CN114928850B - Step-by-step directional neighbor discovery method based on depth information division in underwater acoustic sensor network - Google Patents
Step-by-step directional neighbor discovery method based on depth information division in underwater acoustic sensor network Download PDFInfo
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Abstract
The invention discloses a stepwise directional neighbor discovery method based on depth information division in an underwater acoustic sensor network, which comprises the following steps: s1, establishing a network model of an underwater sound sensing network; s2, establishing a beam model of the underwater sensor node; s3, dividing the whole neighbor discovery process into two steps according to the divided beam types, wherein the steps comprise: a vertical beam neighbor discovery process and a horizontal beam neighbor discovery process; s4, determining the re-emergence condition of the underwater sensor node. Compared with the traditional directional neighbor discovery method based on quorum, the method reduces the expected discovery period of underwater sensor node scanning, thereby reducing the occurrence of redundant time slots and reducing the energy consumption of nodes.
Description
Technical Field
The invention belongs to the field of directional neighbor discovery of underwater acoustic sensor networks, and particularly relates to a stepwise directional neighbor discovery method based on depth information division in an underwater acoustic sensor network.
Background
The deployment of the nodes in the underwater acoustic sensor network does not have any pre-distributed network topology, the nodes do not know the surrounding neighbors of the nodes, and the data communication cannot be realized, so that the task cannot be completed. Neighbor discovery may be interpreted as the process by which a node discovers other nodes within its transmission/reception range. The first step in its initialization process is for the UASNs to perform a neighbor discovery process. For a sensor node with a directional antenna, a pair of neighboring nodes can only find each other when they are within communication range of each other and the beams are aligned simultaneously. Fundamentally, neighbor discovery is established on a node: the nodes announce their presence through neighbor discovery messages, thereby completing the establishment of the network topology. In addition, in the underwater environment, due to the influence of complex environmental factors such as ocean currents, obstacles and the like, the nodes move, the network topology changes, and frequent neighbor discovery processes are needed.
For underwater nodes, the existence of the spatial characteristics enables the scanning beam to finish neighbor discovery among the nodes to have a certain difference. If the same sequence design method is adopted for all beams, a large number of redundant time slots appear, and finally long delay and high energy consumption of neighbor discovery are caused.
Disclosure of Invention
Aiming at the problems in the prior art, the invention provides a stepwise directional neighbor discovery method based on depth information division in an underwater acoustic sensor network, which reduces the expected discovery period of underwater sensor node scanning compared with the traditional directional neighbor discovery method based on quorum, thereby reducing the occurrence of redundant time slots and reducing the energy consumption of nodes.
The technical aim is achieved, and the technical effects are achieved by the following technical scheme:
a stepwise directional neighbor discovery method based on depth information division in an underwater acoustic sensor network comprises the following steps:
s1, establishing a network model of an underwater sound sensing network;
the underwater sound sensing network comprises a plurality of underwater sensor nodes and a water surface base station, wherein the underwater sensor nodes are randomly distributed in an underwater area, sensed data are collected from surrounding environments, and the collected data are transmitted to the water surface base station through multi-hop transmission;
s2, establishing a beam model of the underwater sensor node;
dividing the beams of the underwater sensor nodes into two categories according to the depth information and the beam space characteristics of the underwater sensor nodes, wherein the method comprises the following steps: a vertical beam and a horizontal beam;
s3, dividing the whole neighbor discovery process into two steps according to the divided beam types, wherein the steps comprise: a vertical beam neighbor discovery process and a horizontal beam neighbor discovery process;
s4, determining the re-emergence condition of the underwater sensor node: based on the information obtained by the underwater sensor node in the data transmission process, determining the neighbor relation change condition in different beams of the node, determining the condition of the underwater sensor node for executing rediscovery according to the whole neighbor relation of the underwater sensor node so as to adapt to the dynamic change of the node link, and executing the whole neighbor discovery process in the step 3 again when the rediscovery condition is met, so that other neighbor nodes are discovered.
Preferably, in the step S2, the specific construction method of the beam model of the underwater sensor node is as follows:
s2-1: constructing a beam model of each underwater sensor node, wherein each underwater sensor node adopts a regular dodecahedron model to construct the beam model, each underwater sensor node is provided with a directional transducer and a vector hydrophone, twelve equal-sized beams are constructed through a beam forming method, each beam corresponds to one face of the regular dodecahedron, so that directional receiving and transmitting of the underwater sensor nodes are realized, and in addition, each underwater sensor node is provided with a pressure sensor for acquiring depth information;
s2-2: dividing the beams of the underwater sensor nodes into vertical beams and horizontal beams according to the depth information and the spatial characteristics of the beams, wherein the vertical beams are beams vertical to the sea level and comprise vertical upward beams and vertical downward beams; the horizontal beam is a beam parallel to the sea level.
