Integrated routing method and system for unmanned cluster ad hoc network

Abstract

The application discloses an integrated routing method and system in an unmanned cluster ad hoc network environment, and mainly solves the problem that the prior art cannot cope with the heterogeneous communication scene of the unmanned cluster, and an implementation scheme thereof comprises the following steps: a node collects link states by exchanging neighbor messages; a routing maintenance value (RMV) is calculated based on the link states, a local topology table is constructed and dynamically updated; a topology maintenance message (DTU) is generated and broadcasted, a receiving node updates a local topology table, and the DTU is implemented with cutting propagation and trace degradation forwarding according to the updated RMV; a direction strength is calculated based on the degradation trace, and directional on-demand routing discovery is executed accordingly; meanwhile, a result is counted in a transmission process, an updated RMV is fed back, and a cutting threshold is adaptively adjusted, so that closed-loop control of the propagation range of the DTU and the message content is realized. The application can significantly reduce routing overhead, improve routing efficiency and network robustness in different network environments, and can be used for efficient data transmission in an unmanned cluster self-organizing network environment.

Description

Technical Field

[0001] This invention belongs to the field of communication technology, and in particular relates to an integrated routing method and system that can be used for efficient data transmission in unmanned cluster self-organizing network environments. Background Technology

[0002] Unmanned cluster self-organizing networks are characterized by high mobility, rapid topology changes, large fluctuations in link quality, and the coexistence of locally dense and sparse discontinuous areas. They are often accompanied by strong interference, heterogeneous nodes, and multiple concurrent services, which makes the needs for route maintenance and route discovery vary significantly in different areas of the network.

[0003] In existing research on mobile ad hoc networks in complex and dynamic environments, a common approach is to introduce route maintenance and route discovery mechanisms at the network layer to ensure communication reachability. Examples include proactive routing with periodic topology / neighbor information maintenance, or reactive routing that requests / responds to routes when triggered by services. Some studies have also attempted to combine these two approaches to form a hybrid routing framework. While these approaches can achieve certain results under specific conditions, they are generally based on the assumption of a "consistent maintenance strategy across the entire network" or "fixed areas / fixed parameters," making them difficult to adapt to the highly diverse and rapidly changing communication needs of unmanned cluster networks.

[0004] In unmanned clustered ad hoc networks, network states often exhibit overlapping characteristics across multiple regions: simultaneously, there may be stable and dense local areas, as well as highly dynamic or sparse local areas, and transitional areas where these two types overlap; furthermore, different service flows / communication relationships have varying requirements for latency, control overhead, and information freshness. If a consistent strategy is still adopted, i.e., a unified maintenance cycle, a unified propagation range, fixed area division, or discrete switching rules, routing maintenance and routing discovery strategies will become homogenized, making it difficult to implement differentiated control based on the value, timeliness, and service requirements of communication relationships. This results in both under-maintenance and over-maintenance occurring in different regional states.

[0005] Therefore, routing protocol design urgently needs to possess the ability to maintain and utilize different communication relationships in a differentiated manner, and to achieve automatic evolution from proactive maintenance to on-demand discovery within the same protocol framework, so as to balance overall performance and consistent routing semantics under multi-region overlapping conditions. Based on the above background, existing technical solutions mainly include:

[0006] ① Adopt proactive route maintenance: Maintain route availability by periodically publishing topology / link status or route summaries. In relatively stable or dense areas, this can reduce route establishment latency. However, in highly dynamic or strong interference areas, the update frequency needs to be increased to maintain accuracy, which can easily lead to increased control overhead, collision congestion, and rapid information expiration.

[0007] ② Reactive on-demand route discovery: The route request / response process is triggered only when communication is needed, which can avoid continuous maintenance; however, it often relies on network-wide diffusion (flooding or near-flooding), which can easily lead to problems such as large discovery latency, repeated diffusion and broadcast storms under conditions of large scale and concurrent business.

[0008] ③ Use hybrid area routing such as ZRP / IZR: Divide the maintenance scope according to fixed area / hop count / cluster, actively maintain within the area and discover on demand outside the area, trying to balance latency and overhead; however, its integration is mostly reflected in the splicing and switching of two sets of processes, relying on explicit boundaries and static parameters. Under the superposition of regional characteristics and high dynamic conditions, it is prone to boundary jitter, parameter sensitivity and difficulty in reusing cross-regional states, resulting in unstable overall performance.

[0009] The paper "Efficient Air-ground Collaborative Routing Strategy for UAV-assisted MANETs" proposes a UAV-assisted regional hybrid routing strategy, UZRP, which utilizes UAVs for topology tomography and provides routing services to reduce control overhead and improve throughput. While it achieves some overhead reduction and performance improvement by introducing UAV topology tomography, its routing organization still relies on a hybrid approach based on regional / internal / external division of labor. Furthermore, its primary optimization objective focuses on "reducing redundant hops and lowering overhead." For scenarios in unmanned cluster networks where "multiple regional characteristics overlap and communication relationships are diverse," it lacks a unified mechanism for differentiated maintenance and utilization of different communication relationships. This makes it difficult to achieve automatic evolution and continuous transition of proactive maintenance and on-demand discovery within the same protocol framework.

