CN107484220A - A kind of reliable high usage router method of wireless senser and actor network - Google Patents

A kind of reliable high usage router method of wireless senser and actor network Download PDF

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Publication number
CN107484220A
CN107484220A CN201710750285.4A CN201710750285A CN107484220A CN 107484220 A CN107484220 A CN 107484220A CN 201710750285 A CN201710750285 A CN 201710750285A CN 107484220 A CN107484220 A CN 107484220A
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node
kautz
network
path
availability
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CN107484220B (en
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齐小刚
王振宇
刘立芳
牛红曼
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Xidian University
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    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W40/00—Communication routing or communication path finding
    • H04W40/02—Communication route or path selection, e.g. power-based or shortest path routing
    • H04W40/12—Communication route or path selection, e.g. power-based or shortest path routing based on transmission quality or channel quality
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
    • H04L45/00—Routing or path finding of packets in data switching networks
    • H04L45/12—Shortest path evaluation
    • H04L45/128—Shortest path evaluation for finding disjoint paths
    • H04L45/1283—Shortest path evaluation for finding disjoint paths with disjoint links
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
    • H04L45/00—Routing or path finding of packets in data switching networks
    • H04L45/22—Alternate routing
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
    • H04L45/00—Routing or path finding of packets in data switching networks
    • H04L45/28—Routing or path finding of packets in data switching networks using route fault recovery
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W40/00—Communication routing or communication path finding
    • H04W40/24—Connectivity information management, e.g. connectivity discovery or connectivity update
    • H04W40/30—Connectivity information management, e.g. connectivity discovery or connectivity update for proactive routing
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02D—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN INFORMATION AND COMMUNICATION TECHNOLOGIES [ICT], I.E. INFORMATION AND COMMUNICATION TECHNOLOGIES AIMING AT THE REDUCTION OF THEIR OWN ENERGY USE
    • Y02D30/00—Reducing energy consumption in communication networks
    • Y02D30/70—Reducing energy consumption in communication networks in wireless communication networks

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  • Engineering & Computer Science (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Signal Processing (AREA)
  • Data Exchanges In Wide-Area Networks (AREA)
  • Mobile Radio Communication Systems (AREA)

Abstract

The invention belongs to wireless senser and actor network technical field, discloses a kind of reliable high usage router method of wireless senser and actor network, including：Kautz network topologies；Choose network architecture；Neighbours Kautz nodes periodically send the situation of HELLO packets detection neighbours' Kautz nodes；For network architecture, after network is divided into multiple Kautz units, for the data transfer across unit, actuator delivers a packet to ID close to object element ID units using the method for greedy routing, from preceding units ID distribution, cell position close ID is nearer.The present invention utilizes node ID s, can quickly select shortest path；Ensure the routed path availability in link failure situation lower network maintenance acceptable level；By contrasting REFER algorithms；Test result indicates that the present invention is better than REFER on real-time, fault-tolerance and reliability performance.

Description

A kind of reliable high usage router method of wireless senser and actor network
Technical field
The invention belongs to wireless senser and actor network technical field, more particularly to a kind of wireless senser and execution The reliable high usage router method of device network.
Background technology
Current computer, communication and the development of cognition technology cause wireless senser and actor network (WSANs) to occur. Wireless senser and one kind that actor network is wireless sensor network, wireless senser is with actor network by substantial amounts of different Structure sensing node and the actuator that can be responded to the physical message perceived are formed.The extensive use in industrial process, It is made up of the actuator of common low energy, the sensor node of performance resource and the far super ordinary node of performance, capacity.At (WSAN) In, sensing node is coordinated and establishes the communication network of detection zone, sensing node perception data, and periodically or spontaneously incites somebody to action Data are transferred to the actuator node closed on, and actuator responds to this, can be used for industrial automation, real-time target tracking Deng application.Due to low cost, flexibility and the expansibility of sensing node, wired industrial plants are instead of rapidly.However, work Industry bad environments, the interference of noise is to WSAN is reliable, real-time Transmission brings huge challenge.Multi-hop communication increases communication and prolonged When, the dynamic of channel conditions changes brings huge trouble to route selecting again.Therefore, WSAN needs to implement efficiently to communicate to set Meter.Sensing region is deployed in ensure coverage and connectedness because sensing node is generally dense.To meet the needs of WSAN, Researcher is based on a kind of real-time, efficient priori formula route of G- Design, it is not necessary to maintains routing table, only utilizes node, relays Node can efficiently, quickly select shortest path, while ensure fault-tolerance.But these routes based on Kautz figures have one A little problems, or only make use of the superiority of Kautz figure topologys, route discovery and maintenance are needed also exist for, otherwise the route limited Path, although a certain degree of real-time, efficient characteristic can be ensured, exist in most node-node transmission procedure not Use the shortest path in topology.Simultaneously as being generally used in industrial environment, link failure is considered as in routing Design.By In energy limitation, lack real-time performance and the dynamic of wireless industrial environment, current wireless senser and actor network (WSAN) technology faces great challenge.Typically it is route in wireless sense network using reaction equation, but reaction equation route startup is prolonged When it is larger, do not ensure that real-time.
In summary, the problem of prior art is present be：Current wireless sense network is route using reaction equation, start-up study It is larger, it is impossible to ensure real-time, influenceed for delay sensitive application particularly huge；On the one hand, with the day of wireline networking techniques Become ripe, user there are more demands to the MMS (Multimedia Message Service) under wireless network environment, it is impossible to ensures that real-time causes Strict QoS demand can not be ensured；On the other hand, can not be protected for industrial automation process application, the real-time of information transfer Card, the consequence brought are that automated process interrupts even more serious loss.
