CN101801017A - Self-maintenance system of mobile sensor network communication link and self-maintenance method thereof - Google Patents
Self-maintenance system of mobile sensor network communication link and self-maintenance method thereof Download PDFInfo
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Abstract
The invention discloses a self-maintenance system of a mobile sensor network communication link and a self-maintenance method thereof, belonging to the field of maintenance of mobile communication links and self-control of nodes. The system comprises a head node, a base station and at least three mobile nodes, the position of the base station is fixed, the mobile nodes are used for maintaining a communication link between the head node and the base station, the head node and the base station transfer information to each other in a multi-hop communication method, and the base station is responsible for network data summarization and data uploading. The self-maintenance method of the invention adopts a communication link quality judgment method and a distributed control flow, and comprises the following steps: using a mobile node collection packet loss rate, real-time throughput and wireless received signal strength, selecting different parameters according to environmental factors, combining the parameters as a control system feedback factor, and realizing the formation transformation of mobile nodes, thereby completing the maintenance of the communication link between the head node and the base station. The invention realizes the real-time repair of the broken end-to-end communication link, and provides guarantee for collection and transmission of information on the dangerous environment.
Description
Technical field
The present invention relates to a kind of mobile sensor network, relate in particular to the end-to-end communication link of a kind of mobile sensor network, belong to wireless communication link and safeguard and mobile node Autonomous Control field from maintenance system and from maintaining method.
Background technology
Along with the develop rapidly of wireless sensor network technology, great deal of nodes fast and effeciently is deployed in the sensitizing range has become possibility.These intelligent sensor nodes can self-organizing the effective topological structure of formation, and in time change the network form according to surrounding enviroment.Yet under the environment such as in some environment, for example the neighbor node spacing is big, city high rise building covers, subterranean tunnel and battery power consumption, internodal communication quality can be had a strong impact on.As mobile phone signal lost efficacy in such environment, wireless sensor network also was very easy to occur interrupted communication link.When this interruption appears at key node (routing node, gateway node), can cause whole network paralysis, can't carry out corresponding task then.In for example after shake, searching and rescuing, although search and rescue robot carries stronger communications component, but because it is in the adverse circumstances of continuous variation, the interrupted communication link that can occur actuator and base station at any time, it is heavy that the task of being not only that this interruption brought is heavily disposed, and more likely loses the chance of executing the task.Current static sensor network just can not change himself position physically once deployment, also just can't realize communication link quality maximization end to end.For mobile sensor network (Mobile Sensor Networks, MSN), owing to added the mobile node of controlled maneuverability, when above-mentioned communication issue occurring, by controlling these mobile nodes, can fast and effeciently recover network communications capability, and optimize communication link, realize that whole energy consumption is minimum, network life prolongs.
The maintaining network communication link is faced with many challenges current, mainly is reflected as two parts problem: the one, and the real-time monitoring of communication link quality; The 2nd, the mobile node distributed control method.At moving communicating field, link-quality can be reflected by parameters such as signal to noise ratio, aerial angle, acknowledge(ment) signal intensity, packet loss end to end, and in mobile sensor network, only go the gauge signal quality can not reflect overall performance of network with an above-mentioned parameter.Current mobile sensor network field mainly utilizes in the Shannon-Hartley theorem some parameters to weigh the end-to-end communication quality of mobile sensor network.For example: adopt measurement signal to noise ratio snr (Signal-to-Noise Ratio) to reflect the real-time link quality, yet in actual environment, this model but is difficult to be achieved, the SNR measured value is also difficult to be obtained; In addition, utilize wireless receiving signal strength signal intensity (RSSI) to reflect that directly the link-quality between mobile node also is the major technique means in current this field, yet because RSSI can only reflect received field strength, if node is during as for the strong noise zone, this parameter can not reflect communication quality fully.In addition, reflect that by measuring the wireless data packet loss method of communication link quality is also often adopted, yet for mobile sensor network, because characteristics such as its high maneuverability and network topology change are fast, this parameter is difficult to the feedback factor as control system, thereby can't realize mobile sensor network execution corresponding task.
