CN114125870A - Method and device for directional antenna neighbor discovery based on multiple receivers - Google Patents

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

Method and device for directional antenna neighbor discovery based on multiple receivers

technical field

The present invention relates to the field of communication technologies, and in particular, to a method and device for directional antenna neighbor discovery based on multiple receivers.

Background technique

In the application of UAVs, compared with the single UAV working mode, the multi-UAV collaborative work system has the advantages of wider coverage and higher execution efficiency. Traffic management, battlefield precision strike and other fields can play unique advantages.

In order to make the UAV swarm better through cooperation to complete the task, the entire swarm can be formed into a mobile self-organizing network (MANET), while ensuring that each node can complete its own task, it can also complete the movement between nodes. information interaction. Each node in the mobile self-organizing network plans the overall behavior of the network through the exchange of information, which can effectively meet the network requirements that need to cover a large area in a short time in scenarios such as disaster relief and airspace patrols. In the initial stage of network construction, the topology relationship of each node is unknown, and its topology map needs to be improved through neighbor discovery.

Most of the existing neighbor discovery strategies are designed based on the installation of omnidirectional antennas on UAVs. Although these strategies can quickly discover neighbors by broadcasting in the case of short communication distance and dense network nodes, due to the communication of omnidirectional antennas. When the distance is relatively short, when the network needs to cover a large area, the effect of the neighbor discovery strategy based on the omnidirectional antenna will be greatly reduced. At present, how to propose a fast neighbor discovery scheme that can be applied to large-area network coverage is an important issue that needs to be solved urgently in the industry.

SUMMARY OF THE INVENTION

In view of the problems existing in the prior art, the present invention provides a method and device for directional antenna neighbor discovery based on multiple receivers.

In a first aspect, the present invention provides a multi-receiver-based directional antenna neighbor discovery method, which is applied to a cluster head node, including:

Broadcast initial capture frames and reference distribution frames;

Based on multiple receivers, the first reply frame sent by each member node through the respective determined receiving beams and according to the reference distribution frame is omnidirectionally received; the first reply frame includes the location information of the member node, and the receiving beam the beam is determined by the member node based on the initial capture frame;

sending an on-demand frame to each member node according to the location information of each member node;

The second reply frame sent by the member nodes according to the on-demand frame is received, so as to complete the handshake communication with the member nodes.

Optionally, the omnidirectionally receiving the first reply frame sent by each member node through the respective determined receiving beams and according to the reference distribution frame, includes:

Omnidirectionally receives the first reply frame sent by each member node through the respective determined receiving beams and in the respective corresponding time slots according to the reference distribution frame; wherein, the time slots corresponding to different member nodes are different.

Optionally, the broadcast initial capture frame and reference distribution frame include:

The initial capture frame and the reference distribution frame are broadcast on an antenna sector-by-antenna sector basis in a preset order.

Optionally, the broadcast initial capture frame and reference distribution frame include:

After all antenna sectors have broadcast the initial capture frame, 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 within a single antenna sector of the member node.

Optionally, the number of times of distribution of the reference distribution frame is 2.

Optionally, sending an on-demand frame to each member node includes:

A single beam is used to transmit on-demand frames to the member nodes.

In a second aspect, the present invention also provides a method for finding neighbors of directional antennas based on multiple receivers, which is applied to member nodes, including:

receiving an initial capture frame broadcast by the cluster head node, and determining a receiving beam based on the initial capture frame;

receiving, based on the receiving beam, a reference distribution frame broadcast by the cluster head node;

Send a first reply frame to the cluster head node through the receiving beam according to the reference distribution frame; the first reply frame includes the location information of the member node;

Receive an on-demand frame sent by the cluster head node according to the location information of the member nodes, and send a second reply frame to the cluster head node according to the on-demand frame, so as to complete the handshake communication with the cluster head node .

Optionally, the sending the first reply frame to the cluster head node through the receiving beam according to the reference frame distribution includes:

The frame is distributed according to the reference, and the first reply frame is sent to the cluster head node in the time slot corresponding to the member node through the receiving beam, wherein the time slots corresponding to different member nodes are different.

Optionally, the receiving the initial capture frame broadcast by the cluster head node includes:

Based on multiple receivers, beam scanning is performed in multiple antenna sectors at the same time, and the initial capture frame broadcast by the cluster head node is received.

Optionally, performing beam scanning in multiple antenna sectors at the same time includes:

If it is determined that the initial capture frame is successfully received, the beam scanning is stopped.