The content of the invention
The problem of existing for prior art, the invention provides a kind of wireless senser and the reliable height of actor network Imitate method for routing.
The present invention is achieved in that a kind of reliable high usage router method of wireless senser and actor network, described The reliable high usage router method of wireless senser and actor network comprises the following steps：
Step 1, Kautz network topologies, for the given number of degrees and the at most open ended nodes of one topology of diameter by Moore bound constraineds；For the arbitrary network topology of given the node number of degrees and node total number；The chosen node energy embedded as figure Enough form Hamiltoniam rings；
Step 2, network architecture is chosen, sensing node is densely deployed in application region, and actuator node selects sensing section Point is built into the model of Kautz figures, summit of the resourceful actuator node as Kautz figures；Network is schemed by multiple Kautz Unit is formed, and forms DHT structures；, it is necessary to the sensing in each Kautz units after the completion of all Kautz cell formations Node assigns ID, the structure of Kautz figures；
Step 3, neighbours Kautz nodes periodically send the situation of HELLO packets detection neighbours' Kautz nodes, hair The situation of neighbor node is now can not find, notifies neighbours' sensing node to wake up and chooses link-quality highest node as new Kautz nodes；
Step 4, for network architecture, after network is divided into multiple Kautz units, for the data transfer across unit, Actuator delivers a packet to ID close to object element ID units using the method for greedy routing, by preceding units ID distribution Understand, cell position close ID is nearer.
Further, in the step 1：It is that node degree is d to define Kautz digraph K (d, n), a diameter of n digraph, Node uses numbering (u1,...,un) represent, wherein ui∈ (0,1 ..., d), ui≠ui+1, K (d, n) side collection E is with summit u1,...,unFor starting point, u is connected to2,...,unα d bar directed edges, α ∈ { 0,1 ..., d }.
Further, in the step 1：For given number of degrees d and the at most open ended nodes of mono- topology of diameter n By Moore circle 1+d+d2+...+dnConstraint, Moore circle is inaccessible under normal circumstances；
For the arbitrary network topology of given the node number of degrees and node total number N, understand that its network is straight according to Moore sections The lower bound in footpath is logdThe network diameter of (N* (d-1)+1)+1, Kautz figures has reached lower bound, and Gao Zitu has optimal network Diameter；
WSAN nodes are evenly distributed in the square region that length is d, and the chosen node embedded as figure can be formed Hamiltoniam rings, the transmission range r of chosen node should meet r >=0.8*b.
Further, in the step 2：Each WSAN units include a unit ID, and each sensing node is in each unit Comprising a node ID, each node can use (CID, KID) to represent in WSAN, wherein KID={ u1,...ui,...un|ui∈ (0,1,...,d),ui≠ui+1It is KautzID in Kautz figures；When Kautz units construct, an actuator is chosen first Node is chosen the actuator nearest with the actuator node and is attached thereto, appoint the one side for taking the side, pass through neighbour as initial point Node switching information is occupied, is chosen from public-neighbor to the side most short triangle area of actuator of two-end-point distance Domain, Delta Region ID are assigned to 1；Continue to construct Kautz units in the same way, until covering whole network, and be each Unit assigns ID；
WSAN is expressed as digraph G (d, n) by the structure of Kautz figures, uses order vertex coloring algorithm, each node point With a minimum color number not used by neighbor node, for arbitrary node to U=u1u2...unAnd V= v1v2...vn, the matching of the prefix of l=L (U, V) expressions U most long suffix and V.
For the construction of Kautz figures, Kautz figures include N=(d+1) d altogethern-1Individual node, interconnect between actuator, by residue Node is that node red in figure chooses the forerunner for the highest channel quality for meeting Kautz figure conditions with after according to above-mentioned rule After it is 2 to ensure node degree, and a diameter of 3, Kautz figures foundation finishes.
Further, in the step 3：Kautz node candidates meet：It can be communicated with a Kautz node；Have at least one Individual Kautz neighbor nodes energy drops to a certain threshold value less than certain level or link-quality；With other neighbours of Kautz nodes Kautz nodes connect.
Further, in the step 4：As node U=u1u2...unForward data to node V=v1v2...vnWhen, thereafter It is after, path length and the non-intersect U-V paths of corresponding d bars node：
Wherein αi≠(v1,vl+1,un-l)。
Further, the step 4 includes：
(1) amendment based on ID transmission, when arbitrary node is to sending data, node passes through destination node ID, source node Find the shortest path of destination node；D bar node-disjoint paths are included between arbitrary node pair simultaneously, when in transmitting procedure Meaning nodes break down, a upper node for malfunctioning node need not notify source node, can spontaneously select time shortest path to enter Row data transfer；
(2) fault-tolerant transmission amendment, when node failure occurring in network node data transmitting procedure, exist between arbitrary node D bar node-disjoint paths, transmitting procedure will not interrupt, and be transmitted along suboptimum path.
(3) the reliable Multi-path route based on availability history represents link availability, availability using availability history History represents the record that link availability changes over time, and divides time into l timeslice, r-th of link between node i and j Availability corresponding to timeslice isThe availability in link (i, j) some period can be expressed as Wherein：
Represent packet transmission ratio of the link (i, j) in timeslice s.PDR is turned into numerical value 0 and 1, its In 0 represent that corresponding moment link is unavailable, 1 represents that corresponding moment link can use, and passes through threshold gamma0To limit the PDR of link Determine the availability of link, γ0=0.6.