Also appear on many momentous conferences and the periodical in recent years about large-scale distributed ROBOT CONTROL algorithm.These algorithms can be divided into centralized (centralized) and distributed (decentralized) two kinds basically.The choice set Chinese style still is that distributed control method depends on whether system resource bears.For mobile sensor network, if adopt centralized control decision, in a single day abnormal conditions or affected by environment and paralyse appear in the mobile node that is in decision-making level, and so whole network will become very fragile.In addition, signal redundancy and the response time factor of restriction set Chinese style control method work often.Tan can utilize limited information of neighbor nodes in conjunction with the distributed control decision of Delaunay trigonometric ratio and Artificial Potential Field method under overall condition of unknown, thereby network is realized repairing in the position of adjusting mobile node.Similar is, Dixon has proposed a kind of use extreme value and sought distributed robot's control method of following the example of (Extremum Seeking), and this algorithm is intended to maximize link bandwidth.By the contrast of the experiment under the different platform, utilize this method can solve local link communication effectively and stop up, on average the work load of each node rationally utilizes bandwidth.Yet it is actually rare from the distributed control method of safeguarding directly to be directed to mobile sensor network, and traditional algorithm can not directly be applied mechanically, and therefore is necessary to design a kind of mobile node controlling method new, with strong points.
Summary of the invention
Purpose of the present invention is: propose a kind of communication link quality between mobile node can effectively assessed, and can utilize the mobile node distributed control method to realize that node and base station communication link are from the mobile sensor network system that safeguards and from maintaining method, to be implemented in the communication link maintenance work in the complex environment, guarantee that end-to-end communication is smooth and easy.
Mobile sensor network communication link of the present invention is from maintenance system, comprise head node, a base station and n mobile node, n is the natural number greater than 2, the fixed-site of base station, safeguard communication link between head node and the base station by mobile node, adopt the multi-hop communication mode to carry out the information transmission between head node and the base station.
Based on above-mentioned mobile sensor network communication link from maintenance system from maintaining method, comprise communication link quality decision method and distributed control flow, the contents are as follows:
(1) step of communication link quality decision method is as follows:
(1) for mobile node i arbitrarily, at first carries out initialization;
(2) mobile node i calculates self coordinate (x
i, y
i);
(3) mobile node i measures and its packet loss p between neighbor node j arbitrarily
Ij
(4) the packet loss p that step (3) is obtained
IjSize is made judgement: work as p
Ij＜ρ, then mobile node i loses with neighbor node j and communicates by letter, and system does heavily the mobile node in the network and disposes; Work as p
Ij〉=ρ, the then real-time throughput R between mobile node i measurement and the neighbor node j
Ij
(5) the real-time throughput R that step (4) is obtained
IjSize is made judgement: work as R
Ij＜R, then the wireless receiving signal strength signal intensity between mobile node i measurement and the neighbor node j is done singular value rejecting and equalization processing to this measurement samples, obtains Δ
Ij, be Δ to the communication link quality assignment between mobile node i and the neighbor node j
IjWork as R
Ij〉=R then to the communication link quality assignment between mobile node i and the neighbor node j is
(6) mobile node i stores the communication link quality that step (5) obtains;
(7) to above-mentioned communication link quality and control system stable factor c
IjDifference make judgement: when the absolute value of this difference less than system's permissible error factor mu
Ij, then mobile node i enters stable state, safeguards certainly and finishes; When the absolute value of this difference more than or equal to system's permissible error factor mu
Ij, then distributed control flow is carried out in mobile node i circulation, until the absolute value of this difference less than system's permissible error factor mu
IjTill;
(8) mobile node i finishes from safeguarding;
(2) execution in step of distributed control flow is as follows:
A. above-mentioned mobile node i gathers self coordinate (x
i, y
i);
B. work as the head node motion state for stopping, then giving the operational factor zero clearing, jump out circulation; When head node is motion state, then carry out the recursion instruction of length (x) length;
C. the recursion instruction among the execution in step B: mobile node i measure and its all neighbor node j between the wireless receiving signal strength signal intensity, choose the neighbor node j of measured value minimum
Min, store this neighbor node j
MinCoordinate (xnew ynew), calculates mobile node i and this neighbor node j
MinBetween fictitious force (forcex forcey), promptly draws the kinetics equation of mobile node i, and step-length is got 0.01m～0.1m;
D. after step-length of every motion, mobile node i measures and above-mentioned neighbor node j
MinBetween communication link quality, and to this communication link quality and control system stable factor c
IjDifference make judgement: when the absolute value of this difference less than system's permissible error factor mu
Ij, then withdraw from circulation; When the absolute value of this difference more than or equal to system's permissible error factor mu
Ij, then change step B over to, until the absolute value of this difference less than system's permissible error factor mu
IjTill;
The single-hop neighbor node that described neighbor node j is mobile node i;
In the above content: i and j are the numbering of mobile node, i ≠ j; ρ is the packet loss threshold value; R is the throughput threshold value; Δ
IjBe the wireless receiving signal strength signal intensity mean value between mobile node i and the neighbor node j; ψ
IjBe the wireless receiving signal strength values between mobile node i and the neighbor node j; The wireless receiving signal strength values of R ' for when throughput is threshold value R, recording; The wireless receiving signal strength values of ρ ' for when packet loss is threshold value ρ, recording; Length (x) is the single-hop neighbor node quantity of mobile node i.
