CN111586786B - Ocean stereo sensing network routing method, device and storage medium - Google Patents
Ocean stereo sensing network routing method, device and storage medium Download PDFInfo
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Abstract
The invention provides a method and a device for routing a marine three-dimensional sensor network and a storage medium, which are used for realizing routing forwarding of data for the marine three-dimensional sensor network. The marine three-dimensional sensing network routing method comprises the following steps: obtaining a data packet to be forwarded, wherein the data packet to be forwarded carries a destination node type; judging the node types of the machine, wherein the node types comprise a water surface gateway node, an underwater sensing node and an air node; if the local node is judged to be a water surface gateway node or an air node, forwarding the data packet to be forwarded according to the type of the target node; and if the local node is judged to be the underwater sensing node, forwarding the data packet to be forwarded based on the depth information of the local node and the previous node.
Description
Technical Field
The invention relates to the technical field of ocean networks, in particular to a method and a device for routing an ocean stereo sensing network and a storage medium.
Background
The most widely used underwater sensing network consists of water surface gateway nodes and underwater sensing nodes, and the water surface gateway nodes have the functions of water wireless communication and underwater acoustic communication. And the underwater sensing nodes in the network transmit data to the water surface gateway node in an underwater acoustic communication mode, and the water surface gateway node transmits the data to a shore base station or a data center in an overwater wireless communication mode after receiving the data. The ocean stereo sensing network is different from an underwater wireless sensing network and comprises underwater sensing nodes, water surface gateway nodes and air nodes, and the water surface gateway nodes do not transmit data to a shore base or a data center after receiving data packets, but select to transmit the data from the network nodes. The routing has the function of establishing a data transmission path between a source node and a destination node, and the water surface gateway node is the key of the marine three-dimensional network routing.
Typical underwater routing protocols are VAPR (void-aware routing) and HydroCast (hydro-compressed based routing). VAPR routing uses sequence number, hop count, and depth information to select a route. And HydroCast belongs to a hybrid multicast route. The HydroCast routing combines the characteristics of the geographical position routing and the opportunistic routing, and the advantage of the geographical position routing is maximized by adjusting according to the depth of the nodes.
The dbr (depthbased routing) consists of an underwater sensing node and a surface gateway node equipped with a radio frequency modem and an underwater acoustic modem. The DBR routing algorithm is a simple routing protocol of the underwater wireless sensor network based on the depth information, the three-dimensional position information of the nodes does not need to be known, the decision of all the nodes in the network depends on the depth information, and the depth sensor is low in price and simple and easy to implement.
The DBMR (Depth-Based Multi-hop Routing Protocol) Protocol is divided into two processes of route discovery and data forwarding. After the nodes are deployed, the depth value is measured firstly, the route discovery process is started to obtain the next hop node, and the next hop node is stored in the route table. When a node has a data packet to send, firstly, whether a neighbor node exists in a routing table is inquired, if not, sending fails, a routing discovery process is triggered to find the neighbor node, and a next-hop node is selected from the neighbor nodes with small depth by comparing the depth information of the nodes to send the data packet. If the neighbor node receives the data packet, whether the neighbor node is an information sink node is checked, and if the neighbor node is the information sink node, the data packet is successfully received; otherwise, the data packet is forwarded continuously until the data packet is successfully received by the sink node.
A depth-based constrained void routing (DSVR) protocol is mainly divided into a network establishing stage, a data forwarding stage and an information updating stage. The network establishing stage is used for constructing a candidate forwarding node set and calculating a physical distance and hop count; in the data forwarding stage, firstly, candidate forwarding nodes are screened by using node depth, the weight of the node is calculated, and the next forwarding node is selected preferentially according to the weight; and the information updating stage is used for updating the physical distance and hop count information in real time. The DSVR protocol effectively solves the problem of routing holes and improves the transmission rate of data packets.
Both the VAPR and the HydroCast routes need to position the nodes, control overhead is inevitably increased in the process of estimating the positions of the nodes, and the cost is high, so that the method is not applicable to practical application.
The DBR protocol adopts a flooding transmission mechanism, if each node participates in forwarding, the complexity of the network is increased, a large amount of redundant data is generated, excessive energy consumption is caused, and the network bandwidth utilization rate is reduced. In the area with sparse deployment, a routing hole phenomenon may exist.
The DBSR protocol is also a routing protocol based on depth, but a flooding transmission mechanism is not adopted, so that a large amount of redundant data is not generated like the DBR protocol, excessive energy consumption is caused, network energy consumption can be balanced, and a routing hole phenomenon also exists.
Due to the fact that the underwater transmission bandwidth is limited, when the DSVR protocol forwards the data packet, the candidate forwarding set information needs to be embedded into the data packet, the information quantity of data forwarding is increased, and the effective utilization rate of the bandwidth is low.
The routing protocols and most routing mechanisms focus on researching how to effectively transmit data sensed by the underwater sensing nodes to the water surface, and the formed routing forwarding direction is single. When the network is arranged in an unmanned area such as a far sea and the like away from a data center, the nodes in the network need to perform routing selection to complete communication between an information source node and an information sink node, only a single link from an underwater sensing node to a water surface gateway node is studied, a real three-dimensional sensing network is not realized, and the condition that the information sink node is an air node and other underwater sensing nodes needs to be considered, so that the existing routing mechanism cannot be directly used for the ocean three-dimensional sensing network.
Disclosure of Invention
The embodiment of the invention provides a method and a device for routing a marine three-dimensional sensor network and a storage medium, which are used for realizing routing forwarding of data for the marine three-dimensional sensor network.
