技术领域technical field
本发明涉及无人机领域，特别是指一种集群无人机自组网分簇方法。The invention relates to the field of unmanned aerial vehicles, in particular to a clustering method for ad hoc network of swarm unmanned aerial vehicles.
背景技术Background technique
近年来，移动自组织网络(mobile Ad hoe network，MANET)因为其具有自组织、多跳传输、动态拓扑、分布式控制等特点得到了学术界和工业界的广泛关注，自组织网络简称为自组网。移动自组网由能够在动态环境下创建网络拓扑的移动节点组成，这些节点可以自由移动，而无需使用任何集中控制的基础设施就能实现快速组网，因此移动自组网是自然灾害和突发事件处理中需要建立紧急通信时的理想选择。In recent years, the mobile ad hoe network (MANET) has received extensive attention from academia and industry because of its features such as self-organization, multi-hop transmission, dynamic topology, and distributed control. networking. Mobile ad hoc networks consist of mobile nodes capable of creating network topologies in a dynamic environment. These nodes can move freely without using any centrally controlled infrastructure to achieve rapid networking. Therefore, mobile ad hoc networks are a natural disaster and emergency. Ideal when emergency communications need to be established in incident handling.
伴随着无人机自主能力和智能化水平的不断提高，其控制方式逐步向全自主控制方向发展。单个无人机执行任务能力有限，集群无人机利用移动自组网技术可以实现无人机之间信息共享，自主协同的行动可以极大地提高执行任务的能力和效率。集群无人机自组网的节点数量多、移动速度快、拓扑变化频繁等特点对节点间的连接和路由造成挑战。平面拓扑结构不再适用其组网形式，这时可以利用分层的网络结构，提高网络整体的可扩展性和稳定性。分簇作为一种分层的网络结构是根据网络拓扑变化组织网络的有效方法之一，无需维护复杂的路由信息，适用于节点数目多、节点移动性大的场景，适用于集群无人机自组网。With the continuous improvement of the autonomous capability and intelligence level of UAVs, its control method is gradually developing towards full autonomous control. The ability of a single UAV to perform tasks is limited. The use of mobile ad hoc network technology in swarm UAVs can realize information sharing between UAVs, and autonomous coordinated actions can greatly improve the ability and efficiency of task execution. The characteristics of large number of nodes, fast moving speed, and frequent topology changes in cluster UAV ad hoc networks pose challenges to the connection and routing between nodes. The flat topology structure is no longer suitable for its networking form. At this time, the hierarchical network structure can be used to improve the overall scalability and stability of the network. As a layered network structure, clustering is one of the effective ways to organize the network according to changes in network topology without maintaining complex routing information. It is suitable for scenarios with a large number of nodes and large node mobility. networking.
现有技术中，自组网分簇方法没有统一的设计方法和设计标准，目前所提出的各种方法虽然能完成分簇，但并不是最优的方法，因此在处理大规模网络问题时不能达到理想的效果。针对集群无人机自组织网络目前更是还没有有效的分簇方法。In the prior art, there is no unified design method and design standard for ad hoc network clustering methods. Although the various methods proposed at present can complete clustering, they are not optimal methods, so they cannot be used when dealing with large-scale network problems. achieve the desired effect. At present, there is no effective clustering method for the self-organizing network of swarm UAVs.
发明内容SUMMARY OF THE INVENTION
本发明要解决的技术问题是提供一种集群无人机自组网分簇方法，以解决现有技术所存在的针对集群无人机自组织网络没有有效的分簇方法的问题。The technical problem to be solved by the present invention is to provide a clustering method for the self-organizing network of the swarm unmanned aerial vehicle, so as to solve the problem existing in the prior art that there is no effective clustering method for the self-organizing network of the swarm unmanned aerial vehicle.
为解决上述技术问题，本发明实施例提供一种集群无人机自组网分簇方法，包括：In order to solve the above technical problems, an embodiment of the present invention provides a clustering method for an ad hoc network of a swarm unmanned aerial vehicle, including:
初始化簇头，簇头向周围节点广播簇头邀请信息；Initialize the cluster head, and the cluster head broadcasts the cluster head invitation information to the surrounding nodes;
按照仿鸟群的基于区域的划分方法，簇头对其周围区域进行划分，将无人机节点组成的自组织网络中的簇结构分为：簇头区、节点吸引区和节点排斥区；其中，簇头区内的节点为簇头候选节点；节点吸引区包括：网关区和成员区，网关区中的节点为簇中的网关节点，成员区中的节点是簇中的成员节点；节点排斥区中的节点包括：空闲节点和其他簇中的节点；According to the area-based division method of imitating bird flocks, the cluster head divides its surrounding area, and the cluster structure in the self-organizing network composed of UAV nodes is divided into: cluster head area, node attraction area and node exclusion area; , the node in the cluster head area is the cluster head candidate node; the node attraction area includes: the gateway area and the member area, the node in the gateway area is the gateway node in the cluster, the node in the member area is the member node in the cluster; the node exclusion area The nodes in the zone include: idle nodes and nodes in other clusters;
当空闲节点在预设的第一时间段内接收到多个簇头广播的邀请信息时，根据接收到的邀请信息的信号强度来标记自身为簇头候选节点、成员节点、网关节点、空闲节点或簇头，实现仿鸟群的基于区域的节点部署。When an idle node receives invitation information broadcast by multiple cluster heads within a preset first time period, it marks itself as a cluster head candidate node, member node, gateway node, and idle node according to the signal strength of the received invitation information or cluster head, which implements area-based node deployment that mimics a flock of birds.
进一步地，所述根据接收到的邀请信息的信号强度来标记自身为簇头候选节点、成员节点、网关节点、空闲节点或簇头包括：Further, marking itself as a cluster head candidate node, member node, gateway node, idle node or cluster head according to the signal strength of the received invitation information includes:
空闲节点判断接收到的邀请信息中是否存在信号强度为H的邀请信息，若存在信号强度为H的邀请信息，则标记自身为簇头候选节点，并在发送信号强度为H的邀请信息的簇头中，选择簇头候选节点个数NCH最小的一个簇头发送确认加入信息，若其中多个簇头的NCH相同，则随机选择一个簇头发送确认加入信息，其中，H表示高水平；The idle node judges whether there is invitation information with signal strength H in the received invitation information, and if there is invitation information with signal strength H, it marks itself as a cluster head candidate node, and sends the invitation information with signal strength H in the cluster that sends the invitation information with signal strength H. In the head, select the cluster head with the smallest number of cluster head candidate nodes NCH to send the confirmation joining information, if the NCH of multiple cluster heads are the same, then randomly select a cluster head to send the confirmation joining information, where H represents a high level. ;
若不存在信号强度为H的邀请信息但存在一个信号强度为M的邀请信息，则标记自身为成员节点，并向发送信号强度为M的这条邀请信息的簇头发送确认加入信息，其中，M表示中水平；If there is no invitation message with a signal strength of H but there is an invitation message with a signal strength of M, it marks itself as a member node, and sends a confirmation message to the cluster head that sent the invitation message with a signal strength of M, where, M means medium level;
若不存在信号强度为H的邀请信息但存在多个信号强度为M的邀请信息，则标记自身为网关节点，并在发送信号强度为M的邀请信息的簇头中，选择簇节点总数NM最小的一个簇头发送确认加入信息，若其中多个簇头的NM相同，则随机选择一个簇头发送确认加入信息；If there is no invitation information with a signal strength of H but there are multiple invitation information with a signal strength of M, mark itself as a gateway node, and select the total number of cluster nodes NM in the cluster head that sends the invitation information with a signal strength of M The smallest cluster head sends the confirmation to join the information, if the NM of multiple cluster heads is the same, then randomly select a cluster head to send the confirmation to join the information;
若不存在信号强度为H和M的邀请信息，则标记自身为空闲节点，继续等待邀请信息，当超过预设的第一时间段后，该空闲节点仍没有加入任何簇，则标记自身为簇头，向周围节点广播邀请信息。If there is no invitation information with signal strengths of H and M, it will mark itself as an idle node and continue to wait for the invitation information. When the idle node has not joined any cluster after the preset first time period, it will mark itself as a cluster Header, broadcast invitation information to surrounding nodes.