Preferably, in the step S2-1, each underwater sensor node has a dual beam, and the dual beam adopts two transceiving modes, including a transmitting beam and a receiving beam, and the transmitting beam and the receiving beam are not scanned simultaneously for the same beam.
Preferably, the specific method of the step S3 is as follows:
s3-1: firstly, executing a vertical beam neighbor discovery process, wherein the underwater sensor node fixes a scanning process to be executed in a vertical beam, so that neighbor discovery in the range of the vertical beam is realized;
s3-2: and when the switching condition is met, performing mode switching, and executing a horizontal beam neighbor discovery process, wherein the underwater sensor node designs a scanning sequence for other beams according to a continuous annular arbitration method, so that the beam alignment and neighbor discovery process is completed.
Preferably, in the step S3-1, the neighbor discovery process in the vertical beam range is as follows: the transmitting beam of the underwater sensor node scans the vertically upward beam, the receiving beam scans the vertically downward beam, and the different receiving and transmitting states among the neighbor nodes are ensured, so that the accuracy of data packet transmission among the nodes is ensured.
Preferably, in the step S3-2, the mode switching is performed when any one of the following switching conditions is satisfied:
when the time t of the mode reaches the time threshold t threshold When, i.e. t>t threshold Performing mode switching;
when the neighbor table of the underwater sensor node is in a preset time period t link When there is no change in the interior, i.e. t>t link Then a mode switch is performed.
Preferably, the specific steps of the horizontal beam neighbor discovery procedure in the step S3-2 are as follows:
s3-21: adopting a continuous annular arbitration method to design a scanning sequence of horizontal beams, and assuming that the underwater sensor node has n horizontal beams, the time slot matrix is h×w:
wherein,,
s3-22: for each horizontal beam, randomly and repeatedly selecting a certain column c, wherein c is more than or equal to 1 and less than or equal to h, and selecting a certain row r from the column, wherein r is more than or equal to 1 and less than or equal to w; from the c column elements of the r rows back
Element ∈>
The elements form a quorum system, which is used as a scanning time slot of a horizontal beam, and the transceiving mode of the scanning time slot of the horizontal beam is designed as follows:
the transmitting beam selects row elements of the quorum system as transmitting time slots;
the receive beam selects the column element of the quorum system as the receive slot.
Preferably, the re-reproduction condition in the step S4 is as follows:
assuming that the number of neighbor nodes of the underwater sensor nodes is m, when the underwater acoustic sensor network is dynamically changed, underwater transmission is carried outThe sensor node cannot communicate with the neighbor nodes in the neighbor table, and the number m of nodes with communication failure is recorded fail When node number m fail Reaching a preset threshold m threshold When, i.e. m fail ≥m threshold The entire neighbor discovery process of step 3 is re-performed so that its neighbor nodes are discovered.
The beneficial effects are that: the invention provides a self-adaptive directional neighbor discovery method based on reinforcement learning in an underwater acoustic sensor network, which has the following advantages:
1) The invention adopts the directional transducer and the vector hydrophone to realize directional receiving and transmitting, thereby improving the reliability of data transmission;
2) The method comprehensively considers the depth information of the nodes and the spatial characteristics of the beams, and divides the depth information into the vertical beams and the horizontal beams, so that the neighbor discovery is divided into two steps, the expected time slot number of deterministic sequence design is reduced, and the neighbor discovery delay is reduced;
3) The invention considers the dynamic characteristics of the underwater acoustic sensor network, adopts a retransmission first mechanism to maintain the neighbor relation among nodes, and is used for self-adapting the dynamic change of the node links;
4) The invention reduces redundant time slots caused by the design of the scanning sequence by considering the neighbor discovery among the vertical beams independently, thereby minimizing the expected discovery period of the nodes and reducing the energy consumption.
Drawings
FIG. 1 is a diagram showing a network model structure of an underwater acoustic sensor network according to embodiment 1;
FIG. 2 is a beam pattern of the underwater acoustic sensor node of example 1;
FIG. 3 is a schematic diagram of two-dimensional beam scanning;
FIG. 4 is a schematic view of the vertical beam of embodiment 1;
FIG. 5 is a schematic diagram of horizontal beams of embodiment 1;
FIG. 6 is a schematic diagram of a quorum system of example 1.