In a first aspect, a method for routing a marine three-dimensional sensor network is provided, which includes:
obtaining a data packet to be forwarded, wherein the data packet to be forwarded carries a destination node type;
judging the node types of the machine, wherein the node types comprise a water surface gateway node, an underwater sensing node and an air node;
if the local node is judged to be a water surface gateway node or an air node, forwarding the data packet to be forwarded according to the type of the target node; and if the local node is judged to be the underwater sensing node, forwarding the data packet to be forwarded based on the depth information of the local node and the previous node.
In one embodiment, obtaining a packet to be forwarded includes:
receiving a data packet to be forwarded sent by a previous node; and
before judging the type of the native node, the method further comprises the following steps:
and updating a neighbor node table maintained by the local node according to the received data to be forwarded, wherein the neighbor node table comprises a neighbor node identifier and a neighbor node type.
In an embodiment, if it is determined that the local node is a water surface gateway node, performing forwarding processing on the packet to be forwarded according to the destination node type includes:
if the destination node is a water surface gateway node or an air node, forwarding the data packet to be forwarded in a water wireless communication mode;
if the destination node is an underwater sensing node, judging whether the destination node is an underwater sensing node in the coverage range of a local node, if so, judging whether a forwarding success table maintained by the forwarding success table contains a transmitting node identifier and a packet serial number, if not, further judging whether a temporary routing table maintained by the forwarding success table contains the data packet to be forwarded, wherein the temporary routing table contains the packet serial number and the predicted transmitting time, if so, modifying the forwarding direction of the data packet to be forwarded to be downward, and adding the node information into the data packet to be forwarded, and determining the forwarding time of the data packet to be forwarded, updating the temporary routing table according to the determined forwarding time, and forwarding the data packet to be forwarded according to the forwarding direction in the data packet to be forwarded when the forwarding time reaches according to the updated temporary routing table.
In one embodiment, if it is determined that the local node is an air node, forwarding the to-be-forwarded data packet according to the destination node type includes:
if the destination node is a water surface gateway node, forwarding the data packet to be forwarded in a water surface wireless communication mode;
and if the target node is an underwater sensing node, forwarding the data packet to be forwarded to the water surface gateway node in a water wireless communication mode.
In one embodiment, the to-be-forwarded data packet further carries a forwarding direction, and if it is determined that the local node is an underwater sensing node, the to-be-forwarded data packet is forwarded based on depth information of the local node and a previous node, including:
judging whether the depth information of the node is less than the depth information of the previous hop node, if not, judging whether a target node is contained in the neighbor node table, if so, judging whether a forwarding success table maintained by the node contains the data packet to be forwarded or not, wherein the forwarding success table contains a sending node identifier and a packet serial number, if not, further judging whether a temporary routing table maintained by the node contains the data packet to be forwarded or not, wherein the temporary routing table contains a packet serial number and predicted sending time, and if not, adding the node information into the data packet to be forwarded, and determining the forwarding time of the data packet to be forwarded, updating the temporary routing table according to the determined forwarding time, and forwarding the data packet to be forwarded according to the forwarding direction in the data packet to be forwarded when the forwarding time reaches according to the updated temporary routing table.
In one embodiment, the forwarding time of the data packet to be forwarded is determined according to the following method:
wherein:
d, e respectively represents the depth difference between the previous hop node and the current node and the residual energy of the node;
r is the maximum distance of communication of the underwater sensing nodes;
c is the speed of sound in water; δ ∈ (0, R ];
beta is an energy coefficient which ensures the balanced setting of the node energy, if the residual energy of the node is more, the priority of the node participating in forwarding is higher, the beta value is smaller, and the forwarding time is smaller.
In one embodiment, obtaining a packet to be forwarded includes:
encapsulating the data to be forwarded into a data packet to be forwarded; and
if the local node is judged to be the water surface gateway node, forwarding the data packet to be forwarded according to the type of the target node, wherein the forwarding process comprises the following steps: if the destination node is a water surface gateway node or an air node, forwarding the data packet to be forwarded in a water wireless communication mode; if the destination node is an underwater sensing node, judging whether the destination node is an underwater sensing node in the coverage area of the local node, if so, setting the forwarding direction of the data packet to be forwarded to be downward forwarding, determining the forwarding time of the data packet to be forwarded, updating the temporary routing table according to the determined forwarding time, and forwarding the data packet to be forwarded according to the forwarding direction in the data packet to be forwarded according to the updated temporary routing table when the forwarding time is up.
If the local node is judged to be the air node, forwarding the data packet to be forwarded according to the type of the target node, wherein the forwarding process comprises the following steps: if the target node is an underwater sensing node, forwarding the data packet to be forwarded to a water surface gateway node; if the target node is not the underwater sensing node, forwarding the data packet to be forwarded by adopting an over-water wireless communication mode;
and if the local node is judged to be the underwater sensing node, setting the forwarding direction in the data packet to be forwarded as upward forwarding, determining the forwarding time of the data packet to be forwarded, updating the temporary routing table according to the determined forwarding time, and forwarding the data packet to be forwarded according to the forwarding direction in the data packet to be forwarded according to the updated temporary routing table when the forwarding time is up.
In a second aspect, a marine stereoscopic sensing network routing device is provided, which includes:
an obtaining unit, configured to obtain a data packet to be forwarded, where the data packet to be forwarded carries a destination node type;
the judging unit is used for judging the node types of the local machine, wherein the node types comprise a water surface gateway node, an underwater sensing node and an air node;
the forwarding unit is used for forwarding the data packet to be forwarded according to the type of the target node if the local node is judged to be a water surface gateway node or an air node; and if the local node is judged to be the underwater sensing node, forwarding the data packet to be forwarded based on the depth information of the local node and the previous node.