The present invention combines the traditional wireless sensor networks technology with mobile robot technology, utilize the advantage of wireless sensor network multi-hop communication, the combining wireless data acquisition technology, designed and Implemented is the mobile node dcs of operation platform with Matlab, realize mobile node adaptation ground according to limited information cooperation motion, solved that traditional wireless sensor networks physically is difficult to drawbacks such as independently reparation under the adverse circumstances.System of the present invention is applicable to emergency case such as emergency management and rescue, urgency communication, and the communication link maintenance work during as untouchable hot missions of people such as field search and rescue, downhole rescuing, chemical leakages helps the rescue of disaster accident; The mobile node distributed control method that the present invention proposes is based on unknown map distributed method, utilize the advantage of mobile node maneuverability, realized the real-time reparation of end-to-end interrupted communication link in hazardous environment, improved the repair ability of network communication of wireless sensor link, advanced the practicalization of sensor network technique, guarantee is provided for dangerous on-the-spot information gathering and transmission.
Description of drawings
Fig. 1 is the structural representation of system of the present invention, among the figure: 1, head node; 2, carry the operating personnel of transducer; 3, the barrier in the environment; 4, base station; 5, communication link; 6, mobile node.
Fig. 2 is the two-tier network structural representation of mobile node among the present invention.
Fig. 3 is the hardware configuration schematic diagram of mobile node among the present invention.
Fig. 4 is the program module structure chart of mobile node among the present invention.
Fig. 5 is the operation method flow chart of system of the present invention.
Fig. 6 for mobile node among the present invention from the maintaining method flow chart.
Embodiment
The structure of system of the present invention comprises head node, a base station and n mobile node, n is the natural number greater than 2, according to present circumstances, here get n ∈ [3,255], the fixed-site of base station is safeguarded communication link between head node and the base station by mobile node, adopts the multi-hop communication mode to carry out the information transmission between head node and the base station.As shown in Figure 1, head node 1 also is a mobile node, the removable node that head node 1 promptly goes to the deathtrap to execute the task; The operating personnel 2 that carry transducer can carry out information interaction with mobile node 6 in its communication range, obtain the information that head node 1 is gathered; Barrier 3 in the environment, for example high mountain, lake etc., these barriers are the factors that hinder node and node, people and inter-node communication; Base station 4 main being responsible for gathering and data upload of network data; Transmit by communication link 5 realization information between head node 1, mobile node 6 and the base station 4, constitute mobile sensor network.When head node 1 needed to carry out the search and rescue task, mobile node 6 can be made locational change according to the variation of communication link, thereby guarantees the transfer of data 4 from head node 1 to the base station.Described head node 1 and mobile node 6 all adopt autonomous vehicle or the distributed robot who carries temperature, humidity, light intensity and magnetic field sensor.
The two-tier network structure of mobile node as shown in Figure 2 among the present invention.Traditional wireless sensor network can not satisfy for the application of high bandwidth high-quality video transmission owing to be subjected to the constraint of hardware condition.Because the mobile node in the native system platform participates in the work of ad-hoc network cooperating simultaneously, for example therefore can be competent at application such as mobile video real time communication.That is to say, mobile ad-hoc network is connected with Internet by radio network gateway, combine the advantage of two kinds of network configurations, utilize this platform any moment to obtain sensitizing range information in any place, can't realize and these application are current wireless sensor networks.By TMote platform construction sensor network, make up mobile ad-hoc network by PC level network of processing units interface among the figure, two kinds of network configurations realize different application demands.Processing unit is connected with Executive Module with the ARIA interface by Robot Control GUI interface respectively, the application demand instruction is converted into the control command of Executive Module.
