CN101458333B - Three-dimensional test space array node dynamic deploying method based on wireless sensor network - Google Patents
Three-dimensional test space array node dynamic deploying method based on wireless sensor network Download PDFInfo
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- CN101458333B CN101458333B CN2008102273559A CN200810227355A CN101458333B CN 101458333 B CN101458333 B CN 101458333B CN 2008102273559 A CN2008102273559 A CN 2008102273559A CN 200810227355 A CN200810227355 A CN 200810227355A CN 101458333 B CN101458333 B CN 101458333B
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Abstract
The invention relates to a dynamic deployment method for three-dimensional test space array nodes based on a wireless sensor network, belonging to the field of the array control of cluster nodes. The method mainly comprises three steps as follows: allocating system test tasks, planning the optimal deployment path of the nodes and deploying the three-dimensional array in the network test space; the atomic model based on 'attract-repel' is adopted to deploy the three-dimensional space array of the nodes. When tracking and testing a test object with motion characteristic in the three-dimensional space, the method has the advantages of high efficiency, high degree of automation, uniform density of nodes, reliable communication quality, three-dimensional character, dynamical and adjustable deployment of nodes and the like.
Description
Technical field
The present invention relates to a kind of three-dimensional test space array node dynamic deploying method, belong to the concentrating type node formation control technology in the field of artificial intelligence.
Background technology
Wireless sensor network is a category information acquisition node One's name is legion, is suitable for the application of field signal multiple spot information gathering.Node cooperative work how effectively to organize One's name is legion is important problem of wireless sensor network, how wireless sensor network node organizes work is the basic problem that each sensor network all will face, thereby the deployment issue of node is one of application foundation problem of wireless sensor network.At present, all carry out at two-dimensional surface or accurate two-dimensional surface situation based on the formation deployment issue of wireless sensor network, and at the deployment theory of three dimensions formation and algorithm suitable imperfection also.Existing formation dispositions method based on wireless sensor network all is to adopt the artificial deployment (penetrate, drop and shed etc. as big gun) of disposing or shed automatically at random basically, the problem that these methods exist is: efficient is low, node density is uncontrollable, do not possess the ability that node location is dynamically adjusted, do not possess the ability of disposing in the three dimensions, automaticity is limited, and formation is wayward etc.
For realizing that the tested object that moves is carried out tracking and testing and to the test of the spatial field information in the three dimensions, must have a kind of dispositions method that is different from traditional wireless sensor networks could solve the node deployment problem of mobile three-dimensional spatial wireless testing network.
Summary of the invention
The objective of the invention is for solving the formation deployment issue of three dimensions build-in test node, to propose a kind of three-dimensional test space array node dynamic deploying method based on wireless sensor network for overcoming the existing methods defective.
For the node automatic dynamic that realizes mobile wireless three-dimensional test network is disposed, the present invention is primarily aimed to have ambulant tested object and carries out tracking and testing in the three dimensions, to obtain network-efficient rate, even, the reliable test zone coverage rate of communication of node density, the node formation that solves the three-dimensional spatial wireless testing system is disposed a difficult problem.
A kind of three-dimensional test space array node dynamic deploying method based on wireless sensor network of the present invention, its hardware platform is based on the system of wireless senser test network.This platform includes: airflight data acquisition node, ground data acquisition node, mobile data processing gateway and human-computer interactive control platform.Wherein, the airflight data acquisition node possesses aerial moving and hover capabilities; The ground data acquisition node possesses locomotivity; The mobile data processing gateway is used to instruct transmission, collection and network data.
Adopt the inventive method that said system is carried out node and dynamically dispose, its step is as follows:
Step 1, finish the system testing Task Distribution.
At first, formulate size, type and the testing location of test assignment, and will formulate the test assignment of getting well and send to the mobile data processing gateway by the human-computer interactive control platform.Afterwards, after the mobile data processing gateway acceptance test task, task decomposed and distribute to respectively participate in node.At last, the mobile data processing gateway participates in the instruction of node issue test assignment in the mode of radio communication to each.