In a third aspect, a computing device is provided, the computing device comprising: the device comprises a memory, a processor and a computer program stored on the memory and capable of running on the processor, wherein the computer program realizes the steps of any one of the marine stereoscopic sensing network routing methods when being executed by the processor.
In a fourth aspect, a computer storage medium is provided, where a computer program is stored on the computer storage medium, and the computer program, when executed by a processor, implements the steps of any of the above-mentioned marine stereoscopic sensing network routing methods.
By adopting the technical scheme, the invention at least has the following advantages:
according to the routing method, the device and the storage medium of the ocean stereo sensing network, after each node obtains a data packet to be forwarded, the forwarding mode of the data packet is determined according to the node type of the node, if the local node is a water surface gateway node or an air node, the forwarding is carried out according to the type of a target node, and if the local node is an underwater sensing node, the data packet to be forwarded is forwarded based on the depth information of the local node and the previous node, so that the data routing forwarding in the ocean stereo sensing network comprising the water surface gateway node, the underwater sensing node and the air node is realized.
Drawings
FIG. 1 is a schematic structural diagram of a marine three-dimensional sensor network according to an embodiment of the invention;
FIG. 2 is a schematic flow chart of an implementation of a marine stereo sensor network routing method according to an embodiment of the present invention;
fig. 3 is a schematic diagram illustrating an interworking manner between nodes in a marine three-dimensional sensor network according to an embodiment of the present invention;
FIG. 4 is a schematic diagram of an application scenario according to an embodiment of the present invention;
fig. 5 is a schematic diagram of route forwarding when a local node is a source node according to an embodiment of the present invention;
fig. 6 is a schematic implementation flow diagram of a marine three-dimensional sensor network routing method when a local node is an intermediate forwarding node according to an embodiment of the present invention;
fig. 7 is a schematic structural diagram of a marine stereo sensor network routing device according to an embodiment of the present invention.
Detailed Description
To further explain the technical means and effects of the present invention adopted to achieve the intended purpose, the present invention will be described in detail with reference to the accompanying drawings and preferred embodiments.
It should be noted that the terms "first", "second", and the like in the description and the claims of the embodiments of the present invention and in the drawings described above are used for distinguishing similar objects and not necessarily for describing a particular order or sequence. It will be appreciated that the data so used may be interchanged under appropriate circumstances such that the embodiments described herein may be practiced otherwise than as specifically illustrated or described herein.
Reference herein to "a plurality or a number" means two or more. "and/or" describes the association relationship of the associated objects, meaning that there may be three relationships, e.g., a and/or B, which may mean: a exists alone, A and B exist simultaneously, and B exists alone. The character "/" generally indicates that the former and latter associated objects are in an "or" relationship.
As shown in fig. 1, it is a schematic structural diagram of an ocean stereo sensor network. The whole network node set is assumed to be N, and the whole network consists of underwater sensing nodes, water surface gateway nodes and air nodes. Radius of underwater acoustic communication is reWherein the set of underwater sensor nodes is denoted Nn＝{n1,n2,…nNDenoted N for sea level node sets＝{s1,s2,…,sSAnd the underwater acoustic communication and the water wireless communication are realized. The air node set is denoted as Na＝{a1,a2,…,aAAnd connecting the node with a water surface gateway node in a water wireless communication mode, wherein N is equal to Nn∪Ns∪Na。
During specific implementation, the air nodes are mainly low-altitude platforms such as unmanned aerial vehicles and helicopters and carry underwater wireless communication equipment, and the underwater wireless communication speed is high, the time delay is low and the communication modes are various; the water surface gateway node is mainly a water surface buoy and has the functions of water wireless communication and underwater acoustic communication; the underwater node carries the underwater acoustic communication machine and the depth sensor, and can obtain underwater acoustic communication data and self depth information. And the communication between the air nodes and the water surface gateway node adopt a water wireless communication mode.
As shown in fig. 2, which is a schematic flow chart of an implementation of a marine stereo sensor network routing method according to an embodiment of the present invention, the method includes the following steps:
and S21, obtaining the data packet to be forwarded.
In specific implementation, the local node obtains the data packet in the following two ways:
and in the first acquisition mode, the local node is a source node.
In this embodiment, the source node encapsulates the data to be forwarded into packets. Specifically, when a node in the network has a need to send data, the data is first encapsulated into a data packet.
And in the second acquisition mode, the local node is an intermediate node.
In this embodiment, the native node receives the forwarded packet from the previous hop node.
As shown in table 1, it is a schematic diagram of a possible encapsulation structure of a data packet provided in the embodiment of the present invention:
TABLE 1
The packet sequence number is a sequence number assigned to each data packet by the source node, and forms an ID of the data packet together with a source node Identification (ID). The previous hop node Identification (ID) and the previous hop node depth are derived from previous hop node information, and the underwater sensing node adds the depth information of the underwater sensing node to a data packet and updates the data packet hop by hop along with the forwarding of the data packet. The forwarding direction in the data packet is a flag bit which can be changed by the water surface gateway node, and the forwarding direction of the data packet is judged according to the type of the destination node and the Identification (ID) of the destination node.
And S22, judging the type of the local node, if the local node is judged to be a water surface gateway node or an air node, executing a step S23, and if the local node is judged to be an underwater sensing node, executing a step S24.
And S23, forwarding the data packet to be forwarded according to the type of the destination node, and ending the process.