进一步地，基于鸟类群集的行为知识，无人机节点在进行群体迁移时遵守以下移动控制规则：Further, based on the behavioral knowledge of bird swarms, UAV nodes obey the following movement control rules when performing swarm migration:
簇头不受簇成员节点影响，按照预先设定的速度和方向移动，定期广播自己的位置、速度和方向信息，其中，所述簇成员节点包括：簇头候选节点、成员节点和网关节点；The cluster head is not affected by the cluster member nodes, moves according to the preset speed and direction, and regularly broadcasts its own position, speed and direction information, wherein the cluster member nodes include: cluster head candidate nodes, member nodes and gateway nodes;
所有的簇内节点根据本簇簇头广播的信息实时调整自身在飞行过程中的方向和速度，以便和本簇簇头保持一致；All the nodes in the cluster adjust their own direction and speed in the flight process in real time according to the information broadcast by the cluster head of this cluster, so as to be consistent with the cluster head of this cluster;
所有节点在移动过程中需和周围邻居节点保持预设的距离；All nodes need to maintain a preset distance from the surrounding neighbor nodes during the movement process;
簇头为各自的簇定义一个簇内节点移动速度范围，当簇内节点自身的速度超出所述移动速度范围时，该簇内节点为该簇的无效节点，成为空闲节点；The cluster head defines a movement speed range of the nodes in the cluster for their respective clusters. When the speed of the node in the cluster exceeds the movement speed range, the node in the cluster is an invalid node of the cluster and becomes an idle node;
簇头，还用于确保自身和节点吸引区各节点之间的连通性，定期检查无效节点。The cluster head is also used to ensure the connectivity between itself and the nodes in the node attraction area, and regularly check invalid nodes.
进一步地，所述所有节点在移动过程中需和周围邻居节点保持预设的距离包括：Further, all the nodes need to maintain a preset distance from the surrounding neighbor nodes during the movement process, including:
当检测到自身节点与周围任何一个节点的距离小于预设的间距阈值下限Dmin时，则根据势场函数受到斥力作用，调整自身位置，与该邻居节点拉开间距；When it is detected that the distance between its own node and any surrounding node is less than the preset distance threshold lower limit Dmin , it will be subjected to repulsive force according to the potential field function, adjust its own position, and open the distance with the neighbor node;
当检测到自身节点与簇内任何一个邻居节点的距离大于预设的间距阈值上限Dmax时，则根据势场函数受到引力作用，调整自身位置，向该邻居节点靠拢。When it is detected that the distance between its own node and any neighbor node in the cluster is greater than the preset upper limit of the distance thresholdDmax , it adjusts its own position and moves closer to the neighbor node according to the gravitational effect of the potential field function.
进一步地，已经加入某个簇的节点将根据接收到的邀请信息的信号强度和邻域内是否有其他簇存在，按照预设的状态转移规则，实时更新自身的节点状态信息。Further, a node that has joined a certain cluster will update its own node state information in real time according to the preset state transition rules according to the signal strength of the received invitation information and whether there are other clusters in the neighborhood.
进一步地，所述已经加入某个簇的节点将根据接收到的邀请信息的信号强度和邻域内是否有其他簇存在，按照预设的状态转移规则，实时更新自身的节点状态信息包括：Further, the node that has joined a certain cluster will update its own node state information in real time according to the signal strength of the received invitation information and whether there are other clusters in the neighborhood, and according to the preset state transition rules:
已经加入某个簇的节点再收到其他簇发送的邀请信息时将不再回应；只有当已经和本簇失去连接时，才成为空闲节点或者选择加入其他簇；A node that has joined a cluster will no longer respond when it receives the invitation information sent by other clusters; only when it has lost connection with the cluster, will it become an idle node or choose to join other clusters;
成员节点检测到邻域内存在其他簇时，则将自身的节点状态设为网关节点，但不会加入新的簇；或者，成员节点检测到本簇广播的邀请信息的信号强度变为H时，则将自身的节点状态设为簇头候选节点，其中，H表示高水平；When the member node detects that there are other clusters in the neighborhood, it will set its own node status as a gateway node, but will not join a new cluster; or, when the member node detects that the signal strength of the invitation information broadcast by the cluster becomes H, Then set its own node status as a cluster head candidate node, where H represents a high level;
网关节点检测到只能接收到本簇信息，且邻域内没有其他簇存在时，则将自身的节点状态设为成员节点；或者网关节点检测到本簇簇头广播的邀请信息的信号强度变为H时，则将自身的节点状态设为簇头候选节点；When the gateway node detects that it can only receive the information of this cluster, and no other clusters exist in the neighborhood, it sets its own node status as a member node; or the gateway node detects that the signal strength of the invitation information broadcast by the cluster head of this cluster becomes When H, set its own node status as the cluster head candidate node;
当簇头候选节点检测到本簇簇头广播的邀请信息的信号强度变为M时，且邻域内没有其他簇存在时，则将自身的节点状态设为成员节点；或者当簇头候选节点检测到本簇簇头广播的邀请信息的信号强度变为M时，且邻域内存在其他簇时，则将自身的节点状态设为网关节点，其中，M表示中水平。When the cluster head candidate node detects that the signal strength of the invitation information broadcasted by the cluster head becomes M, and no other clusters exist in the neighborhood, it sets its own node status as a member node; or when the cluster head candidate node detects When the signal strength of the invitation information broadcasted by the cluster head of the current cluster becomes M, and there are other clusters in the neighborhood, the node state of itself is set as the gateway node, where M represents the medium level.
进一步地，所述方法还包括：Further, the method also includes:
当一个簇的簇节点总数小于簇规模下限时，则将该簇与其他簇进行合并；When the total number of cluster nodes in a cluster is less than the lower limit of the cluster size, the cluster is merged with other clusters;
当一个簇的簇节点总数大于簇规模上限时，则将该簇分成两个簇。When the total number of cluster nodes in a cluster is greater than the upper limit of the cluster size, the cluster is divided into two clusters.
进一步地，每个簇头维护着一张簇成员信息表、一张簇头候选节点信息表和簇头候选节点ID表；Further, each cluster head maintains a cluster member information table, a cluster head candidate node information table and a cluster head candidate node ID table;
簇头每隔预设的第二时间段，将簇头候选节点信息表中的节点ID项发送给本簇内每个簇头候选节点，使得簇内的每个簇头候选节点也都维护着一张当前簇内簇头候选节点ID表。Every preset second time period, the cluster head sends the node ID item in the cluster head candidate node information table to each cluster head candidate node in the cluster, so that each cluster head candidate node in the cluster also maintains A list of cluster head candidate node IDs in the current cluster.
