CN114125870A - Directional antenna neighbor discovery method and device based on multiple receivers - Google Patents
Directional antenna neighbor discovery method and device based on multiple receivers Download PDFInfo
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Abstract
The invention provides a directional antenna neighbor discovery method and a device based on multiple receivers, wherein the method is applied to a cluster head node and comprises the following steps: broadcasting an initial capture frame and a reference distribution frame; based on multiple receivers, all member nodes receive a first reply frame sent by the reference distribution frame through the determined receiving wave beams; the first reply frame comprises the position information of the member node, and the receiving beam is determined by the member node based on the initial acquisition frame; sending on-demand frames to each member node according to the position information of each member node; and receiving the second reply frame sent by each member node according to the on-demand frame so as to finish the handshake communication with each member node. Therefore, the high-gain advantage of the directional antenna is exerted under the scene of long communication distance, large network coverage area and sparse node distribution, and the neighbor discovery time of the directional antenna node can be greatly shortened by fully exerting the advantage of carrying a plurality of receivers by the node.
Description
Technical Field
The invention relates to the technical field of communication, in particular to a directional antenna neighbor discovery method and device based on multiple receivers.
Background
In the scene of using unmanned aerial vehicle, for single unmanned aerial vehicle mode of operation, many unmanned aerial vehicle collaborative work system have coverage wider, execution efficiency advantage such as higher, can exert unique advantage in fields such as disaster area rescue, airspace patrol, geological prospecting, emergency communication, traffic management, the accurate strike in battlefield.
In order to enable the unmanned aerial vehicle cluster to complete tasks better through cooperation, the whole cluster can form a mobile ad hoc network (MANET), and information interaction between nodes can be completed under the condition of moving while each node is ensured to complete the task of the node. Each node in the mobile self-organizing network plans the overall behavior of the network through interactive information, and can effectively meet the network requirement of covering a large area in a short time under the scenes of disaster area rescue, airspace patrol and the like. At the initial stage of network establishment, the self topological relation of each node is unknown, and the self topological graph needs to be perfected in a neighbor discovery mode.
Existing neighbor discovery strategies are mostly designed based on omnidirectional antennas loaded on unmanned aerial vehicles, and although the strategies can rapidly discover neighbors in a broadcasting mode under the conditions of short communication distance and dense network nodes, the neighbor discovery strategy effect based on the omnidirectional antennas is greatly reduced due to the fact that the communication distance of the omnidirectional antennas is short under the condition that a network needs large-area coverage. At present, how to propose a fast neighbor discovery scheme applicable to a large-area network coverage situation is an important issue to be urgently solved in the industry.
Disclosure of Invention
Aiming at the problems in the prior art, the invention provides a directional antenna neighbor discovery method and a device based on multiple receivers.
In a first aspect, the present invention provides a method for discovering a directional antenna neighbor based on multiple receivers, which is applied to a cluster head node and includes:
broadcasting an initial capture frame and a reference distribution frame;
based on multiple receivers, all-directionally receiving first reply frames sent by all member nodes through the determined receiving beams according to the reference distribution frame; the first reply frame includes location information of the member node, and the receiving beam is determined by the member node based on the initial acquisition frame;
sending on-demand frames to each member node according to the position information of each member node;
and receiving a second reply frame sent by each member node according to the on-demand frame so as to finish handshake communication with each member node.
Optionally, the omni-directionally receiving, by each member node, a first reply frame sent according to the reference distribution frame through the respective determined receiving beam includes:
omni-directionally receiving a first reply frame sent by each member node according to the reference distribution frame in a corresponding time slot through a respective determined receiving beam; wherein, the time slots corresponding to different member nodes are different.
Optionally, the broadcasting the initial capture frame and the reference distribution frame includes:
and broadcasting the initial acquisition frame and the reference distribution frame one by one antenna sector according to a preset sequence.
Optionally, the broadcasting the initial capture frame and the reference distribution frame includes:
after the initial acquisition frame is broadcast by all antenna sectors, the reference distribution frame is broadcast.
Optionally, the number of times of distribution of the initial acquisition frame is determined according to the number of beams in a single antenna sector of the member node.
Optionally, the number of times of distribution of the reference distribution frame is 2.
Optionally, sending the on-demand frame to each member node includes:
and sending the on-demand frame to each member node by adopting a single wave beam.
In a second aspect, the present invention further provides a directional antenna neighbor discovery method based on multiple receivers, applied to a member node, including:
receiving an initial acquisition frame broadcasted by a cluster head node, and determining a receiving beam based on the initial acquisition frame;
receiving a reference distribution frame broadcasted by the cluster head node based on the receiving beam;
sending a first reply frame to the cluster head node through the receiving beam according to the reference distribution frame; the first reply frame comprises the position information of the member node;
and receiving an on-demand frame sent by the cluster head node according to the position information of the member node, and sending a second reply frame to the cluster head node according to the on-demand frame so as to complete handshake communication with the cluster head node.
Optionally, the sending, according to the reference distribution frame, the first reply frame to the cluster head node through the receive beam includes:
sending a first reply frame to the cluster head node in a time slot corresponding to the member node through the receiving beam according to the reference distribution frame; wherein, the time slots corresponding to different member nodes are different.
