Research On Cooperative Networking Technology Of Cross Media Heterogeneous Unmanned Cluster Systems

With the development of marine science and engineering,people pay more and more attention to the huge resource value of marine space.At the same time,the continuous development and breakthroughs of technologies such as cluster control systems and un-manned autonomous equipment have enabled various unmanned autonomous equipment to be used in marine ranches,marine climate and environmental monitoring systems and other application projects.These unmanned autonomous devices can adapt to various types of marine environments.It can also greatly reduce the risk of personnel work while completing high-intensity repetitive tasks.Therefore,researchers are paying more and more attention to the cooperative operation capability of the omni-directional cross media heterogeneous unmanned swarm system composed of unmanned aerial vehicle(UAV),unmanned surface vehicle(USV),and autonomous underwater vehicle(AUV).This type of unmanned cluster system has the characteristics of air-sea cross media communica-tion,node clustering,heterogeneous node types,heterogeneous channel types,and het-erogeneous network types.The networking mode and routing protocol adopted by the system have a significant impact on the system's cross media heterogeneous network per-formance.To solve this,this paper studies the collaborative networking technology of the cross media heterogeneous unmanned cluster system from the aspects of system structure,clustering algorithm,routing protocol and so on.Aiming at the three types of nodes(UAV,USV,and AUV)in the air-sea cross media heterogeneous unmanned cluster system,this paper models the three types of nodes based on the existing data according to the characteristics of the nodes.At the same time,for the overwater and underwater networks in the system,the various channels in the system are modeled based on the theory of overwater and underwater channels,and the network architecture design of the air-sea cross media heterogeneous unmanned cluster system is completed.Aiming at the underwater and overwater heterogeneous network in the cross me-dia heterogeneous unmanned cluster system network,this paper proposes an air-sea cross media clustering algorithm LEACH-CM based on the LEACH algorithm(LEACH-CM,LEACH-based cross media clustering algorithm).This clustering algorithm maintains the number and stability of cross-medium links in shallow seas in the clustering algorithm.At the same time,a cross media routing protocol VBCM based on vector forwarding(VBCM,Vector-based cross media routing protocol)is proposed,which can calculate the estimated delay of each link based on the network-related information according to the task require-ments of the underwater network,and adaptively select the better transmission link.This paper also adds the coordinate information table update function in LEACH-CM cluster-ing algorithm and VBCM routing protocol to improve the effectiveness of the coordinate information table in the process of node movement.Aiming at the design of the cross media heterogeneous unmanned cluster system simulation environment,this paper uses NS-3 and Aqua-Sim NG to build a cross media heterogeneous unmanned cluster system simulation platform to test the performance of VBCM and LEACH-CM.The simulation results show that the VBCM routing protocol can effectively improve the long-distance transmission performance between underwater network nodes;it is verified that the LEACH-CM clustering algorithm can effectively reduce the number of forwarding nodes and stabilize the success rate of network data transmission in a high-density network environment and maintain the number and stability of the shallow sea cross-medium links.