In a third aspect, the present invention also provides a multi-receiver-based directional antenna neighbor discovery device, applied to a cluster head node, including:

Broadcast module for broadcasting initial capture frame and reference distribution frame;

The first receiving module is configured to, based on multiple receivers, omnidirectionally receive the first reply frame sent by each member node through the respective determined receiving beams and according to the reference distribution frame; the first reply frame includes the member nodes The location information of the receiving beam is determined by the member node based on the initial acquisition frame;

an on-demand module, configured to send an on-demand frame to each member node according to the location information of each member node;

The first handshake module is configured to receive the second reply frame sent by the member nodes according to the on-demand frame, so as to complete the handshake communication with the member nodes.

In a fourth aspect, the present invention also provides a multi-receiver-based directional antenna neighbor discovery device, applied to member nodes, including:

a beam determination module, configured to receive an initial capture frame broadcast by the cluster head node, and determine a receiving beam based on the initial capture frame;

a second receiving module, configured to receive the reference distribution frame broadcast by the cluster head node based on the receiving beam;

a reply module, configured to distribute a frame according to the reference and send a first reply frame to the cluster head node through the receiving beam; the first reply frame includes the position information of the member node;

The second handshake module is configured to receive the on-demand frame sent by the cluster head node according to the location information of the member nodes, and send a second reply frame to the cluster head node according to the on-demand frame, so as to complete the communication with the cluster head node. Handshake communication between head nodes.

In a fifth aspect, the present invention also provides an electronic device, comprising a memory, a processor, and a computer program stored in the memory and running on the processor, the processor implements the first aspect when the processor executes the program Or the steps of the multi-receiver-based directional antenna neighbor discovery method described in the second aspect.

In a sixth aspect, the present invention also provides a non-transitory computer-readable storage medium, on which a computer program is stored, and when the computer program is executed by a processor, implements the multi-based multi-based method described in the first aspect or the second aspect as described above. Steps of a receiver's directional antenna neighbor discovery method.

The multi-receiver-based directional antenna neighbor discovery method and device provided by the present invention completes the neighbor discovery task through four stages: initial acquisition, reference distribution, member response and cluster head on-demand. In the scenario where the nodes are sparsely distributed, the high-gain advantage of the directional antenna is brought into play, and through the unified scheduling of the cluster head node, the advantage of the node carrying multiple receivers is fully utilized, which can greatly reduce the neighbor discovery time of the node using the directional antenna.

Description of drawings

In order to explain the present invention or the technical solutions in the prior art more clearly, the following will briefly introduce the accompanying drawings that need to be used in the description of the embodiments or the prior art. Obviously, the accompanying drawings in the following description are the For some embodiments of the invention, for those of ordinary skill in the art, other drawings can also be obtained according to these drawings without any creative effort.

1 is one of the schematic flow charts of the method for finding neighbors of directional antennas based on multiple receivers provided by the present invention;

Fig. 2 is the model schematic diagram of the unmanned aerial vehicle node that loads multiple groups of directional antennas provided by the present invention;

3 is a schematic diagram of a beam relationship between two nodes during communication provided by the present invention;

4 is a schematic diagram of an initial capture scanning process provided by the present invention;

5 is a schematic diagram of member response timeslot allocation provided by the present invention;

6 is a schematic diagram of a cluster head node directional VOD member node provided by the present invention;

7 is a schematic flowchart of the implementation of multi-receiver-based neighbor discovery provided by the present invention;

8 is the second schematic flowchart of the method for finding neighbors of directional antennas based on multiple receivers provided by the present invention;

FIG. 9 is one of the structural schematic diagrams of the multi-receiver-based directional antenna neighbor discovery device provided by the present invention;

FIG. 10 is the second schematic diagram of the structure of the multi-receiver-based directional antenna neighbor discovery device provided by the present invention;

FIG. 11 is a schematic structural diagram of an electronic device provided by the present invention.

Detailed ways

In order to make the objectives, technical solutions and advantages of the present invention clearer, the technical solutions in the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are part of the embodiments of the present invention. , not all examples. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

FIG. 1 is one of the schematic flowcharts of the method for finding neighbors of directional antennas based on multiple receivers provided by the present invention. The method can be applied to a cluster head node. As shown in FIG. 1 , the method includes the following steps:

Step 100, broadcasting the initial capture frame and the reference distribution frame;

Step 101: Based on multiple receivers, omnidirectionally receive the first reply frame sent by each member node through the respective determined receiving beams and according to the reference distribution frame; the first reply frame includes the position information of the member node, and the receiving beam is the member node based on The initial capture frame is determined;

Step 102: Send an on-demand frame to each member node according to the location information of each member node;

Step 103: Receive the second reply frame sent by each member node according to the on-demand frame, so as to complete the handshake communication with each member node.