Step 2, cook up the deployment optimal path of each node
After each node receives test assignment, obtain self local GPS information (the current present position of node) earlier, carry out path planning according to destination GPS information (requiring the position of arrival in the task) again.In the node traveling process, when running into barrier or other node, node is kept away barrier and is handled.
Step 3, the three-dimensional formation of the on-premise network test space
After step 2, each node all moves to testing location.At this moment, each node carries out formation according to result of calculation to be disposed, and forms a three dimensions test battle array.All nodes assembly group again after being combined into the unit basic matrix is complete formation.If task changes or tested object has changed the place, when requiring the node formation to make adjustment, then each node will carry out the deployment of three dimensions formation again, thereby realize dynamically disposing or tracking and testing.
Beneficial effect
The inventive method has solved the dynamic deployment issue of node space formation of mobile wireless three-dimensional test network, improve wireless sensor network and adopted artificial inefficiency and the not high situation of automaticity of disposing, dispositions method causes existing node density uncontrollable as adopting big gun to penetrate or drop to shed etc. at random to have avoided the use conventional method, and the test specification and the test space such as can not adjust at situation.The present invention moves towards practicability to the promotion wireless sensor network and plays important supporting role.Adopt three dimensions dynamic deployment method of the present invention, efficient height, energy consumption are low, the automaticity height, and node density is controlled, has formed the three-dimensional test space formation with mobility, can satisfy the testing requirement at fixing or portable target fully.
Description of drawings
Fig. 1 is the flow chart of the inventive method;
Fig. 2 is the formation schematic diagram based on the three dimensions formation of stereo-unit basic matrix.
Embodiment
For making the purpose, technical solutions and advantages of the present invention clearer, the present invention is described in further detail below in conjunction with accompanying drawing.
Fig. 1 is the schematic diagram of three-dimensional test space array node dynamic deploying.Among the figure, node is the basic element that constitutes the stereo-unit basic matrix; The stereo-unit basic matrix then is the element that constitutes complete three-dimensional test space.
The method that the present invention relates to mainly is made up of the planning of deployment optimal path and three steps of network test space three-dimensional formation deployment of system testing Task Distribution, node.
The deployment optimal path planning of wherein, system testing Task Distribution and node all is to dispose for network test space three-dimensional formation to do homework.The system testing Task Distribution is to finish before the deployment optimal path planning of node is carried out; It is to carry out after the deployment optimal path planning of node that network test space three-dimensional formation is disposed, and is that the core content and the finish node of three dimensions formation disposed the embodiment of effect.
Fig. 2 is the flow chart that mobile three-dimensional spatial wireless testing cyberspace battle array is disposed, and specifically describes as follows:
Step 1: system testing Task Distribution
At first, formulate the destination of size, type and the task of test assignment, and will formulate the test assignment of getting well and send to the mobile data processing gateway by the human-computer interactive control platform.
Afterwards, the mobile data processing gateway is carried out Task Distribution by the size of task and the quantity of node, the node of decision participation task.Concrete mode is: adopt contract law, the ability that the mobile data processing gateway is finished the work according to each node is initiated the task competitive bidding, determines the node that participation is finished the work thus.
At last, the mobile data processing gateway participates in the instruction of node issue test assignment in the mode of radio communication to each, notifies the node of respectively getting the bid to participate in three dimensions battle array test assignment.
The deployment optimal path of step 2, plan node
After each node receives test assignment, obtain self local GPS information (the current present position of node) earlier, carry out path planning according to destination GPS information (requiring the position of arrival in the task) again.In the node traveling process, when running into barrier or other node, node is kept away barrier and is handled.
After each node receives test assignment, obtain self local GPS information earlier, carry out path planning according to the destination GPS information of finishing the work required again.Concrete mode is: each node adopts optimizes ant group algorithm, and the path of finding the required cost minimum of finishing the work reduces the consumption of each node energy thus as its mobile route.Carry out sharing of environmental information by blackboard mechanism between each node, realize navigation.