Further, described (3) specifically include：
INPUT：The set { (s of source destination node pairi,di), k, availability { Ai}；
OUTPUT：Multipath set MPROCEDURES；
(1) M=φ, θ (M)=0；
(2) path is selected in advance：According to source destination node ID, the most short and secondary shortest path deposit set of forward and reverse matching is selected H；
(3) maximum availability path p is picked out in set Hx, and the path is deleted in set H；
(4) While | M | ＜ k do；
(5) the path p for maximizing the i.e. θ of set M availabilities (M ∪ p) is selected in set H；
(6) path p is added in M, renewal θ (M)=θ (M ∪ p)；
(7)endWhile；
(8) by pxIt is added in M and is compared, deletes the path of minimum combination availability.
Another object of the present invention is to provide it is a kind of using the wireless senser and actor network it is reliable efficiently The wireless senser of method for routing.
Another object of the present invention is to provide it is a kind of using the wireless senser and actor network it is reliable efficiently The actor network of method for routing.
Advantages of the present invention and good effect are：Fault-tolerant, real-time, efficient, reliable priori formula road is obtained based on Kautz figures By FRER, it is not necessary to maintain routing table；Using node ID s, shortest path can be quickly selected.When node failure, upper hop Node can be quickly found out the shortest path of remaining node；Consider link failure simultaneously, ensure in link failure situation lower network Maintain the routed path availability of acceptable level；By contrasting REFER algorithms；Test result indicates that the present invention real-time, It is better than REFER in fault-tolerance and reliability performance.
Brief description of the drawings
Fig. 1 is the reliable high usage router method flow of wireless senser and actor network provided in an embodiment of the present invention Figure.
Fig. 2 is system structure diagram provided in an embodiment of the present invention.
Fig. 3 is three kinds of views of sensing node provided in an embodiment of the present invention.
Fig. 4 is Kautz figures route schematic diagram provided in an embodiment of the present invention.
Fig. 5 is FRER packet structures schematic diagram provided in an embodiment of the present invention.
Fig. 6 is the availability schematic diagram of network provided in an embodiment of the present invention.
Fig. 7 is that handling capacity, time delay and PDR provided in an embodiment of the present invention illustrate with change of the source destination node to quantity Figure；
In figure：(a) change of handling capacity；(b) change of time delay；(c) PDR change.
Fig. 8 is that the distribution of network availability and packet transfer ratio are shown in the case of interference provided in an embodiment of the present invention is present It is intended to；
In figure：(a) network availability in the presence of disturbing；(b) there is the packet transfer ratio of lower network in interference.
Embodiment
In order to make the purpose , technical scheme and advantage of the present invention be clearer, with reference to embodiments, to the present invention It is further elaborated.It should be appreciated that the specific embodiments described herein are merely illustrative of the present invention, it is not used to Limit the present invention.
The application principle of the present invention is explained in detail below in conjunction with the accompanying drawings.
As shown in figure 1, the reliable high usage router method of wireless senser provided in an embodiment of the present invention and actor network Comprise the following steps：
S101：Kautz network topologies, for the given number of degrees and the at most open ended nodes of one topology of diameter by Moore bound constraineds；For the arbitrary network topology of given the node number of degrees and node total number；The chosen node energy embedded as figure Enough form Hamiltoniam rings；
S102：Network architecture is chosen, sensing node is densely deployed in application region, and actuator node selects some sensings Node is built into the model of Kautz figures, summit of the resourceful actuator node as Kautz figures；Whole network is by multiple Kautz figures unit is formed, and forms DHT structures；After the completion of all Kautz cell formations, it is necessary in each Kautz units Sensing node assign ID, i.e. Kautz figures structure；
S103：Neighbours' Kautz nodes periodically send the situation of " HELLO " packet detection neighbours' Kautz nodes, such as Fruit finds to can not find the situation of neighbor node, notifies neighbours' sensing node to wake up and choose link-quality highest node as new Kautz nodes；
S104：For network architecture, after network is divided into multiple Kautz units, for the data transfer across unit, hold Row device delivers a packet to ID close to object element ID units using the method for greedy routing, can by preceding units ID distribution Know, cell position close ID is nearer.
The application principle of the present invention is further described below in conjunction with the accompanying drawings.
The fault-tolerant high efficiency of transmission agreements of 1 WSAN based on Kautz figures
1.1 Kautz network topologies
It is that node degree is d to define Kautz digraph K (d, n), and a diameter of n digraph, node, which uses, numbers (u1,..., un) represent, wherein ui∈ (0,1 ..., d), ui≠ui+1, K (d, n) side collection E is with summit u1,...,unFor starting point, it is connected to u2,...,unα d bar directed edges, α ∈ { 0,1 ..., d }.
In wireless network topology design, the influence of node degree and network diameter to network performance is considered.Higher section Point degree can ensure preferable fault-tolerance, relatively low network diameter and propagation delay time, but can cause larger expense simultaneously and do Disturb.Kautz figures all have good performance in node degree, network diameter and fault-tolerance.
Theorem 1 is for given number of degrees d and the at most open ended nodes of mono- topology of diameter n by Moore circle 1+d+d2 +...+dnConstraint, Moore circle is under normal circumstances inaccessible (in addition to d=1 or n=1 situation).
Theorem 2 is understood, its net for the arbitrary network topology of given the node number of degrees and node total number N according to Moore sections The lower bound of network diameter is logd(N* (d-1)+1)+1, and the network diameter of Kautz figures has reached this lower bound, therefore Gao Zitu With optimal network diameter.