Detailed Description
In order to better understand the technical solutions in the present application, the following description will clearly and completely describe the technical solutions in the embodiments of the present application, and it is obvious that the described embodiments are only some embodiments of the present application, not all embodiments. All other embodiments, which can be made by one of ordinary skill in the art based on the embodiments herein without making any inventive effort, shall fall within the scope of the present application.
Example 1:
the step-by-step directional neighbor discovery method based on depth information division in the underwater acoustic sensor network comprises the following steps:
s1, establishing a network model of an underwater sound sensing network;
as shown in fig. 1, the underwater acoustic sensor network includes a plurality of underwater sensor nodes and a water surface base station, the underwater sensor nodes are randomly distributed in an underwater area, sensed data are collected from the surrounding environment, the collected data are transmitted to the water surface base station through multi-hop transmission, and N underwater sensor nodes are randomly deployed in the network of the underwater acoustic sensor network;
s2, establishing a beam model of the underwater sensor node, wherein the specific steps are as follows;
s2-1: constructing a beam model of each underwater sensor node, wherein each underwater sensor node adopts a regular dodecahedron model to construct the beam model, each underwater sensor node is provided with a directional transducer and a vector hydrophone, twelve equal-sized beams are constructed through a beam forming method, each beam corresponds to one face of the regular dodecahedron, so that directional receiving and transmitting of the underwater sensor nodes are realized, in addition, each underwater sensor node is provided with a pressure sensor for acquiring depth information, each underwater sensor node is provided with a double beam, the double beam adopts two receiving and transmitting modes, the two receiving modes comprise a transmitting beam and a receiving beam, the transmitting beam and the receiving beam cannot scan the same beam at the same time, the beam switching time and the mode switching time are ignored, and strict time synchronization is considered;
s2-2: dividing the beams of the underwater sensor nodes into vertical beams and horizontal beams according to the depth information and the spatial characteristics of the beams, wherein the vertical beams are beams vertical to the sea level and comprise vertical upward beams and vertical downward beams; the horizontal beam is a beam parallel to the sea level.
The beam classification method based on depth information in this embodiment 1:
in a two-dimensional plane, the underwater acoustic sensor node scans each beam without directivity, so that the scanned beams are homogeneous. As shown in fig. 3, during the scan of node a, its beam alignment with the remaining nodes may be achieved within any beam of a.
In three-dimensional underwater acoustic sensor networks, the underwater acoustic data transmission tends to have "top-down" directionality, and each underwater acoustic sensor node is equipped with a pressure sensor to measure its depth. Similar to the directionality of the underwater acoustic data transmission, the beam of the underwater acoustic sensor node in the scanned three-dimensional space also has certain spatial characteristics. Due to the existence of spatial characteristics, there is a certain difference in the process of scanning different beams by the underwater acoustic sensor node, namely: some of the beams of the underwater acoustic sensor node are not aligned with some of the other beams, which are related to the relative position information of the underwater acoustic sensor node. However, for the three-dimensional underwater acoustic sensor network, the underwater modeling is very difficult, so that the specific position and the relative position of the underwater acoustic sensor node cannot be well modeled, the practical application is very inconvenient, and the existing model cannot well represent the relation between the node position information and the wave beams, so that the wave beams of the underwater acoustic sensor node can be distinguished to a certain extent by adopting the depth information obtained by the pressure sensor.
The invention classifies the beams of the underwater acoustic sensor nodes into two categories based on depth information and the spatial characteristics of the beams:
the vertical beams, as shown in fig. 4 with reference numerals 1 and 12, are vertical beams;
the horizontal beams, as shown in fig. 5, with the remaining numbered beams being horizontal beams;
the vertical beam of the underwater acoustic sensor node does not have a direct alignment with the horizontal beam during scanning.
