PP-RCR: A Position-Probability-Resource Cooperative Routing Algorithm for Air-to-Ground Integrated Mobile Ad Hoc Networks in Emergency Rescue Scenarios

In emergency rescue scenarios, air-to-ground (A2G) integrated mobile ad hoc networks (MANETs) face challenges such as dynamic topology, limited resources, and unstable communication opportunities. To address these issues, we propose a position-probability-resource cooperative routing (PP-RCR) algorithm. First, Kalman filtering is applied to predict the future positions of nodes and accurately identify effective communication opportunities, which can mitigate link disruptions caused by topology dynamics. Then, a multi-dimensional relay selection criterion is designed by considering the transmission reliability, node resources, and message attributes, enabling adaptive relay selection among heterogeneous nodes. Based on this, a dynamic message replication and deletion strategy is introduced according to the urgency of messages, and the transmission path is optimized. Finally, the simulation results show that, in typical rescue scenarios, the proposed PP-RCR algorithm achieves higher delivery ratio and lower average delivery delay compared with state-of-the-art algorithms.