Theorem 1 and theorem 2 illustrate that Kautz figures are suitable Overlay Topologies in WSAN, disclosure satisfy that energy efficiency and reality Shi Tongxin demand.But one is Overlay Topology and the consistency problem of practical topology the problem of important.However, sensing node has The transmission range of limit brings significant challenge to topological coherence, and Overlay Topology is connected, and may not be neighbours' section in physical topology Point.Therefore, be to ensure topological coherence, two neighbor nodes in embedded overlay topology must transmission range it It is interior.One Kautz figure includes a Hamiltoniam ring, i.e., one passes through the ring of all summits only once in figure.To realize The embedded topological realization uniformity of Kautz figures, physical topology must include Hamiltoniam rings.
Theorem 3 assumes that WSAN nodes are evenly distributed in the square region that length is d, to ensure embedded as figure choose Node is selected to form Hamiltoniam rings, the transmission range r of chosen node should meet r >=0.8*b.
1.2 Kautz figure insertions
It is assumed that WSAN meets theorem 3, sensing node is densely deployed in application region, and the present invention chooses network architecture, such as Shown in Fig. 2, sensing node is densely deployed in application region, and the figure on the left side is one of unit, and actuator node selects one A little sensing nodes are built into the model of Kautz figures, summit of the resourceful actuator node as Kautz figures.Whole network It is made up of multiple Kautz figures units, forms DHT structures.
Each WSAN units include a unit ID (CID), and each sensing node includes a node ID in each unit (KID), i.e., each node can use (CID, KID) to represent in WSAN, wherein KID={ u1,...ui,...un|ui∈(0, 1,...,d),ui≠ui+1It is KautzID in Kautz figures.When Kautz units construct, an actuator section is chosen first Point is used as initial point, chooses the actuator nearest with the actuator node and is attached thereto, appoints the one side for taking the side, pass through neighbours Node switching information, chosen from public-neighbor to the side most short triangle region of actuator of two-end-point distance, Delta Region ID is assigned to 1.Afterwards, continue to construct Kautz units in the same way, until covering whole network, and be every Individual unit assigns ID.So, the region being closer to, ID numberings are closer to.
, it is necessary to assign ID to the sensing node in each Kautz units, i.e., after the completion of all Kautz cell formations The structure of Kautz figures.It is the region 5 in right figure shown in Fig. 3 left sides.Clearly to represent route, although the communication between node is double To, WSAN is expressed as digraph G (d, n) by the present invention.To ensure that neighbours' actuator makes without using identical KID, the present invention The minimum color number not used with order vertex coloring algorithm, each node distribution one by neighbor node, due to 3 actuator nodes only are included in Kautz figure K (d, 3), such as Fig. 3, actuator node ID s are assigned as (5,201).(5,012) and (5,120), after the complete ID of actuator node distribution, they are selected, and channel quality is best, dump energy highest node is used as it Descendant node (node being pointed in digraph).For arbitrary node to U=u1u2...unAnd V=v1v2...vn, l =L (U, V) represents the matching of the prefix of U most long suffix and V, and such as 201 and 012 matching is L (201,012)=2.
For the construction of Kautz figures, Kautz figures include N=(d+1) d altogethern-1Individual node.Fig. 2 is the example of a K (2,3) The in-degree and out-degree of son, i.e. node are all 2, a diameter of the 3 of network, include 12 nodes.It is the interconnection between actuator first, Such as actuator (5,012), it is selected follow-up (5,120).Meanwhile its broadcast one is to (5,120) TTL (time-to-live) 2 path request information, ensure diameter k=3.After receiving multiple routing informations in (5,120), it is high that it chooses dump energy In certain level, aggregate channel quality highest path, and IDs is assigned to them, IDs imparting follows the original closest to target Then, if the ID of a node forerunner (node for pointing to the node) is u1u2u3, then ID u of the section2u3uk, ukSo that node ID closer to target, i.e., matching length increases.For example, in Fig. 2 when node (5,120) receives multiple routing informations, it Choose aggregate channel top-quality path, and give them to assign IDs, then the path selected be (5,012) → (5,121) → (5,212)→(5,120).Similarly, actuator (5,120) choose to (5,201) path (5,120) → (5,202) → (5, 020)→(5,120)；Actuator (5,201) choose to (5,012) path (5,201) → (5,010) → (5,101) → (5, 012).It should be noted that each node can only be by one group of actuator node selection.Such as actuator (5,012) it is follow-up for (5, 121), the forerunner of actuator (5,201) is (5,020), to ensure that information can pass through different actuators pair, (5,121) choosing The path to (5,020) taken, and assign IDs, i.e., yellow node in figure to them.Finally by remaining node be in figure it is red Node chooses the forerunner of highest channel quality that meets Kautz figure conditions and follow-up according to above-mentioned rule, and it is 2 to ensure node degree, A diameter of 3.Finally, the foundation of Kautz figures finishes.
1.3 energy efficiencies topology maintains
Present invention contemplates that large-scale WSAN, sensing node dense deployment.As shown in figure 3, sensing node includes three Kind state：Active, sleep and wait.Live-vertex is Kautz nodes, and they periodically send " Hello " packet and come more Newly with the connectivity state of neighbor node.When the energy of node drops to a certain threshold value less than a certain threshold value or link-quality, enter Row Kautz node updates.The sensing node of sleep periodically wakes up, and with Kautz node switching information, check that can itself As Kautz node candidates.Need to meet that three kinds require as Kautz node candidates, first, it must be able to and a Kautz Node communicates；Second, it must have at least one Kautz neighbor nodes energy to drop to certain less than certain level or link-quality One threshold value；3rd, it can be connected with other neighbours Kautz nodes of the Kautz nodes.When a node checks itself, find Self-energy or link-quality are reduced to certain level, and it notifies neighbor node and the neighbor node for selecting to meet to require replaces certainly Body gives the node as Kautz nodes, and the id information of itself, and it then enters sleep state.To avoid the occurrence of node not Situations of the ID with regard to failure is delivered, neighbours' Kautz nodes periodically send " Hello " packet detection neighbours' Kautz nodes Situation, if it find that can not find the situation of neighbor node, notify neighbours' sensing node to wake up and choose link-quality highest section Point is as new Kautz nodes.