When running into barrier or other node in the node traveling process, node is evaded to prevent to be absorbed in trap thus by adopting around the wall strategy.
Step 3, the three-dimensional formation of the on-premise network test space
After step 2, each node all moves to testing location.Each node becomes the stereo-unit basic matrix with certain solid geometry combination of shapes, and then, each stereo-unit basic matrix reconstructs a complete three dimensions test battle array.If task changes or tested object has changed the place, when requiring the node formation to make adjustment, then each node will carry out the deployment of three dimensions formation again, thereby realize dynamically disposing or tracking and testing.
The specific implementation process of step 3:
At first, carrying out the stereo-unit basic matrix calculates.According to the demand and the communication quality situation of node deployment density, determine type, the size of stereo-unit basic matrix.Then, adopt " attraction-repulsion " atom model, node carries out independent assortment and obtains the stereo-unit basic matrix.
Adopt " attractions-repulsion " atom model, its principle is as follows: between adjustment node 1 and the node 2 apart from l.When adjusting l, be criterion with communication packet loss and sensor test scope.When the communication packet loss less than 2% the time, think that then the communication quality between two nodes this moment is very reliable, between node " repulsion " mutually, with the increasing communication distance; When the communication packet loss greater than 5% the time, think communication quality between two nodes this moment near the poorest limit, between node " attraction " mutually, to dwindle communication distance; In the time of between the communication packet loss is in 2%～5%, thinking the reliable communicating scope, at this moment, is that second standard is carried out the position adjustment with the transducer investigative range again.Suppose that transducer maximum detectable range is s rice, then internodal distance is adjusted into s rice, two internodal communication qualities are guaranteed, simultaneously, investigative range also arrives maximum.Carry out other node deployment by this standard, it is reliable to obtain communication quality, the wireless test system of test space maximum.
The deployment algorithmic procedure of regular polygon solid is as follows:
1) selection of anchor node and reference line.
Optional select a node in the node cluster as anchor node b
0, select again one apart from the nearest node of anchor node as node b
1, determine a reference line l between the two
1, all the other nodes serve as to dispose benchmark to carry out position calculation in two-dimensional surface with anchor node and reference line.
Anchor node b
0With node b
1Distance adjust to adopt " attraction-repulsion " atom model method to carry out, determine polygonal side length l
1
2) position calculation of all the other nodes.
With length of side l
1Be reference line, chosen distance node b
1Nearest node b
2Node b
1With node b
2The line of deployment target location point constitute straight line l
2, this straight line and reference line l
1Between angle be the interior angle θ of regular polygon, direction is by counterclockwise to carrying out node deployment for forward.Node b
1With node b
2Between distance adjust by " attraction-repulsion " atom model method and undertaken, obtain the regular polygon second limit l
2
Can determine all the other summits (being node), the limit l of regular polygon solid again with same method
nAnd the length of side.
Wherein,
l
1＝l
2＝...＝l
n (1)
3) determine the cubical height of regular polygon.
With anchor node b
1For starting point with 2) described polygon is the bottom surface, determines the anchor node t of upper bottom surface by " attraction-repulsion " former submodule punishment method
1With bottom surface anchor node b
1Between distance h (being the height of regular cube).Here,
h＝l
1＝l
2＝...＝l
n (2)
4) deployment of cubic units basic matrix.
3) the basis on, by 2) the polygon vertex that carries out in the upper bottom surface of method calculate and dispose, thereby finish the deployment of cubic units basic matrix.
5) deployment of complete three dimensions test battle array.
With 4) resultant cubic units basic matrix is deployment unit, carries out the assembly knot of cubic units basic matrix with " attraction-repulsion " atom model method, finally finishes the deployment of whole three dimensions test battle array.
At last, fashionable when carrying out the adjustment of node density or having new node to add, space battle array three method is set by step disposed again.