[0010] The paper "A Hybrid Reactive Routing Protocol for Decentralized UAV Networks" discloses a hybrid reactive routing protocol, Hyd-AODV, which proposes a hybrid reactive routing method of "on-demand discovery + pipeline neighborhood monitoring + pre-handover". This method reduces some rediscovery and interruption through "in-pipe pre-handover", but its hybrid mechanism is based on local enhancement centered on specific paths and depends on parameters such as pipeline width, threshold, and periodic feedback. At the same time, its maintenance object is mainly centered on "selected path neighborhood", lacking differentiated maintenance and prompt reuse mechanisms for communication relationships for different purposes / different services. Therefore, it is difficult to support the automatic evolution of a unified framework from active maintenance to on-demand discovery under the superposition of multiple regional characteristics, and may bring additional overhead and complexity due to parameter sensitivity and control information feedback.

[0011] The paper "Communication-Aware Hierarchical Routing for FANET: A Reinforcement Learning Approach" discloses a communication-aware hierarchical routing framework, CA-HRF, which proposes a two-layer routing method of "fuzzy clustering + reinforcement learning cross-cluster forwarding" to improve delivery rate, latency, and throughput performance. This method improves routing adaptability in dynamic scenarios by introducing clustering structure and learning decisions. However, because it relies on cluster / cluster head stability and the state representation and convergence efficiency of the learning process, its implementation complexity and control costs may increase in highly dynamic unmanned cluster environments due to cluster structure reconstruction and learning overhead. Furthermore, its mechanism focuses on "decision optimization under a hierarchical architecture," making it difficult to achieve a unified network layer mechanism for interpretable and differentiated maintenance and utilization of different communication relationships, as well as the ability to automatically evolve and continuously transition from proactive maintenance to on-demand discovery. Summary of the Invention

[0012] The purpose of this invention is to address the problems in existing technologies, such as the difficulty in uniformly configuring maintenance intensity due to the superposition of multiple regional characteristics and diverse communication relationships in unmanned cluster ad hoc networks, as well as the high overhead of diffusion-based discovery, strong location dependence, and difficulty in adapting to asymmetric links during the route discovery phase. This invention proposes an integrated routing protocol design method and system for unmanned cluster ad hoc network environments, so as to realize the automatic evolution of routing patterns with regional characteristics and communication relationship value, reduce control overhead, and improve route discovery efficiency and robustness.

[0013] The technical approach to achieving this invention is as follows: using "Routing Maintenance Value (RMV)" as a unified driving force; during the active maintenance phase, nodes determine the propagation range and carrying granularity of topology information based on the destination node or communication relationship, and control maintenance overhead through gating and pruning; when the maintenance value is insufficient or the risk is too high, the topology information continuously degenerates into lightweight directional traces (TRACE) and continues to propagate and accumulate; during the on-demand discovery phase, nodes use trace strength to perform few-branch directional diffusion of routing requests, and adapt to asymmetric links through directional responses, thereby achieving a continuous transition from active maintenance to on-demand discovery and its transitional forms under the same protocol closed loop.

[0014] Based on the above technical concept, the technical solution of the present invention includes:

[0015] 1. An integrated routing method in an unmanned cluster self-organizing network environment, characterized in that it includes:

[0016] (1) Neighboring nodes collect information status of neighboring links by sending and processing HELLO messages;

[0017] (2) Calculate the routing maintenance value (RMV) of the corresponding neighbor node based on the collected neighbor link information, and construct a local topology table to store and dynamically update the link information and routing maintenance value of the node.

[0018] (3) Generate and broadcast topology maintenance messages (DTUs) based on local topology tables. After receiving the DTU, the receiving node updates the topology table and route maintenance value of the corresponding node, and performs controlled propagation and trace degradation forwarding of the DTU based on the updated route maintenance value.

[0019] (4) Calculate the directional strength of the node's trace information based on the degraded trace information message, and perform directional on-demand route discovery based on the directional strength;

[0020] (5) Update the topology table entries and start data transmission based on the results of route discovery, and statistically analyze the transmission results during the data transmission process. Update the route maintenance value (RMV) based on the results and adjust the strength of gating and pruning to achieve closed-loop adaptive control of the broadcast range and content of the topology maintenance message (DTU).

[0021] Furthermore, the implementation of (3) includes:

[0022] (3a) Parse the source node address, message sequence number, remaining hop count, path quality, route maintenance value (RMV), and topology entry set in the DTU message;

[0023] (3b) For each destination node i in the parsed set of topology entries, find the corresponding entry in the local topology table;

[0024] If no corresponding table entry exists, create a table entry indexed by the destination node and initialize the table entry content to 0;

[0025] If it exists, then execute (3c);

[0026] (3c) Compare the entries in the DTU message with the entries with the same index in the local topology table:

[0027] When the sequence number of the message entry is greater than the sequence number of the local entry, or when the sequence numbers are equal but the path quality in the message is better than the path quality in the local entry, the original content of the local entry is overwritten with the sequence number, hop count, next hop, path quality, and route maintenance value (RMV) in the message, and the validity period is refreshed.

[0028] Otherwise, keep the original entries unchanged;

[0029] (3d) Perform deduplication detection on the source node address and sequence number of the DTU, and verify the validity of the remaining propagation hop count TTL:

[0030] If the message has already been processed or the TTL is 0, then discard the message.

[0031] Otherwise, execute (3e);

[0032] (3e) Set the first gating threshold Read the remaining validity period of the DTU message and the routing maintenance value of the source node that generated the DTU message to the current receiving node, and determine the validity of the maintenance value of that node.