And S24, forwarding the data packet to be forwarded based on the depth information of the node and the previous node.
In specific implementation, in order to reduce the number of forwarding nodes and the number of times of repeatedly sending data packets, each node maintains 3 tables: the temporary routing table T1, the forwarding success table T2 and the neighbor node table T3 are shown in table 2, table 3 and table 4, respectively.
TABLE 2
| Data packet identification | Estimated transmission time |
| Data packet 1 | |
| Data packet | |
| 2 | T2 |
| Data packet 3 | T3 |
| …… | …… |
TABLE 3
| Sending node identification | Packet sequence number |
| Sending node ID1 | Packet sequence number 1 |
| Sending node ID2 | |
| Sending node ID3 | Packet sequence number 3 |
| …… | …… |
TABLE 4
In specific implementation, the node type may be represented by two-bit binary bits, for example, 00 represents a water surface gateway node, 01 represents an air node, 10 represents an underwater sensing node, and the like.
The underwater sensing node adopts a forwarding mechanism based on depth information, the default forwarding direction in the data packet is upward forwarding, the data packet is added into a T1 table to wait for forwarding, the expected sending time is reached, and the T2 table is updated after the data packet is successfully forwarded. In the T1 table, the estimated transmission time can be determined according to the depth information and the remaining energy as follows:
wherein: d, e respectively represents the depth difference between the previous hop node and the current node and the residual energy of the node; r is the maximum distance of communication of the underwater sensing nodes; c is the speed of sound in water; the delta belongs to (0, R) and the delta value determines the number of nodes participating in data packet forwarding, the smaller the delta value is, the fewer the nodes participating in forwarding are, the energy consumption is reduced, but the network delay is longer, the beta is an energy coefficient for ensuring the balance of node energy, if the residual energy of the nodes is more, the higher the forwarding priority is, the smaller the beta value is, and the smaller the forwarding time is.
When the network is initialized, each table maintained by each node is empty. When a certain node receives a data packet, the data packet is not immediately forwarded, but the forwarding time of the data packet is estimated, and once the time is up and other nodes are not monitored to forward the data packet, the data packet is immediately forwarded. The T1 table is used to record the forwarding time of the data packet to be forwarded, and delete the record after sending a certain data packet; t2 records the data packet sent recently, and each time a node sends a data packet successfully, a record is added in the T2 table; the T3 is used to store one-hop neighbor node information, and updates the neighbor node information to the T3 table after receiving the data packet.
In specific implementation, a coverage area is defined for each water surface gateway node, and the water surface gateway nodes are provided with underwater sensing node IDs in the coverage areas, so that routing forwarding selection is facilitated. After deployment of the underwater sensing nodes is completed, a data packet with self information is sent to the water surface gateway node based on a routing mechanism with an upward depth, a process that the water surface gateway node collects information of the underwater sensing nodes in a coverage area is completed, and meanwhile, nodes passing by the routing update a neighbor node table. The water surface gateway node is a key node of the ocean stereo sensing network, judges the type of a target node when sending data, forwards the data in an overwater wireless communication mode if the data is an air node or a water surface gateway node, and changes a forwarding direction flag bit in a data packet by adopting a depth-based downward forwarding mode if the data is an underwater node in the coverage area of the node; and if the node is not the underwater node in the coverage area of the node, forwarding the data to other water surface gateway nodes.
When the local node receives the data packet, the previous hop node information of the data packet is updated to T3. And further judging whether the node is a destination node, if so, ending the process, returning to an idle state, and if not, routing and forwarding the data.
In specific implementation, the ocean stereo sensor network can realize several intercommunication modes, such as underwater → water surface/air, water surface/air → underwater, underwater → underwater, and the like, as shown in fig. 3. Wherein:
A. underwater → surface/air: by means of depth information based upward forwarding and over-the-water wireless communication;
B. water/air → water/air: through the water wireless communication mode;
C. surface/air → underwater: the air node forwards the data packet to a water surface gateway node, and the water surface gateway node judges whether the data packet is an underwater node in the range of the water surface gateway node or not and selects to forward the data packet downwards or to other water surface gateway nodes;
D. underwater → underwater: if the destination node passes through the upward forwarding process, only a depth-up forwarding mode is needed, otherwise, the data packet is forwarded to the water surface gateway node, and data forwarding is carried out according to an underwater → water surface/air → underwater routing mode.
The neighbor node table maintained by the underwater sensing node is convenient for finding whether a routing cavity occurs or not. And if the routing hole occurs, returning to the previous hop forwarding node, and selecting other nodes to forward the data packet. When the source node and the destination node are underwater nodes, and the destination node is deeper than the source node and is not a one-hop neighbor node of the source node, as shown in fig. 4. In this case, the data packet is forwarded from the source node to the surface gateway node first. Node n1Broadcast data packet, node n2、n3Can be received. In principle n3Cannot forward for depth reasons, but node n3In the neighbor node table of the destination node n4I.e. destination node is within one hop range, node n3As well as participate in forwarding.
The following describes an implementation flow of the marine three-dimensional sensor network routing method provided by the embodiment of the present invention, taking a local node as a source node and an intermediate node as examples.
As shown in fig. 5, it is a schematic diagram of route forwarding when a local node is a source node, and includes the following steps:
and S51, encapsulating the data to be forwarded into a data packet to be forwarded.
And S52, judging the type of the local node, executing a step S53 if the local node is judged to be a water surface gateway node, executing a step S511 if the local node is judged to be an air node, and executing a step S514 if the local node is judged to be an underwater sensing node.
And S53, judging whether the destination node is an underwater sensing node, if not, executing a step S54, and if so, executing a step S55.