Specifically, some existing neighbor discovery strategies based on omnidirectional antennas can quickly discover neighbors through broadcasting when the communication distance is short and network nodes are dense, but due to the short communication distance of omnidirectional antennas, When the network needs to cover a large area, the effect of the neighbor discovery strategy based on omnidirectional antenna will be greatly reduced. In order to enable long-distance and large-scale communication, the present invention proposes to install directional antennas on network nodes, and proposes a neighbor discovery scheme based on directional antennas, which plays an important role in the scenario of long communication distance, large network coverage, and sparse distribution of nodes. The high-gain advantage of directional antennas, and through the unified scheduling of cluster head nodes, the advantages of nodes carrying multiple receivers can be fully utilized, which can greatly reduce the neighbor discovery time of nodes using directional antennas.

For the convenience of subsequent discussion, the embodiments of the present invention are mainly described by taking the network node as a UAV node equipped with a directional antenna as an example. Of course, those skilled in the art should understand that the technical solutions provided by the embodiments of the present invention are not limited to The neighbor discovery application scenario of UAV nodes is also applicable to the neighbor discovery scenarios of other network nodes.

FIG. 2 is a schematic diagram of a model of a UAV node loaded with multiple groups of directional antennas provided by the present invention. As shown in FIG. 2 , each UAV node is covered by multiple groups of directional antennas in all directions of the UAV, and a single directional antenna covers all directions of the UAV. The entire range is called a sector, and a narrower angle can be used to concentrate power transmission inside the sector, which is called a beam.

A single beam in a node is uniquely determined by the antenna number and the beam number inside the antenna. The number of antennas of each node is N _A , and the number of beams inside the antenna of the cluster head node is N _H , so each beam of the cluster head node is It can be expressed as Beam ( t , h ), the number of beams inside the member node antenna is N _M , and each beam can be expressed as Beam ( t , m ). Among them, t represents the antenna number of the node (its value can be 0, 1, …, N _A -2, N _A -1), h represents the beam number inside the antenna of the cluster head node (its value can be 0, 1 , …, N _H -2, N _H -1), m represents the beam number inside the member node antenna (its value can be 0, 1, …, N _M -2, N _M -1).

Figure 3 is a schematic diagram of the beam relationship between two nodes during communication provided by the present invention. As shown in Figure 3, node B is in the No. 5 sector of node A, node A is in No. 2 sector of node B, and only A and B use Only when this pair of sectors transmits and receives can successfully establish a chain and complete communication. Within a sector, nodes usually do not use the entire sector for communication, as shown on the right in Figure 3, a single beam within the sector is generally used for communication. As shown in the right figure in Figure 3, member node N ₃ (ie node B) is on beam 9 of cluster head node N ₀ (ie node A), and cluster head node N ₀ is on beam 7 of member node N ₃ , only when both parties use the two beams to communicate at the same time, can they communicate correctly. Expressed in beams as:

In the network model, the equivalent isotropic radiated power EIRP of the antenna and the performance index G/T of the ground station can satisfy the normal communication between the sender and the receiver under the condition of beam alignment. Therefore, in the process of neighbor discovery, both parties need to quickly align the beam. In an actual application scenario, the physical location of each UAV node can be roughly planned in the initial stage of network construction. Therefore, each embodiment of the present invention is designed based on a centralized network with cluster heads and multiple receivers mounted on each node. The neighbor discovery solution solves the problem of rapid networking of directional antennas under wide-area sparse nodes.

The solution proposed by the present invention considers that each antenna of the node has a separate receiver, and the working power of the node supports opening multiple receivers at the same time, so the member nodes have already aligned the receiving beams to the cluster head in the reference distribution stage After the node, the cluster head node can take advantage of the multi-receiver, keep the omnidirectional waiting state, and wait for the reply information of the member nodes. Through the information sent by the member nodes to the cluster head node, it is decided which wave positions are selected to perform on-demand on the member nodes in the subsequent stage to complete the handshake.