[0033] If the route maintenance value is greater than the first gate threshold If so, then execute (3f);

[0034] If the route maintenance value is less than the first gate threshold If the validity period expires, the message will be discarded;

[0035] (3f) Set the second gating threshold Read the routing maintenance value of each topology entry in the DTU message and determine the validity of the maintenance value of each entry in the message.

[0036] If the route maintenance value of this entry is less than the second gating threshold If so, delete the entry;

[0037] If the routing maintenance value of this entry is greater than the second gating threshold If so, retain the content of the topology entry and execute (3g);

[0038] (3g) Based on the DTU message propagation link Packet error rate and the remaining mass of the trace from the previous moment Calculate the remaining mass of the trace at the next time step: ;

[0039] (3h) Fill the DTU message with the topology entries retained in (3f) and the trace remaining mass calculated in (3g), decrement the remaining propagation hops and broadcast the message.

[0040] Furthermore, the implementation of (4) includes:

[0041] (4a) Based on the lifespan of trace information unit d and remaining mass of traces Calculate the contribution of each trace information unit to the trace direction intensity. ,

[0042] (4b) Within the time window W, receiving node k selects trace information units d generated from node i and whose previous hop is node nh from its trace information cache, and forms a set of trace information units by selecting the results. Accumulated set Contribution of each trace information unit ,get

[0043] (4c) Source node k initiates route discovery towards destination node i, based on the reachability confidence of neighbor node nh in the direction. The number of times recently node k failed to initiate route discovery to node i. Intensity of business reliability requirements and clipping function (·), calculate the number of directed forwarding branches m:

[0044] (4d) Based on the number of branches obtained in (4c), select the m neighbors with the highest strength to node i to form a directed forwarding set, fill in the set of receiving node addresses in the D-RREQ message, and broadcast the message;

[0045] (4e) The node receives the message sent by (4d), removes duplicates according to the source node address and the request sequence number, and performs a validity check on the remaining propagation hop count (TTL).

[0046] If the message has already been processed or the TTL is 0, then discard the message.

[0047] Otherwise, execute (4f);

[0048] (4f) Read the destination node address of the received message and determine whether this node is the destination node or whether there is a route to the destination node;

[0049] If this node is the destination node or there is a routing table entry to the destination node in the local topology table, then execute (4g).

[0050] If this node is not the destination node and there is no valid local route, then execute (4h).

[0051] (4g) Calculate the number of branches m required to return to the source node in the manner of (4c), fill the path information list in D-RREQ and the set of m directed forwarding nodes into the D-RREP message, and broadcast the message;

[0052] (4h) Read the address of the receiving node for the received message, and determine whether this node is the receiving node specified by the previous hop:

[0053] If this node is the receiving node specified by the previous hop, then m is recalculated and the set of directed forwarding nodes is updated in accordance with (4c), and the message is broadcast and forwarded again.

[0054] If this node is not a receiving node, the message will be discarded.

[0055] 2. An integrated routing system for an unmanned cluster self-organizing network environment, characterized in that it comprises:

[0056] The neighbor discovery and link acquisition module is used to send and receive Hello messages and maintain a one-hop neighbor table;

[0057] The active topology maintenance module is used to actively broadcast the topology table information that this node has acquired from other nodes in the network;

[0058] The topology table update module is used to update the topology table, including the hop count to each destination node, the next-hop node address, the path quality, and the route maintenance value (RMV).

[0059] The orientation trace intensity table update module is used to calculate the orientation intensity and update the orientation trace intensity table;

[0060] The directional on-demand route discovery module is used to complete the directional route discovery process based on the strength of directional information and obtain a route to the destination node.

[0061] Compared with the prior art, the present invention has the following advantages:

[0062] Firstly, this invention uses the route maintenance value (RMV) as a unified driving quantity. Through the gating, pruning, and trace degradation mechanism of actively broadcast DTU messages, the active maintenance form can continuously degrade into a lightweight directional trace when the maintenance value is insufficient or the risk increases. It also enables targeted on-demand discovery when triggered by services. Thus, the route form can be dynamically and continuously evolved with regional characteristics and network without the need for discrete policy switching. It is suitable for scenarios with superimposed and rapidly changing regional characteristics.

[0063] Secondly, this invention characterizes the maintenance value at the granularity of the communication relationship of the destination node, and adaptively adjusts the propagation range, carrying granularity and maintenance intensity of topology information accordingly. This allows limited maintenance resources to be prioritized for communication relationships with "stronger demand, higher benefits and lower costs," thereby reducing the coexistence of over-maintenance and under-maintenance, improving the effectiveness of routing status and reducing unnecessary control overhead.

[0064] Third, this invention utilizes the directional trace information obtained during the active maintenance phase to guide on-demand discovery, selects a small number of neighbors based on the number of branches for directional diffusion, replaces blind flooding to reduce the risk of repeated diffusion and broadcast storms; and adaptively increases the number of branches to ensure reachability when discovery fails or confidence is insufficient, while supporting directional replies to adapt to asymmetric link environments, thereby improving route discovery efficiency and route robustness. Attached Figure Description

[0065] Figure 1 This is a flowchart illustrating the implementation of the integrated routing method in an unmanned cluster self-organizing network environment of the present invention.