S3, dividing the whole neighbor discovery process into two steps according to the divided beam types, wherein the steps comprise: the method comprises the following specific steps of:
s3-1: firstly, executing a vertical beam neighbor discovery process, wherein the underwater sensor node fixes a scanning process in a vertical beam for execution, so that neighbor discovery in a vertical beam range is realized, namely, a transmitting beam of the underwater sensor node scans a vertically upward beam, a receiving beam scans a vertically downward beam, different receiving and transmitting states among neighbor nodes are ensured, and the accuracy of data packet transmission among nodes is ensured;
s3-2: mode switching is performed after any one of the following switching conditions is satisfied, the switching conditions being as follows:
when the time t of the mode reaches the time threshold t threshold When, i.e. t>t threshold Performing mode switching;
when the neighbor table of the underwater sensor node is in a preset time period t link When the internal is unchanged, namely: t is t>t link Executing mode switching;
when the mode is switched to the horizontal beam neighbor discovery process, the underwater sensor node designs a scanning sequence for the horizontal beam according to a continuous annular arbitration method (c-torus quorum), thereby completing the beam alignment and neighbor discovery process, and the specific steps are as follows:
s3-21: the scanning sequence of the horizontal beam is designed by a continuous ring arbitration method (c-torus quorum), and the time slot matrix is as follows, assuming that the underwater sensor node has n beams: h x w:
wherein,,
s3-22: for each horizontal beam, randomly and repeatedly selecting a certain column c, wherein c is more than or equal to 1 and less than or equal to h, and selecting a certain row r from the column, wherein r is more than or equal to 1 and less than or equal to w; from the c column elements of the r rows back
Element ∈>
The elements form a quorum system, which is used as a scanning time slot of a horizontal beam, so that the certainty of neighbor discovery is ensured. The receiving and transmitting mode of the horizontal beam scanning time slot is designed as follows:
the transmitting beam selects row elements of the quorum system as transmitting time slots;
the receiving beam selects the column element of the quorum system as the receiving time slot;
the scanning time slot selection of the transmitting beam and the receiving beam of the nodes is guaranteed, and meanwhile, the beam alignment and the different receiving and transmitting modes among the nodes are guaranteed.
In this embodiment 1, if the underwater acoustic sensor node has 10 horizontal beams, the size of the time slot matrix is 10×5, and a column and the last 5 time slots of each beam are randomly selected as the scanning time slots of the current beam without repetition. As shown in fig. 6, beam 2 selects 5 slots of column 1 and 5 slots after column 1 of row 2 as scanning slots, so beam 2 selects slots (1, 11, 21, 31, 41) as scanning slots of the reception beam; the time slots (12, 13, 14, 15, 16) are selected as scanning time slots for the transmit beams.
S4, determining the re-emergence condition of the underwater sensor node:
frequent changes in links between underwater acoustic sensor nodes can result from dynamic characteristics of the underwater environment, attenuation of underwater acoustic links, and consumption of node energy, and the underwater acoustic sensor nodes can deviate from or join the communication range of other nodes, resulting in the occurrence of new neighbor relationships. Therefore, the embodiment sets the conditions for the underwater sensor node to execute the re-emergence based on the information obtained by the underwater sensor node in the data transmission process according to the overall neighbor relation of the underwater sensor node, as follows:
assuming that the number of neighbor nodes of the underwater sensor node is m, when waterWhen the acoustic sensor network dynamically changes, the underwater sensor node cannot communicate with the neighbor nodes in the neighbor table, and the node number m of communication failure is recorded fail When node number m fail Reaching a preset threshold m threshold When, i.e. m fail ≥m threshold And (3) re-executing the whole neighbor discovery process in the step (3) so as to discover neighbor nodes thereof, and updating neighbor relations among the nodes to adapt to dynamic changes of the node links.