The multi-receiver-based directional antenna neighbor discovery method provided by the embodiments of the present invention can be divided into four stages: initial acquisition, reference distribution, member response, and cluster head on-demand.

In the initial capture phase, the cluster head node can broadcast the initial capture frame, and the member nodes receive the initial capture frame broadcast by the cluster head node through beam scanning, determine the receiving beam based on the beam that received the initial capture frame, and keep the receiving beam aligned with the cluster. first node. Among them, the initial capture frame can contain relevant information for initial capture and frame synchronization. For example, the data rate of the initial capture frame is 10kbps, the length is 10ms, and the first 1/2 is a pseudo-random PN code, which is used for capture; the middle 1 /4 is a unique word UW sequence, used for frame synchronization; the last 1/4 is a check sequence, used to distinguish the initial capture frame and the reference distribution frame.

When a member node receives the initial capture frame broadcast by the cluster head node through beam scanning, the member node can take advantage of its multi-receiver and perform beam scanning in multiple antenna sectors at the same time, thereby saving beam scanning time. Once it is determined that the initial acquisition frame has been successfully received, the beam scanning can be stopped, keeping the receive beam aligned with the cluster head node.

In the reference distribution stage, the cluster head node can broadcast the 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, location information of the cluster head node, and movement speed information of the cluster head node.

Optionally, broadcasting the initial capture frame and the reference distribution frame may include: broadcasting the initial capture frame and the reference distribution frame one by one antenna sector in a preset order. For example, the cluster head node may broadcast the initial acquisition frame and the reference distribution frame, antenna sector by antenna sector, in the order of antenna numbers. Further, at each antenna sector, the cluster head node can broadcast initial acquisition frames and reference distribution frames beam by beam.

Optionally, broadcasting the initial capture frame and the reference distribution frame may include: broadcasting the reference distribution frame after all antenna sectors broadcast the initial capture frame. In order to enable the cluster head node to give full play to the multi-antenna function, the member nodes can keep the receiving state during the initial acquisition process and wait for the broadcast information of the cluster head node. stage, that is to say, the network access process of the entire network is integrated.

Figure 4 is a schematic diagram of the initial acquisition scanning process provided by the present invention. As shown in Figure 4, in the initial acquisition stage, the member nodes use their own narrowest beams to scan, and at the same time open the beams corresponding to their own numbers, and the cluster head node antenna sectors one by one Scan broadcast initial capture frame. The member nodes stay on each beam for a frame length and try to receive the broadcast of the cluster head node. After successful reception, the beam will not be switched, and the receiving beam will be aligned with the cluster head. If the reception fails, it will switch to the next beam after waiting for a frame length. Continue to scan and receive, when the broadcast of all antenna sectors of the cluster head node is completed, the reference distribution stage is entered.

Optionally, the distribution times 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 distributions refers to the number of times that the cluster head node repeatedly distributes the initial capture frame in a single beam. For example, if the number of beams in the antenna of the member node is N _M , the distribution times of the initial capture frame can be N _M .

If the number of intra-sector beams of the cluster head node is NH , the number of intra-sector beams of member nodes is N M , the frame length of the initial capture frame is T s _{, and the} number of antennas of the cluster head node is N _A , then the initial acquisition phase _The total time T1 required is:

In the benchmark distribution stage, the cluster head node continues to broadcast, and the content becomes the benchmark distribution frame. At this time, the member nodes have learned their correct receiving attitude, but the cluster head node also needs to notify the member nodes of some information, such as time synchronization, subsequent Frame structure, time slot time, cluster head node position, motion speed, etc., so it is also necessary to carry out a communication of reference distribution. The frame length of the reference distribution frame is Tr . In order to _prevent the loss of data packets, optionally, the reference distribution frame The number of distributions can be 2, that is, the reference distribution frame on each beam will be sent twice, so that even if part of the data in the frame is lost, all the distributed information can be obtained through the second distribution.

If the time required for the reference distribution stage is denoted as T ₂ , the number of beams within the sector of the cluster head node is NH , and the number of antennas of the cluster head node is NA _, then the total time required in the reference distribution stage is _:

After the benchmark distribution stage, it enters the member response stage. In this stage, the member nodes respond to the cluster head node and notify the cluster head node's own geographical location through communication, so that the cluster head node does not need to scan in the two-way capture stage, and directly adopts the A specific narrow beam can be broadcast on demand.