The hardware configuration of mobile node as shown in Figure 3 among the present invention.Node is pressed the modular design method establishment, comprises power module, processor module, mixed-media network modules mixed-media, sensor assembly and executor module respectively.Wherein: power module is combined by 12 volts of lithium batteries and DC-DC voltage division processing device, can provide different voltage for other modules; Processor module adopts the PC104+ single board computer, provides 12V driven by power module, is responsible for the processing of each road input data and the output of Executive Module control command; Mixed-media network modules mixed-media comprises based on the TMote node of ZIGBEE with based on the network adapter of 802.11b/g compatibility, the operation of Tmote node is based on the program of embedded OS TinyOS, antenna by 2.4GHz is communicated by letter with other Mote, mobile ad-hoc network is then by network adapter and other node communications, and operation is based on the M program of Matlab; Sensor assembly is formed by the commercialization component construction, comprises video acquisition unit, GPS, supersonic array and sensor board, and the IP Camera that adopts LOGITECH is as video acquisition unit; Garmin GPS25-LVS module is as the GPS unit, be responsible for determining of mobile node self coordinate, 12 groups of infrared PSD distance measuring equipments of Sharp GP2D12 type are assemblied in the chassis periphery by 30 degree angles, can be at mobile node realization barrier avoiding function in service, what sensor board adopted is MTS300CA type circuit board, is responsible for the data acquisition in temperature, humidity, illumination and magnetic field; Executor module comprises motor-drive circuit and crawler type difference wheel chassis, is applicable to outdoor mobile node plane motion.
The program module structure of mobile node as shown in Figure 4 among the present invention.This program module is based on the M program of Matlab platform, can carry out by Matlab 7.0 above version compiling backs.Because Matlab has algorithm executive capability and more functional unit preferably, can develop corresponding program fast according to different tasks.Each assembly function of program module is as follows among the present invention:
Data input: be responsible for the AD conversion of video data;
Image acquisition: video data stream is converted into three-dimensional matrice;
Byte sequence conversion: three-dimensional matrice is converted to one-dimensional vector, i.e. the dimensionality reduction function;
Route layer protocol stack: the route layer control protocol that realizes transfer of data;
TCP/UDP/IP tool box: the MAC layer control protocol that realizes transfer of data;
Transmission/reception/relaying: realize the transmission of mobile node data, reception and forwarding capability respectively;
Control unit: according to mission requirements, control the opening of each functional unit, close, execution etc.;
Control interface: the Data Format Transform of being responsible for the Mote program;
Image/video regeneration: realize the image reconstruction of one-dimensional data stream, be about to byte sequence and be converted into vision signal;
Node order: be responsible for the data acquisition of sensor board, i.e. signals collecting such as temperature, magnetic field;
Data output: image/video data output.
When executing the task, head node is converted into three-dimensional matrice with the video data of gathering by Image Acquisition assembly, realize the three-dimensional matrice dimensionality reduction by Byte Sequence assembly subsequently, and under route layer and MAC layer control protocol, according to the order of Control Unit assembly, realize transmission, reception and forwarding capability.Each mobile node is realized different functions according to the position of self, and part of nodes realizes that relay function is about to data forwarding to its neighbor node, and the mode by multi-hop communication transfers to the base station.After data are accepted in the base station, realize the reduction of vision signal by Image/video Regeneration assembly, simultaneously, finally be responsible for data and show by Data output assembly owing to also comprised environmental informations such as temperature that Mote Commands assembly provides, humidity in the packet.
The operation method flow process of system of the present invention as shown in Figure 5.Behind the system initialization, the base station sends order to mobile node, if require to stop from safeguarding, then withdraws from from maintenance program; Otherwise head node is according to the command execution corresponding task: when task is a communication link when repairing, head node is stationary state, and all the other mobile nodes are carried out shown in Figure 6 from maintaining method, in the system only head node be responsible for data acquisition, all the other nodes are born relay task; When task for when expanding, head node moves to the sensitizing range, each node all carries out data acquisition system in, the mobile node execution shown in Figure 6 from maintaining method; When task is self-optimizing, the head node stop motion, head node is not born the data acquisition task, and mobile node is carried out shown in Figure 6 from maintaining method.After the task termination, mobile node calculates the displacement track, passes packet back base station in the multi-hop communication mode, and after this, system quits work, and waits for that the base station sends order once more.