Optionally, the receiving an initial acquisition frame broadcasted by the cluster head node includes:
based on multiple receivers, beam scanning is carried out on multiple antenna sectors simultaneously, and an initial acquisition frame broadcasted by a cluster head node is received.
Optionally, the beam scanning in multiple antenna sectors simultaneously includes:
and stopping beam scanning if the initial acquisition frame is successfully received.
In a third aspect, the present invention further provides a directional antenna neighbor discovery apparatus based on multiple receivers, applied to a cluster head node, including:
the broadcast module is used for broadcasting the initial capture frame and the reference distribution frame;
a first receiving module, configured to receive, based on multiple receivers, a first reply frame sent by each member node through a respective determined receiving beam according to the reference distribution frame in an omni-directional manner; the first reply frame includes location information of the member node, and the receiving beam is determined by the member node based on the initial acquisition frame;
the on-demand module is used for sending on-demand frames to the member nodes according to the position information of the member nodes;
and the first handshake module is used for receiving a second reply frame sent by each member node according to the on-demand frame so as to complete handshake communication with each member node.
In a fourth aspect, the present invention further provides a directional antenna neighbor discovery apparatus based on multiple receivers, applied to a member node, including:
the beam determining module is used for receiving an initial acquisition frame broadcasted by the cluster head node and determining a receiving beam based on the initial acquisition frame;
a second receiving module, configured to receive, based on the received beam, a reference distribution frame broadcasted by the cluster head node;
a reply module, configured to send a first reply frame to the cluster head node through the receive beam according to the reference distribution frame; the first reply frame comprises the position information of the member node;
and the second handshake module is used for receiving the on-demand frame sent by the cluster head node according to the position information of the member node, and sending a second reply frame to the cluster head node according to the on-demand frame so as to complete handshake communication with the cluster head node.
In a fifth aspect, the present invention also provides an electronic device, including a memory, a processor, and a computer program stored on the memory and executable on the processor, the processor implementing the steps of the multi-receiver based directional antenna neighbor discovery method according to the first or second aspect when executing the program.
In a sixth aspect, the present invention also provides a non-transitory computer readable storage medium having stored thereon a computer program which, when executed by a processor, implements the steps of the multi-receiver based directional antenna neighbor discovery method according to the first or second aspect.
The neighbor discovery task is completed through the four stages of initial capture, reference distribution, member response and cluster head on-demand, the high-gain advantage of the directional antenna is played under the scene that the communication distance is long, the network coverage area is large and the node distribution is sparse, the advantage of carrying a plurality of receivers by the nodes is fully played through the unified scheduling of the cluster head nodes, and the neighbor discovery time of the nodes using the directional antenna can be greatly reduced.
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In order to more clearly illustrate the technical solutions of the present invention or the prior art, the drawings needed for the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and those skilled in the art can also obtain other drawings according to the drawings without creative efforts.
Fig. 1 is one of the flow diagrams of the multi-receiver based directional antenna neighbor discovery method provided by the present invention;
FIG. 2 is a schematic model diagram of a node of an unmanned aerial vehicle equipped with multiple sets of directional antennas according to the present invention;
FIG. 3 is a schematic diagram of a beam relationship between two nodes during communication according to the present invention;
FIG. 4 is a schematic diagram of an initial acquisition scan process provided by the present invention;
FIG. 5 is a schematic diagram of member response time slot allocation provided by the present invention;
FIG. 6 is a schematic diagram of a cluster head node directed on-demand member node provided by the present invention;
fig. 7 is a schematic diagram of a multi-receiver-based neighbor discovery implementation flow provided by the present invention;
fig. 8 is a second flowchart of the multi-receiver based directional antenna neighbor discovery method provided in the present invention;
fig. 9 is one of the structural diagrams of the multi-receiver-based directional antenna neighbor discovery apparatus provided in the present invention;
fig. 10 is a second schematic structural diagram of a multi-receiver-based directional antenna neighbor discovery apparatus provided in the present invention;
fig. 11 is a schematic structural diagram of an electronic device provided in the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention clearer, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings, and it is obvious that the described embodiments are some, but not all embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Fig. 1 is a schematic flowchart of a multi-receiver-based directional antenna neighbor discovery method, which may be applied to a cluster head node, as shown in fig. 1, and includes the following steps:
102, sending on-demand frames to each member node according to the position information of each member node;
and 103, receiving a second reply frame sent by each member node according to the on-demand frame so as to complete handshake communication with each member node.
Specifically, some existing neighbor discovery strategies based on the omni-directional antenna can quickly discover neighbors in a broadcast manner under the conditions of short communication distance and dense network nodes, but because the communication distance of the omni-directional antenna is short, the effect of the neighbor discovery strategy based on the omni-directional antenna is greatly reduced under the condition that a network needs large-area coverage. In order to realize long-distance and large-range communication, the invention provides a directional antenna on a network node, and provides a neighbor discovery scheme based on the directional antenna, so that the high-gain advantage of the directional antenna is exerted under the scenes of long communication distance, large network coverage area and sparse node distribution, the advantage of carrying a plurality of receivers on the node is fully exerted through the unified scheduling of the cluster head node, and the neighbor discovery time of using the directional antenna node can be greatly reduced.
