无人机自组网系统设计与实现-陈旿

200912276JournalofNorthwesternPolytechnicalUniversityDec.Vol.272009No.6:2008-11-27:(YF07018)(60303158):　(1971-),,。陈　旿,孙凯将,张　力,肖　鑫(,　710072)　:文章描述了一个无人机自组网验证系统。基于802.11b/g实现了无人机机载嵌入式AdHoc模块。设计了一个面向小规模、网络拓朴结构快速变化的AdHoc网络距离矢量路由协议。优化了UDP协议,以适应将无线遥控信号在无线自组网环境中传输。实现了基于H.264的视频传输系统和基于离线数字证书的安全通信协议。　　:无人机,AdHoc,802.11,路由,UDP,H.264,数字证书:TP393　　　:A　　　:1000-2758(2009)06-0854-05　　,,。,,。、、、,。,,,。,,,,AdHoc。1　,,,。,。1。131。,,。,,TCP/IP,,2。1　2,AdHocXS-cale270,,3。4。,H.264Hi3510,PXA270。5。。6　:2　AdHoc,AODV、OLSR5　AdHoc,,,[1]。,,(254)AdHoc,,AdHoc,、。“(EspecialOptimizedDistanceVerctor,EODV)”,EODV,。,,,,(,)。,,,,。EODV,,()。EODVADHoc,。,,254ADHoc,EODV·855·　　　　　　　27IP8,。EODV(UCT:UpdateCycleTime)RUM(RouteUpdateMessage)。,,AdHoc,。EODV:(HeaderLength)8,8。255-8=247。0　　　　　8　　　　　16　　　　　24　　　　32bitsEditonMessageTypeHeaderLengthDataLengthAuthenticateCode(32bits)OptionData(customsize)()Data(neededsize)()3:NORRT-0、NEWRT-1、REQRT-2。NORRT;NEWRT;REQRT,,DataLength0,REQRTNE-WRTRUM,REQRTREQRT,,。(DataLength)3,255＊3=765,3:RDS-RouteDataSegment(D,H,K)DestNodeHopCountKN(KillNode)AdHoc,EODV,RDSDestNode,IP8,EODV256-2=254AdHoc(254AdHoc)。。KN,KNRDS。KNRDS,。32:,32bits0,32bits,。,,,()。。3　,,TCP,TCPAdhoc[2]。,,,。;。TCP,AdHoc。,UDP。,,UDP,。,UDP———ARUDP,UDP2:UDP、AdHoc。ARUDP,2,,DATAACK,1,15DataACK。,ARUDP。3.1　Adhoc,。·856·6　:,ARUDP。,,2:。(1):,,,,,;,,。(2):,,,。,,,,,。3.2　Adhoc,、、,。ARUDP,ACK2:(1)ACK:,,ACK。ACK。(2):AdHoc,,,ARUDP,2。:,,。,,,,1/2,,,,;,(),,;,,2(),。,,,,,4(),。4　AdHoc,,H.264[3]。H.264Hi3510。Hi3510ARM9、DSP、、MPEG-4AVC/H.264。UDA1341TVP5105A/D,。5　AdHoc,,,。,AdHoc:,,AdHoc;,AdHoc。,,。6　　,:、、、TCP/IP。:AdHoc,,;H.264,;UDP,TCP/IP·857·　　　　　　　27;,3XScale2701。。,AdHoc、、,、、。,::54M;≤6s;:CIF,20/s;:≤1s;≤6s;≤11s。:[1]　CorsonS,MackerJ.MobileAdhocNetworking(MANET):RoutingProtocolPerformanceIssuesandEvaluationConsidera-tions.IETFRFC2501.1999[2]　FuZ,MengX,LuS.HowBadTCPCanPerforminMobileadHocNetworks.Procofthe7thIntSymponComputersandCom-munications(ISCC02),2002:298～303[3]　TarekRSheltami.PerformanceEvaluationofH.264ProtocolinAdhocNetworks.JournalofMobileMultimedia,4(1):59～70DesigningandImplementingSelf-OrganizedUnmannedAerialVehicle(UAV)AdHocNetworkChenWu,SunKaijiang,ZhangLi,XiaoXin(DepartmentofAutomaticControl,NorthwesternPolytechnicalUniversity,Xi'an710072,China)Abstract:ThefullpaperpresentsanAdhocUAVnetworktestbed.WiththehelpofFig.4,section1explainsinsomedetailtheestablishmentofanembeddedUAVadhocmoduleasshowninFig.5.Usingthedistance-vectormethod,section2implementsanovellow-costroutingprotocolforthesmall-sizedandswiftly-changingtopologyofanadhocnetwork.Section3optimizestheuserdatagramprotocol(UDP)toensurethecorrecttransmissionofwirelessremotecontrolinstructionsignalsthroughtheadhocnetwork.Section4explainshowtointegratetheH.264videotransmissionunitintotheUAVadhocmodule.Section5implementsthesecuritycommunicationpro-tocolbasedontheoff-linedigitalcertification.Keywords:unmannedaerialvehicles(UAV),adhocnetwork,routingprotocol,userdatagramprotocol(UDP),digitalcertification·858·