进一步地，簇头主动更替步骤包括：Further, the cluster head active replacement step includes:
A1，当簇头检测到自身不再适合继续担任簇头时，簇头调用簇头候选节点ID表，计时次数为Nc＝1；A1, when the cluster head detects that it is no longer suitable to continue to serve as the cluster head, the cluster head calls the cluster head candidate node ID table, and the number of timings is Nc=1;
A2，读取簇头候选节点ID表中排序为Nc的簇头候选节点ID，向该簇头候选节点发送簇头更换信息，启动第一计时器；A2, read the cluster head candidate node ID sorted as Nc in the cluster head candidate node ID table, send the cluster head replacement information to the cluster head candidate node, and start the first timer;
A3，若该簇头候选节点收到簇头更换信息，并且确认自身节点状态可以为簇头时，广播自己成为新的簇头，原簇头收到广播后自动失效并且以后将不能再成为簇头候选节点；A3, if the cluster head candidate node receives the cluster head replacement information and confirms that the status of its own node can be the cluster head, it broadcasts itself to become the new cluster head, and the original cluster head will automatically become invalid after receiving the broadcast and will no longer be a cluster head head candidate node;
A4，当第一计时器到时后，原簇头没有收到新簇头的广播消息，计时次数为Nc＝Nc+1；A4, when the first timer expires, the original cluster head does not receive the broadcast message of the new cluster head, and the number of timings is Nc=Nc+1;
A5，重复步骤A2-A4直到簇头更换成功。A5, repeat steps A2-A4 until the cluster head is replaced successfully.
进一步地，簇头被动更替步骤包括：Further, the step of passive replacement of cluster heads includes:
B1，簇头候选节点判断当前簇头是否已失效或者断开连接，若是，则所有簇头候选节点启动第二计时器，计时次数为Nc＝1，并读取自身的簇头候选节点ID信息表；B1, the cluster head candidate node judges whether the current cluster head is invalid or disconnected, if so, all the cluster head candidate nodes start the second timer, the number of times is Nc=1, and read the ID information of its own cluster head candidate node surface;
B2，读取簇头候选节点ID信息表中排序为Nc的簇头候选节点ID，将所读取ID与自身的ID进行比较；若ID相等，则广播自身成为新的簇头，其他节点收到广播后结束簇头更替过程；否则继续等待；B2, read the cluster head candidate node ID sorted as Nc in the cluster head candidate node ID information table, and compare the read ID with its own ID; if the IDs are equal, broadcast itself as the new cluster head, and other nodes receive End the cluster head replacement process after the broadcast; otherwise, continue to wait;
B3，若第二计时器到时后，所有节点未收到新簇头的广播信息，则再次启动第二计时器，计时次数Nc＝Nc+1；B3, if after the second timer expires, all nodes have not received the broadcast information of the new cluster head, start the second timer again, and the number of timings is Nc=Nc+1;
B4，重复步骤B2-B3直到有新簇头产生。B4, repeat steps B2-B3 until a new cluster head is generated.
本发明的上述技术方案的有益效果如下：The beneficial effects of the above-mentioned technical solutions of the present invention are as follows:
上述方案中，初始化簇头，簇头向周围节点广播簇头邀请信息；按照仿鸟群的基于区域的划分方法，簇头对其周围区域进行划分，将无人机节点组成的自组织网络中的簇结构分为：簇头区、节点吸引区和节点排斥区；其中，簇头区内的节点为簇头候选节点；节点吸引区包括：网关区和成员区，网关区中的节点为簇中的网关节点，成员区中的节点是簇中的成员节点；节点排斥区中的节点包括：空闲节点和其他簇中的节点；当空闲节点在预设的第一时间段内接收到多个簇头广播的邀请信息时，根据接收到的邀请信息的信号强度来标记自身为簇头候选节点、成员节点、网关节点、空闲节点或簇头，实现仿鸟群的基于区域的节点部署；这样，按照生物学中仿鸟群的基于区域的划分方法，簇头对其周围区域进行划分，簇头按照对周围区域的划分结果，在集群无人机自组织网络中部署节点，节点部署技术具有简单性、快速性、有效性，从而以较少的计算和通信开销来提高整个网络的可扩展性和稳定性，增强了网络的鲁棒性和网络寿命。In the above scheme, the cluster head is initialized, and the cluster head broadcasts the cluster head invitation information to the surrounding nodes; according to the area-based division method of the imitation bird flock, the cluster head divides the surrounding area, and the self-organizing network composed of UAV nodes is divided into the self-organizing network. The cluster structure is divided into: cluster head area, node attraction area and node exclusion area; the nodes in the cluster head area are cluster head candidate nodes; the node attraction area includes: gateway area and member area, and the nodes in the gateway area are cluster heads The nodes in the member area are the member nodes in the cluster; the nodes in the node exclusion area include: idle nodes and nodes in other clusters; when the idle node receives multiple When the cluster head broadcasts the invitation information, it marks itself as a cluster head candidate node, member node, gateway node, idle node or cluster head according to the signal strength of the received invitation information, so as to realize the area-based node deployment imitating the bird flock; , According to the area-based division method of imitating bird flocks in biology, the cluster head divides its surrounding area, and the cluster head deploys nodes in the cluster UAV self-organizing network according to the division result of the surrounding area. The node deployment technology has Simplicity, speed, and effectiveness, thereby improving the scalability and stability of the entire network with less computational and communication overhead, enhancing the robustness and network lifetime of the network.
附图说明Description of drawings
图1为本发明实施例提供的集群无人机自组网分簇方法的流程示意图；1 is a schematic flowchart of a method for clustering an ad hoc network of a swarm unmanned aerial vehicle provided by an embodiment of the present invention;
图2为本发明实施例提供的集群无人机自组织网络中分簇示意图；2 is a schematic diagram of clustering in a self-organizing network of swarm unmanned aerial vehicles provided by an embodiment of the present invention;
图3为本发明实施例提供的鸟群中基于区域的集群飞行示意图；3 is a schematic diagram of area-based swarm flight in a flock of birds provided by an embodiment of the present invention;
图4为本发明实施例提供的鸟群启发的基于区域的节点部署策略示意图；4 is a schematic diagram of an area-based node deployment strategy inspired by a flock of birds according to an embodiment of the present invention;
图5为本发明实施例提供的簇形成过程中节点状态判断流程示意图；FIG. 5 is a schematic flowchart of a node state judgment process in a cluster formation process provided by an embodiment of the present invention;
图6为本发明实施例提供的节点状态转移示意图；FIG. 6 is a schematic diagram of node state transition provided by an embodiment of the present invention;
图7为本发明实施例提供的簇规模管理模块工作流程示意图；7 is a schematic diagram of a workflow of a cluster scale management module provided by an embodiment of the present invention;
图8为本发明实施例提供的簇头主动更替过程示意图；FIG. 8 is a schematic diagram of a cluster head active replacement process according to an embodiment of the present invention;
图9为本发明实施例提供的簇头被动更替过程示意图。FIG. 9 is a schematic diagram of a passive replacement process of a cluster head according to an embodiment of the present invention.
具体实施方式Detailed ways
为使本发明要解决的技术问题、技术方案和优点更加清楚，下面将结合附图及具体实施例进行详细描述。In order to make the technical problems, technical solutions and advantages to be solved by the present invention more clear, the following will be described in detail with reference to the accompanying drawings and specific embodiments.
本发明针对现有的针对集群无人机自组织网络没有有效的分簇方法的问题，提供一种集群无人机自组网分簇方法。Aiming at the problem that there is no effective clustering method for the self-organizing network of the swarm unmanned aerial vehicle, the invention provides a clustering method of the self-organizing network of the swarm unmanned aerial vehicle.