For convenience in subsequent discussion, the embodiments of the present invention mainly use a network node as an unmanned aerial vehicle node carrying a directional antenna as an example for description, and certainly, a person skilled in the art should understand that the technical solutions provided in the embodiments of the present invention are not limited to a neighbor discovery application scenario of an unmanned aerial vehicle node, and a neighbor discovery scenario of other network nodes may also be applicable.
Fig. 2 is a schematic model diagram of an unmanned aerial vehicle node equipped with multiple sets of directional antennas, as shown in fig. 2, each unmanned aerial vehicle node covers all directions of an unmanned aerial vehicle by multiple sets of directional antennas, all ranges covered by a single directional antenna are referred to as sectors, and narrower angle concentrated power transmission can be adopted in the sectors, which is referred to as beams.
The single wave beam in the node is uniquely determined by the antenna number and the wave beam number in the antenna, and the number of the antennas in each node isN A The number of wave beams in the cluster head node antenna isN H Thus, each beam of the cluster head node may be denoted asBeam(t, h) The number of beams in the member node antenna isN M Each beam can be expressed asBeam(t, m). Wherein,tthe antenna number (which may take the values of 0, 1, …,N A -2, N A -1），hindicating the beam number (which may take the values of 0, 1, …,N H -2, N H -1），mrepresenting member nodesThe beam number (which may take the values 0, 1, …,N M -2, N M -1）。
fig. 3 is a schematic diagram of a beam relationship between two nodes during communication according to the present invention, as shown in fig. 3, a node B is in sector 5 of a node a, and a node a is in sector 2 of a node B, and only when a and B use the pair of sectors for transceiving, a link can be successfully established to complete communication. Within a sector, nodes typically do not communicate using the entire sector, typically using a single beam within the sector, as shown in the right diagram of fig. 3. As shown in the right diagram of FIG. 3, the member nodeN 3(i.e., node B) at the clusterhead nodeN 0(i.e., node A) on Beam 9, cluster head nodeN 0At member nodeN 3On the beam 7, correct communication can be achieved only when both parties use the two beams simultaneously for communication. Represented by a beam as:
the equivalent isotropic radiated power EIRP and the ground station performance index G/T of the antenna in the network model can meet the requirement that a transmitting party and a receiving party can normally communicate under the condition of beam alignment, so that the communicating parties need to quickly align the beams in the neighbor discovery process. In an actual application scenario, the physical position of each unmanned aerial vehicle node can be roughly planned at the initial stage of networking, so that the embodiment of the invention designs a neighbor discovery scheme based on a centralized network with a cluster head and multiple receivers carried on each node, and solves the problem of rapid networking of directional antennas under wide-area sparse nodes.
In the solution proposed by the present invention, it is considered that each antenna of a node has a separate receiver, and the working power of the node supports simultaneous turning on of multiple receivers, so that after a member node has directed a receiving beam to a cluster head node in a reference distribution phase, the cluster head node can maintain an omnidirectional receiving waiting state by using the advantages of multiple receivers, and wait for the reply information of the member node. And the information sent to the cluster head node by the member node is used for deciding which wave bits are selected to order the member node in the subsequent stage so as to finish the handshake.
The method for discovering the directional antenna neighbor based on the multi-receiver provided by the embodiments of the invention can be divided into four stages: initial capture, benchmark distribution, member response, and cluster head on demand.
In the initial acquisition stage, the cluster head node may broadcast an initial acquisition frame, the member nodes receive the initial acquisition frame broadcast by the cluster head node through beam scanning, determine a reception beam based on the beam receiving the initial acquisition frame, and keep the reception beam aligned with the cluster head node all the time thereafter. The initial acquisition frame may include related information for initial acquisition and frame synchronization, for example, the initial acquisition frame data rate is 10kbps, the length is 10ms, and the first approximate 1/2 is a pseudo-random PN code for acquisition; the middle 1/4 is a unique word UW sequence used for frame synchronization; finally 1/4 is a check sequence to distinguish between the initial acquisition frame and the reference distribution frame.
When the member node receives the initial acquisition frame broadcast by the cluster head node through beam scanning, the member node can utilize the advantages of multiple receivers and simultaneously perform beam scanning on multiple antenna sectors, so that the beam scanning time is saved. Once it is determined that the initial acquisition frame was successfully received, the beam sweep may be stopped, keeping the receive beam aligned with the clusterhead node.
In the reference distribution stage, the cluster head node can broadcast a reference distribution frame, and the member nodes receive the reference distribution frame broadcast by the cluster head node based on the receiving beam determined in the initial acquisition stage. The reference distribution frame may include time synchronization information, subsequent frame structure information, time slot time information, position information of the cluster head node, movement speed information of the cluster head node, and the like.
Optionally, broadcasting the initial acquisition frame and the reference distribution frame may include: and broadcasting the initial acquisition frame and the reference distribution frame one by one antenna sector according to a preset sequence. For example, the cluster head node may broadcast the initial acquisition frame and the reference distribution frame on an antenna sector-by-antenna sector basis in the order of antenna numbers. Further, at each antenna sector, the cluster head node may broadcast the initial acquisition frame and the reference distribution frame on a beam-by-beam basis.