The cluster head node can maintain an omnidirectional waiting state based on multiple receivers mounted on it, and wait for the reply information from the member nodes. Correspondingly, after receiving the reference distribution frame broadcast by the cluster head node, the member nodes can determine the information such as time synchronization and time slot time (for example, at which absolute time the time slot starts) according to the content of the reference distribution frame. Then, the first reply frame is sent to the cluster head node through the receiving beam, and the first reply frame includes the location information of the member nodes.

Optionally, omnidirectionally receiving the first reply frame sent by each member node through the respectively determined receiving beam and according to the reference distribution frame may include: omnidirectionally receiving each member node through the respectively determined receiving beam, in the respective corresponding time slot. In the first reply frame sent 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 this embodiment of the present invention, a corresponding number may be assigned to each member node at the beginning of networking, and by means of time division multiplexing, Each member node sends the first reply frame in its corresponding time slot.

Fig. 5 is a schematic diagram of member response time slot allocation provided by the present invention. As shown in Fig. 5, the number of antennas of the cluster head node is N _A =3, the total number of member nodes is n =8, and each member node transmits in its corresponding time slot. The first reply frame. For example, the member node numbered 1 determines its corresponding time slot as the first time slot N1 from the time slot start time according to its own number 1 and the time slot start time, and the member node number 3 determines its corresponding time slot according to its own time slot N1 Number 3 and the time slot start time, determine that the corresponding time slot is the third time slot N3 from the time slot start time, and the time slots corresponding to other member nodes are the same, and will not be repeated.

Assuming that the total number of member nodes in the network is n , then by means of time division multiplexing as shown in Figure 5, the member nodes can reply to the cluster head node in their corresponding numbered time slots. At this time, since the communication includes member nodes For its own location information, the length of each frame can still be T _r , and the first reply frame of each member node is sent twice, then the total time T ₃ required for the member response phase is:

After the member response phase is completed, it enters the cluster head on-demand phase. At this time, the cluster head node already knows the location information of each member node, so it no longer needs to scan, but directly sends the on-demand frame to each member node. After receiving the on-demand frame, the member node sends a second reply frame to the cluster head node, and the second reply frame is used to reply the information required to complete the handshake communication to the cluster head node.

Optionally, sending the on-demand frame to each member node may include: using a single beam to send the on-demand frame to each member node. In order to ensure the accuracy of subsequent communication, the cluster head node can use the narrowest beam for on-demand, that is to say, after the cluster head node obtains the location information of each member node, it can know which narrow beam to use for members through its own calculation. node for on-demand. 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 is used to send the on-demand frame, etc., as well as subsequent network work content, and so on.

Figure 6 is a schematic diagram of the cluster head node directional on-demand member nodes provided by the present invention. As shown in Figure 6, in the cluster head on-demand stage, the cluster head node can determine which narrow beam to use to send to the member nodes according to the location information of each member node On-demand frame, the member node immediately replies to the cluster head node after receiving the on-demand frame sent by the cluster head node to complete the handshake communication. At this time, both the cluster head node and the member nodes use their own narrowest beams for on-demand. Assuming that the length of each frame is T _b , the total time T ₄ required for the on-demand stage of the cluster head is:

After going through the above four stages, the cluster head node has completed the two-way handshake communication with the member nodes, learned the location information and time synchronization information from each other, and completed the neighbor discovery task. Time can be:

In each of the above stages, all beam attitudes of the nodes are considered, so the task of directional antenna neighbor discovery in the case of wide-area sparse nodes can be completed within the planned time.

The multi-receiver-based directional antenna neighbor discovery method provided by the present invention completes the neighbor discovery task through four stages: initial acquisition, reference distribution, member response and cluster head on-demand. In sparse scenarios, the high gain advantage of directional antennas is brought into play, and through the unified scheduling of cluster head nodes, the advantages of nodes carrying multiple receivers can be fully utilized, which can greatly reduce the neighbor discovery time of nodes using directional antennas.

FIG. 7 is a schematic diagram of the implementation process of multi-receiver-based neighbor discovery provided by the present invention. As shown in FIG. 7 , the left figure is the flow chart corresponding to the cluster head node, and the right figure is the flow chart corresponding to the member nodes. The main processes are respectively as described below.