如图1所示，本发明实施例提供的集群无人机自组网分簇方法，包括：As shown in FIG. 1 , the method for clustering an ad hoc network of a swarm unmanned aerial vehicle provided by an embodiment of the present invention includes:
初始化簇头，簇头向周围节点广播簇头邀请信息；Initialize the cluster head, and the cluster head broadcasts the cluster head invitation information to the surrounding nodes;
按照仿鸟群的基于区域的划分方法，簇头对其周围区域进行划分，将无人机节点组成的自组织网络中的簇结构分为：簇头区、节点吸引区和节点排斥区；其中，簇头区内的节点为簇头候选节点；节点吸引区包括：网关区和成员区，网关区中的节点为簇中的网关节点，成员区中的节点是簇中的成员节点；节点排斥区中的节点包括：空闲节点和其他簇中的节点；According to the area-based division method of imitating bird flocks, the cluster head divides its surrounding area, and the cluster structure in the self-organizing network composed of UAV nodes is divided into: cluster head area, node attraction area and node exclusion area; , the node in the cluster head area is the cluster head candidate node; the node attraction area includes: the gateway area and the member area, the node in the gateway area is the gateway node in the cluster, the node in the member area is the member node in the cluster; the node exclusion area The nodes in the zone include: idle nodes and nodes in other clusters;
当空闲节点在预设的第一时间段内接收到多个簇头广播的邀请信息时，根据接收到的邀请信息的信号强度来标记自身为簇头候选节点、成员节点、网关节点、空闲节点或簇头，实现仿鸟群的基于区域的节点部署。When an idle node receives invitation information broadcast by multiple cluster heads within a preset first time period, it marks itself as a cluster head candidate node, member node, gateway node, and idle node according to the signal strength of the received invitation information or cluster head, which implements area-based node deployment that mimics a flock of birds.
本发明实施例所述的集群无人机自组网分簇方法，初始化簇头，簇头向周围节点广播簇头邀请信息；按照仿鸟群的基于区域的划分方法，簇头对其周围区域进行划分，将无人机节点组成的自组织网络中的簇结构分为：簇头区、节点吸引区和节点排斥区；其中，簇头区内的节点为簇头候选节点；节点吸引区包括：网关区和成员区，网关区中的节点为簇中的网关节点，成员区中的节点是簇中的成员节点；节点排斥区中的节点包括：空闲节点和其他簇中的节点；当空闲节点在预设的第一时间段内接收到多个簇头广播的邀请信息时，根据接收到的邀请信息的信号强度来标记自身为簇头候选节点、成员节点、网关节点、空闲节点或簇头，实现仿鸟群的基于区域的节点部署；这样，按照生物学中仿鸟群的基于区域的划分方法，簇头对其周围区域进行划分，簇头按照对周围区域的划分结果，在集群无人机自组织网络中部署节点，节点部署技术具有简单性、快速性、有效性，从而以较少的计算和通信开销来提高整个网络的可扩展性和稳定性，增强了网络的鲁棒性和网络寿命。In the clustering method for ad hoc network of swarm unmanned aerial vehicles according to the embodiment of the present invention, the cluster head is initialized, and the cluster head broadcasts the cluster head invitation information to the surrounding nodes; The cluster structure in the self-organizing network composed of UAV nodes is divided into: cluster head area, node attraction area and node exclusion area; among them, the nodes in the cluster head area are cluster head candidate nodes; the node attraction area includes : Gateway area and member area, the nodes in the gateway area are the gateway nodes in the cluster, and the nodes in the member area are the member nodes in the cluster; the nodes in the node exclusion area include: idle nodes and nodes in other clusters; When a node receives invitation information broadcast by multiple cluster heads within a preset first time period, it marks itself as a cluster head candidate node, member node, gateway node, idle node or cluster according to the signal strength of the received invitation information. In this way, according to the area-based division method of imitating bird flocks in biology, the cluster head divides its surrounding area, and the cluster head divides the surrounding area according to the result of the division of the surrounding area. Nodes are deployed in the self-organizing network of drones. The node deployment technology is simple, fast and effective, so as to improve the scalability and stability of the entire network with less computing and communication overhead, and enhance the robustness of the network. Sex and network longevity.
为了更好地理解本发明实施例所述的集群无人机自组网分簇方法，对簇的基本构成、集群无人机自组织网络、鸟群启发(仿鸟群)的基于区域的节点部署策略进行详细说明In order to better understand the clustering method of the swarm unmanned aerial vehicle ad hoc network described in the embodiment of the present invention, the basic composition of the cluster, the swarm unmanned aerial vehicle ad hoc network, the area-based node inspired by the bird flock (imitation bird flock) Deployment strategies are explained in detail
一、簇的基本构成First, the basic composition of the cluster
在基于分簇的无人机自组织网络中，整个网络被分成称为簇(Cluster)的许多小群。一簇由簇成员节点(Member Node)和簇头(Cluster Head，CH)组成，簇成员节点包括：簇头候选节点、成员节点和网关节点，如图2所示。In a cluster-based UAV ad hoc network, the entire network is divided into many small groups called clusters. A cluster consists of a cluster member node (Member Node) and a cluster head (Cluster Head, CH). The cluster member nodes include: a cluster head candidate node, a member node and a gateway node, as shown in Figure 2.
本实施例中，分簇机制主要分为两个阶段，即簇形成阶段和簇管理阶段；其中，In this embodiment, the clustering mechanism is mainly divided into two stages, namely, the cluster formation stage and the cluster management stage; wherein,
在簇形成阶段中发生簇头(CH)的选择和其他节点加入，CH控制簇的整体性能，CH可以访问簇内的所有节点，负责以有效和高效的方式管理簇。The selection of the cluster head (CH) and the joining of other nodes occur in the cluster formation phase. The CH controls the overall performance of the cluster. The CH has access to all nodes within the cluster and is responsible for managing the cluster in an efficient and efficient manner.
簇管理阶段包括：CH更替过程，簇规模管理，无效节点管理等，有效维护系统整体的通信性能。The cluster management stage includes: CH replacement process, cluster scale management, invalid node management, etc., to effectively maintain the overall communication performance of the system.
自组织网络中的通信分为簇内通信和簇间通信。同一个簇内节点之间的通信称为簇内通信。而簇间通信是指一个簇的节点通过网关节点与另一个簇的节点通信。Communication in ad hoc networks is divided into intra-cluster communication and inter-cluster communication. Communication between nodes in the same cluster is called intra-cluster communication. Inter-cluster communication means that the nodes of one cluster communicate with the nodes of another cluster through the gateway node.
二、集群无人机自组织网络2. Self-organizing network of swarm drones
无人机在集群飞行时所构成的自组织网络称为集群无人机自组织网络，由多个无人机节点组成。这些无人机节点具有以下一些特性:The self-organizing network formed by drones flying in a swarm is called a swarm drone self-organizing network, which consists of multiple drone nodes. These drone nodes have some of the following characteristics:
1)每个节点都有唯一且不可更改的ID号。1) Each node has a unique and unchangeable ID number.
2)节点不是静态的，是处于运动状态的，运动状态可以改变。2) The node is not static, it is in a state of motion, and the state of motion can be changed.
2)一个网络的拓扑结构、每个节点的邻居数在一开始每个节点都是不知道的。2) The topology of a network and the number of neighbors of each node are unknown to each node at the beginning.
4)每个节点在信息获取、信息处理、数据计算和存储方面都具有相同的能力。4) Each node has the same ability in information acquisition, information processing, data calculation and storage.
5)网络中的所有节点可以被分为多个簇，同一时间，一个节点只能属于一个簇，一个簇中有且只有一个簇头。5) All nodes in the network can be divided into multiple clusters. At the same time, a node can only belong to one cluster, and there is only one cluster head in a cluster.
6)为了保证簇头节点的信息处理能力，簇有规模限制，最大为Nmax，最小为Nmin。6) In order to ensure the information processing capability of the cluster head node, the cluster has a size limit, the maximum is Nmax , and the minimum is Nmin .