1.4 is fault-tolerant, reliable, high usage route
For the network architecture of the present invention, after network is divided into multiple Kautz units, for the data biography across unit Defeated, actuator delivers a packet to ID close to object element ID units using the method for greedy routing, by preceding units ID's Distribution understands that cell position close ID is nearer.Because packet transmits more frequently in unit, across unit transmission is less. Kautz figures can compromise in fault-tolerance and real-time and energy expenditure.The Kautz figures that node degree is d include d bar sections Point nonintersecting paths.If Fig. 4 is the example of a K (3,4), for arbitrary node to U, V, all in the presence of 3 section disjoint paths Footpath.Assuming that node 0123, which receives packet or perceives event, produces packet, and node 2312 is delivered a packet to,. When initial, packet is sent along shortest path 0123 → 1231 → 2312, if the shortest path failure, node 0123 are quick Selection time shortest path, choose 1232 and be used as next-hop node.
Theorem 4 works as node U=u1u2...unForward data to node V=v1v2...vnWhen, its follow-up, path length and right The non-intersect U-V paths of d bar nodes answered are：
Wherein αi≠(v1,vl+1,un-l)；
In Fig. 4, when 1 (i.e. v is chosen in U last follow-up positionl+1) when be shortest path, hop count 2, shortest path length For 4-2=2；Due to un≠v1And un-2=v3, the place path length of descendant node 1230 in remaining two node-disjoint paths For n+1=5, the path length where descendant node 1232 is jumped for n=4.
1.4.1 the amendment based on ID transmission
When arbitrary node is to wanting to send data, node uses theorem 4 by destination node ID, it is not necessary to route dimension Hold and topology information, source node can quickly and efficiently find the shortest path of destination node.Wrapped simultaneously between arbitrary node pair The node-disjoint paths of bar containing d, when arbitrary node breaks down in transmitting procedure, a upper node for malfunctioning node need not lead to Know source node, can spontaneously select time shortest path to carry out data transmission, ensure that the fault-tolerance of network service.
But at the same time, this transmission method there is also it is certain the problem of.After Kautz topology constructings are completed, section is pressed It is transmitted according to id information, positive and direction is simultaneously not necessarily shortest path.Such as in Fig. 4, node U to V shortest path is 0123 → 1231 → 2312, path length is 2 jumps, and when node V sends data to U, because the matching of V suffix and U is grown Spend for 0, path length k-l=4, increase the delay of network, and without the Path diversity of sufficient developing network topology.
One very simple solution method is, it is allowed to which node is along Kautz directed edge reverse transfers.That is, work as node When having packet to send, by contrasting the matching length of forward and reverse node ID, the direction longer along matching length is entered Row data transfer.For example, Fig. 4 interior joints V will send data, its matching length more positive first and negative relational matching length to U, It was found that positive matching length l1=0, negative relational matching length is l2=2, then its selection reverse transfer path, is added in the packet Reverse transfer marks, and is transmitted according to the ID B-rules transmitted, thus can greatly reduce network delay.
1.4.2 fault-tolerant transmission amendment
To make full use of the broadcast characteristic of wireless medium, the diversity of network path is expanded, is transmitted in network node data During when node failure occurs, due to d bar node-disjoint paths between arbitrary node be present, thus transmitting procedure will not in It is disconnected, it can be transmitted along suboptimum path.
Because node periodically sends " Hello " packet to maintain information of neighbor nodes and state, node can be found Some " special " Kautz nodes, Kautz nodes and the link between it are not belonging to Kautz figures, the id information quilt of these nodes It is recorded in neighbor list.Transmitting procedure interior joint breaks down or during a certain threshold value of link ccc Quality Downs, and node compares These special Kautz nodes and suboptimum next-hop node and forward and reverse matching length of destination node, if suboptimum road Footpath matching length is maximum, then using the suboptimum path, if special Kautz node matchings length is maximum, using special Kautz nodes carry out " detouring ", need to add information flag position of detouring in the packet when detouring, and the node ID letter that detours Breath.
The form of packet as shown in figure 5, the packet header of packet include source node ID, destination node ID, type of data packet, Data packet sequence row number and forward and reverse marker bit and the marker bit that detours.Forward and reverse marker bit is 0 and 1, and two kinds, 0, which represents positive, passes Defeated, 1 represents direction transmission.The marker bit that detours includes two parts, mark and ID, and labeled as 0, expression is not detoured, labeled as 1 table Show and detour, the node ID information that detours is recorded in ID positions.Last FCS is check bit, for detect received data packet whether error code. Node between " Hello " packet evaluation neighbor node by during link-quality, will also assess the chain being not present in Kautz topologys Road quality, when detouring, link-quality is higher than former link, when the next-hop node for the node that detours has more excellent matching length, can just make With the link that detours.
1.4.3 the reliable Multi-path route based on availability history
Because WSANs is generally used in industrial environment, channel quality changes with the time, and link failure occurs often. Therefore, when considering WSANs, not only to consider node failure caused by energy problem, more to consider link failure to net Influence caused by network transmits.In general, node failure can recover network normal operation by secondary node replacement to reach Ability, but the appearance of link failure can not be improved by replacing node.Used based on this problem present invention and be based on availability The multi-path transmission of historical record solves the problem.