For the cluster head node, after power-on, the initial capture frame is first broadcast, and the number of initial capture frame distribution is determined according to the number of beams in a single antenna sector of the member node. After one antenna sector is broadcast, it switches to the next antenna sector. When Make sure that all antennas have finished broadcasting the initial capture frame, and start broadcasting the reference distribution frame. After the reference distribution frame has been distributed twice, turn on the multi-receiver, wait for the member node to reply, and determine the on-demand for each member node according to the position information replied by the member node. The corresponding beam used, and then use the determined specific beam to perform on-demand on each member node to complete the handshake communication with each member node. During the on-demand process, the number of network member nodes is recorded. After each on-demand is completed, the number of network members +1, And switch to the next specific beam on demand, all member nodes are connected to the network, and the neighbor discovery task is completed.

For a member node, after powering on, it listens to the initial capture frame by beam scanning, and constantly switches the beam to try to receive the initial capture frame broadcast by the cluster head node. The beam is aligned with the cluster head node, and then receives the reference distribution frame distributed by the cluster head node based on the receiving beam, and replies to the cluster head node in a specific time slot according to its own node number, and receives the position information replied by the member nodes at the cluster head node, and After the VOD is sent to the member nodes, the member nodes can receive the VOD frames sent by the cluster head node, and the member nodes reply the VOD frames to complete the handshake communication with the cluster head node.

FIG. 8 is the second schematic flowchart of the method for finding neighbors of directional antennas based on multiple receivers provided by the present invention. The method can be applied to member nodes. As shown in FIG. 8 , the method includes the following steps:

Step 800: Receive an initial capture frame broadcast by the cluster head node, and determine a receiving beam based on the initial capture frame;

Step 801, based on the receiving beam, receive the reference distribution frame broadcast by the cluster head node;

Step 802, according to the reference distribution frame, send the first reply frame to the cluster head node through the receiving beam; the first reply frame includes the position information of the member node;

Step 803: Receive an on-demand frame sent by the cluster head node according to the location information of the member nodes, and send a second reply frame to the cluster head node according to the on-demand frame, so as to complete the handshake communication with the cluster head node.

Specifically, some existing neighbor discovery strategies based on omnidirectional antennas can quickly discover neighbors through broadcasting when the communication distance is short and network nodes are dense, but due to the short communication distance of omnidirectional antennas, When the network needs to cover a large area, the effect of the neighbor discovery strategy based on omnidirectional antenna will be greatly reduced. In order to enable long-distance and large-scale communication, the present invention proposes to install directional antennas on network nodes, and proposes a neighbor discovery scheme based on directional antennas, which plays an important role in the scenario of long communication distance, large network coverage, and sparse distribution of nodes. The high gain advantage of directional antennas, and through the unified scheduling of cluster head nodes, the advantages of nodes equipped with multiple receivers can be fully utilized, which can greatly reduce the neighbor discovery time of nodes using directional antennas.

In an actual application scenario, the physical location of each UAV node can be roughly planned in the initial stage of network construction. Therefore, each embodiment of the present invention is designed based on a centralized network with cluster heads and multiple receivers mounted on each node. The neighbor discovery solution solves the problem of rapid networking of directional antennas under sparse nodes in a wide area.

The solution proposed by the present invention considers that each antenna of the node has a separate receiver, and the working power of the node supports opening multiple receivers at the same time, so the member nodes have already aligned the receiving beams to the cluster head in the reference distribution stage After the node, the cluster head node can take advantage of the multi-receiver, keep the omnidirectional waiting state, and wait for the reply information of the member nodes. Through the information sent by the member nodes to the cluster head node, it is decided which wave positions are selected to perform on-demand on the member nodes in the subsequent stage to complete the handshake.

The multi-receiver-based directional antenna neighbor discovery method provided by the embodiments of the present invention can be divided into four stages: initial acquisition, reference distribution, member response, and cluster head on-demand.

In the initial acquisition stage, the cluster head node broadcasts the initial capture frame, and the member nodes can receive the initial capture frame broadcast by the cluster head node through beam scanning, and determine the receiving beam based on the beam that received the initial capture frame, and keep the receiving beam aligned. Cluster head node.

Optionally, receiving the initial capture frame broadcast by the cluster head node may include: based on multiple receivers, performing beam scanning in multiple antenna sectors at the same time, and receiving the initial capture frame broadcast by the cluster head node. Specifically, when a member node receives the initial capture frame broadcast by the cluster head node through beam scanning, the member node can take advantage of its multi-receiver to perform beam scanning in multiple antenna sectors at the same time, thereby saving beam scanning time.