During specific implementation, whether the target node is an underwater sensing node can be judged according to the type of the target node.
And S54, forwarding the data packet to be forwarded in a water wireless communication mode, and ending the process.
In specific implementation, the destination node is a water surface gateway node or an air node, and the data packet to be forwarded is forwarded in a water wireless communication mode.
S55, judging whether the destination node is an underwater sensing node in the coverage range of the local node, if so, executing a step S56, otherwise, executing a step S510.
And S56, setting the forwarding direction of the data packet to be forwarded as downward forwarding.
And S57, determining the forwarding time of the data packet to be forwarded.
And S58, updating the temporary routing table according to the determined forwarding time.
And S59, forwarding the data packet to be forwarded according to the updated temporary routing table, and ending the process.
Specifically, according to the updated temporary routing table, when the forwarding time arrives, the data packet to be forwarded is forwarded according to the forwarding direction in the data packet to be forwarded.
And S510, forwarding to other water surface gateway nodes, and ending the process.
And S511, judging whether the target node is an underwater sensing node or not according to the type of the target node, if not, executing the step S512, and if so, executing the step S513.
S512, the data packet to be forwarded is forwarded in a water wireless communication mode, and the process is finished.
And S513, forwarding the water surface gateway node, and ending the process.
And S514, determining the forwarding time of the data packet to be forwarded.
And S515, updating the temporary routing table according to the determined forwarding time.
And S516, forwarding the data packet to be forwarded according to the updated temporary routing table, and ending the process.
And forwarding the data packet to be forwarded according to the forwarding direction in the data packet to be forwarded when the forwarding time is up according to the updated temporary routing table, and ending the process.
In specific implementation, the default forwarding direction in the data packet encapsulated by the source node is upward forwarding, so that the underwater node forwards the data packet by adopting a depth-upward-based forwarding mode when the forwarding time arrives.
In specific implementation, after the data packet is successfully forwarded, the local node updates the forwarding success table and updates the local receiving state to be an idle state.
As shown in fig. 6, which is a schematic implementation flow diagram of the marine three-dimensional sensor network routing method provided in the embodiment of the present invention when a local node is an intermediate forwarding node, the method includes the following steps:
and S61, the local node receives the data packet to be forwarded sent by the previous hop node.
And S62, updating the neighbor node table maintained by the local node according to the received data to be forwarded.
S63, judging whether the local node is a destination node, if so, ending the process; if not, step S64 is performed.
And S64, judging the type of the local node, executing a step S65 if the local node is judged to be a water surface gateway node, executing a step S616 if the local node is judged to be an air node, and executing a step S619 if the local node is judged to be an underwater sensing node.
And S65, judging whether the destination node is an underwater sensing node, if not, executing a step S66, and if so, executing a step S67.
Specifically, whether the destination node is an underwater sensing node can be judged according to the type of the destination node in the data packet to be forwarded.
And S66, forwarding the data packet to be forwarded in a water wireless communication mode, and ending the process.
In specific implementation, the destination node is a water surface gateway node or an air node, and the data packet to be forwarded is forwarded in a water wireless communication mode.
S67, judging whether the destination node is an underwater sensing node in the coverage range of the local node, if so, executing a step S68, otherwise, executing a step S615.
S68, judging whether the forwarding success table maintained by the forwarding success table contains the data packet to be forwarded, if yes, executing step S627, and if not, executing step S69.
S69, judging whether the temporary routing table maintained by the self contains the data packet to be forwarded, if yes, executing step S612, and if not, executing step S610.
S610, setting the forwarding direction of the data packet to be forwarded as downward forwarding.
S611, adding the node information into the data to be forwarded.
And S612, determining the forwarding time of the data packet to be forwarded.
S613, updating the temporary routing table according to the determined forwarding time.
S614, forwarding the data packet to be forwarded according to the updated temporary routing table, and ending the process
Specifically, according to the updated temporary routing table, when the forwarding time is reached, the data packet to be forwarded is forwarded according to the forwarding direction in the data packet to be forwarded, and the process is ended.
And S615, forwarding to other water surface gateway nodes, and ending the process.
And S616, judging whether the destination node is an underwater sensing node or not according to the type of the destination node, if not, executing a step S617, and if so, executing a step S618.
And S617, forwarding the data packet to be forwarded in a water wireless communication mode, and ending the process.
And S618, discarding the data packet and ending the process.
S619, judging whether the depth information of the self node is smaller than the depth information of the previous hop node, if not, executing the step S620, and if so, executing the step S621.
S620, judging whether the neighbor node table contains the destination node, if so, executing the step S621, and if not, executing the step S627.
S621, judging whether the forwarding success table maintained by the forwarding success table itself contains the data packet to be forwarded, if so, executing step S627, and if not, executing step S622.
S622, judging whether the temporary routing table maintained by the self contains the data packet to be forwarded or not, if so, executing the step S624, and if not, executing the step S623.
And S623, adding the node information into the data to be forwarded.
And S624, determining the forwarding time of the data packet to be forwarded.
And S625, updating the temporary routing table according to the determined forwarding time.
And S626, according to the updated temporary routing table, when the forwarding time is up, forwarding the data packet to be forwarded according to the forwarding direction in the data packet to be forwarded, and ending the process.
And S627, discarding the data packet.
In specific implementation, after the data packet is successfully forwarded, the local node updates the forwarding success table and updates the local grounding state to be an idle state.
