes then trigger rescheduling. This ensures that all nodes initiate rescheduling based on a unified network topology, achieving efficient network topology information synchronization.

[0067] Furthermore, in one embodiment, before the launch of the aircraft cluster, an initial resource schedule is issued by an external management system. During the mission execution of the aircraft cluster, the resource schedule is dynamically updated by each node based on the real-time operating status.

[0068] Before the launch of the spacecraft cluster, the network administrator determines the identification information of each node in the cluster and calculates and issues an initial resource scheduling scheme for the entire cluster based on the aforementioned spatiotemporal resource scheduling method. This scheme serves as the starting point for consistency among all nodes. After the spacecraft cluster takes off and enters the mission phase, each network node adjusts and updates its resource scheduling based on the initial resource scheduling scheme and real-time operational status.

[0069] In this embodiment, a phased resource scheduling approach ensures the determinism of the initial state, avoiding resource contention and slow convergence issues that may occur in distributed systems during the initial stage. Simultaneously, it endows the system with high robustness and adaptability during operation; during flight, nodes do not need continuous communication with ground stations to complete scheduling and can autonomously respond to changes in network topology and task weights.

[0070] Secondly, embodiments of this application also provide a spatiotemporal resource scheduling system for an aircraft cluster. For example... Figure 3 As shown, the spatiotemporal resource scheduling system for an aircraft cluster includes a network modeling module, a spatial planning module, and a time planning module.

[0071] The network modeling module is used to establish a spatial resource scheduling mathematical model for each time slot type based on the node scheduling rules corresponding to different time slot types in the network to be planned. The mathematical model includes a set of nodes and a set of node transmit / receive pairs.

[0072] The spatial planning module is used to run the singleness orchestration algorithm on the above mathematical model to form a node transceiver group by combining all transmit and receive pairs that do not conflict with each other in a time slot.

[0073] The time planning module is used to determine the service weight of each node's transceiver group in the current communication cycle based on the service weight of each node in the previous communication cycle, sort them according to the service weight, and allocate time slots to all node transceiver groups in sequence according to the sorting.

[0074] The functions of each module in the aforementioned spacetime resource scheduling system of the aircraft cluster correspond to the steps in the aforementioned spacetime resource scheduling method embodiment of the aircraft cluster, and their functions and implementation processes will not be described in detail here.

[0075] In this embodiment, the network modeling module establishes a spatial resource scheduling mathematical model based on the node scheduling rules corresponding to different time slot types in the network to be planned. This models the spatial resource allocation problem as a permutation and combination problem, maximizing the theoretical maximum number of links capable of parallel transmission. The spatial planning module runs a singleness orchestration algorithm based on the mathematical model to obtain the node transceiver groups with maximized orchestration, achieving efficient utilization of spatial resources with low computational complexity. The time planning module determines the service weight of each node transceiver group in the current communication cycle based on the service weight of each node in the previous communication cycle and sorts them according to service weight. Time slots are then allocated sequentially to all node transceiver groups according to the sorting, enabling flexible adjustment of the time slot allocation order based on different real-time requirements of services within each communication cycle.

[0076] It should be noted that the sequence numbers of the embodiments in this application are for descriptive purposes only and do not represent the superiority or inferiority of the embodiments.

[0077] The terms "comprising" and "having," and any variations thereof, in the specification, claims, and accompanying drawings of this application are intended to cover non-exclusive inclusion. For example, a process, method, system, product, or apparatus that includes a series of steps or units is not limited to the listed steps or units, but may optionally include steps or units not listed, or may optionally include other steps or units inherent to such process, method, product, or apparatus. The terms "first," "second," and "third," etc., are used to distinguish different objects, etc., and do not indicate a sequence, nor do they limit "first," "second," and "third" to different types.

[0078] In the description of the embodiments of this application, terms such as "exemplary," "for example," or "for instance" are used to indicate examples, illustrations, or explanations. Any embodiment or design described as "exemplary," "for example," or "for instance" in the embodiments of this application should not be construed as being more preferred or advantageous than other embodiments or designs. Specifically, the use of terms such as "exemplary," "for example," or "for instance" is intended to present the relevant concepts in a concrete manner.

[0079] In the description of the embodiments of this application, unless otherwise stated, " / " means "or". For example, A / B can mean A or B. The "and / or" in the text is merely a description of the relationship between related objects, indicating that there can be three relationships. For example, A and / or B can mean: A exists alone, A and B exist simultaneously, and B exists alone. In addition, in the description of the embodiments of this application, "multiple" means two or more.

[0080] In some processes described in the embodiments of this application, multiple operations or steps are included in a specific order. However, it should be understood that these operations or steps may not be executed in the order they appear in the embodiments of this application, or they may be executed in parallel. The sequence number of the operation is only used to distinguish different operations, and the sequence number itself does not represent any execution order. In addition, these processes may include more or fewer operations, and these operations or steps may be executed sequentially or in parallel, and these operations or steps may be combined.

[0081] Through the above description of the embodiments, those skilled in the art can clearly understand that the methods of the above embodiments can be implemented by means of software plus necessary general-purpose hardware platforms. Of course, they can also be implemented by hardware, but in many cases the former is a better implementation method. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product is stored in a storage medium (such as ROM / RAM, magnetic disk, optical disk) as described above, and includes several instructions to cause a terminal device to execute the methods described in the various embodiments of this application.

[0082] The above are merely preferred embodiments of this application and do not limit the patent scope of this application. Any equivalent structural or procedural transformations made using the content of this application's specification and drawings, or direct or indirect applications in other related technical fields, are similarly included within the patent protection scope of this application.