三、鸟群启发的基于区域的节点部署策略3. A zone-based node deployment strategy inspired by bird flocks
生物群体行为中所体现的分布式、自适应、鲁棒性等特点，与实现集群无人机自组织网络的要求相符合。本实施例中，受群体智能行为的启发，借鉴生物的智慧，将鸟群飞行行为的研究应用到无人机自组织网络。The characteristics of distribution, self-adaptation and robustness embodied in the behavior of biological groups are in line with the requirements for realizing the self-organizing network of swarm UAVs. In this embodiment, inspired by the intelligent behavior of swarms, and drawing on the wisdom of biology, the research on the flight behavior of flocks of birds is applied to the self-organizing network of unmanned aerial vehicles.
本实施例中，使用生物学中对鸟类群集行为的研究来形成和维持在集群无人机自组织网络中的分簇。鸟类群集的行为研究为群体形成提供了以下规则：In this example, the study of bird flocking behavior in biology is used to form and maintain clusters in a self-organizing network of swarm drones. Behavioral studies of bird flocks provide the following rules for flock formation:
规则1：聚集——群中的每个个体都需要尽量向附近邻居靠拢来避免孤立。Rule 1: Agglomeration - Each individual in the group needs to move as close as possible to its neighbors to avoid isolation.
规则2：对齐——群中的每个个体都需要和临近个体的运动速度方向保持一致。Rule 2: Alignment - Each individual in the group needs to be in the same direction as the movement speed of the adjacent individuals.
规则3：避撞——群中的每个个体总是需要与周围邻居之间保持一定距离，以避免碰撞。Rule 3: Collision Avoidance - Each individual in a swarm always needs to maintain a certain distance from its surrounding neighbors to avoid collisions.
根据以上3条规则，每只鸟周围的地理空间可以分为三个区域，如图3所示。鸟类之间的吸引行为可以表示为吸引区，为了避免碰撞而相互排斥的能力可以概括为排斥区，鸟类与相邻鸟类的对齐可以考虑为定向区。According to the above 3 rules, the geographic space around each bird can be divided into three areas, as shown in Figure 3. Attractive behavior among birds can be represented as attraction zones, the ability to repel each other to avoid collisions can be generalized as repulsion zones, and the alignment of birds with neighboring birds can be considered as orientation zones.
本实施例中，将对鸟类群集行为的研究应用于基于分簇的集群无人机自组网中，将簇结构划分为三个不同类型的区域:簇头(CH)区、节点吸引(NA)区和节点排斥(NR)区，如图4所示；其中，In this embodiment, the research on the flocking behavior of birds is applied to the cluster UAV ad hoc network based on clustering, and the cluster structure is divided into three different types of areas: cluster head (CH) area, node attraction ( NA) region and node exclusion (NR) region, as shown in Figure 4; where,
1)CH区1) CH region
CH区内的节点为CH候选节点，可以作为CH替换的备选节点，CH只能在CH区域内的节点中进行选择。Nodes in the CH area are CH candidate nodes and can be used as candidate nodes for CH replacement. CHs can only be selected from nodes in the CH area.
2)NA区2) NA region
节点吸引区分为网关区(GR)和成员区(MR)两个区域。网关区(GR)通常靠近NA区域边界，网关区中的节点为簇中的网关节点，负责簇间通信；网关节点可以收到多个簇发送的信息。成员区(MR)中存在的节点是簇中的成员节点，成员节点可以与簇内的其他节点通信也可以通过网关节点和其他簇中的节点通信。The node attraction area is divided into two areas, the gateway area (GR) and the member area (MR). The gateway area (GR) is usually close to the border of the NA area. The nodes in the gateway area are gateway nodes in the cluster, responsible for inter-cluster communication; the gateway node can receive information sent by multiple clusters. The nodes existing in the member area (MR) are the member nodes in the cluster, and the member nodes can communicate with other nodes in the cluster or communicate with the nodes in other clusters through the gateway node.
3)NR区3) NR area
NR区存在的节点不是这个簇中的成员。NR区中的节点包括：空闲节点和其他簇中的节点。Nodes that exist in the NR area are not members of this cluster. The nodes in the NR area include: idle nodes and nodes in other clusters.
本实施例中，将集群无人机自组织网络中的节点分为五种状态：空闲节点、簇头、CH候选节点、成员节点和网关节点，具体的：In this embodiment, the nodes in the self-organizing network of the cluster UAV are divided into five states: idle node, cluster head, CH candidate node, member node and gateway node. Specifically:
空闲节点：当一个节点既不是簇头也没有加入任何簇时，则该节点为空闲节点；空闲节点可以自由地加入任何簇。Idle node: When a node is neither a cluster head nor joins any cluster, the node is an idle node; an idle node can freely join any cluster.
簇头(CH)：CH控制簇的整体性能，可以访问簇内的所有节点，负责以有效和高效的方式管理簇。Cluster Head (CH): The CH controls the overall performance of the cluster, has access to all nodes within the cluster, and is responsible for managing the cluster in an efficient and efficient manner.
CH候选节点：当一个节点处于簇的CH区域，成为CH候选节点，在簇头更替时有机会成为簇头。CH candidate node: When a node is in the CH region of the cluster, it becomes a CH candidate node, and has the opportunity to become the cluster head when the cluster head is replaced.
网关节点：一个节点他的周围存在多个簇时，既能收到本簇的消息，也能收到其他簇的消息，它成为一个网关节点，处于网关状态。Gateway node: When a node has multiple clusters around it, it can receive messages from its own cluster as well as messages from other clusters. It becomes a gateway node and is in the gateway state.
成员节点：簇内的一个节点它既不是CH候选节点也不是网关节点时，它为成员节点。Member node: When a node in the cluster is neither a CH candidate node nor a gateway node, it is a member node.
在前述集群无人机自组网分簇方法的具体实施方式中，进一步地，所述根据接收到的邀请信息的信号强度来标记自身为簇头候选节点、成员节点、网关节点、空闲节点或簇头包括：In the specific implementation of the aforementioned cluster UAV ad hoc network clustering method, further, according to the signal strength of the received invitation information, marking itself as a cluster head candidate node, member node, gateway node, idle node or Cluster heads include:
空闲节点判断接收到的邀请信息中是否存在信号强度为H的邀请信息，若存在信号强度为H的邀请信息，则标记自身为簇头候选节点，并在发送信号强度为H的邀请信息的簇头中，选择簇头候选节点个数NCH最小的一个簇头发送确认加入信息，若其中多个簇头的NCH相同，则随机选择一个簇头发送确认加入信息，其中，H表示高水平；The idle node judges whether there is invitation information with signal strength H in the received invitation information, and if there is invitation information with signal strength H, it marks itself as a cluster head candidate node, and sends the invitation information with signal strength H in the cluster that sends the invitation information with signal strength H. In the head, select the cluster head with the smallest number of cluster head candidate nodes NCH to send the confirmation joining information, if the NCH of multiple cluster heads are the same, then randomly select a cluster head to send the confirmation joining information, where H represents a high level. ;
若不存在信号强度为H的邀请信息但存在一个信号强度为M的邀请信息，则标记自身为成员节点，并向发送信号强度为M的这条邀请信息的簇头发送确认加入信息，其中，M表示中水平；If there is no invitation message with a signal strength of H but there is an invitation message with a signal strength of M, it marks itself as a member node, and sends a confirmation message to the cluster head that sent the invitation message with a signal strength of M, where, M means medium level;
若不存在信号强度为H的邀请信息但存在多个信号强度为M的邀请信息，则标记自身为网关节点，并在发送信号强度为M的邀请信息的簇头中，选择簇节点总数NM最小的一个簇头发送确认加入信息，若其中多个簇头的NM相同，则随机选择一个簇头发送确认加入信息；If there is no invitation information with a signal strength of H but there are multiple invitation information with a signal strength of M, mark itself as a gateway node, and select the total number of cluster nodes NM in the cluster head that sends the invitation information with a signal strength of M The smallest cluster head sends the confirmation to join the information, if the NM of multiple cluster heads is the same, then randomly select a cluster head to send the confirmation to join the information;
若不存在信号强度为H和M的邀请信息，则标记自身为空闲节点，继续等待邀请信息，当超过预设的第一时间段后，该空闲节点仍没有加入任何簇，则标记自身为簇头，向周围节点广播邀请信息。If there is no invitation information with signal strengths of H and M, it will mark itself as an idle node and continue to wait for the invitation information. When the idle node has not joined any cluster after the preset first time period, it will mark itself as a cluster Header, broadcast invitation information to surrounding nodes.