The routing method provided by the embodiment of the invention can be applied to the aspects of sea area military investigation, port intrusion monitoring, marine hydrological information detection, marine fishery resource investigation, marine mineral resource exploration, underwater disaster early warning, enemy target monitoring and the like, and has the following advantages:
1. the ocean stereo sensing network routing mechanism is a routing solution scheme capable of realizing information intercommunication of nodes in the air, on the water surface and under the water;
2. the underwater sensing node and the water surface gateway node locally maintain three tables for searching, namely a temporary routing table, a forwarding success table and an adjacent node table, and are used for reference during routing selection, so that repeated sending of data packets is avoided, the number of forwarding nodes is reduced, and routing holes are conveniently found;
3. the ocean stereo sensing network routing mechanism adopts an upward forwarding mechanism based on depth information and a downward forwarding mechanism based on depth information, can obtain the depth information only by installing a cheap depth sensor on an underwater node, and is easy for practical application.
For a better understanding of the present invention, the following description is given in conjunction with specific examples.
Example 1 non-cooperative target stereo monitoring
Taking the case that the underwater nodes inform the air nodes of the position information of the non-cooperative target as an example, the analysis is carried out:
1) encapsulating into data packets
And loading the non-cooperative target position information into a data packet, and packaging according to a defined data packet format. The default forwarding direction is forwarding based on depth up;
2) updating temporary routing tables
Adding the encapsulated data packet into a temporary routing table to wait for forwarding;
3) updating a forwarding success table
After the data packet is successfully forwarded, updating a forwarding success table of the node;
4) route forwarding
The route forwarding stage is mainly carried out according to the flow of fig. 4, a data packet is forwarded to a water surface gateway node by an underwater node in a multi-hop mode, and then the water surface gateway node is forwarded to an aerial target node in a water wireless communication mode;
5) target node reception
And the target node receives the data packet and extracts the non-cooperative target position information in the data packet.
This completes the routing process of data transfer.
Example 2 air-sea federated data forwarding
In the previous example, the aerial node receives the data packet forwarded by the underwater node, extracts the information of the non-cooperative target, determines the position of the non-cooperative target by combining the information sensed by the aerial node and the information sensed by the aerial node, transmits an attack command to the underwater node, and accurately strikes the non-cooperative target. The routing process that the aerial node sends a striking command to the underwater node comprises the following steps:
1) encapsulating into data packets
The aerial node encapsulates the command instruction into a data packet, and as the target node is an underwater node, the command instruction is forwarded to the water surface gateway node in a broadcasting manner through an over-water wireless communication manner;
2) water surface gateway node judging and forwarding
After receiving the data packet, the water surface gateway node judges whether a target node is in the coverage range of the target node, if the target is in the range of the target node, downward forwarding based on depth information is selected, and if not, the data packet is discarded;
3) underwater node reception
The underwater node receives the data packet, firstly, the local adjacent node table of the node is updated, whether the node is a target node is judged, and if the node is the target node, the routing is finished; if not, further judging forwarding, see fig. 4 for details, and repeating step 3) until the destination node receives the message.
After the target hitting command of the air node reaches the underwater target node, the air node and the underwater node jointly hit the target, and air-sea combined operation is achieved.
The underwater part of the ocean stereo monitoring network provided by the embodiment of the invention adopts route forwarding based on depth, so that the energy-saving and route cavity avoiding capabilities are increased, and the water surface and the nodes above adopt an over-water wireless communication mode without much research. The network routing can complete routing interconnection among nodes of the ocean stereoscopic sensing network to form a network capable of operating independently.
Based on the same technical concept, embodiments of the present invention further provide a marine stereoscopic sensor network routing apparatus, respectively, and because the principles of the apparatus for solving the problems are similar to those of the marine stereoscopic sensor network routing method, the method can be referred to for implementation of the apparatus, and repeated details are not described again.
As shown in fig. 7, which is a schematic structural diagram of a routing device of an ocean stereo sensor network according to an embodiment of the present invention, the routing device includes:
an obtaining unit 71, configured to obtain a data packet to be forwarded, where the data packet to be forwarded carries a destination node type;
the judging unit 72 is used for judging the node types of the local machine, wherein the node types comprise a water surface gateway node, an underwater sensing node and an air node;
a forwarding unit 73, configured to forward the data packet to be forwarded according to the type of the destination node if it is determined that the local node is a water-surface gateway node or an air node; and if the local node is judged to be the underwater sensing node, forwarding the data packet to be forwarded based on the depth information of the local node and the previous node.
In an implementation manner, the routing apparatus for a marine stereo sensor network provided in the embodiment of the present invention may further include an updating unit, where:
the obtaining unit 71 may be configured to receive a packet to be forwarded, where the packet is sent by a previous-hop node.
The updating unit may be configured to update a neighbor node table maintained by the local node according to the received data to be forwarded, where the neighbor node table includes a neighbor node identifier and a neighbor node type.
In one embodiment, the forwarding unit 73 may be configured to forward the data packet to be forwarded through a water-borne wireless communication manner if the destination node is a water-surface gateway node or an air node; if the destination node is an underwater sensing node, judging whether the destination node is an underwater sensing node in the coverage range of a local node, if so, judging whether a forwarding success table maintained by the forwarding success table contains a transmitting node identifier and a packet serial number, if not, further judging whether a temporary routing table maintained by the forwarding success table contains the data packet to be forwarded, wherein the temporary routing table contains the packet serial number and the predicted transmitting time, if so, modifying the forwarding direction of the data packet to be forwarded to be downward, and adding the node information into the data packet to be forwarded, and determining the forwarding time of the data packet to be forwarded, updating the temporary routing table according to the determined forwarding time, and forwarding the data packet to be forwarded according to the forwarding direction in the data packet to be forwarded when the forwarding time reaches according to the updated temporary routing table.