Optionally, broadcasting the initial acquisition frame and the reference distribution frame may include: after the initial acquisition frame is broadcast by all antenna sectors, the reference distribution frame is broadcast. In order to enable the cluster head node to fully exert the multi-antenna function, the member node can keep a receiving state all the time in the initial capturing process, and waits for the broadcast information of the cluster head node, when all the plurality of antennas of the cluster head node are initially captured, the next stage is entered, namely, the network access process of the whole network is integrated.
Fig. 4 is a schematic diagram of an initial acquisition scanning process provided by the present invention, and as shown in fig. 4, in an initial acquisition stage, a member node scans by using its narrowest beam, and simultaneously opens its corresponding numbered beam, and a cluster head node scans and broadcasts an initial acquisition frame one by one antenna sector. The member node resides in one frame length on each wave beam to try to receive the broadcast of the cluster head node, the wave beam is not switched after the successful receiving, the receiving wave beam is aligned to the cluster head, the receiving is switched to the next wave beam after the waiting of one frame length to continue scanning and receiving after the failure of the receiving, and the reference distribution stage is entered after the broadcasting of all antenna sectors of the cluster head node is completed.
Alternatively, the number of times of distribution of the initial acquisition frame may be determined according to the number of beams within a single antenna sector of the member node. The number of distribution refers to the number of times that the cluster head node repeatedly distributes the initial acquisition frame in a single beam, for example, the number of beams in the member node antenna isN M The number of times of distribution of the initial captured frame may beN M 。
If the number of the wave beams in the sector of the cluster head node is equal toN H The number of the wave beams in the sector of the member node isN M The frame length of the initial capture frame isT s The number of antennas of the cluster head node isN A Then total time required for the initial acquisition phaseT 1Comprises the following steps:
in the reference distribution stage, the cluster head node continues broadcasting, the content becomes a reference distribution frame, at this time, the member node already knows the correct receiving attitude of the member node, but the cluster head node also needs to inform some information of the member node, such as time synchronization, subsequent frame structure, time slot time, cluster head node position, movement speed and the like, so that one time of communication of reference distribution is needed, and the frame length of the reference distribution frame is equal to that of the reference distribution frameT r In order to prevent the loss of the data packet, optionally, the number of times of distribution of the reference distribution frame may be 2, that is, the reference distribution frame will be transmitted twice on each beam, so that all the information of distribution can be obtained through the second distribution even if part of the data in the frame is lost.
If the time required for the reference distribution phase is recorded asT 2The number of the wave beams in the sector of the cluster head node isN H The number of antennas of the cluster head node isN A Then the total time required in the reference distribution phase is:
and after the reference distribution stage, a member response stage is entered, the member node responds to the cluster head node in the stage, the geographical position of the cluster head node is informed in a communication mode, and the cluster head node is enabled to directly use a specific narrow beam for on-demand broadcasting without scanning in the bidirectional capturing stage.
The cluster head node can keep an omnidirectional receiving waiting state based on a plurality of receivers carried on the cluster head node and waits for reply information of the member nodes. Accordingly, after receiving the reference distribution frame broadcast by the cluster head node, the member node may perform time synchronization and determination of information such as time slot time (for example, which absolute time the time slot starts at) according to the content of the reference distribution frame, and then send a first reply frame to the cluster head node through the receive beam, where the first reply frame includes the position information of the member node.
Optionally, the omni-directionally receiving the first reply frame sent by each member node according to the reference distribution frame through the respective determined receiving beam may include: omni-directionally receiving a first reply frame sent by each member node according to a reference distribution frame in a corresponding time slot through a respective determined receiving beam; wherein, the time slots corresponding to different member nodes are different.
Specifically, in order to prevent all member nodes from colliding when sending the first reply frame, in the embodiment of the present invention, a corresponding number may be assigned to each member node at the beginning of networking, and each member node sends the first reply frame in a corresponding time slot in a time division multiplexing manner.
FIG. 5 is a schematic diagram of member response timeslot allocation provided by the present invention, as shown in FIG. 5, the number of antennas of the cluster head nodeN A =3, total number of member nodesn=8, each member node transmits the first reply frame in the corresponding time slot. For example, the member node with the number 1 determines that the corresponding time slot is the first time slot N1 counted from the time slot start time according to the number 1 and the time slot start time, the member node with the number 3 determines that the corresponding time slot is the third time slot N3 counted from the time slot start time according to the number 3 and the time slot start time, and the time slots corresponding to the other member nodes are the same and are not described again.
The total number of the nodes of the members in the network isnThen, by means of time division multiplexing as shown in fig. 5, the member nodes reply to the cluster head node in the time slots of the respective corresponding numbers, and at this time, because the communication includes the position information of the member nodes themselves, the length of each frame may still be the same as that of the member nodes themselvesT r The first reply frame of each member node is sent twice, the total time required for the member reply phaseT 3Comprises the following steps:
after the member response stage is finished, the cluster head on-demand stage is entered, and at the moment, the cluster head node already knows the position information of each member node, so that the on-demand frame can be directly sent to each member node without scanning. And after receiving the on-demand frame, the member node sends a second reply frame to the cluster head node, wherein the second reply frame is used for replying information required for finishing handshake communication to the cluster head node.