本实施例中，节点的当前状态可以通过检测接收到的周围CH广播的邀请信息的信号强度来判断。本实施例拟采用的检测方式为接收信号强度指示器(RSSI)，RSSI是识别源到目标距离的一个有用参数。RSSI的值低表明接收方离发送方距离较远，RSSI的值高表明发送方与接收方之间距离比较近。每个节点从RSSI值的层次识别其节点状态，本实施例将RSSI值分为3个强度级别：L、M和H，其中，L表示低水平，M表示中水平，H表示高水平。In this embodiment, the current state of the node can be determined by detecting the received signal strength of the invitation information broadcast by the surrounding CHs. The detection method to be adopted in this embodiment is a received signal strength indicator (RSSI). RSSI is a useful parameter for identifying the distance from the source to the target. A low value of RSSI indicates that the receiver is far away from the sender, and a high value of RSSI indicates that the distance between the sender and the receiver is relatively close. Each node identifies its node state from the level of RSSI value. In this embodiment, the RSSI value is divided into three intensity levels: L, M and H, where L represents low level, M represents medium level, and H represents high level.
本实施例中，簇形成的具体过程，可以包括以下步骤：In this embodiment, the specific process of cluster formation may include the following steps:
首先，根据网络需求设定初始化时的初始簇头占所有节点比例为Q，Q取值范围为0-1；初始所有节点随机分布且自由移动。每个节点初始化时随机生成一个0-1的随机数S，若S<Q，则节点判断自身为簇头，广播邀请信息；First, according to the network requirements, the initial cluster head proportion to all nodes is set as Q, and the value of Q ranges from 0 to 1; initially all nodes are randomly distributed and move freely. When each node is initialized, a random number S of 0-1 is randomly generated. If S<Q, the node judges itself as the cluster head and broadcasts the invitation information;
接着，簇头向周围节点广播簇头邀请信息，所述簇头邀请信息包括：簇ID，CH的ID，簇节点总数(NM)，CH候选节点个数(NCH)等信息。当一个空闲节点在预设的第一时间段T内收到N个CH广播的邀请信息时，首先识别邀请信息的RSSI强度并按照以下几种情况判断自身的状态，如图5所示：Next, the cluster head broadcasts cluster head invitation information to surrounding nodes, the cluster head invitation information includes: cluster ID, CH ID, total number of cluster nodes (NM ), number of CH candidate nodes (NCH ) and other information. When an idle node receives invitation information broadcast by N CHs within the preset first time period T, it first identifies the RSSI strength of the invitation information and judges its own state according to the following situations, as shown in Figure 5:
空闲节点判断接收到的邀请信息中是否存在RSSI强度为H的邀请信息，若存在RSSI强度为H的邀请信息，则标记自身为簇头候选节点，并在发送RSSI强度为H的邀请信息的簇头中，选择簇头候选节点个数NCH最小的一个簇头发送确认加入信息，若其中多个簇头的NCH相同，则随机选择一个簇头发送确认加入信息，其中，所述确认加入信息包含自身的相关节点信息；The idle node judges whether there is invitation information with RSSI strength H in the received invitation information. If there is invitation information with RSSI strength H, it marks itself as a cluster head candidate node, and sends the invitation information with RSSI strength H in the cluster that sends the invitation information with RSSI strength H. In the head, select the one with the smallest number of cluster head candidate nodes NCH to send the confirmation joining information, if the NCH of multiple cluster heads are the same, then randomly select a cluster head to send the confirmation joining information, wherein the confirming joining The information includes its own related node information;
若不存在RSSI强度为H的邀请信息但存在一个RSSI强度为M的邀请信息，则标记自身为成员节点，并向发送RSSI强度为M的这条邀请信息的簇头发送确认加入信息；If there is no invitation information with RSSI strength H but there is an invitation information with RSSI strength M, mark itself as a member node, and send confirmation joining information to the cluster head that sent the invitation information with RSSI strength M;
若不存在RSSI强度为H的邀请信息但存在多个RSSI强度为M的邀请信息，则标记自身为网关节点，并在发送RSSI强度为M的邀请信息的簇头中，选择簇节点总数NM最小的一个簇头发送确认加入信息，若其中多个簇头的NM相同，则随机选择一个簇头发送确认加入信息；If there is no invitation information with RSSI strength of H but there are multiple invitation information with RSSI strength of M, mark itself as a gateway node, and select the total number of cluster nodes NM in the cluster head that sends the invitation information with RSSI strength of M The smallest cluster head sends the confirmation to join the information, if the NM of multiple cluster heads is the same, then randomly select a cluster head to send the confirmation to join the information;
若不存在RSSI强度为H和M的邀请信息，即：全是RSSI强度为L的邀请信息，则标记自身为空闲节点，不能加入这些簇，需要继续等待邀请信息，当超过预设的第一时间段后，该空闲节点仍没有加入任何簇，则标记自身为簇头，向周围节点广播邀请信息。If there is no invitation information with RSSI strengths of H and M, that is: all invitation information with RSSI strength of L, it marks itself as an idle node and cannot join these clusters, and needs to continue to wait for the invitation information. After the time period, if the idle node has not joined any cluster, it marks itself as the cluster head and broadcasts the invitation information to the surrounding nodes.
集群无人机自组网在集群飞行过程中，如果节点间的相对移动速度过快，将会导致网络拓扑结构频繁变化，一个簇的成员节点实时变动，会引起较多的分组丢失和路由的重新选择。因此，集群无人机在进行群体迁移时，为节约系统能量，应维持较为稳定的拓扑结构，为此，本实施例将集群无人机自组网分簇设计、通信网络拓扑和无人机节点的移动控制相结合，形成较为稳定的簇结构，以减少簇重构的次数，提高了网络的生存期，具有更好的鲁棒性。During the flight of the cluster drone, if the relative movement speed between nodes is too fast, the network topology will change frequently, and the member nodes of a cluster will change in real time, which will cause more packet loss and routing problems. Reselect. Therefore, in order to save the system energy, a relatively stable topology structure should be maintained when the swarm drones are migrating in groups. The movement control of nodes is combined to form a relatively stable cluster structure, which reduces the number of cluster reconstructions, improves the network lifetime, and has better robustness.