[0066] Figure 2 yes Figure 1 The flowchart of the DTU message processing sub-process in the document;

[0067] Figure 3 yes Figure 1 The flowchart of the D-RREQ message processing sub-process in the document;

[0068] Figure 4 This is a block diagram of the integrated routing system in an unmanned cluster self-organizing network environment according to the present invention;

[0069] Figure 5 This is a comparison chart of the end-to-end delivery rate simulation results of the present invention and existing routing protocols such as DSR, DSDV, and ZRP under different speed and scale scenarios;

[0070] Figure 6 This is a comparison chart of the simulation results of routing convergence time of the present invention and existing routing protocols such as DSR, DSDV, and ZRP under different speeds and scale scenarios;

[0071] Figure 7 This is a comparison chart of the routing overhead simulation results of the present invention and existing DSR, DSDV, and ZRP routing protocols under different speeds and scales. Detailed Implementation

[0072] To enable those skilled in the art to better understand the present invention, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention and not all embodiments. Based on the embodiments of the present invention, other embodiments obtained by those skilled in the art without creative effort should fall within the protection scope of the present invention.

[0073] It should be noted that the step numbers in the specification and claims of this invention are only for the purpose of clearly describing the embodiments of this invention and facilitating understanding, and their order is not limited.

[0074] Example 1: An integrated routing method in an unmanned cluster self-organizing network environment.

[0075] This embodiment implements and simulates an integrated routing method in an unmanned cluster self-organizing network environment. The unmanned cluster self-organizing network environment is a wireless self-organizing network composed of multiple unmanned nodes. The unmanned nodes include, but are not limited to, drone nodes and ground nodes. Each node has wireless transmission and reception capabilities and computing capabilities. Under the condition of not requiring fixed infrastructure and central control, it realizes information forwarding and service communication through multi-hop mode.

[0076] Reference Figure 1 The implementation steps of this example include the following:

[0077] Step 1: The node collects link information between its neighbors via Hello messages.

[0078] 1.1) Establish a system including message type, local node address, local node bandwidth resource utilization, and local node remaining energy.

[0079] The system sends Hello messages containing the neighbor node address, inter-node link frame error rate, and inter-node link one-way / two-way flags, and broadcasts them.

[0080] 1.2) Calculate the route maintenance value based on the Hello message content:

[0081] 1.2.1) Statistics on the number of business sessions initiated from node k to destination node i within the time window W. and statistics on the duration of business within the W time window Calculate the service session load strength between this node k and the destination node i. :

[0082] ,

[0083] Where α is the weighting coefficient;

[0084] 1.2.2) Statistical analysis of the success rate of route discovery from node k to destination node i Routing discovery delay statistics Path breakage rate statistics And the exponential moving average function EMA(·) is used to calculate the benefit of node k maintaining routing information for destination node i. :

[0085] ,

[0086] in, , , These represent the weights of route discovery success rate, route discovery latency, and path transmission failure rate, respectively. This is used to adjust the importance of three performance indicators;

[0087] 1.2.3) Based on the number of hops from node k to destination node i Packet reception rate Link lifespan Bandwidth resource utilization of node k and the remaining energy of node k Calculate the cost of maintaining routing information from node k to destination node i. :

[0088] ,

[0089] Among them, the weighting coefficient ~ These represent the weights of hop count, delivery rate, link lifetime, remaining node bandwidth, and remaining node energy, respectively. This is used to adjust the importance of five performance indicators;

[0090] 1.2.4) Based on communication strength , Maintenance revenue Maintenance costs Calculate the route maintenance value from this node to destination node i. :

[0091] .

[0092] Step 2: Actively broadcast the network topology information known to the node through DTU messages.

[0093] Reference Figure 2 The implementation of this step includes the following:

[0094] 2.1) Create a DTU message that includes message type, local node address and topology entries for each node in the network, and broadcast it. The topology entries include destination node address, route maintenance value (RMV), candidate next hop set, hop count and validity period field.

[0095] 2.2) Controlled propagation and trace degradation forwarding of DTU packets based on routing maintenance value:

[0096] 2.2.1) Perform deduplication checks on the source node address and sequence number of the DTU message, and verify the validity of the remaining propagation hop count (TTL):

[0097] If the message has already been processed or the TTL is 0, then discard the message.

[0098] Otherwise, proceed to step 2.2.2).

[0099] 2.2.2) Set the first gate threshold Read the remaining validity period of the DTU message and the routing maintenance value of the source node that generated the DTU message to the current receiving node, and determine the validity of the maintenance value of that node:

[0100] If the route maintenance value is greater than the first gate threshold Then proceed to step 2.2.3).

[0101] If the route maintenance value is less than the first gate threshold If the validity period expires, the message will be discarded;

[0102] 2.2.3) Set the second gating threshold Read the routing maintenance value of each topology entry in the DTU message and determine the validity of the maintenance value of each entry in the message:

[0103] If the route maintenance value of this entry is less than the second gating threshold If so, delete the entry;

[0104] If the routing maintenance value of this entry is greater than the second gating threshold If so, retain the content of the topology entry and proceed to step 2.2.4).

[0105] 2.2.4) Based on the propagation link of the DTU message Packet error rate and the remaining mass of the trace from the previous moment Calculate the remaining mass of the trace at the next time step: ;

[0106] 2.2.5) Refill the DTU message with the retained set of topology entries and the updated trace remaining quality, decrement the remaining propagation hops, and broadcast the message.

[0107] Step 3: Update the hop count, next-hop node, path quality j, and route maintenance value (RMV) to each destination node.