With the regular cube is the process that the stereo-unit basic matrix is calculated in the example explanation:
1) node in the selection node cluster is as anchor node, and optional nearest node is determined a reference line as second node between the two, and all the other nodes serve as to dispose benchmark to carry out position calculation in two-dimensional surface with anchor node and reference line.
Adopt " attractions-repulsion " atom model, adjustment anchor node and second node apart from l
1Adjust l
1The time, be criterion with communication packet loss and sensor test scope.When the communication packet loss less than 2% the time, think that the communication quality between two nodes this moment is very reliable, between node " repulsion " mutually, with the increasing communication distance; When the communication packet loss greater than 5% the time, think communication quality between two nodes this moment near the poorest, between node " attraction " mutually, to dwindle communication distance; In the time of between the communication packet loss is in 2%～5%, thinking the reliable communicating scope, at this moment, is second standard with the transducer investigative range again.For example transducer maximum detectable range is 20 meters, and internodal distance should be adjusted into 20 meters, and two internodal communication qualities are guaranteed, and simultaneously, investigative range also arrives maximum.Carry out other node deployment by this standard, it is reliable to obtain communication quality, the wireless test system of test space maximum.
2) the preferential nearest node of chosen distance reference line is the 3rd node.With the reference line is baseline, and the deployment target location point and the anchor node of the 3rd node are determined straight line.This straight line and reference line form an angle theta=45 °, adopt " attraction-repulsion " atom model, adjust between the 3rd node and the anchor node apart from l
2Wherein, l
2Satisfy following relation:
l
2＝l
1·sin?θ (1)
At this moment, should guarantee that also the communication packet loss between the 3rd node and the anchor node is between 2%～5%,, then adjust l if do not satisfy relational expression (1)
1And l
2To littler value to satisfy equation.
3) be the 4th node to the 3rd node that node is nearest of chosen distance counterclockwise.Adopting " attraction-repulsion " atom model, by 1) described method determines the position of the 4th node.
At this moment, disposing and finished CELL1 deployment as shown in Figure 3, is that datum level and above-mentioned anchor node are benchmark again with CELL1, carries out the deployment of upper bottom surface with the limit of regular cube by the dispositions method of CELL1, finally finishes the calculating and the deployment of stereo-unit basic matrix.
Secondly, with " attraction-repulsion " atom model, be deployment unit with regular cube unit basic matrix, to calculate and dispose by the method for cubic units basic matrix, the combination that can finish each stereo-unit basic matrix is to obtain complete three dimensions formation, as shown in Figure 1.
Claims (2)
1. three-dimensional test space array node dynamic deploying method based on wireless sensor network is characterized in that step is as follows:
Step 1, finish the system testing Task Distribution
At first, formulate size, type and the testing location of test assignment, and will formulate the test assignment of getting well and send to the mobile data processing gateway by the human-computer interactive control platform; Afterwards, after the mobile data processing gateway acceptance test task, task decomposed and distribute to respectively participate in node; At last, the mobile data processing gateway participates in the instruction of node issue test assignment in the mode of radio communication to each;
Step 2, cook up the deployment optimal path of each node
After each node receives test assignment, obtain self local GPS information earlier, carry out path planning according to destination GPS information again; In the node traveling process, when running into barrier or other node, node is kept away barrier and is handled;
Step 3, the three-dimensional formation of the on-premise network test space
After step 2, each node all moves to testing location; At this moment, each node carries out formation to be disposed, and forms a three dimensions test battle array; Wherein adopt " attractions-repulsion " atom model, its principle is as follows: between adjustment node 1 and the node 2 apart from l; When adjusting l, be criterion with communication packet loss and sensor test scope, when the communication packet loss less than 2% the time, think that then the communication quality between two nodes this moment is very reliable, between node " repulsion " mutually, with the increasing communication distance; When the communication packet loss greater than 5% the time, think communication quality between two nodes this moment near the poorest limit, between node " attraction " mutually, to dwindle communication distance; In the time of between the communication packet loss is in 2%～5%, think the reliable communicating scope; At this moment, be that second standard is carried out the position adjustment with the transducer investigative range again, the maximum detectable range of supposing transducer is s rice, then internodal distance is adjusted into s rice, carries out other node deployment by this standard; All nodes assembly group again after being combined into the unit basic matrix is complete formation; If task changes or tested object has changed the place, when requiring the node formation to make adjustment, then each node will carry out the deployment of three dimensions formation again.