Optionally, sending the on-demand frame to each member node may include: and sending the on-demand frame to each member node by adopting a single beam. In order to ensure the accuracy of subsequent communication, the cluster head node can use the narrowest beam for requesting, that is, after obtaining the position information of each member node, the cluster head node can know which narrow beam is used for requesting the member node through self calculation. The content of the on-demand frame may include information of the current cluster head node, such as the current time of the cluster head node, which beam to use to transmit the on-demand frame, and the like, and the subsequent network operation content, and the like.
Fig. 6 is a schematic diagram of a cluster head node directing on-demand member node provided by the present invention, as shown in fig. 6, in the cluster head on-demand stage, the cluster head node may determine which narrow beam to use to send an on-demand frame to the member node according to the position information of each member node, and the member node replies to the cluster head node immediately after receiving the on-demand frame sent by the cluster head node, thereby completing handshake communication. At the moment, the cluster head node and the member nodes use the narrowest wave beam of the cluster head node and the member nodes to carry out on-demand, and the length of each frame is assumed to beT b Then total time required for cluster head on-demand phaseT 4Comprises the following steps:
after the four phases, the cluster head node and the member node complete the bidirectional handshake communication, learn the position information and the time synchronization information from each other, and complete the neighbor discovery task, so in the embodiment of the present invention, the total time used for neighbor discovery may be:
in each stage, all beam attitude conditions of the node are considered, so that the directional antenna neighbor discovery task under the condition of the wide-area sparse node can be completed in the planning time.
The neighbor discovery task is completed through the four stages of initial capture, reference distribution, member response and cluster head on-demand, the high-gain advantage of the directional antenna is played under the scene of long communication distance, large network coverage area and sparse node distribution, the advantage of carrying multiple receivers by the nodes is fully played through unified scheduling of the cluster head nodes, and the neighbor discovery time of the nodes using the directional antenna can be greatly reduced.
Fig. 7 is a schematic diagram of a neighbor discovery implementation process based on multiple receivers, as shown in fig. 7, where the left diagram is a flowchart corresponding to a cluster head node, and the right diagram is a flowchart corresponding to a member node, and main processes thereof are respectively described below.
For cluster head nodes, after starting up, firstly broadcasting an initial capture frame, determining the distribution times of the initial capture frame according to the beam number of a single antenna sector of a member node, after the broadcasting of one antenna sector is finished, switching to the next antenna sector, when all the antennas are determined to finish the broadcasting of the initial capture frame, starting to broadcast a reference distribution frame, after the distribution of the reference distribution frame is finished twice, starting a multi-receiver, waiting for the reply of the member node, determining the beam corresponding to the on-demand of each member node according to the position information replied by the member node, then using the determined specific beam to carry out on-demand on each member node so as to finish the handshake communication with each member node, recording the number of the members entering the network in the process, finishing the on-demand each time, adding the member number of +1, switching to the next specific beam on-demand, and enabling all the member nodes to enter the network, the neighbor discovery task is completed.
For the member node, after the member node is started, namely the member node listens to the initial capture frame for a long time in a beam scanning mode, the beam is switched continuously to try to receive the initial capture frame broadcasted by the cluster head node, if the initial capture frame is received successfully, the current receiving beam is kept and is aligned to the cluster head node, then the reference distribution frame distributed by the cluster head node is received based on the receiving beam, the cluster head node is replied at a specific time slot according to the number of the self node, the cluster head node receives the position information replied by the member node, after the cluster head node requests the member node, the member node can receive the request frame sent by the cluster head node, the member node replies the request frame, and the handshake communication with the cluster head node is completed.
Fig. 8 is a second flowchart of the method for discovering a neighbor based on a directional antenna of multiple receivers according to the present invention, which can be applied to a member node, as shown in fig. 8, the method includes the following steps:
and 803, receiving the on-demand frame sent by the cluster head node according to the position information of the member node, and sending a second reply frame to the cluster head node according to the on-demand frame to complete handshake communication with the cluster head node.
Specifically, some existing neighbor discovery strategies based on the omni-directional antenna can quickly discover neighbors in a broadcast manner under the conditions of short communication distance and dense network nodes, but because the communication distance of the omni-directional antenna is short, the effect of the neighbor discovery strategy based on the omni-directional antenna is greatly reduced under the condition that a network needs large-area coverage. In order to realize long-distance and large-range communication, the invention provides a directional antenna on a network node, and provides a neighbor discovery scheme based on the directional antenna, so that the high-gain advantage of the directional antenna is exerted under the scenes of long communication distance, large network coverage area and sparse node distribution, the advantage of carrying a plurality of receivers on the node is fully exerted through the unified scheduling of the cluster head node, and the neighbor discovery time of using the directional antenna node can be greatly reduced.
In an actual application scenario, the physical position of each unmanned aerial vehicle node can be roughly planned at the initial stage of networking, so that the embodiment of the invention designs a neighbor discovery scheme based on a centralized network with a cluster head and multiple receivers carried on each node, and solves the problem of rapid networking of directional antennas under wide-area sparse nodes.