[0108] 3.1) Construct local topology entries and initialize network topology information:

[0109] A topology table entry is created using the destination node identifier i as an index. Each topology table entry includes: destination node address, candidate next hop set, current next hop node address, number of hops to the destination node, path quality, route maintenance value (RMV), table entry sequence number (SeqNo), last update timestamp, and validity period.

[0110] If no entry for destination node i exists locally, a new entry is created and its content is initialized to 0.

[0111] 3.2) After receiving the DTU, the node updates its topology table and route maintenance information:

[0112] 3.2.1) Parse the source node address, message sequence number, remaining hops, path quality, route maintenance value (RMV), and topology entry set in the DTU message;

[0113] 3.2.2) For each destination node i in the parsed set of topology entries, find the corresponding entry in the local topology table;

[0114] If no corresponding entry exists, return to step 3.1).

[0115] If it exists, proceed to step 3.2.3).

[0116] 3.2.3) Compare the entries in the DTU message with the entries with the same index in the local topology table:

[0117] When the sequence number of the message entry is greater than the sequence number of the local entry, or when the sequence numbers are equal but the path quality in the message is better than the path quality in the local entry, the original content of the local entry is overwritten with the sequence number, hop count, next hop, path quality, and route maintenance value (RMV) in the message, and the validity period is refreshed.

[0118] Otherwise, leave the original entries unchanged.

[0119] Step 4: Update the direction strength of trace information from each neighbor node to each destination node.

[0120] 4.1) Based on the lifespan of the trace information unit d and remaining mass of traces Calculate the contribution of each trace information unit to the trace direction intensity. ,

[0121] ,

[0122] Where τ is the decay time constant;

[0123] 4.2) Within the time window W, receiving node k selects trace information units d generated from node i and whose previous hop is node nh from its trace information cache, and combines the selection results into a trace information unit set. Accumulated set Contribution of each trace information unit ,get

[0124] .

[0125] Step 5: Initiate directional route discovery to the destination node based on trace information.

[0126] Reference Figure 3 The implementation of this step includes the following:

[0127] 5.1) Source node k initiates route discovery towards destination node i, based on the reachability confidence of neighboring nodes nh in the direction. The number of times recently node k failed to initiate route discovery to node i. Intensity of business reliability requirements and clipping function (·), calculate the number of directed forwarding branches m:

[0128] ,

[0129] in and These are the upper and lower bounds for the value of m, respectively. , , These represent the weights of trace information, route discovery failure probability, and business reliability requirements, respectively. This is used to adjust the importance of the three indicators;

[0130] 5.2) Based on the number of branches obtained in step 5.1), select the m neighbors with the highest strength to node i to form a directed forwarding set, fill in the set of receiving node addresses in the D-RREQ message, and broadcast the message;

[0131] 5.3) The node receives the message sent in step 5.2), deduplicates it according to the source node address and request sequence number, and performs a validity check on the remaining propagation hop count (TTL):

[0132] If the message has already been processed or the TTL is 0, then discard the message.

[0133] Otherwise, proceed to step 5.4).

[0134] 5.4) Read the destination node address of the received message and determine whether this node is the destination node or whether there is a route to the destination node;

[0135] If this node is the destination node or there is a routing table entry to the destination node in the local topology table, then proceed to step 5.5).

[0136] If this node is not the destination node and there is no valid route locally, then proceed to step 5.6).

[0137] 5.5) Calculate the number of branches m required to return to the source node in the manner of step 5.1), fill the path information list in D-RREQ and the set of m directed forwarding nodes into the D-RREP message, and broadcast the message;

[0138] 5.6) Read the address of the receiving node for the received message, and determine whether this node is the receiving node specified by the previous hop:

[0139] If this node is the receiving node specified by the previous hop, then m is recalculated and the set of directed forwarding nodes is updated in accordance with step 5.1), and the message is broadcast and forwarded again.

[0140] If this node is not a receiving node, the message will be discarded.

[0141] Example 2: An integrated routing system in an unmanned cluster self-organizing network environment.

[0142] Reference Figure 4 This system includes: a neighbor discovery and link acquisition module 1, an active topology maintenance module 2, a topology table update module 3, a directional trace strength table update module 4, and a directional on-demand route discovery module 5. The active topology maintenance module 2 includes: a topology maintenance message DTU sending submodule 21 and a topology maintenance message DTU processing submodule 22. The directional on-demand route discovery module 5 includes: a route discovery submodule 51 and a route reply submodule 52.

[0143] The working principle of the entire system is as follows:

[0144] The neighbor discovery and link acquisition module 1 is used to periodically send and receive Hello messages in an unmanned cluster self-organizing network environment, and to collect observable link information including: neighbor node identifier, link one-way and two-way reachability, link frame error rate / packet loss rate, remaining energy and bandwidth resource utilization; and outputs the neighbor reachability relationship and link quality parameters to the active topology maintenance module 2 and the directional on-demand route discovery module 5.

[0145] The active topology maintenance module 2 is used to periodically send and receive topology maintenance messages (DTUs) in an unmanned cluster self-organizing network environment. The DTUs are propagated in a controlled manner across the network to achieve cross-node topology information sharing. The DTU sending submodule 21 generates DTUs according to a preset period, encapsulating the neighbor reachability relationships and link quality parameters maintained by the node into the DTUs. It then trims the DTUs based on the route maintenance value from the node to each destination node before sending them to the DTU processing submodule 22. Upon receiving the DTUs, the DTU processing submodule 22 performs deduplication and validity checks, and performs gated forwarding, topology entry trimming, and trace degradation forwarding on the DTUs based on the updated route maintenance value. Finally, it outputs the processed topology entry information to the topology table update module 3 and the direction trace strength table update module 4.