本实施例中，基于鸟类群集的行为知识，无人机节点在进行群体迁移时遵守以下移动控制规则：In this embodiment, based on the behavioral knowledge of bird swarms, UAV nodes comply with the following movement control rules when migrating groups:
簇头不受簇成员节点影响，按照预先设定的速度和方向移动，定期广播自己的位置、速度和方向信息，其中，所述簇成员节点包括：簇头候选节点、成员节点和网关节点；The cluster head is not affected by the cluster member nodes, moves according to the preset speed and direction, and regularly broadcasts its own position, speed and direction information, wherein the cluster member nodes include: cluster head candidate nodes, member nodes and gateway nodes;
所有的簇内节点根据本簇簇头广播的信息实时调整自身在飞行过程中的方向和速度，以便和本簇簇头保持一致；All the nodes in the cluster adjust their own direction and speed in the flight process in real time according to the information broadcast by the cluster head of this cluster, so as to be consistent with the cluster head of this cluster;
所有节点在移动过程中需和周围邻居节点保持预设的距离；具体的：为了避免碰撞，当检测到自身节点与周围任何一个节点(包括：簇内和簇外)的距离小于预设的间距阈值下限Dmin时，则根据势场函数受到斥力作用，调整自身位置，与该邻居节点拉开间距；为了保证簇的紧密结构，当检测到自身节点与簇内任何一个邻居节点的距离大于预设的间距阈值上限Dmax时，则根据势场函数受到引力作用，调整自身位置，向该邻居节点靠拢；All nodes need to maintain a preset distance from the surrounding neighbor nodes during the movement process; specifically: in order to avoid collision, when it is detected that the distance between its own node and any surrounding node (including: in-cluster and out-of-cluster) is less than the preset distance When the lower limit of the threshold is Dmin , it is subjected to repulsion according to the potential field function, adjusts its position, and opens up the distance with the neighbor node; in order to ensure the compact structure of the cluster, when it is detected that the distance between its own node and any neighbor node in the cluster is greater than the predetermined distance. When the upper limitDmax of the distance threshold is set, it will adjust its position according to the gravitational effect of the potential field function and move closer to the neighbor node;
簇头为各自的簇定义一个簇内节点移动速度范围，当簇内节点自身的速度在所述移动速度范围内时，该簇内节点将继续属于该簇；当簇内节点自身的速度超出所述移动速度范围时，该簇内节点为该簇的无效节点，成为空闲节点；The cluster head defines a movement speed range of the nodes in the cluster for their respective clusters. When the speed of the node in the cluster is within the range of the movement speed, the node in the cluster will continue to belong to the cluster; when the speed of the node in the cluster exceeds the speed limit When the moving speed range is specified, the node in the cluster is an invalid node of the cluster and becomes an idle node;
簇头，还用于确保自身和节点吸引区各节点之间的连通性，定期检查无效节点。The cluster head is also used to ensure the connectivity between itself and the nodes in the node attraction area, and regularly check invalid nodes.
本实施例中，将集群无人机自组网分簇方法与无人机节点移动控制相结合，能够保证网络拓扑结构的稳定性，减少簇重构的次数，进而提高网络的生存期，使得网络具有更好的鲁棒性。In this embodiment, the combination of the clustered UAV ad hoc network clustering method and the UAV node movement control can ensure the stability of the network topology structure, reduce the number of cluster reconstructions, and further improve the network lifetime, so that the The network has better robustness.
本实施例中，已经加入某个簇的节点将根据接收到的邀请信息的信号强度和邻域内是否有其他簇存在，按照预设的状态转移规则，实时更新自身的节点状态信息。为了维护网络拓扑的稳定性，采用如图6所示的状态转移规则：In this embodiment, a node that has joined a certain cluster will update its own node state information in real time according to the preset state transition rules according to the signal strength of the received invitation information and whether there are other clusters in the neighborhood. In order to maintain the stability of the network topology, the state transition rules shown in Figure 6 are adopted:
已经加入某个簇的节点再收到其他簇发送的邀请信息时将不再回应；只有当已经和本簇失去连接时，才成为空闲节点或者选择加入其他簇；A node that has joined a cluster will no longer respond when it receives the invitation information sent by other clusters; only when it has lost connection with the cluster, will it become an idle node or choose to join other clusters;
成员节点检测到邻域内存在其他簇时，则将自身的节点状态设为网关节点，但不会加入新的簇；或者，成员节点检测到本簇广播的邀请信息的信号强度变为H时，则将自身的节点状态设为簇头候选节点，其中，H表示高水平；When the member node detects that there are other clusters in the neighborhood, it will set its own node status as a gateway node, but will not join a new cluster; or, when the member node detects that the signal strength of the invitation information broadcast by the cluster becomes H, Then set its own node status as a cluster head candidate node, where H represents a high level;
网关节点检测到只能接收到本簇信息，且邻域内没有其他簇存在时，则将自身的节点状态设为成员节点；或者网关节点检测到本簇簇头广播的邀请信息的信号强度变为H时，则将自身的节点状态设为簇头候选节点；When the gateway node detects that it can only receive the information of this cluster, and no other clusters exist in the neighborhood, it sets its own node status as a member node; or the gateway node detects that the signal strength of the invitation information broadcast by the cluster head of this cluster becomes When H, set its own node status as the cluster head candidate node;
当簇头候选节点检测到本簇簇头广播的邀请信息的信号强度变为M时，且邻域内没有其他簇存在时，则将自身的节点状态设为成员节点；或者当簇头候选节点检测到本簇簇头广播的邀请信息的信号强度变为M时，且检测到邻域内存在其他簇时，则将自身的节点状态设为网关节点，其中，M表示中水平。When the cluster head candidate node detects that the signal strength of the invitation information broadcasted by the cluster head becomes M, and no other clusters exist in the neighborhood, it sets its own node status as a member node; or when the cluster head candidate node detects When the signal strength of the invitation information broadcasted by the cluster head of the cluster becomes M, and when it detects that there are other clusters in the neighborhood, it sets its own node status as a gateway node, where M represents the medium level.
本实施例中，为了保证簇头的信息处理能力，提高整个网络的工作效率，实现稳定的拓扑结构。簇规模管理模块对簇的规模进行了限制，个数上限为Nmax，个数下限为Nmin，具体的：当一个簇的簇节点总数小于簇规模下限时，则将该簇与其他簇进行合并；当一个簇的簇节点总数大于簇规模上限时，则将该簇分成两个簇。如图7所示，如果一个簇的CH(为了方便叙述，假设为CH1)识别它的簇节点总数(NM)小于Nmin，则判断自身需要加入其他簇，则CH1在飞行过程中当感知到周围有其他簇(假设为CH2)存在时，向CH2发送合并请求消息，如果CH2同意合并，则CH1带领本簇所有节点进入CH2的可控范围并将CH1簇内的节点信息发送给CH2，并告诉簇内成员新簇的ID号并宣布CH2为新簇头后，在重组的簇内重新配置各节点。如果一个簇的CH识别它的簇节点总数(NM)大于Nmax,则判断自身需要分为两个簇，簇头根据簇成员列表中的信息，指定两个节点为新簇头，将簇一分为二，根据簇形成模块重新配置节点信息。In this embodiment, in order to ensure the information processing capability of the cluster head, improve the work efficiency of the entire network, and realize a stable topology structure. The cluster size management module limits the size of the cluster, the upper limit of the number is Nmax , and the lower limit of the number is Nmin . Specifically: when the total number of cluster nodes in a cluster is less than the lower limit of the cluster size, the cluster will be compared with other clusters. Merge; when the total number of cluster nodes in a cluster is greater than the upper limit of the cluster size, the cluster is divided into two clusters. As shown in Figure 7, if the CH of a cluster (for the convenience of description, assume CH1) recognizes that its total number of cluster nodes (NM ) is less than Nmin , then it is judged that it needs to join other clusters, then CH1 will sense when it is in flight When there are other clusters (assuming CH2) around, send a merge request message to CH2, if CH2 agrees to merge, CH1 will lead all nodes of this cluster into the controllable range of CH2 and send the node information in CH1 cluster to CH2, After telling the members of the cluster the ID number of the new cluster and announcing CH2 as the new cluster head, reconfigure each node in the reorganized cluster. If the CH of a cluster recognizes that its total number of cluster nodes (NM ) is greater than Nmax , it is judged that it needs to be divided into two clusters, and the cluster head designates two nodes as new cluster heads according to the information in the cluster member list. It is divided into two parts, and the node information is reconfigured according to the cluster forming module.