In the solution proposed by the present invention, it is considered that each antenna of a node has a separate receiver, and the working power of the node supports simultaneous turning on of multiple receivers, so that after a member node has directed a receiving beam to a cluster head node in a reference distribution phase, the cluster head node can maintain an omnidirectional receiving waiting state by using the advantages of multiple receivers, and wait for the reply information of the member node. And the information sent to the cluster head node by the member node is used for deciding which wave bits are selected to order the member node in the subsequent stage so as to finish the handshake.
The method for discovering the directional antenna neighbor based on the multi-receiver provided by the embodiments of the invention can be divided into four stages: initial capture, benchmark distribution, member response, and cluster head on demand.
In the initial acquisition stage, the cluster head node broadcasts an initial acquisition frame, the member nodes can receive the initial acquisition frame broadcast by the cluster head node through beam scanning, the receiving beam is determined based on the beam receiving the initial acquisition frame, and the receiving beam is kept to be aligned with the cluster head node all the time.
Optionally, receiving the initial acquisition frame broadcasted by the cluster head node may include: based on multiple receivers, beam scanning is carried out on multiple antenna sectors simultaneously, and an initial acquisition frame broadcasted by a cluster head node is received. Specifically, when the member node receives the initial acquisition frame broadcast by the cluster head node through beam scanning, the member node can perform beam scanning on a plurality of antenna sectors simultaneously by using the advantages of multiple receivers of the member node, thereby saving the time of beam scanning.
Optionally, performing beam scanning on multiple antenna sectors simultaneously includes: and stopping beam scanning if the initial acquisition frame is successfully received. Specifically, the member node may stop beam scanning once it determines that the initial acquisition frame is successfully received, and keep the received beam aligned with the clusterhead node, thereby avoiding redundant scanning operations.
In the reference distribution stage, the cluster head node broadcasts a reference distribution frame, and the member nodes can receive the reference distribution frame broadcasted by the cluster head node based on the receiving beam determined in the initial acquisition stage.
And after the reference distribution stage, a member response stage is entered, the member node responds to the cluster head node in the stage, the geographical position of the cluster head node is informed in a communication mode, and the cluster head node is enabled to directly use a specific narrow beam for on-demand broadcasting without scanning in the bidirectional capturing stage.
The cluster head node can keep an omnidirectional receiving waiting state based on a plurality of receivers carried on the cluster head node and waits for reply information of the member nodes. Correspondingly, after receiving the reference distribution frame broadcasted by the cluster head node, the member node can determine information such as time synchronization, time slot time and the like according to the content of the reference distribution frame, and then send a first recovery frame to the cluster head node through a receiving beam, wherein the first recovery frame comprises the position information of the member node.
Optionally, the sending the first reply frame to the cluster head node through the receive beam according to the reference distribution frame may include: sending a first recovery frame to the cluster head node in a time slot corresponding to the member node through a receiving beam according to the reference distribution frame; wherein, the time slots corresponding to different member nodes are different. Specifically, in order to prevent all member nodes from colliding when sending the first reply frame, in the embodiment of the present invention, a corresponding number may be assigned to each member node at the beginning of networking, and each member node sends the first reply frame in a corresponding time slot in a time division multiplexing manner.
After the member response stage is finished, the cluster head on-demand stage is entered, and at the moment, the cluster head node already knows the position information of each member node, so that the on-demand frame can be directly sent to each member node without scanning. After receiving the on-demand frame, the member node may send a second reply frame to the cluster head node, where the second reply frame is used to reply information required to complete the handshake communication to the cluster head node, thereby completing the handshake communication with the cluster head node.
The neighbor discovery task is completed through the four stages of initial capture, reference distribution, member response and cluster head on-demand, the high-gain advantage of the directional antenna is played under the scene of long communication distance, large network coverage area and sparse node distribution, the advantage of carrying multiple receivers by the nodes is fully played through unified scheduling of the cluster head nodes, and the neighbor discovery time of the nodes using the directional antenna can be greatly reduced.
The method provided by each embodiment of the invention is based on the same inventive concept, so the implementation of the cluster head node side and the member node side can be referred to each other, and repeated parts are not described again.
The following describes the multi-receiver-based directional antenna neighbor discovery apparatus provided by the present invention, and the multi-receiver-based directional antenna neighbor discovery apparatus described below and the multi-receiver-based directional antenna neighbor discovery method described above may be referred to correspondingly.
Fig. 9 is a schematic structural diagram of a multi-receiver-based directional antenna neighbor discovery apparatus, which is applicable to a cluster head node, as shown in fig. 9, and includes:
a broadcasting module 900 for broadcasting an initial acquisition frame and a reference distribution frame;
a first receiving module 910, configured to receive, based on multiple receivers, a first reply frame sent by each member node through a respective determined receiving beam according to a reference distribution frame in an omni-directional manner; the first reply frame comprises the position information of the member node, and the receiving beam is determined by the member node based on the initial acquisition frame;
the on-demand module 920 is configured to send an on-demand frame to each member node according to the location information of each member node;
the first handshake module 930 is configured to receive the second reply frame sent by each member node according to the on-demand frame, so as to complete handshake communication with each member node.