[0146] The topology table update module 3 is used to perform table entry-level maintenance operations on the local topology table, including: creating and searching topology table entries with the destination node identifier as the index; writing the next hop, hop count, path quality, route maintenance value, most recent update timestamp and validity period of the corresponding table entry when the topology entry meets the condition of "sequence number update or better path quality"; performing invalidation marking and deletion on table entries that have exceeded the validity period or whose next hop neighbor is unreachable; and outputting the route search results to the directed on-demand route discovery module 5.

[0147] The directional trace strength table update module 4 is used to extract trace information and perform directional strength calculation and maintenance when the DTU message topology entry is pruned to empty. It includes: filtering and aggregating trace information units that are "destination node i and come from neighbor nh" within a sliding time window, obtaining the directional information strength from the direction of neighbor nh to the destination node i, updating the directional strength based on the trace survival time and the remaining trace quality, and outputting the directional information strength of each neighbor node to the directional on-demand routing discovery module 5.

[0148] The directed on-demand route discovery module 5 is used to initiate and execute a directed on-demand route discovery process based on the directional information strength of neighboring nodes when the local node lacks a valid route to the destination node. Specifically, the route discovery submodule 51 uses the source node to generate a D-RREQ message and selects the m neighbors with the highest directional strength based on the directional information strength table to form a directed forwarding set for restricted forwarding. When the relay node meets the forwarding conditions, it decrements the survival hop count and recalculates the directed forwarding set according to the directional information strength table to continue forwarding until the destination node is reached, and outputs the path information to the route reply submodule 52. The route reply submodule 52 generates a D-RREP message and returns it to the source node. Along the route, nodes prioritize directed forwarding according to the path information carried in the message, and when the reverse next hop is detected as unreachable, they select m neighbors for restricted flooding forwarding based on the directional information strength table. When the D-RREP returns to the source node, the path result is output to the topology table update module 3 to update the next hop, hop count, path quality, and validity period of the local routing table / topology table entries, completing the route establishment and maintenance process.

[0149] It should be noted that the above functional modules can be implemented, in whole or in part, through software, hardware, firmware, or any combination thereof. When implemented in software, they can be implemented, in whole or in part, as a program instruction product. A program instruction product includes one or a set of program instructions. When the program instructions are loaded and executed on a computer, the described process or function is generated, in whole or in part. The computer can be a general-purpose computer, a special-purpose computer, a computer network, or other programmable device. The program instructions can be stored in a computer-readable and writable storage medium, or transferred from one computer's readable and writable storage medium to another.

[0150] The direct coupling or communication connections between the modules shown or discussed in this embodiment can be achieved through indirect coupling or communication connections via interfaces, devices, or modules. The functional modules and sub-modules in this embodiment can dynamically reside within a single processing unit, or each module can exist physically independently, or two or more modules can dynamically reside within a single processing unit. When these dynamic components are implemented as software functional modules and sold or used as independent products, they can also be stored in a computer-readable and writable storage medium. This storage medium can be a memory, disk, or optical disc, etc.

[0151] The effects of this invention can be further illustrated by the following simulation experiments:

[0152] I. Simulation Conditions

[0153] The simulation communication platform in this embodiment is a container platform, the integrated routing method is designed using C language, the node mobility model is the Manhattan mobility model, and the channel environment is the logarithmic distance path loss model.

[0154] II. Simulation Content

[0155] Simulation 1: Under the above conditions, communication simulations were conducted using the present invention and existing DSR, DSDV, and ZRP routing protocols under different speeds and scales. The network delivery rates for each protocol were statistically analyzed, and the results are shown in Figure 5. Wherein:

[0156] Figure 5 (a) A comparison chart showing the delivery rate as a function of network size when using the present invention and existing DSR, DSDV, and ZRP routing protocols at a node movement speed of 10 m / s;

[0157] Figure 5 (b) A comparison chart showing the delivery rate as a function of network size using the present invention and existing DSR, DSDV, and ZRP routing protocols at a node movement speed of 20 m / s;

[0158] Figure 5 (c) A comparison chart of the delivery rate as a function of network size using the present invention and existing DSR, DSDV, and ZRP routing protocols at a node movement speed of 30 m / s;

[0159] from Figure 5 As can be seen, compared to the existing DSR, DSDV, and ZRP protocols, the delivery rate generally shows a downward trend as the network size N increases and the node movement speed increases; however, the delivery rate of this invention remains at approximately 0.91 to 0.98 within the test range of v=10~30 m / s, which is significantly higher than the comparative protocols, indicating that this invention can maintain a higher and more stable end-to-end delivery rate at all three speeds.

[0160] Simulation 2: Communication simulations were conducted using the present invention and existing DSR, DSDV, and ZRP routing protocols under different speeds and scales. The routing convergence time was statistically analyzed, and the results are shown in Figure 6. (The simulation results are not included in the provided text.)

