无人机自组网路由协议研究

发布时间：2018-03-20 16:02

本文选题：无人机自组网　切入点：位置预测　出处：《沈阳工业大学》2017年硕士论文　论文类型：学位论文

【摘要】：自组网作为无人机智能化、集群化、网络化的重要发展方向,已成为信息化时代新兴的无人机群应用模式。无人机自组网路由协议为无人机自组网内部数据的传输寻找、建立、维护路径并提供路径决策,是机群协调完成各项任务的基础,在相当程度上影响着无人机自组网的性能。随着定位技术如GPS和北斗导航的飞速发展及终端设备的普及,无人机可以通过机载定位设备快速的获取自身地理位置信息;基于地理位置信息的路由协议简单高效,在无人机自组网中拥有广阔的应用前景。本文根据无人机自组网的特点和需求,主要工作如下:研究了无人机自组网和路由协议,重点研究了经典的路由协议GPSR,包括原理、优劣势和适用范围。针对无人机自组网内部成员的高速运动和部署密度低等特点,在研究无人机运动模型后提出一种基于移动预测的稀疏性地理路由协议GPSR-NMP,将无人机节点运动情况考虑进去进行位置预测;重构信标,以使其能够反映网络稠密程度,为稀疏性筛选邻节点和运动性筛选邻节点提供决策依据,以使维护的邻居表更加逼近于真实的无人机节点物理空间分布情况,使路由决策更加可靠;提出回退机制和避环机制应对网络拓扑剧烈变化,提高GPSR-NMP协议在无人机自组网中的稳定性和可靠性。以数据投递成功率、平均端到端时延和平均吞吐量为主要指标,在NS2.35网络仿真平台上对多种路由协议进行仿真并统计分析,仿真结果表明,相较于选定为参照的路由协议GPSR与GPSRI,本文提出的GPSR-NMP协议能够有效的提高无人机自组网的投递成功率、吞吐量,降低平均端到端时延,能够较好地适用于低节点密度和高运动性的无人机自组网。
[Abstract]:As an important developing direction of UAV intelligence, clustering and networking, Ad Hoc Network (Manet) has become a new application mode of UAV swarm in the information age. The Ad Hoc Network routing Protocol (Manet) of UAV (Ad Hoc Network) is used to search and establish the internal data transmission of UAV Ad Hoc Network (UAV). Maintaining the path and providing path decision are the basis for the cluster to coordinate the completion of various tasks, and to a certain extent affect the performance of the UAV ad hoc network. With the rapid development of positioning technology such as GPS and Beidou navigation and the popularization of terminal equipment, UAV can quickly acquire its own geographical location information by airborne positioning equipment, and the routing protocol based on geographical location information is simple and efficient. According to the characteristics and requirements of UAV ad hoc network, the main work of this paper is as follows: the research of UAV ad hoc network and routing protocol, focusing on the classical routing protocol GPSRs, including the principle, In view of the characteristics of high speed movement and low deployment density of the members of the Unmanned aerial vehicle (UAV) ad hoc network, After studying the UAV motion model, a sparse geographic routing protocol GPSR-NMPbased on mobile prediction is proposed, which takes the motion of UAV nodes into account and reconstructs the beacon to reflect the density of the network. It provides a decision basis for sparse selection of neighbor nodes and kinematic selection of neighbor nodes in order to make the maintained neighbor table more close to the real physical spatial distribution of UAV nodes and make the routing decision more reliable. In order to improve the stability and reliability of GPSR-NMP protocol in UAV Ad Hoc network, the backstepping mechanism and loop avoidance mechanism are proposed to cope with the drastic changes in network topology. The main indicators are the success rate of data delivery, the average end-to-end delay and the average throughput. Various routing protocols are simulated and analyzed on the NS2.35 network simulation platform. The simulation results show that compared with the routing protocols GPSR and GPSRI, the proposed GPSR-NMP protocol can effectively improve the delivery success rate of UAV Ad Hoc network. Throughput and average end-to-end delay can be well applied to low node density and high mobility UAV ad hoc networks.
【学位授予单位】：沈阳工业大学
【学位级别】：硕士
【学位授予年份】：2017
【分类号】：V279;TN929.5

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