Mobile node of the present invention from the maintaining method flow process as shown in Figure 6.Through experiment confirm, packet loss p
IjThough can not be as the inlet factor of control system, can be used as the auxiliary parameter of judging link down, the estimated value difference of packet loss threshold value ρ in varying environment, if packet loss more than or equal to ρ, is then measured and single-hop neighbor node j between real-time throughput R
IjThrough experimental analysis as can be known, real-time throughput R
IjCan be used as the auxiliary parameter of judging communication link quality, in contrast to wireless receiving signal strength signal intensity (RSSI), throughput is subjected to the influence of mobile node speed less, and the adaptability when moving in complex environment is strong.When the mobile node measured throughput is lower than R, then carry out the wireless receiving signal strength measurement, RSSI is the intensity indication of received signal, its realization is carried out after backward channel base band receiving filter.On the stricti jurise, RSSI is not a kind of stable measured value, can be subjected to the influence that multipath attenuation and obstacle cover and fluctuates, but through experiment confirm, can draw the non-linear relation of RSSI and communication quality by reasonable garbled data.
Should comprise communication link quality decision method and distributed control flow from maintaining method, the contents are as follows:
(1) step of communication link quality decision method is as follows:
(1) for mobile node i arbitrarily, at first carries out initialization;
(2) mobile node i calculates self coordinate (x
i, y
i);
(3) mobile node i measures and its packet loss p between single-hop neighbor node j arbitrarily
Ij
(4) the packet loss p that step (3) is obtained
IjSize is made judgement: work as p
Ij＜ρ, then mobile node i loses with neighbor node j and communicates by letter, and system does heavily the mobile node in the network and disposes; Work as p
Ij〉=ρ, the then real-time throughput R between mobile node i measurement and the neighbor node j
Ij
(5) the real-time throughput R that step (4) is obtained
IjSize is made judgement: work as R
Ij＜R, then the wireless receiving signal strength signal intensity (RSSI) between mobile node i measurement and the neighbor node j is done singular value rejecting and equalization processing to this measurement samples, obtains Δ
Ij, be Δ to the communication link quality assignment between mobile node i and the neighbor node j
IjWork as R
Ij〉=R then to the communication link quality assignment between mobile node i and the neighbor node j is
(6) mobile node i stores the communication link quality that step (5) obtains;
(7) to above-mentioned communication link quality and control system stable factor c
IjDifference make judgement: when the absolute value of this difference less than system's permissible error factor mu
Ij, then mobile node i enters stable state, safeguards certainly and finishes; When the absolute value of this difference more than or equal to system's permissible error factor mu
Ij, then distributed control flow is carried out in mobile node i circulation, until the absolute value of this difference less than system's permissible error factor mu
IjTill;
(8) mobile node i finishes from safeguarding;
(2) distributed control flow
When head node is target area when executing the task, mobile node is carried out this flow process, and execution in step is as follows:
A. above-mentioned mobile node i gathers self coordinate (x
i, y
i);
B. work as the head node motion state for stopping, then giving operational factor GO zero clearing, jump out circulation; When head node is motion state, then carry out the recursion instruction of length (x) length;
C. the recursion instruction among the execution in step B: mobile node i measure and its all single-hop neighbor node j between the wireless receiving signal strength signal intensity, choose the neighbor node j of measured value minimum
Min, store this neighbor node j
MinCoordinate (xnew ynew), calculates mobile node i and this neighbor node j
MinBetween fictitious force (forcex forcey), promptly draws the kinetics equation of mobile node i, and step-length is got 0.01m here;
D. after step-length of every motion, mobile node i measures and above-mentioned neighbor node j
MinBetween communication link quality, and to this communication link quality and control system stable factor c
IjDifference make judgement: when the absolute value of this difference less than system's permissible error factor mu
Ij, then withdraw from circulation; When the absolute value of this difference more than or equal to system's permissible error factor mu
Ij, then change step B over to, until the absolute value of this difference less than system's permissible error factor mu
IjTill;
In the above content: i and j are the numbering of mobile node, i ≠ j; ρ is the packet loss threshold value, the % of unit; R is the throughput threshold value, the kbps of unit; Δ
IjBe the wireless receiving signal strength signal intensity mean value between mobile node i and the neighbor node j, unit-dBm; ψ
IjBe the wireless receiving signal strength values between mobile node i and the neighbor node j, unit-dBm; The wireless receiving signal strength values of R ' for when throughput is threshold value R, recording, unit-dBm; The wireless receiving signal strength values of ρ ' for when packet loss is threshold value ρ, recording, unit-dBm; Length (x) is the single-hop neighbor node quantity of mobile node i.