In an embodiment, the forwarding unit 73 may be configured to forward the data packet to be forwarded through a water-borne wireless communication manner if the destination node is a water-surface gateway node; and if the target node is an underwater sensing node, forwarding the data packet to be forwarded to the water surface gateway node in a water wireless communication mode.
In one embodiment, the forwarding unit 73 may be configured to determine whether the depth information of the self node is less than the depth information of the previous-hop node, if not, determine whether the neighbor node table includes the destination node, if it is determined that the neighbor node table includes the destination node or that the information of the self node is less than the depth information of the previous-hop node, determine whether the forwarding success table maintained by the self node includes the packet to be forwarded, where the forwarding success table includes a sending node identifier and a packet sequence number, if it is determined that the forwarding success table does not include the packet to be forwarded, further determine whether the temporary routing table maintained by the self node table includes the packet to be forwarded, where the temporary routing table includes a packet sequence number and an expected sending time, if it is determined that the temporary routing table does not include the packet to be forwarded, adding the node information into the data packet to be forwarded, determining the forwarding time of the data packet to be forwarded, updating the temporary routing table according to the determined forwarding time, and forwarding the data packet to be forwarded according to the forwarding direction in the data packet to be forwarded when the forwarding time is up according to the updated temporary routing table.
In one embodiment, the forwarding unit 73 may be configured to determine the forwarding time of the data packet to be forwarded according to the following method:
wherein:
d, e respectively represents the depth difference between the previous hop node and the current node and the residual energy of the node;
r is the maximum distance of communication of the underwater sensing nodes;
c is the speed of sound in water; δ ∈ (0, R ];
beta is an energy coefficient which ensures the balance of node energy, if the residual energy of the node is more, the higher the forwarding priority is, the smaller the beta value is, and the smaller the forwarding time is.
In one embodiment, the obtaining unit 71 may be configured to encapsulate data to be forwarded into a data packet to be forwarded.
The forwarding unit 73 may be configured to, if it is determined that the local node is a water surface gateway node, perform forwarding processing on the data packet to be forwarded according to the destination node type, where the forwarding processing includes: if the destination node is a water surface gateway node or an air node, forwarding the data packet to be forwarded in a water wireless communication mode; if the destination node is an underwater sensing node, judging whether the destination node is an underwater sensing node in the coverage area of the local node, if so, setting the forwarding direction of the data packet to be forwarded to be downward forwarding, determining the forwarding time of the data packet to be forwarded, updating the temporary routing table according to the determined forwarding time, and forwarding the data packet to be forwarded according to the forwarding direction in the data packet to be forwarded according to the updated temporary routing table when the forwarding time is up. If the local node is judged to be the air node, forwarding the data packet to be forwarded according to the type of the target node, wherein the forwarding process comprises the following steps: if the target node is an underwater sensing node, forwarding the data packet to be forwarded to a water surface gateway node; if the target node is not the underwater sensing node, forwarding the data packet to be forwarded by adopting an over-water wireless communication mode; and if the local node is judged to be the underwater sensing node, determining the forwarding time of the data packet to be forwarded, updating the temporary routing table according to the determined forwarding time, and forwarding the data packet to be forwarded according to the forwarding direction in the data packet to be forwarded according to the updated temporary routing table when the forwarding time is up.
Based on the same technical concept, an embodiment of the present invention further provides a computing apparatus, including: the device comprises a memory, a processor and a computer program stored on the memory and capable of running on the processor, wherein the computer program realizes the steps of any one of the marine stereoscopic sensing network routing methods when being executed by the processor.
Based on the same technical concept, the embodiment of the invention also provides a computer storage medium, wherein a computer program is stored on the computer storage medium, and when being executed by a processor, the computer program realizes the steps of any one of the marine three-dimensional sensor network routing methods.
While the invention has been described in connection with specific embodiments thereof, it is to be understood that it is intended by the appended drawings and description that the invention may be embodied in other specific forms without departing from the spirit or scope of the invention.
Claims (9)
1. A marine three-dimensional sensor network routing method is characterized by comprising the following steps:
obtaining a data packet to be forwarded, wherein the data packet to be forwarded carries a destination node type;
judging the node types of the machine, wherein the node types comprise a water surface gateway node, an underwater sensing node and an air node;
if the local node is judged to be a water surface gateway node or an air node, forwarding the data packet to be forwarded according to the type of the target node; if the local node is judged to be the underwater sensing node, forwarding the data packet to be forwarded based on the depth information of the local node and the previous node;
if the local node is judged to be the water surface gateway node, forwarding the data packet to be forwarded according to the type of the target node, wherein the forwarding process comprises the following steps:
if the destination node is a water surface gateway node or an air node, forwarding the data packet to be forwarded in a water wireless communication mode;
if the destination node is an underwater sensing node, judging whether the destination node is an underwater sensing node in the coverage range of a local node, if so, judging whether a forwarding success table maintained by the forwarding success table contains a transmitting node identifier and a packet serial number, if not, further judging whether a temporary routing table maintained by the forwarding success table contains the data packet to be forwarded, wherein the temporary routing table contains the packet serial number and the predicted transmitting time, if so, modifying the forwarding direction of the data packet to be forwarded to be downward, and adding the node information into the data packet to be forwarded, and determining the forwarding time of the data packet to be forwarded, updating the temporary routing table according to the determined forwarding time, and forwarding the data packet to be forwarded according to the forwarding direction in the data packet to be forwarded when the forwarding time reaches according to the updated temporary routing table.