Availability history represents the record that link availability changes over time, and divides time into l timeslice, node i and j Between availability corresponding to r-th of timeslice of link beThe availability in link (i, j) some period can be expressed asWherein：
Represent packet transmission ratio of the link (i, j) in timeslice s.PDR is turned into numerical value 0 and 1, its In 0 represent that corresponding moment link is unavailable, 1 represents that corresponding moment link can use, and passes through threshold gamma0To limit the PDR of link Determine the availability of link, present invention setting γ0=0.6.
The availability in path is that the availability of the link on all paths carries out logic bit arithmetic AND, i.e. length is p's Path PiAvailability can be expressed asWherein aiRepresent path PiUpper i-th of node ID.The availability of mulitpath represents to carry out logic bit arithmetic OR, i.e. A between multiple route availabilitiesM=A1∨A2∨…∨ Ak。
Path 1 as shown in Figure 6 includes link 1-2 and 2-3, a certain period network availability as illustrated, link 1-2 Unavailable in the 9th timeslice, link 2-3 is unavailable in the 4th timeslice, then path 1 can not in the 4th and the 9th timeslice With.There are identical source node and destination node in path 2 and path 1, and path 2 can use in the 1st and the 3 to 5th timeslice, then they Combination availability it is only unavailable in the 9th timeslice.The availability of transmission path can be increased by the method for combinatorial path.
Algorithm 1 describes the idiographic flow that multipath is selected.Algorithm is always divided into two stages, path select in advance the stage and Greedy multipath selects the stage.Select the stage in advance in path, by method as discussed above find the most short of forward and reverse matching and Secondary shortest path, deposit among set H.It is worth noting that it is 4 that the shortest path for the forward and reverse matching selected, which is not, because To there is the presence around path, mulitpath is there may be in set H.In greedy multipath election process, it is intended to select group Close the maximum k paths of availability and be used as data transfer, present invention setting k=2.It is empty set to initialize multipath set M first Close, combination availability is 0, and the path for maximizing M availabilities is selected in set H, is added in M, until including k bars road in M Footpath.But what the method selected of the greediness may find is not optimum combination, therefore, the present invention is first by availability in set H Maximum path is selected, and k paths is selected using the method for greediness in residual paths, afterwards with maximum availability path is added Enter to make comparisons, deleting makes it combine the minimum path of availability.
The application effect of the present invention is explained in detail with reference to Performance Evaluation.
1st, the present invention is assessed FRER performance and made comparisons with REFER using NS-2, when a node fails, is sent Broadcast message carrys out reconstruction path.10 actuator nodes are evenly distributed in 500 × 500 region, 500 sensing node independences With distribution, it is distributed in around actuator node, forms the transmission model of K (3,3) Kautz units, sensing node and actuator node Enclose and be respectively set to 100 and 250m, often cross 10s, 2,3,4,5,6,7 source node transmission are randomly choosed in each Kautz units Data, sensing node communication use IEEE802.11 agreements.The present invention has made under interference environment and undisturbed lower imitated respectively Very.
1.1 undisturbed network environments
For undisturbed network environment, the present invention is assessed using following standard：(1) handling capacity：Destination node The quantity (kb/s) for the packet being properly received each second, high handling capacity mean higher fault-tolerance and real-time performance.(2) Time delay：Average end-to-end data transfer delay.(3) packet transfer ratio PDR：The packet of Successful transmissions sends packet with total Ratio, higher PDR means higher efficiency of transmission.
In simulation process, 2x malfunctioning node is selected at random, and x obeys being uniformly distributed on [1,5], often crosses 10s, repairs Malfunctioning node before in network.It is handling capacity shown in Fig. 7 (a) with change of the source destination node to quantity, it can be seen that REFER Handling capacity value less than the algorithm FRER of the present invention, and with growth of the source destination node to quantity, network throughput is first Steadily decline after rising, because when initial, as source node number increases in network, network throughput accordingly increases, But with increasing for source node, the number of links overlapped in each Kautz units increases, passed so as to have influence on end-to-end data It is defeated, it can be seen that network throughput is maximum when the quantity of source node in each Kautz units is 4.Fig. 7 (b) is shown Be end-to-end mean transit delay with change of the source destination node to quantity, it can be seen that when source node number increases in network When, network end-to-end time delay is fallen before, node to quantity is 4 when reach minimum, increase afterwards, because random during emulation Select source destination node pair, when node logarithm is smaller, selected be probably with REFER identical longer paths, work as node When logarithm increases, algorithm FRER of the invention path length is less than equal to REFER, therefore with the increasing of node logarithm Long, network delay declines；But meanwhile with the increase of node logarithm, the link overlapped in each Kautz units increases, and causes Network delay increases.Simultaneously it is also seen that the number of links that is overlapped in each Kautz units of FRER algorithms of the present invention compared with Few, time delay changes more smooth.Fig. 7 (c) describes packet transfer ratio PDR with change of the source destination node to quantity in network Change, the figure reflects as source destination node is to increasing, identical with handling capacity, time delay, and algorithm FRER of the invention first increases It is steady afterwards to decline, reach peak when the quantity of destination node pair is 4 in source, it is steady afterwards to decline, and REFER PDR changes Less, when source destination node increases quantity in network, downward trend is also showed, generally the transmission of inventive algorithm Efficiency is higher than REFER.
1.2 network environments being interfered
Because WSANs is generally used for industrial environment, compared to REFER, the present invention considers the failure of link in network.When During link failure, it is inoperative to replace node, it is therefore desirable to improves the reliable of network transmission using the method for multipath Property.The present invention is distributed the signal intensity to describe to receive using Nakagami, and Nakagami distributions are defined as：
Wherein, Γ represents gamma function, and m represents Nakagami distribution fading parameters, and Ω is average received energy.In this hair Bright middle setting m=1, Ω expression formulas are：
Wherein, d represents the distance between sender and recipient, PtIt is transimission power, GtAnd GrIt is antenna income, htAnd hr Antenna weight is represented, L is fissipation factor, and n is path loss index.Present invention emulation sets Gt=Gr=1, ht=hr=1.5m, L=1, n=4.Current invention assumes that if the signal power received is higher than a certain reception threshold value, then it represents that packet successfully connects Receive.