The false code of above-mentioned distributed control flow is as follows:
Data：[x，y]after?self-healing
Result：Stable?status?after?tethering
The distributed control program that all nodes are carried out;
if?lead?node?stops?then
Go＝0；
break；
else
Lead?node?keeps?moving；
for?i＝1：length(x)?do
Find?one-hop?neighbors；
Get[xnew，ynew]；
Dist＝sqrt((x-xnew(i))
2+(y-ynew(i))
2)；
[m，ind]＝min(dist)；
Generate?forcex，forcey；
move[xnew，ynew]；
end
end。
Claims (5)
1. a mobile sensor network communication link is from maintenance system, it is characterized in that: comprise head node, a base station and n mobile node, n is the natural number greater than 2, the fixed-site of base station, safeguard communication link between head node and the base station by mobile node, adopt the multi-hop communication mode to carry out the information transmission between head node and the base station.
According to the described mobile sensor network communication link of claim 1 from maintenance system, it is characterized in that: described head node and mobile node all adopt autonomous vehicle node or distributed robot's node.
According to the described mobile sensor network communication link of claim 1 from maintenance system, it is characterized in that: temperature, humidity, light intensity and magnetic field sensor all are housed on described head node and the mobile node.
One kind based on the described mobile sensor network communication link of claim 1 from maintenance system from maintaining method, it is characterized in that: comprise communication link quality decision method and distributed control flow, the contents are as follows:
(1) step of communication link quality decision method is as follows:
(1) for mobile node i arbitrarily, at first carries out initialization;
(2) mobile node i calculates self coordinate (x
i, y
i);
(3) mobile node i measures and its packet loss p between neighbor node j arbitrarily
Ij
(4) the packet loss p that step (3) is obtained
IjSize is made judgement: work as p
Ij＜ρ, then mobile node i loses with neighbor node j and communicates by letter, and system does heavily the mobile node in the network and disposes; Work as p
Ij〉=ρ, the then real-time throughput R between mobile node i measurement and the neighbor node j
Ij
(5) the real-time throughput R that step (4) is obtained
IjSize is made judgement: work as R
Ij＜R, then the wireless receiving signal strength signal intensity between mobile node i measurement and the neighbor node j is done singular value rejecting and equalization processing to this measurement samples, obtains Δ
Ij, be Δ to the communication link quality assignment between mobile node i and the neighbor node j
IjWork as R
Ij〉=R then to the communication link quality assignment between mobile node i and the neighbor node j is
(6) mobile node i stores the communication link quality that step (5) obtains;
(7) to above-mentioned communication link quality and control system stable factor c
IjDifference make judgement: when the absolute value of this difference less than system's permissible error factor mu
Ij, then mobile node i enters stable state, safeguards certainly and finishes; When the absolute value of this difference more than or equal to system's permissible error factor mu
Ij, then distributed control flow is carried out in mobile node i circulation, until the absolute value of this difference less than system's permissible error factor mu
IjTill;
(8) mobile node i finishes from safeguarding;
(2) execution in step of distributed control flow is as follows:
A. above-mentioned mobile node i gathers self coordinate (x
i, y
i);
B. work as the head node motion state for stopping, then giving the operational factor zero clearing, jump out circulation; When head node is motion state, then carry out the recursion instruction of length (x) length;
C. the recursion instruction among the execution in step B: mobile node i measure and its all neighbor node j between the wireless receiving signal strength signal intensity, choose the neighbor node j of measured value minimum
Min, store this neighbor node j
MinCoordinate (xnew ynew), calculates mobile node i and this neighbor node j
MinBetween fictitious force (forcex forcey), promptly draws the kinetics equation of mobile node i, and step-length is got 0.01m～0.1m;
D. after step-length of every motion, mobile node i measures and above-mentioned neighbor node j
MinBetween communication link quality, and to this communication link quality and control system stable factor c
IjDifference make judgement: when the absolute value of this difference less than system's permissible error factor mu
Ij, then withdraw from circulation; When the absolute value of this difference more than or equal to system's permissible error factor mu
Ij, then change step B over to, until the absolute value of this difference less than system's permissible error factor mu
IjTill;
In the above content: i and j are the numbering of mobile node, i ≠ j; ρ is the packet loss threshold value; R is the throughput threshold value; Δ
IjBe the wireless receiving signal strength signal intensity mean value between mobile node i and the neighbor node j; ψ
IjBe the wireless receiving signal strength values between mobile node i and the neighbor node j; The wireless receiving signal strength values of R ' for when throughput is threshold value R, recording; The wireless receiving signal strength values of ρ ' for when packet loss is threshold value ρ, recording; Length (x) is the single-hop neighbor node quantity of mobile node i.