The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present invention. Two modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the invention. Thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
Claims (5)
1. A stepwise directional neighbor discovery method based on depth information division in an underwater acoustic sensor network is characterized by comprising the following steps:
s1, establishing a network model of an underwater sound sensing network;
the underwater sound sensing network comprises a plurality of underwater sensor nodes and a water surface base station, wherein the underwater sensor nodes are randomly distributed in an underwater area, sensed data are collected from surrounding environments, and the collected data are transmitted to the water surface base station through multi-hop transmission;
s2, establishing a beam model of the underwater sensor node;
dividing the beams of the underwater sensor nodes into two categories according to the depth information and the beam space characteristics of the underwater sensor nodes, wherein the method comprises the following steps: a vertical beam and a horizontal beam;
s3, dividing the whole neighbor discovery process into two steps according to the divided beam types, wherein the steps comprise: the specific method of the vertical beam neighbor discovery process and the horizontal beam neighbor discovery process is as follows:
s3-1: firstly, executing a vertical beam neighbor discovery process, wherein the underwater sensor node fixes a scanning process to be executed in a vertical beam, and realizes neighbor discovery in a vertical beam range, and the neighbor discovery process in the vertical beam range is as follows: the transmitting beam of the underwater sensor node scans the vertically upward beam, the receiving beam scans the vertically downward beam, and the different receiving and transmitting states among the neighboring nodes are ensured, so that the accuracy of data packet transmission among the nodes is ensured;
s3-2: and when the switching condition is met, performing mode switching, and executing a horizontal beam neighbor discovery process, wherein the underwater sensor node designs a scanning sequence for other beams according to a continuous annular arbitration method, so as to complete the beam alignment and neighbor discovery process, and the specific steps of the horizontal beam neighbor discovery process are as follows:
s3-21: adopting a continuous annular arbitration method to design a scanning sequence of horizontal beams, and assuming that the underwater sensor node has n horizontal beams, the time slot matrix is h×w:
wherein,,
s3-22: for each horizontal beam, randomly and repeatedly selecting a certain column c, wherein c is more than or equal to 1 and less than or equal to h, and selecting a certain row r from the column, wherein r is more than or equal to 1 and less than or equal to w; from the c column elements of the r rows back
Element ∈>
The elements form a quorum system, which is used as a scanning time slot of a horizontal beam, and the transceiving mode of the scanning time slot of the horizontal beam is designed as follows:
the transmitting beam selects row elements of the quorum system as transmitting time slots;
the receiving beam selects the column element of the quorum system as the receiving time slot;
s4, determining the re-emergence condition of the underwater sensor node: based on the information obtained by the underwater sensor node in the data transmission process, determining the neighbor relation change condition in different beams of the node, determining the condition of the underwater sensor node for executing rediscovery according to the whole neighbor relation of the underwater sensor node so as to adapt to the dynamic change of the node link, and executing the whole neighbor discovery process in the step 3 again when the rediscovery condition is met, so that other neighbor nodes are discovered.
2. The method for discovering the step-by-step directional neighbors based on depth information division in the underwater acoustic sensor network according to claim 1, wherein the specific construction method of the beam model of the underwater sensor node in step S2 is as follows:
s2-1: constructing a beam model of each underwater sensor node, wherein each underwater sensor node adopts a regular dodecahedron model to construct the beam model, each underwater sensor node is provided with a directional transducer and a vector hydrophone, twelve equal-sized beams are constructed through a beam forming method, each beam corresponds to one face of the regular dodecahedron, so that directional receiving and transmitting of the underwater sensor nodes are realized, and in addition, each underwater sensor node is provided with a pressure sensor for acquiring depth information;
s2-2: dividing the beams of the underwater sensor nodes into vertical beams and horizontal beams according to the depth information and the spatial characteristics of the beams, wherein the vertical beams are beams vertical to the sea level and comprise vertical upward beams and vertical downward beams; the horizontal beam is a beam parallel to the sea level.
3. The method for discovering stepwise directional neighbors based on depth information division in underwater acoustic sensor network according to claim 2, wherein in the step S2-1, each underwater sensor node has a dual beam, the dual beam adopts two transceiving modes including a transmitting beam and a receiving beam, and the transmitting beam and the receiving beam are not scanned simultaneously by the same beam.
4. The method for stepwise directional neighbor discovery based on depth information division in an underwater acoustic sensor network according to claim 1, wherein in the step S3-2, mode switching is performed when any one of the following switching conditions is satisfied:
when the time t of the mode reaches the time threshold t threshold When, i.e. t>t threshold Performing mode switching;
when the neighbor table of the underwater sensor node is in a preset time period t link When there is no change in the interior, i.e. t>t link Then a mode switch is performed.
5. The method for discovering step-by-step directional neighbors based on depth information division in underwater acoustic sensor network according to claim 1, wherein the re-discovery condition in step S4 is as follows:
assuming that the number of neighbor nodes of the underwater sensor nodes is m, when the underwater acoustic sensor network is dynamically changed, the underwater sensor nodes cannot communicate with the neighbor nodes in the neighbor table, and the number m of nodes with communication failure is recorded fail When node number m fail Reaching a preset threshold m threshold When, i.e. m fail ≥m threshold The entire neighbor discovery process of step 3 is re-performed so that its neighbor nodes are discovered.
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| CN113709035A (en) * | 2021-07-18 | 2021-11-26 | 西北工业大学 | Underwater sound network infiltration routing method |
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