Optionally, the omni-directionally receiving the first reply frame sent by each member node according to the reference distribution frame through the respective determined receiving beam includes:
omni-directionally receiving a first reply frame sent by each member node according to a reference distribution frame in a corresponding time slot through a respective determined receiving beam; wherein, the time slots corresponding to different member nodes are different.
Optionally, broadcasting the initial acquisition frame and the reference distribution frame comprises:
and broadcasting the initial acquisition frame and the reference distribution frame one by one antenna sector according to a preset sequence.
Optionally, broadcasting the initial acquisition frame and the reference distribution frame comprises:
after the initial acquisition frame is broadcast by all antenna sectors, the reference distribution frame is broadcast.
Optionally, the number of times of distribution of the initial acquisition frame is determined according to the number of beams in a single antenna sector of the member node.
Alternatively, the number of distributions of the reference distribution frame is 2.
Optionally, sending the on-demand frame to each member node includes:
and sending the on-demand frame to each member node by adopting a single beam.
Fig. 10 is a second schematic structural diagram of a multi-receiver-based directional antenna neighbor discovery apparatus according to the present invention, which is applicable to a member node, as shown in fig. 10, and includes:
a beam determining module 1000, configured to receive an initial acquisition frame broadcast by a cluster head node, and determine a receiving beam based on the initial acquisition frame;
a second receiving module 1010, configured to receive a reference distribution frame broadcasted by the cluster head node based on the received beam;
a reply module 1020, configured to send a first reply frame to the cluster head node through the receive beam according to the reference distribution frame; the first reply frame comprises the position information of the member node;
the second handshake module 1030 is configured to receive an on-demand frame sent by the cluster head node according to the position information of the member node, and send a second reply frame to the cluster head node according to the on-demand frame, so as to complete handshake communication with the cluster head node.
Optionally, the sending, according to the reference distribution frame, the first reply frame to the cluster head node through the receive beam includes:
sending a first recovery frame to the cluster head node in a time slot corresponding to the member node through a receiving beam according to the reference distribution frame; wherein, the time slots corresponding to different member nodes are different.
Optionally, receiving an initial acquisition frame broadcasted by the cluster head node includes:
based on multiple receivers, beam scanning is carried out on multiple antenna sectors simultaneously, and an initial acquisition frame broadcasted by a cluster head node is received.
Optionally, performing beam scanning on multiple antenna sectors simultaneously includes:
and stopping beam scanning if the initial acquisition frame is successfully received.
It should be noted that, the apparatus provided in the present invention can implement all the method steps implemented by the method embodiments and achieve the same technical effects, and detailed descriptions of the same parts and beneficial effects as the method embodiments in this embodiment are omitted here.
Fig. 11 is a schematic structural diagram of an electronic device provided in the present invention, and as shown in fig. 11, the electronic device may include: a processor (processor) 1110, a communication Interface (Communications Interface) 1120, a memory (memory) 1130, and a communication bus 1140, wherein the processor 1110, the communication Interface 1120, and the memory 1130 communicate with each other via the communication bus 1140. Processor 1110 may invoke logic instructions in memory 1130 to perform the steps of any of the multi-receiver based directional antenna neighbor discovery methods provided by the various embodiments described above.
It should be noted that, the electronic device provided in the present invention can implement all the method steps implemented by the above method embodiments, and can achieve the same technical effects, and detailed descriptions of the same parts and beneficial effects as the method embodiments in this embodiment are not repeated herein.
In addition, the logic instructions in the memory 1130 may be implemented in software functional units and stored in a computer readable storage medium when sold or used as a stand-alone product. Based on such understanding, the technical solution of the present invention may be embodied in the form of a software product, which is stored in a storage medium and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the method according to the embodiments of the present invention. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, and other various media capable of storing program codes.
In yet another aspect, the present invention further provides a non-transitory computer readable storage medium, on which a computer program is stored, the computer program being implemented by a processor to perform the steps of any one of the multi-receiver based directional antenna neighbor discovery methods provided in the above embodiments.
It should be noted that, the non-transitory computer-readable storage medium provided by the present invention can implement all the method steps implemented by the above method embodiments and achieve the same technical effects, and detailed descriptions of the same parts and beneficial effects as the method embodiments in this embodiment are not repeated herein.
The above-described embodiments of the apparatus are merely illustrative, and the units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of the present embodiment. One of ordinary skill in the art can understand and implement it without inventive effort.
Through the above description of the embodiments, those skilled in the art will clearly understand that each embodiment can be implemented by software plus a necessary general hardware platform, and certainly can also be implemented by hardware. With this understanding in mind, the above-described technical solutions may be embodied in the form of a software product, which can be stored in a computer-readable storage medium such as ROM/RAM, magnetic disk, optical disk, etc., and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to execute the methods described in the embodiments or some parts of the embodiments.
Finally, it should be noted that: the above examples are only intended to illustrate the technical solution of the present invention, but not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.