In simulation process, the present invention divides time into 10 timeslices, often crosses a timeslice, and availability information is left One is moved, by new last position of availability information completion.It is the network end-to-end availability in the presence of interference shown in Fig. 8 (a) Situation, red curve represent the estimation condition of the FRER algorithms proposed by the present invention based on availability history, and blue curve represents Actual conditions, black curve represent REFER algorithms.Wherein vertical line represents average, and other curves represent cumulative distribution.For with REFER algorithms are contrasted, and REFER algorithms are selected two shortest paths according to route selecting rule and carried out data transmission.From figure As can be seen that the FRER algorithms of the invention based on availability history are closer to actual conditions, can be very good as reality The prediction of situation, while contrasted with REFER algorithms, mean availability will be apparently higher than REFER algorithms, and this just illustrates this hair The bright FRER algorithms based on availability history can be good at picking out the combination of paths of k bar optimum utilities to improve network The reliability of transmission.Fig. 8 (a) shows the packet transfer ratio of network end-to-end in the presence of interference, and wherein red curve is The FRER algorithms of the present invention, blue curve are the REFER algorithms that the present invention contrasts.In the figure, the present invention has only counted path Available situation.The packet transfer ratio that inventive algorithm in the case of interference is present clearly is can be seen that from the figure is obvious Due to REFER algorithms, that is to say, that network overall transfer efficiency is higher than REFER algorithms.
FRER algorithms proposed by the present invention can utilize information of neighbor nodes, and network is expanded in existing network topology Path diversity, than current algorism for routing wireless sensing network, FRER algorithms of the invention based on Kautz scheme, can be with minimum Shortest path is found in cost, and node does not need storage state information, it is only necessary to is advised by destination node ID and already present matching It then can just find out the shortest path in the network topology of structure.Compared with equally based on the REFER algorithms of Kautz figures, the present invention Method of the FRER algorithms by expanding Path diversity, the routed path length found is less than equal to REFER algorithms.And with Compare, inventive algorithm considers the link failure situation that REFER algorithms do not account for, and operational availability history is predicted not Carry out the availability of link, network overall transfer efficiency is improved by combining the path of k bars optimum utility combination, it is substantial amounts of imitative True experiment shows that FRER algorithms of the invention can improve the availability of network well in the presence of link failure, Simultaneously test result indicates that FRER algorithms are improving network reliability, reducing delay and packet loss, in terms of network throughput due to REFER algorithms.
The foregoing is merely illustrative of the preferred embodiments of the present invention, is not intended to limit the invention, all essences in the present invention All any modification, equivalent and improvement made within refreshing and principle etc., should be included in the scope of the protection.

Claims (10)

  1. A kind of 1. reliable high usage router method of wireless senser and actor network, it is characterised in that the wireless senser Comprise the following steps with the reliable high usage router method of actor network：
    Step 1, Kautz network topologies, for the given number of degrees and the at most open ended nodes of one topology of diameter by Moore bound constraineds；For the arbitrary network topology of given the node number of degrees and node total number；The chosen node energy embedded as figure Enough form Hamiltoniam rings；
    Step 2, network architecture is chosen, sensing node is densely deployed in application region, and actuator node selects sensing node structure Build up the model of Kautz figures, summit of the resourceful actuator node as Kautz figures；Network is by multiple Kautz figures units Form, form DHT structures；, it is necessary to the sensing node in each Kautz units after the completion of all Kautz cell formations Assign ID, the structure of Kautz figures；
    Step 3, neighbours Kautz nodes periodically send the situation of HELLO packets detection neighbours' Kautz nodes, find to look for Less than the situation of neighbor node, notify neighbours' sensing node to wake up and choose link-quality highest node as new Kautz Node；
    Step 4, for network architecture, after network is divided into multiple Kautz units, for the data transfer across unit, perform Device delivers a packet to ID close to object element ID units using the method for greedy routing, can by preceding units ID distribution Know, cell position close ID is nearer.
  2. 2. the reliable high usage router method of wireless senser as claimed in claim 1 and actor network, it is characterised in that institute State in step 1：It is that node degree is d to define Kautz digraph K (d, n), and a diameter of n digraph, node, which uses, numbers (u1,...,un) represent, wherein ui∈ (0,1 ..., d), ui≠ui+1, K (d, n) side collection E is with summit u1,...,unFor starting point, It is connected to u2,...,unα d bar directed edges, α ∈ { 0,1 ..., d }.
  3. 3. the reliable high usage router method of wireless senser as claimed in claim 1 and actor network, it is characterised in that institute State in step 1：For given number of degrees d and the at most open ended nodes of mono- topology of diameter n by Moore circle 1+d+d2 +...+dnConstraint, Moore circle is inaccessible under normal circumstances；
    For the arbitrary network topology of given the node number of degrees and node total number N, understood according to Moore sections, its network diameter Lower bound is logdThe network diameter of (N* (d-1)+1)+1, Kautz figures has reached lower bound, and Gao Zitu has optimal network diameter；
    WSAN nodes are evenly distributed in the square region that length is d, and the chosen node embedded as figure can be formed Hamiltoniam rings, the transmission range r of chosen node should meet r >=0.8*b.