[0161] Figure 6 (a) A comparison graph showing the changes in routing convergence time with network size when using the present invention and existing DSR, DSDV, and ZRP routing protocols at a node movement speed of 10 m / s;

[0162] Figure 6 (b) A comparison chart showing the changes in routing convergence time with network size when using the present invention and existing DSR, DSDV, and ZRP routing protocols at a node movement speed of 20 m / s;

[0163] Figure 6 (c) A comparison graph showing the changes in routing convergence time with network size when using the present invention and existing DSR, DSDV, and ZRP routing protocols at a node movement speed of 30m / s;

[0164] from Figure 6 As can be seen, the routing convergence time of existing protocols such as DSR, DSDV, and ZRP increases with the increase of network size N and node movement speed; while the method of this invention maintains a lower convergence time and has a gentler growth slope. This result demonstrates that this invention, utilizing controlled propagation of DTUs and an entry-level update strategy, can complete topology consistency repair more quickly and shorten route recovery time.

[0165] Simulation 3: Communication simulations were conducted using the present invention and existing DSR, DSDV, and ZRP routing protocols under different speeds and scales. Routing costs were statistically analyzed, and the results are shown in Figure 7. (The simulation results are not included in the provided text.)

[0166] Figure 7 (a) A comparison chart showing the changes in routing overhead with network size using the present invention and existing DSR, DSDV, and ZRP routing protocols at a node movement speed of 10 m / s;

[0167] Figure 7 (b) A comparison chart of the routing overhead as a function of the present invention and existing DSR, DSDV, and ZRP routing protocols at a node movement speed of 20 m / s;

[0168] Figure 7 (c) A comparison chart of the routing overhead as a function of the present invention and existing DSR, DSDV, and ZRP routing protocols at a node movement speed of 30 m / s;

[0169] from Figure 7As can be seen, the routing overhead of each protocol increases with network size and speed, and the compared protocols exhibit significant overhead amplification in large-scale scenarios. In contrast, the method of this invention shows lower routing overhead at all three speeds. This result demonstrates that this invention, through "DTU pruning and gated forwarding driven by routing maintenance value," reduces invalid flooding and the propagation of redundant maintenance information, thereby significantly reducing control overhead.

[0170] The simulation results above show that the method of the present invention can achieve better routing protocol performance than existing DSR, DSDV and ZRP routing protocols under different speeds and scales, indicating that the present invention has better stability and adaptability in highly dynamic unmanned cluster self-organizing network environments.

Claims

1. An integrated routing method for an unmanned cluster self-organizing network environment, characterized in that, include: (1) Neighboring nodes collect information status of neighboring links by sending and processing HELLO messages; (2) Calculate the routing maintenance value (RMV) of the corresponding neighbor node based on the collected neighbor link information, and construct a local topology table to store and dynamically update the link information and routing maintenance value of the node. (3) Generate and broadcast topology maintenance messages (DTUs) based on local topology tables. After receiving the DTU, the receiving node updates the topology table and route maintenance value of the corresponding node, and performs controlled propagation and trace degradation forwarding of the DTU based on the updated route maintenance value. (4) Calculate the directional strength of the node's trace information based on the degraded trace information message, and perform directional on-demand route discovery based on the directional strength; (5) Update the topology table entries and start data transmission based on the results of route discovery, and statistically analyze the transmission results during the data transmission process. Update the route maintenance value (RMV) based on the results and adjust the strength of gating and pruning to achieve closed-loop adaptive control of the broadcast range and content of the topology maintenance message (DTU).

2. The method according to claim 1, characterized in that, The HELLO message content includes: message type, This node's address, this node's bandwidth resource utilization, this node's remaining energy, neighboring node addresses, inter-node link frame error rate, and inter-node link one-way / two-way flags.

3. The method according to claim 1, characterized in that, The calculation of the routing maintenance value (RMV) of the corresponding neighbor node based on the collected neighbor link information in (2) is implemented as follows: (2a) Statistics on the number of business sessions initiated from node k to destination node i within the time window W. and statistics on the duration of business within the W time window Calculate the service session load strength between this node k and the destination node i. : ， Where α is the weighting coefficient; (2b) Based on the route discovery success rate statistics from node k to destination node i Routing discovery delay statistics Path breakage rate statistics And the exponential moving average function EMA(·) is used to calculate the benefit of node k maintaining routing information for destination node i. : ， in, , , These represent the weights of route discovery success rate, route discovery latency, and path transmission failure rate, respectively. This is used to adjust the importance of three performance indicators; (2c) Based on the number of hops from node k to destination node i Packet reception rate Link lifespan Bandwidth resource utilization of node k and the remaining energy of node k Calculate the cost of maintaining routing information from node k to destination node i. : ， Among them, the weighting coefficient ~ These represent the weights of hop count, delivery rate, link lifetime, remaining node bandwidth, and remaining node energy, respectively. Used for adjusting the importance of five performance indicators. (2d) Based on communication strength , Maintenance revenue Maintenance costs Calculate the route maintenance value from this node to destination node i. : 。 4. The method according to claim 1, characterized in that, In step (2), the local topology table is constructed by creating topology table entries with the destination node identifier i as the index. Each topology table entry includes: destination node address, candidate next-hop set, current next-hop node address, number of hops to the destination node, path quality, route maintenance value (RMV), table entry sequence number (SeqNo), recent update timestamp, and validity period. When there is no table entry for destination node i locally, a new table entry is created and its validity period is initialized.