2. a kind of three-dimensional test space array node dynamic deploying method based on wireless sensor network as claimed in claim 1 is characterized in that the method for the three-dimensional formation of the on-premise network test space is as follows:
At first, carry out the stereo-unit basic matrix and calculate,, determine type, the size of stereo-unit basic matrix according to the demand and the communication quality situation of node deployment density; Then, adopt " attraction-repulsion " atom model, node carries out independent assortment and obtains the stereo-unit basic matrix;
The deployment algorithmic procedure of regular polygon solid is as follows:
1) selection of anchor node and reference line
Optional select a node in the node cluster as anchor node b
o, select again one apart from the nearest node of anchor node as node b
1, determine a reference line between the two, all the other nodes serve as to dispose benchmark to carry out position calculation in two-dimensional surface with anchor node and reference line;
Anchor node b
oWith node b
1Distance adjust to adopt above-mentioned " attraction-repulsion " atom model method to carry out, determine polygonal side length l
1
2) position calculation of all the other nodes
With described polygon limit is reference line, chosen distance node b
1Nearest node b
2, node b
1With node b
2The line of deployment target location point constitute straight line l
2, the angle between this straight line and the reference line is the interior angle θ of regular polygon, direction is by counterclockwise to carrying out node deployment for forward; Node b
1With node b
2Between distance adjust by " attraction-repulsion " atom model method and undertaken, obtain the regular polygon second limit l
2
Determine all the other summits, the limit l of regular polygon solid again with same method
nAnd the length of side, wherein
l
1＝l
2＝...＝l
n
3) determine the cubical height of regular polygon
With anchor node b
1Being starting point, with 2) described polygon is the bottom surface, determines the anchor node t of upper bottom surface by " attraction-repulsion " atom model method
1With bottom surface anchor node b
1Between distance h, here
h＝l
1＝l
2＝...＝l
n
4) deployment of cubic units basic matrix
3) the basis on, by 2) the polygon vertex that carries out in the upper bottom surface of method calculate and dispose, thereby finish the deployment of cubic units basic matrix;
5) deployment of complete three dimensions test battle array
With 4) resultant cubic units basic matrix is deployment unit, carries out the assembly knot of cubic units basic matrix with " attraction-repulsion " atom model method, finally finishes the deployment of whole three dimensions test battle array;
Fashionable when carrying out the adjustment of node density or having new node to add, space battle array three method is set by step disposed again.
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| CN102291724A (en) * | 2011-07-14 | 2011-12-21 | 南京邮电大学 | Three-dimensional-scene-oriented wireless sensor network node deterministic deployment method |
| CN102680995A (en) * | 2012-05-23 | 2012-09-19 | 江南大学 | Mobile anchor node based weighted centroid locating method for wireless sensor network node |
| CN110677811B (en) * | 2019-05-17 | 2021-01-15 | 广东宝乐机器人股份有限公司 | Ad hoc network method of multiple mobile robots and method for determining respective working areas |
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Non-Patent Citations (4)
| Title |
|---|
| 张东红等.无线传感器网络节点自定位算法.《计算机工程》.2008,第34卷(第12期),100,101,104. * |
| 张东红等.瞬态场信号采集中传感器网络节点的软件设计.《计算机工程》.2008,第34卷(第12期),268-270. * |
| 张衡阳等.基于地理位置的无线传感器网络路由协议研究进展.《计算机应用研究》.2008,第25卷(第1期),18-21. * |
| 杜晓明等.无线传感器网络研究现状与应用.《北京工商大学学报(自然科学版)》.2008,第26卷(第1期),41-44. * |
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