  4. 4. the reliable high usage router method of wireless senser as claimed in claim 1 and actor network, it is characterised in that institute State in step 2：Each WSAN units include a unit ID, and each sensing node includes a node ID in each unit, Each node can use (CID, KID) to represent in WSAN, wherein KID={ u1,...ui,...un|ui∈(0,1,...,d),ui≠ ui+1It is KautzID in Kautz figures；When Kautz units construct, an actuator node is chosen first as initial point, Choose the actuator nearest with the actuator node and be attached thereto, appoint the one side for taking the side, information is exchanged by neighbor node, Choose to the side most short triangle region of actuator of two-end-point distance, Delta Region ID and assign from public-neighbor For 1；Continue to construct Kautz units in the same way, until covering whole network, and assign ID for each unit；
    WSAN is expressed as digraph G (d, n) by the structure of Kautz figures, using order vertex coloring algorithm, each node distribution one The individual minimum color number not used by neighbor node, for arbitrary node to U=u1u2...unAnd V=v1v2...vn, l =L (U, V) represents the matching of the prefix of U most long suffix and V；
    For the construction of Kautz figures, Kautz figures include N=(d+1) d altogethern-1Individual node, interconnect between actuator, by remaining node I.e. node red in figure chooses the forerunner for the highest channel quality for meeting Kautz figure conditions and follow-up, guarantor according to above-mentioned rule It is 2 to demonstrate,prove node degree, and a diameter of 3, Kautz figures foundation finishes.
  5. 5. the reliable high usage router method of wireless senser as claimed in claim 1 and actor network, it is characterised in that institute State in step 3：Kautz node candidates meet：It can be communicated with a Kautz node；There is at least one Kautz neighbor nodes energy Amount drops to a certain threshold value less than certain level or link-quality；Connected with other neighbours Kautz nodes of Kautz nodes.
  6. 6. the reliable high usage router method of wireless senser as claimed in claim 1 and actor network, it is characterised in that institute State in step 4：As node U=u1u2...unForward data to node V=v1v2...vnWhen, its follow-up, path length and correspondingly The non-intersect U-V paths of d bar nodes be：
    Wherein αi≠(v1,vl+1,un-l)。
  7. 7. the reliable high usage router method of wireless senser as claimed in claim 1 and actor network, it is characterised in that institute Stating step 4 includes：
    (1) amendment based on ID transmission, when arbitrary node is to sending data, node is found by destination node ID, source node To the shortest path of destination node；D bar node-disjoint paths are included between arbitrary node pair simultaneously, when arbitrarily being saved in transmitting procedure Point breaks down, and a upper node for malfunctioning node need not notify source node, can spontaneously select time shortest path to enter line number According to transmission；
    (2) fault-tolerant transmission amendment, when node failure occurring in network node data transmitting procedure, d bars be present between arbitrary node Node-disjoint paths, transmitting procedure will not interrupt, and be transmitted along suboptimum path；
    (3) the reliable Multi-path route based on availability history represents link availability, availability history using availability history The record that link availability changes over time is represented, divides time into l timeslice, r-th of the time of link between node i and j Availability corresponding to piece isThe availability in link (i, j) some period can be expressed asWherein：
    <mrow> <msubsup> <mi>a</mi> <mrow> <mi>i</mi> <mi>j</mi> </mrow> <mi>s</mi> </msubsup> <mo>=</mo> <mfenced open = "{" close = ""> <mtable> <mtr> <mtd> <mn>1</mn> </mtd> <mtd> <mrow> <mi>i</mi> <mi>f</mi> <mi> </mi> <msubsup> <mi>PDR</mi> <mrow> <mi>i</mi> <mi>j</mi> </mrow> <mi>s</mi> </msubsup> <mo>&amp;GreaterEqual;</mo> <msub> <mi>&amp;gamma;</mi> <mn>0</mn> </msub> </mrow> </mtd> </mtr> <mtr> <mtd> <mn>0</mn> </mtd> <mtd> <mrow> <mi>o</mi> <mi>t</mi> <mi>h</mi> <mi>e</mi> <mi>r</mi> <mi>w</mi> <mi>i</mi> <mi>s</mi> <mi>e</mi> </mrow> </mtd> </mtr> </mtable> </mfenced> <mo>;</mo> </mrow>
    Represent packet transmission ratio of the link (i, j) in timeslice s；PDR is turned into numerical value 0 and 1, wherein 0 table Show that corresponding moment link is unavailable, 1 represents that corresponding moment link can use, and passes through threshold gamma0To limit the PDR of link to determine chain The availability on road, γ0=0.6.
  8. 8. the reliable high usage router method of wireless senser as claimed in claim 7 and actor network, it is characterised in that institute (3) are stated to specifically include：
    INPUT：The set { (s of source destination node pairi,di), k, availability { Ai}；
    OUTPUT：Multipath set MPROCEDURES；
    (1) M=φ, θ (M)=0；
    (2) path is selected in advance：According to source destination node ID, select the most short and secondary shortest path of forward and reverse matching and be stored in set H；
    (3) maximum availability path p is picked out in set Hx, and the path is deleted in set H；
    (4) While | M | ＜ k do；
    (5) the path p for maximizing the i.e. θ of set M availabilities (M ∪ p) is selected in set H；
    (6) path p is added in M, renewal θ (M)=θ (M ∪ p)；
    (7)endWhile；
    (8) by pxIt is added in M and is compared, deletes the path of minimum combination availability.
  9. A kind of 9. reliable high usage route side using wireless senser described in claim 1~8 any one and actor network The wireless senser of method.
  10. A kind of 10. reliable high usage route side using wireless senser described in claim 1~8 any one and actor network The actor network of method.
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