5. mobile sensor network communication link according to claim 4 from maintenance system from maintaining method, it is characterized in that: the single-hop neighbor node that described neighbor node j is mobile node i.
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| CN103906088A (en) * | 2012-12-28 | 2014-07-02 | 清华大学 | Method for detecting link quality in mobile wireless sensor network |
| CN105898784A (en) * | 2016-06-13 | 2016-08-24 | 福建师范大学 | Fault-tolerant reparation method and system of wireless sensor network |
| CN103716137B (en) * | 2013-12-30 | 2017-02-01 | 上海交通大学 | Method and system for identifying reasons of ZigBee sensor network packet loss |
| CN108650681A (en) * | 2018-03-16 | 2018-10-12 | 科航（苏州）信息科技有限公司 | A kind of more warehouse combined wireless communication node automatic deployment devices |
| CN110996389A (en) * | 2019-12-12 | 2020-04-10 | Oppo广东移动通信有限公司 | Positioning method and device based on ad hoc network, electronic equipment and storage medium |
| CN113556633A (en) * | 2020-04-23 | 2021-10-26 | 华为技术有限公司 | Service signal recovery method, device and system |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN101047591A (en) * | 2007-03-30 | 2007-10-03 | 浙江澳德网络科技有限公司 | Remote monitoring system and method for radioactive source |
| CN100536588C (en) * | 2007-05-30 | 2009-09-02 | 东南大学 | An active sensor network system and mobile node device for monitoring the dangerous environment conditions |
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2010
- 2010-01-28 CN CN2010101025493A patent/CN101801017B/en not_active Expired - Fee Related
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| CN103906088A (en) * | 2012-12-28 | 2014-07-02 | 清华大学 | Method for detecting link quality in mobile wireless sensor network |
| CN103906088B (en) * | 2012-12-28 | 2017-06-16 | 清华大学 | The measuring method of mobile wireless sensor network link quality |
| CN103716137B (en) * | 2013-12-30 | 2017-02-01 | 上海交通大学 | Method and system for identifying reasons of ZigBee sensor network packet loss |
| CN105898784A (en) * | 2016-06-13 | 2016-08-24 | 福建师范大学 | Fault-tolerant reparation method and system of wireless sensor network |
| CN108650681A (en) * | 2018-03-16 | 2018-10-12 | 科航（苏州）信息科技有限公司 | A kind of more warehouse combined wireless communication node automatic deployment devices |
| CN108650681B (en) * | 2018-03-16 | 2023-10-10 | 科航（苏州）信息科技有限公司 | Automatic deployment device for multi-bin combined wireless communication nodes |
| CN110996389A (en) * | 2019-12-12 | 2020-04-10 | Oppo广东移动通信有限公司 | Positioning method and device based on ad hoc network, electronic equipment and storage medium |
| CN113556633A (en) * | 2020-04-23 | 2021-10-26 | 华为技术有限公司 | Service signal recovery method, device and system |
| CN113556633B (en) * | 2020-04-23 | 2024-04-09 | 华为技术有限公司 | Service signal recovery method, device and system |
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| CN101801017B (en) | 2012-07-18 |
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