High-efficiency multi-hop TDMA access method of load balanced unmanned aerial vehicle ad hoc network

Abstract

The invention provides a high-efficiency multi-hop TDMA access method of a load balanced unmanned aerial vehicle ad hoc network. The high-efficiency multi-hop TDMA access method of the load balanced unmanned aerial vehicle ad hoc network comprises operations in three periods including time slot allocation, CMOP (Centralized-Map Offering Packet) and data, Data and time slot requests and SMOP (Slot-Map Organizing Packet) while running; two new mechanisms including simplification of time slot allocation messages based on topology and high-efficiency uploading of load balanced time slot request information are adopted; the first new mechanism works in the CMOP period; the second new mechanism works in the SMOP period; the time slot allocation information of a node itself, a node, the gradientvalue of which is not greater than that of the node itself, and a non-descendant node is deleted; a node having a few descendant nodes is selected for forwarding the time slot request information; furthermore, repetitive time slot request information is deleted; therefore, the content of a time slot allocation message can be simplified; furthermore, the length thereof is shortened; simultaneously,the node time slot request information content and the forwarding time are reduced; therefore, the control overhead of the access method is reduced; and node load balance is promoted.

Description

technical field [0001] The invention belongs to the technical field of Unmanned Aerial Vehicles Ad Hoc Networks (UAVAN), and in particular relates to the use of multi-hop TDMA (Time Division Multiple Access, Time Division Multiple Access) in the medium access control (Medium Access Control, MAC) layer. Into) access method UAV ad hoc networking occasions. Background technique [0002] With the development of flight control and integrated circuit technology, UAVs (Unmanned Aerial Vehicles, UAVs) of various shapes and functions have made rapid progress in design and development. A drone is an aircraft that does not need to carry any people, and its flight can be operated autonomously or automatically controlled by a remote onboard computer system. Compared with manned aircraft, UAVs have the characteristics of flexibility, low cost and high mobility. figure 1 shown. With the rapid development of UAV technology, UAVs are developing from a single platform operation mode to a g...

AI Technical Summary

Problems solved by technology

[0021] Therefore, there is redundancy in the content and length of the time slot allocation message broadcast by the existing related multi-hop TDMA access method, which affects the efficiency of the access method, and this problem needs to be solved

[0022] 2. Before each node in the network transmits data, each node needs to send a time slot request message to the master node to apply for a time slot; each node broadcasts its time slot request message in its own time slot request time slot; a node receives After the time slot request message of the node whose gradient is larger than itself, broadcast a time slot request message in its own time slot, which contains the time slot request information of itself and the node with larger gradient; when a node has multiple gradients less than When connecting to its own neighbor nodes, these neighbor nodes will forward their own time slot request information, resulting in multiple upward forwarding of the same time slot request information through multiple paths, but in fact, only one path needs to be forwarded once. To achieve the same uploading effect of time slot request; therefore, the time slot request information upload mechanism of the existing related multi-hop TDMA access method has redundancy in the number of information forwarding times, which increases the control overhead, and this problem needs to be solved

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