Claims (15)
1. A directional antenna neighbor discovery method based on multiple receivers is characterized in that the method is applied to a cluster head node and comprises the following steps:
broadcasting an initial capture frame and a reference distribution frame;
based on multiple receivers, all-directionally receiving first reply frames sent by all member nodes through the determined receiving beams according to the reference distribution frame; the first reply frame includes location information of the member node, and the receiving beam is determined by the member node based on the initial acquisition frame;
sending on-demand frames to each member node according to the position information of each member node;
and receiving a second reply frame sent by each member node according to the on-demand frame so as to finish handshake communication with each member node.
2. The multi-receiver based directional antenna neighbor discovery method according to claim 1, wherein said omni-directionally receiving a first reply frame sent by each member node according to the reference distribution frame via a respective determined receive beam comprises:
omni-directionally receiving a first reply frame sent by each member node according to the reference distribution frame in a corresponding time slot through a respective determined receiving beam; wherein, the time slots corresponding to different member nodes are different.
3. The multi-receiver based directional antenna neighbor discovery method according to claim 1, wherein said broadcasting an initial acquisition frame and a reference distribution frame comprises:
and broadcasting the initial acquisition frame and the reference distribution frame one by one antenna sector according to a preset sequence.
4. The multi-receiver based directional antenna neighbor discovery method according to claim 1 or 3, wherein said broadcasting an initial acquisition frame and a reference distribution frame comprises:
after the initial acquisition frame is broadcast by all antenna sectors, the reference distribution frame is broadcast.
5. The multi-receiver based directional antenna neighbor discovery method according to claim 1 or 3, wherein said number of distribution of initial acquisition frames is determined according to the number of beams within a single antenna sector of said member node.
6. The multi-receiver based directional antenna neighbor discovery method according to claim 1 or 3, wherein said reference distribution frame is distributed a number of times of 2.
7. The multi-receiver based directional antenna neighbor discovery method of claim 1, wherein transmitting on-demand frames to said member nodes comprises:
and sending the on-demand frame to each member node by adopting a single wave beam.
8. A directional antenna neighbor discovery method based on multiple receivers is applied to member nodes and comprises the following steps:
receiving an initial acquisition frame broadcasted by a cluster head node, and determining a receiving beam based on the initial acquisition frame;
receiving a reference distribution frame broadcasted by the cluster head node based on the receiving beam;
sending a first reply frame to the cluster head node through the receiving beam according to the reference distribution frame; the first reply frame comprises the position information of the member node;
and receiving an on-demand frame sent by the cluster head node according to the position information of the member node, and sending a second reply frame to the cluster head node according to the on-demand frame so as to complete handshake communication with the cluster head node.
9. The multi-receiver based directional antenna neighbor discovery method according to claim 8, wherein said sending a first reply frame to said cluster head node through said receive beam according to said reference distribution frame comprises:
sending a first reply frame to the cluster head node in a time slot corresponding to the member node through the receiving beam according to the reference distribution frame; wherein, the time slots corresponding to different member nodes are different.
10. The multi-receiver based directional antenna neighbor discovery method according to claim 8, wherein said receiving an initial acquisition frame broadcast by a clusterhead node comprises:
based on multiple receivers, beam scanning is carried out on multiple antenna sectors simultaneously, and an initial acquisition frame broadcasted by a cluster head node is received.
11. The multi-receiver based directional antenna neighbor discovery method according to claim 10, wherein said simultaneously beam scanning at multiple antenna sectors comprises:
and stopping beam scanning if the initial acquisition frame is successfully received.
12. A directional antenna neighbor discovery device based on multiple receivers is applied to a cluster head node and comprises the following components:
the broadcast module is used for broadcasting the initial capture frame and the reference distribution frame;
a first receiving module, configured to receive, based on multiple receivers, a first reply frame sent by each member node through a respective determined receiving beam according to the reference distribution frame in an omni-directional manner; the first reply frame includes location information of the member node, and the receiving beam is determined by the member node based on the initial acquisition frame;
the on-demand module is used for sending on-demand frames to the member nodes according to the position information of the member nodes;
and the first handshake module is used for receiving a second reply frame sent by each member node according to the on-demand frame so as to complete handshake communication with each member node.
13. A multi-receiver-based directional antenna neighbor discovery device applied to a member node comprises:
the beam determining module is used for receiving an initial acquisition frame broadcasted by the cluster head node and determining a receiving beam based on the initial acquisition frame;
a second receiving module, configured to receive, based on the received beam, a reference distribution frame broadcasted by the cluster head node;
a reply module, configured to send a first reply frame to the cluster head node through the receive beam according to the reference distribution frame; the first reply frame comprises the position information of the member node;
and the second handshake module is used for receiving the on-demand frame sent by the cluster head node according to the position information of the member node, and sending a second reply frame to the cluster head node according to the on-demand frame so as to complete handshake communication with the cluster head node.
14. An electronic device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, wherein the processor when executing the program performs the steps of the multi-receiver based directional antenna neighbor discovery method according to any of claims 1 to 7 or the steps of the multi-receiver based directional antenna neighbor discovery method according to any of claims 8 to 11.
15. A non-transitory computer readable storage medium having stored thereon a computer program, wherein the computer program when executed by a processor performs the steps of the multi-receiver based directional antenna neighbor discovery method of any one of claims 1 to 7 or the steps of the multi-receiver based directional antenna neighbor discovery method of any one of claims 8 to 11.
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