5. The method according to claim 1, characterized in that, In step (3), the receiving node updates the topology table and route maintenance value of the corresponding node after receiving the DTU. This is implemented by: (3a) Parse the source node address, message sequence number, remaining hop count, path quality, route maintenance value (RMV), and topology entry set in the DTU message; (3b) For each destination node i in the parsed set of topology entries, find the corresponding entry in the local topology table; If no corresponding table entry exists, create a table entry indexed by the destination node and initialize the table entry content to 0; If it exists, then execute (3c); (3c) Compare the entries in the DTU message with the entries with the same index in the local topology table: When the sequence number of the message entry is greater than the sequence number of the local entry, or when the sequence numbers are equal but the path quality in the message is better than the path quality in the local entry, the original content of the local entry is overwritten with the sequence number, hop count, next hop, path quality, and route maintenance value (RMV) in the message, and the validity period is refreshed. Otherwise, leave the original entries unchanged.

6. The method according to claim 1, characterized in that, The controlled propagation and trace degradation forwarding of the DTU based on the updated route maintenance value in (3) includes the following implementation: (3d) Perform deduplication detection on the source node address and sequence number of the DTU, and verify the validity of the remaining propagation hop count TTL: If the message has already been processed or the TTL is 0, then discard the message. Otherwise, execute (3e); (3e) Set the first gating threshold Read the remaining validity period of the DTU message and the routing maintenance value of the source node that generated the DTU message to the current receiving node, and determine the validity of the maintenance value of that node. If the route maintenance value is greater than the first gate threshold Then execute (3f); If the route maintenance value is less than the first gate threshold If the validity period expires, the message will be discarded. (3f) Set the second gating threshold Read the routing maintenance value of each topology entry in the DTU message and determine the validity of the maintenance value of each entry in the message. If the route maintenance value of this entry is less than the second gating threshold If so, delete the entry; If the routing maintenance value of this entry is greater than the second gating threshold If so, retain the content of the topology entry and execute (3g); (3g) Based on the DTU message propagation link Packet error rate and the remaining mass of the trace from the previous moment Calculate the remaining mass of the trace at the next time step: ; (3h) Fill the DTU message with the topology entries retained in (3f) and the trace remaining mass calculated in (3g), decrement the remaining propagation hops and broadcast the message.

7. The method according to claim 1, characterized in that, The direction strength of the trace information of the node is calculated based on the degraded trace information message d in (4) as follows: (4a) Based on the lifespan of trace information unit d and remaining mass of traces Calculate the contribution of each trace information unit to the trace direction intensity. , ， Where τ is the decay time constant; (4b) Within the time window W, receiving node k filters trace information units d generated from node i and whose previous hop is node nh from its trace information cache, and forms a set of trace information units by the filtering results. Accumulated set Contribution of each trace information unit The intensity of the information obtained : 。 8. The method according to claim 1, characterized in that, According to the directional strength in (4) The implementation of directed on-demand route discovery includes: (4c) Source node k initiates route discovery towards destination node i, based on the reachability confidence of neighbor node nh in the direction. The number of times recently node k failed to initiate route discovery to node i. Intensity of business reliability requirements and clipping function (·), calculate the number of directed forwarding branches m: ， in and These are the upper and lower bounds for the value of m. , , These represent the weights of trace information, route discovery failure probability, and business reliability requirements, respectively. This is used to adjust the importance of the three indicators; (4d) Based on the number of branches obtained in (4c), select the m neighbors with the highest strength to node i to form a directed forwarding set, fill in the set of receiving node addresses in the D-RREQ message, and broadcast the message; (4e) The node receives the message sent by (4d), removes duplicates according to the source node address and the request sequence number, and performs a validity check on the remaining propagation hop count (TTL). If the message has already been processed or the TTL is 0, then discard the message. Otherwise, execute (4f); (4f) Read the destination node address of the received message and determine whether this node is the destination node or whether there is a route to the destination node; If this node is the destination node or there is a routing table entry to the destination node in the local topology table, then execute (4g). If this node is not the destination node and there is no valid local route, then execute (4h). (4g) Calculate the number of branches m required to return to the source node in the manner of (4c), fill the path information list in D-RREQ and the set of m directed forwarding nodes into the D-RREP message, and broadcast the message; (4h) Read the address of the receiving node for the received message, and determine whether this node is the receiving node specified by the previous hop: If this node is the receiving node specified by the previous hop, then m is recalculated and the set of directed forwarding nodes is updated in accordance with (4c), and the message is broadcast and forwarded again. If this node is not a receiving node, the message will be discarded.

9. An integrated routing system for an unmanned cluster self-organizing network environment, characterized in that, include: The neighbor discovery and link acquisition module is used to send and receive Hello messages and maintain a one-hop neighbor table; The active topology maintenance module is used to actively broadcast the topology table information that this node has acquired from other nodes in the network; The topology table update module is used to update the topology table, including the hop count to each destination node, the next-hop node address, the path quality, and the route maintenance value (RMV). The orientation trace intensity table update module is used to calculate the orientation intensity and update the orientation trace intensity table; The directional on-demand route discovery module is used to complete the directional route discovery process based on the strength of directional information and obtain a route to the destination node.

10. The system according to claim 9, characterized in that, The active topology maintenance module includes: The Topology Maintenance Message (DTU) sending submodule is used to construct and broadcast the Topology Maintenance Message (DTU). The Topology Maintenance Message (DTU) Processing Submodule is used to perform deduplication verification on received DTUs, control the propagation range and transmission content, update path quality, and forward the message. The targeted on-demand routing discovery module includes: The route discovery submodule is used to construct, broadcast, and forward route discovery messages; The routing reply submodule is used to construct, broadcast, and forward routing reply messages.

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