Optionally, performing beam scanning on multiple antenna sectors at the same time includes: if it is determined that the initial acquisition frame is successfully received, stopping the beam scanning. Specifically, once the member node determines that the initial acquisition frame is successfully received, it can stop beam scanning and keep the receiving beam aligned with the cluster head node, thereby avoiding redundant scanning operations.

In the reference distribution stage, the cluster head node broadcasts the reference distribution frame, and the member nodes can receive the reference distribution frame broadcast by the cluster head node based on the receiving beam determined in the initial acquisition stage.

After the benchmark distribution stage, it enters the member response stage. In this stage, the member nodes respond to the cluster head node and notify the cluster head node's own geographic location through communication, so that the cluster head node does not need to scan in the two-way capture stage, and directly uses the A specific narrow beam can be broadcast on demand.

The cluster head node can maintain an omnidirectional waiting state based on multiple receivers mounted on it, and wait for the reply information from the member nodes. Correspondingly, after receiving the reference distribution frame broadcast by the cluster head node, the member nodes can determine the information such as time synchronization and time slot time according to the content of the reference distribution frame, and then send the first reply frame to the cluster head node through the receiving beam, The first reply frame includes location information of member nodes.

Optionally, distributing the frame according to the reference and sending the first reply frame to the cluster head node through the receiving beam may include: distributing the frame according to the reference, and sending the first reply frame to the cluster head node in the time slot corresponding to the member node through the receiving beam. ; Among them, 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 this embodiment of the present invention, a corresponding number may be assigned to each member node at the beginning of networking, and by means of time division multiplexing, Each member node sends the first reply frame in its corresponding time slot.

After the member response phase is completed, it enters the cluster head on-demand phase. At this time, the cluster head node already knows the location information of each member node, so it no longer needs to scan, but directly sends the on-demand frame to each member node. After receiving the on-demand frame, the member node can send a second reply frame to the cluster head node, and the second reply frame is used to reply the information required to complete the handshake communication to the cluster head node, thereby completing the handshake communication with the cluster head node.

The multi-receiver-based directional antenna neighbor discovery method provided by the present invention completes the neighbor discovery task through four stages: initial acquisition, reference distribution, member response and cluster head on-demand. In sparse scenarios, the high gain advantage of directional antennas is brought into play, and through the unified scheduling of cluster head nodes, the advantages of nodes carrying multiple receivers can be fully utilized, which can greatly reduce the neighbor discovery time of nodes using directional antennas.

The methods provided by the various embodiments of the present invention are based on the same inventive concept, so the implementation of the methods on the cluster head node side and the member node side can be referred to each other, and repeated descriptions will not be repeated.

The multi-receiver-based directional antenna neighbor discovery device provided by the present invention will be described below. The multi-receiver-based directional antenna neighbor discovery device described below and the multi-receiver-based directional antenna neighbor discovery method described above may refer to each other correspondingly. .

FIG. 9 is one of the schematic structural diagrams of the multi-receiver-based directional antenna neighbor discovery device provided by the present invention. The device can be applied to a cluster head node. As shown in FIG. 9 , the device includes:

a broadcasting module 900, configured to broadcast the initial capture frame and the reference distribution frame;

The first receiving module 910 is configured to, based on multiple receivers, omnidirectionally receive the first reply frame sent by each member node through the respective determined receiving beams and according to the reference distribution frame; the first reply frame includes the location information of the member nodes, and the receiving The beam is determined by the member nodes based on the initial capture frame;

an on-demand module 920, 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 the handshake communication with each member node.

Optionally, omnidirectionally receiving the first reply frame sent by each member node through the respective determined receiving beams and according to the reference distribution frame, including:

Omnidirectionally receives the first reply frame sent by each member node through the respective determined receiving beams and in the respective corresponding time slots according to the reference distribution frame; wherein, the time slots corresponding to different member nodes are different.

Optionally, broadcast initial capture frames and reference distribution frames, including:

The initial capture frame and reference distribution frame are broadcast on an antenna sector-by-antenna sector basis in a preset order.

Optionally, broadcast initial capture frames and reference distribution frames, including:

After all antenna sectors have broadcast the initial capture frame, 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 within a single antenna sector of the member node.

Optionally, the number of times of distribution of the reference distribution frame is 2.

Optionally, sending an on-demand frame to each member node, including:

A single beam is used to send on-demand frames to each member node.