Claims

1. A method for scheduling spatiotemporal resources of an aircraft cluster, characterized in that, The method includes: Based on the node scheduling rules corresponding to different time slot types in the network to be planned, a spatial resource scheduling mathematical model corresponding to each time slot type is established. The mathematical model includes a set of nodes and a set of node transmit / receive pairs. The singleness orchestration algorithm is run on the mathematical model to form a node transceiver group by combining all transmit and receive pairs that do not conflict with each other in a time slot. Based on the service weight of each node in the previous communication cycle, determine the service weight of each node's transceiver group in the current communication cycle and sort them according to the service weight. Then, allocate time slots to all node transceiver groups in sequence according to the sorting.

2. The spatiotemporal resource scheduling method for aircraft clusters as described in claim 1, characterized in that, If the node scheduling rule is multi-node to multi-node bidirectional communication, the singleness orchestration algorithm is run on the mathematical model to form a node transceiver group consisting of all non-conflicting transmit / receive pairs communicating within a time slot, including: If the number of network nodes n to be planned is even, the node initialization sequence is determined based on the node set. The nodes at the beginning and end of the initialization sequence are respectively used as the sending end and the receiving end to form a node transmit-receive pair. All node transmit-receive pairs constitute the first node transmit-receive group. The second node transmit-receive group is generated from the first node transmit-receive group according to the mirror principle. The last n-1 nodes of the initialization sequence are cyclically shifted to form a new sequence, and the process of generating node transceiver groups is repeated until the loop is repeated n-2 times to obtain all node transceiver groups.

3. The spatiotemporal resource scheduling method for aircraft clusters as described in claim 2, characterized in that, If the node scheduling rule is bidirectional communication between multiple nodes, and the singleness orchestration algorithm is run on the mathematical model to form a node transceiver group by grouping all non-conflicting transmit / receive pairs communicating within a time slot, the algorithm further includes: If the number of nodes n in the network to be planned is odd, the node initialization sequence is determined based on the node set. After initializing the sequence, add a virtual node to make the number of nodes even, run the single-node orchestration algorithm for the network to be planned with an even number of nodes, and generate all node transceiver groups; Remove transmit / receive pairs that contain virtual nodes from the node transmit / receive group.

4. The spatiotemporal resource scheduling method for aircraft clusters as described in claim 1, characterized in that, If the node scheduling rule is unidirectional communication from one node to multiple nodes, the singleness orchestration algorithm is run on the mathematical model to form a node transceiver group consisting of all non-conflicting transmit / receive pairs communicating within a time slot, including: The receiving nodes are traversed sequentially, and each node is paired with a sending node to form a send / receive pair. Each send / receive pair is treated as a separate node send / receive group.

5. The spatiotemporal resource scheduling method for aircraft clusters as described in claim 1, characterized in that, If the node scheduling rule is bidirectional communication from multiple nodes to a single node, the singleness orchestration algorithm is run on the mathematical model to form a node transceiver group consisting of all non-conflicting transmit / receive pairs communicating within a time slot, including: When a single node acts as the receiver, the sending nodes are traversed sequentially and each node forms a send-receive pair with the receiving node. Each send-receive pair is treated as a separate node send-receive group, and the node send-receive groups are used to generate corresponding reverse send-receive groups according to the mirroring principle.

6. The spatiotemporal resource scheduling method for aircraft clusters as described in claim 1, characterized in that, The step of determining the service weight of each node's transceiver group in the current communication cycle based on the service weight of each node in the previous communication cycle and sorting them by service weight includes: Within the current communication cycle, obtain the service weights of all nodes from the previous communication cycle; Based on the service weights of all nodes, the sum of the service weights of each sending node in the node's transceiver group is calculated and used as the service weight of that node's transceiver group. Sort all node transceiver groups in descending order of business weight; During each communication cycle, the service weight of a node is dynamically adjusted based on the urgency of the message being sent by that node.

7. The spatiotemporal resource scheduling method for aircraft clusters as described in claim 6, characterized in that, The process of obtaining the service weights of all nodes in the previous communication cycle includes: During the previous communication cycle, each node informed other nodes of its own business weight; The network to be planned includes a management node. During the current communication cycle, the management node integrates the service weights collected by all nodes, determines the service weight of each node, and sends the determined service weights of all nodes to each node. Each node receives the business weights of all nodes as determined by the management node.

8. The spatiotemporal resource scheduling method for aircraft clusters as described in claim 1, characterized in that, The network to be planned includes a management node. If, during the current communication cycle, the management node detects that a node is dynamically joining or leaving the network to be planned, in the next communication cycle, the management node notifies each member node of the current network node information, and each node re-schedules its spatiotemporal resources based on the current network node information.

9. The spatiotemporal resource scheduling method for aircraft clusters as described in claim 1, characterized in that, Each communication cycle corresponds to a time frame. Within this time frame, time slots of the same time slot type are arranged consecutively to form a time slot block. Time slot blocks of different time slot types are arranged in a preset order. The number of time slots of each time slot type is determined by the number of node transceiver groups corresponding to that time slot type.

10. A spatiotemporal resource scheduling system for an aircraft cluster, characterized in that, The resource scheduling system includes: The network modeling module is used to establish a spatial resource scheduling mathematical model for each time slot type based on the node scheduling rules corresponding to different time slot types in the network to be planned. The mathematical model includes a set of nodes and a set of node transmit / receive pairs. The spatial planning module is used to run a singleness orchestration algorithm on the mathematical model to form a node transceiver group by combining all transmit and receive pairs that do not conflict with each other in a time slot. The time planning module is used to determine the service weight of each node's transceiver group in the current communication cycle based on the service weight of each node in the previous communication cycle, sort them according to the service weight, and allocate time slots to all node transceiver groups in sequence according to the sorting.

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