本实施例中，每个簇头维护着一张簇成员信息表、一张簇头候选节点信息表和簇头候选节点ID表。簇头每隔预设的时间T2，发送簇维护信息检测和更新簇内节点状态，同时更新节点信息记录表，去除失效节点信息，将新加入的节点信息放到表的最后。簇头每隔预设的第二时间段T2，将CH候选节点信息表中的节点ID项发送给本簇内每个CH候选节点，这样簇内的每个CH候选节点也都维护着一张当前簇内CH候选节点ID表。In this embodiment, each cluster head maintains a cluster member information table, a cluster head candidate node information table and a cluster head candidate node ID table. Every preset time T2, the cluster head sends cluster maintenance information to detect and update the status of nodes in the cluster, and at the same time update the node information record table, remove the failed node information, and put the newly added node information at the end of the table. Every preset second time period T2, the cluster head sends the node ID item in the CH candidate node information table to each CH candidate node in the cluster, so that each CH candidate node in the cluster also maintains a CH candidate node ID table in the current cluster.
本实施例中，在进行簇头选择和簇头更换时，伴随大量的数据包转发和数据处理，需要大量的网络开销来交换各节点信息，占据网络带宽的同时，损耗很多能量，但是每个无人机节点的能量是有限的，网络资源也是有限的，因此，需要采用直接高效的簇头更替机制。In this embodiment, when cluster head selection and cluster head replacement are performed, along with a large number of data packet forwarding and data processing, a large amount of network overhead is required to exchange the information of each node, which consumes a lot of energy while occupying the network bandwidth. The energy of UAV nodes is limited, and the network resources are also limited. Therefore, a direct and efficient cluster head replacement mechanism needs to be adopted.
本实施例中，所述簇头更替机制包括：CH主动更替、CH被动更替这2种情况；其中，In this embodiment, the cluster head replacement mechanism includes: active CH replacement and CH passive replacement; wherein,
1)CH主动更替1) CH active replacement
本实施例中，当CH检测到自身不再适合继续担任簇头时，主动发起簇头更替过程，将按照CH候选节点ID表中的节点顺序依次询问是否接任簇头，如图8所示，主要包括以下步骤：In this embodiment, when the CH detects that it is no longer suitable to continue to serve as the cluster head, it actively initiates the cluster head replacement process, and will sequentially inquire whether to take over as the cluster head according to the order of the nodes in the CH candidate node ID table, as shown in FIG. 8 . It mainly includes the following steps:
A1，当簇头检测到自身不再适合继续担任簇头时，簇头调用簇头候选节点ID表，计时次数为Nc＝1；A1, when the cluster head detects that it is no longer suitable to continue to serve as the cluster head, the cluster head calls the cluster head candidate node ID table, and the number of timings is Nc=1;
A2，读取簇头候选节点ID表中排序为Nc的簇头候选节点ID，向该簇头候选节点发送簇头更换信息，启动第一计时器；A2, read the cluster head candidate node ID sorted as Nc in the cluster head candidate node ID table, send the cluster head replacement information to the cluster head candidate node, and start the first timer;
A3，若该簇头候选节点收到簇头更换信息，并且确认自身节点状态可以为簇头时，广播自己成为新的簇头，原簇头收到广播后自动失效并且以后将不能再成为簇头候选节点；A3, if the cluster head candidate node receives the cluster head replacement information and confirms that the status of its own node can be the cluster head, it broadcasts itself to become the new cluster head, and the original cluster head will automatically become invalid after receiving the broadcast and will no longer be a cluster head head candidate node;
A4，当第一计时器到时后，原簇头没有收到新簇头的广播消息，计时次数为Nc＝Nc+1；A4, when the first timer expires, the original cluster head does not receive the broadcast message of the new cluster head, and the number of timings is Nc=Nc+1;
A5，重复步骤A2-A4直到簇头更换成功。A5, repeat steps A2-A4 until the cluster head is replaced successfully.
2)CH被动更替2) CH passive replacement
本实施例中，当判断当前CH已失效或者断开连接时，启动簇头被动更替过程，如图9所示，具体可以包括以下步骤：In this embodiment, when it is determined that the current CH is invalid or disconnected, the passive replacement process of the cluster head is started, as shown in FIG. 9 , which may specifically include the following steps:
B1，簇头候选节点判断当前簇头是否已失效或者断开连接，若是，则所有簇头候选节点启动第二计时器，计时次数为Nc＝1，并读取自身的簇头候选节点ID信息表；B1, the cluster head candidate node judges whether the current cluster head is invalid or disconnected, if so, all the cluster head candidate nodes start the second timer, the number of times is Nc=1, and read the ID information of its own cluster head candidate node surface;
B2，读取簇头候选节点ID信息表中排序为Nc的簇头候选节点ID，将所读取ID与自身的ID进行比较；若ID相等，则广播自身成为新的簇头，其他节点收到广播后结束簇头更替过程；否则继续等待；B2, read the cluster head candidate node ID sorted as Nc in the cluster head candidate node ID information table, and compare the read ID with its own ID; if the IDs are equal, broadcast itself as the new cluster head, and other nodes receive End the cluster head replacement process after the broadcast; otherwise, continue to wait;
B3，若第二计时器到时后，所有节点未收到新簇头的广播信息，则再次启动第二计时器，计时次数Nc＝Nc+1；B3, if after the second timer expires, all nodes have not received the broadcast information of the new cluster head, start the second timer again, and the number of timings is Nc=Nc+1;
B4，重复步骤B2-B3直到有新簇头产生。B4, repeat steps B2-B3 until a new cluster head is generated.
本实施例中，采用CH候选节点机制和明确的簇头更替规则降低了簇头选择和更换时的通信开销，提高了簇头更换效率，减少了能量损失，降低了因簇头失效而使簇解散的可能性，增强了网络的鲁棒性和网络寿命。In this embodiment, the CH candidate node mechanism and clear cluster head replacement rules are adopted to reduce the communication overhead during cluster head selection and replacement, improve the efficiency of cluster head replacement, reduce energy loss, and reduce cluster head failure due to cluster head failure. The possibility of dissolution enhances network robustness and network longevity.
需要说明的是，在本文中，诸如第一和第二等之类的关系术语仅仅用来将一个实体或者操作与另一个实体或操作区分开来，而不一定要求或者暗示这些实体或操作之间存在任何这种实际的关系或者顺序。It should be noted that, in this document, relational terms such as first and second are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any relationship between these entities or operations. any such actual relationship or sequence exists.
以上所述是本发明的优选实施方式，应当指出，对于本技术领域的普通技术人员来说，在不脱离本发明所述原理的前提下，还可以做出若干改进和润饰，这些改进和润饰也应视为本发明的保护范围。The above are the preferred embodiments of the present invention. It should be pointed out that for those skilled in the art, without departing from the principles of the present invention, several improvements and modifications can be made. These improvements and modifications It should also be regarded as the protection scope of the present invention.
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| CN110290476A (en)* | 2019-06-10 | 2019-09-27 | 河南华讯方舟航空科技有限公司 | Unmanned plane cluster communication method and system |
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