FIG. 10 is the second schematic diagram of the structure of the multi-receiver-based directional antenna neighbor discovery device provided by the present invention. The device can be applied to member nodes. As shown in FIG. 10 , the device includes:

A beam determination module 1000, configured to receive an initial capture frame broadcast by the cluster head node, and determine a receiving beam based on the initial capture frame;

The second receiving module 1010 is configured to receive the reference distribution frame broadcast by the cluster head node based on the receiving beam;

The reply module 1020 is configured to distribute the frame according to the reference and send the first reply frame to the cluster head node through the receiving beam; the first reply frame includes the position information of the member node;

The second handshake module 1030 is configured to receive the on-demand frame sent by the cluster head node according to the location information of the member nodes, and send a second reply frame to the cluster head node according to the on-demand frame, so as to complete the handshake communication with the cluster head node.

Optionally, according to the reference distribution frame, send the first reply frame to the cluster head node through the receiving beam, including:

The frame is distributed according to the reference, and the first reply frame is sent to the cluster head node in the time slot corresponding to the member node through the receiving beam; wherein, the time slots corresponding to different member nodes are different.

Optionally, receive the initial capture frame broadcast by the cluster head node, including:

Based on multiple receivers, beam scanning is performed in multiple antenna sectors at the same time, and the initial capture frame broadcast by the cluster head node is received.

Optionally, beam scanning is performed on multiple antenna sectors simultaneously, including:

If it is determined that the initial capture frame is successfully received, the beam scanning is stopped.

It should be noted here that the above-mentioned device provided by the present invention can realize all the method steps realized by the above-mentioned method embodiments, and can achieve the same technical effect, and the same parts in this embodiment as those in the method embodiments will not be described here. And the beneficial effects will be described in detail.

FIG. 11 is a schematic structural diagram of an electronic device provided by the present invention. As shown in FIG. 11 , the electronic device may include: a processor (processor) 1110, a communications interface (Communications Interface) 1120, a memory (memory) 1130, and a communication bus 1140, The processor 1110 , the communication interface 1120 , and the memory 1130 communicate with each other through the communication bus 1140 . The processor 1110 may invoke the logic instructions in the memory 1130 to execute the steps of any of the multiple receiver-based directional antenna neighbor discovery methods provided in the foregoing embodiments.

It should be noted here that the electronic device provided by the present invention can implement all the method steps implemented by the above method embodiments, and can achieve the same technical effect, and the same parts in this embodiment as those in the method embodiments will not be described here. And the beneficial effects will be described in detail.

In addition, the above-mentioned logic instructions in the memory 1130 can be implemented in the form of software functional units and can be stored in a computer-readable storage medium when sold or used as an independent product. Based on such understanding, the technical solution of the present invention can be embodied in the form of a software product in essence, or the part that contributes to the prior art or the part of the technical solution. The computer software product is stored in a storage medium, including Several instructions are used to cause a computer device (which may be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of the present invention. The aforementioned storage medium includes: U disk, mobile hard disk, Read-Only Memory (ROM, Read-Only Memory), Random Access Memory (RAM, Random Access Memory), magnetic disk or optical disk and other media that can store program codes .

In yet another aspect, the present invention also provides a non-transitory computer-readable storage medium on which a computer program is stored, and when the computer program is executed by a processor, is implemented to execute any one of the multiple reception-based multiplexing based on the above-mentioned embodiments. The steps of the directional antenna neighbor discovery method of the machine.

It should be noted here 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 can achieve the same technical effect, and will no longer be used in this embodiment. The same parts and beneficial effects of the method embodiments will be described in detail.

The device embodiments described above are only illustrative, wherein the units described as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units, that is, they may be located in One place, or it can be distributed over multiple network elements. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution in this embodiment. Those of ordinary skill in the art can understand and implement it without creative effort.

From the description of the above embodiments, those skilled in the art can clearly understand that each embodiment can be implemented by means of software plus a necessary general hardware platform, and certainly can also be implemented by hardware. Based on this understanding, the above-mentioned technical solutions can be embodied in the form of software products in essence or the parts that make contributions to the prior art, and the computer software products can be stored in computer-readable storage media, such as ROM/RAM, magnetic A disc, an optical disc, etc., includes several instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to perform the methods described in various embodiments or some parts of the embodiments.

Finally, it should be noted that: the above embodiments are only used to illustrate the technical solutions of the present invention, but not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand: it can still be Modifications are made to the technical solutions described in the foregoing embodiments, or some technical features thereof are equivalently replaced; and these modifications or replacements do not make the essence of the corresponding technical solutions depart from the spirit and scope of the 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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