2. The method of claim 1, wherein obtaining the data packet to be forwarded comprises:
receiving a data packet to be forwarded sent by a previous hop node; and
before judging the type of the native node, the method further comprises the following steps:
and updating a neighbor node table maintained by the local node according to the received data to be forwarded, wherein the neighbor node table comprises a neighbor node identifier and a neighbor node type.
3. The method according to claim 2, wherein if it is determined that the local node is an air node, forwarding the to-be-forwarded packet according to the destination node type includes:
if the destination node is a water surface gateway node, forwarding the data packet to be forwarded in a water surface wireless communication mode;
and if the target node is an underwater sensing node, forwarding the data packet to be forwarded to the water surface gateway node in a water wireless communication mode.
4. The method according to claim 2, wherein the data packet to be forwarded further carries a forwarding direction, and if it is determined that the local node is an underwater sensor node, the forwarding processing is performed on the data packet to be forwarded based on depth information of the local node and a previous node, including:
judging whether the depth information of the node is less than the depth information of the previous hop node, if not, judging whether a target node is contained in the neighbor node table, if so, judging whether a forwarding success table maintained by the node contains the data packet to be forwarded or not, wherein the forwarding success table contains a sending node identifier and a packet serial number, if not, further judging whether a temporary routing table maintained by the node contains the data packet to be forwarded or not, wherein the temporary routing table contains a packet serial number and predicted sending time, and if not, adding the node information into the data packet to be forwarded, and determining the forwarding time of the data packet to be forwarded, updating the temporary routing table according to the determined forwarding time, and forwarding the data packet to be forwarded according to the forwarding direction in the data packet to be forwarded when the forwarding time reaches according to the updated temporary routing table.
5. The method according to claim 1 or 4, characterized in that the forwarding time of the data packet to be forwarded is determined according to the following method:
wherein:
d, e respectively represents the depth difference between the previous hop node and the current node and the residual energy of the node;
r is the maximum distance of communication of the underwater sensing nodes;
c is the speed of sound in water; δ ∈ (0, R ];
beta is an energy coefficient which ensures the balance of node energy, if the residual energy of the node is more, the higher the forwarding priority is, the smaller the beta value is, and the smaller the forwarding time is.
6. The method of claim 1, wherein obtaining the data packet to be forwarded comprises:
encapsulating the data to be forwarded into a data packet to be forwarded; and
if the local node is judged to be the water surface gateway node, forwarding the data packet to be forwarded according to the type of the target node, wherein the forwarding process comprises the following steps: if the destination node is a water surface gateway node or an air node, forwarding the data packet to be forwarded in a water wireless communication mode; if the destination node is an underwater sensing node, judging whether the destination node is an underwater sensing node in the coverage area of a local node, if so, setting the forwarding direction of the data packet to be forwarded as downward forwarding, determining the forwarding time of the data packet to be forwarded, updating a temporary routing table according to the determined forwarding time, and forwarding the data packet to be forwarded according to the forwarding direction in the data packet to be forwarded according to the updated temporary routing table when the forwarding time is up;
if the local node is judged to be the air node, forwarding the data packet to be forwarded according to the type of the target node, wherein the forwarding process comprises the following steps: if the target node is an underwater sensing node, forwarding the data packet to be forwarded to a water surface gateway node; if the target node is not the underwater sensing node, forwarding the data packet to be forwarded by adopting an over-water wireless communication mode;
and if the local node is judged to be the underwater sensing node, determining the forwarding time of the data packet to be forwarded, updating the temporary routing table according to the determined forwarding time, and forwarding the data packet to be forwarded according to the forwarding direction in the data packet to be forwarded according to the updated temporary routing table when the forwarding time is up.
7. A marine three-dimensional sensor network routing device is characterized by comprising:
an obtaining unit, configured to obtain a data packet to be forwarded, where the data packet to be forwarded carries a destination node type;
the judging unit is used for judging the node types of the local machine, wherein the node types comprise a water surface gateway node, an underwater sensing node and an air node;
the forwarding unit is used for forwarding the data packet to be forwarded according to the type of the target node if the local node is judged to be a water surface gateway node or an air node; if the local node is judged to be the underwater sensing node, forwarding the data packet to be forwarded based on the depth information of the local node and the previous node;
the forwarding unit is specifically configured to, if it is determined that the local node is a water surface gateway node, forward the data packet to be forwarded according to the destination node type, and includes: if the destination node is a water surface gateway node or an air node, forwarding the data packet to be forwarded in a water wireless communication mode; if the destination node is an underwater sensing node, judging whether the destination node is an underwater sensing node in the coverage range of a local node, if so, judging whether a forwarding success table maintained by the forwarding success table contains a transmitting node identifier and a packet serial number, if not, further judging whether a temporary routing table maintained by the forwarding success table contains the data packet to be forwarded, wherein the temporary routing table contains the packet serial number and the predicted transmitting time, if so, modifying the forwarding direction of the data packet to be forwarded to be downward, and adding the node information into the data packet to be forwarded, and determining the forwarding time of the data packet to be forwarded, updating the temporary routing table according to the determined forwarding time, and forwarding the data packet to be forwarded according to the forwarding direction in the data packet to be forwarded when the forwarding time reaches according to the updated temporary routing table.
8. A computing device, the computing device comprising: memory, processor and computer program stored on the memory and executable on the processor, which computer program, when executed by the processor, carries out the steps of the method according to any one of claims 1 to 6.
9. A computer storage medium having stored thereon a computer program which, when executed by a processor, carries out the steps of the method according to any one of claims 1 to 6.
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