CN103124421A - Clustering method for movable nodes in wireless sensor network - Google Patents
Clustering method for movable nodes in wireless sensor network Download PDFInfo
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Abstract
The invention discloses a clustering method for movable nodes in a wireless sensor network. Along with the development of the wireless movable node sensor network, all the nodes are presumed to be fixed in most of the conventional wireless sensor networks, so that most clustering and broadcasting schemes are designed to aim at the fixed nodes. However, the clustering and broadcasting schemes aiming at the fixed nodes cannot be well satisfied with the network with movable nodes obviously as nodes in certain special scenes are movable continuously, and the routing and network topology are changed dynamically at this moment, that is to say, the clustering process is changed dynamically. After consideration is given to multiple factors, the clustering method for movable nodes in a wireless sensor network not only can well solve the clustering problem in the node movement process, but also gives consideration to connectivity problem of the network when a dead node exists.
Description
Technical field
The present invention is the sub-clustering scheme of mobile node in a kind of wireless sensor network, the sub-clustering broadcast communication when this scheme is mainly used to realize in wireless sensor network node motion between node, and this programme belongs to the wireless sensor network technology field.
Background technology
The wireless sensor network that comprises in recent years mobile node is widely used gradually, and wireless mobile sensor network is the network of a kind of foundation-free facility, multi-hop, self-organizing.The mode that this network using is controlled without the central distribution formula is carried out networking, and node is main frame, serves as again the role of router, communicates by wireless channel.When network size is larger, in order to reduce route and control overhead, improve the expandability of network and the utilization rate of resource, wireless mobile sensor network usually adopt based on bunch hierarchy, and the formation of this sub-clustering hierarchy and maintenance depend on certain cluster algorithm.traditional wireless sensor network great majority are that all nodes of hypothesis are all fixed, so most of sub-clustering broadcasting schemes all design for stationary nodes, but node can continuous moving in some special scenes, route and the network topology of this moment are dynamic changes, namely clustering process is also dynamic change, sub-clustering broadcasting scheme for stationary nodes obviously can not well satisfy the network of node motion, the comprehensive factors of this programme can well solve the node clustering problem in the node motion process, also considered simultaneously the reachability problem of network when having dead node or node dormancy.
Summary of the invention
Technical problem: wireless mobile sensor network is the network of a kind of foundation-free facility, multi-hop, self-organizing.When network is larger, control and routing cost in order to reduce, improve the expandability of network and the service efficiency of resource, wireless mobile sensor network usually adopt based on bunch hierarchy, and the formation of this sub-clustering hierarchy and maintenance depend on certain cluster algorithm, the present invention is directed to wireless mobile sensor network and propose a kind of cluster algorithm, and consider the mobility of node, node degree, the series of factors such as repeatability between dump energy and bunch head.
Technical scheme: the several definition of given first:
The magnetic node: the node that uses magnetic material to make, when certain node in network is elected as bunch, open magnetic function; If namely two magnetic nodes are together the time can mutual exclusion, and magnetic can be closed and open.
Connection degree: i.e. all neighbours' of node number.
The comprehensive weights of node: establish that in network, certain node i synthetic weights value expression is E
i=aN
i+ bV
i+ cD
i, a wherein, b, c are the weighted value of three aspect factors, and a+b+c=1; N
i, V
i, D
iBe respectively the connection degree of corresponding node i, mobile speed and and on every side all neighbours distance and.Node ID
i, the comprehensive weights E of node
i
Leader cluster node: by asking max (E
i) come definite node i to be a bunch head.
A bunch number: node i neighbor node number is n, and the leader cluster node number num (n) of this bunch satisfies following formula:
The Hello packet: the form of Hello packet is Hello (ID
i, ClusterID
i, RClusterID
i, E
i), ID wherein
iBe No. ID of certain node i; ClusterID
iFor No. ID of node i place bunch, if do not add any bunch, be NullRClusterID
iBe the reserve at node i place bunch bunch No. ID; E
iComprehensive weights for node.The Hello packet is divided three classes: 1. neighbor discovery messages: ID
i≠ Null and ClusterID
i=Null; 2. a bunch message: ID
i=ClusterID
i≠ Null; 3. add sub-clustering message: ID
i≠ Null, ClusterID
i≠ Null and ID
i≠ ClusterID
iClusterID wherein
iAnd RClusterID
iBe the array of Dynamic Definition, its size is respectively num.
The election of cluster head scheme: node i sends Hello packet traversal neighbor list, press the comprehensive weights descending of node, and chooses the leader cluster node that is of the position of ranking the first, the position of being number two be the reserve leader cluster node.Be leader cluster node if bunch head greater than one, is chosen front num of rank, num afterwards is the reserve leader cluster node.
The reserve leader cluster node: be gateway node, be responsible for the communication between two adjacent cluster, and the corresponding backup node of leader cluster node.
Anchor node: be deployed in advance some nodes of fixed area, and the geographical position of these nodes is known, is used for the location of dead node.
Method flow
The flow process of this cluster-dividing method as shown in Figure 1, complete procedure will specifically describe as follows:
Step 1) is disposed fixing anchor node in the target area with the form of grid, and records geographical coordinate information separately;
Step 2) ClusterID of each node and RClusterID are empty during initialization, from base-station node, each neighbor node of base station is the Hello packet of broadcast transmission oneself also, namely seeks neighbor node by the neighbor discovery messages in the Hello packet;
Step 3) is after T after a while, after obtaining complete neighbor node table Deng each node of base station and base station neighbors, the neighbor node table as shown in Figure 2, select leader cluster node and reserve leader cluster node according to the election of cluster head scheme, and open the magnetic function of bunch head, then a broadcasting bunch head is set up information to neighbor node, and leader cluster node and reserve leader cluster node send to anchor node with its geographical location information simultaneously;
If the step 4) receiving node is the general type node, first upgrade the neighbor node table when receiving the Hello packet, then judge the type of message content, when this message during for bunch message and this node when not adding any bunch or ClusterID element number less than num, immediately ClusterID is write in No. ID of leader cluster node, expression has added this bunch, then broadcasts an information that adds this bunch.When this message is the reserve leader cluster node and the RClusterID of this node be sky or element number during less than num, the reserve leader cluster node is write into RClusterID No. ID;
Step 5) reserve leader cluster node becomes gateway and continue to send neighbor discovery messages in the Hello packet to be sought neighbor node and sets up the neighbor node table, then continue to choose leader cluster node and reserve leader cluster node, continue successively until all mobile sensor network nodes have all added bunch, as shown in Figure 3;
Step 6) when the leader cluster node of two bunches when certain time point meets, because magnetic is repelled each other, so the leader cluster node of two bunches can not move together;
When step 7) becomes dead node suddenly when the leader cluster node of certain bunch, the position that the reserve leader cluster node replaces bunch head immediately becomes leader cluster node, and then all members of this bunch of broadcast announcement and bunch head of its upper level use election of cluster head scheme (seeing definition) again to select leader cluster node leader cluster node in support;
Step 8) leader cluster node and reserve leader cluster node are with how much barycenter of all anchor nodes in its communication range estimated position as oneself.Detailed process is as follows: anchor node includes ID and the positional information of anchor node self at set intervals to beacon signal of neighbor node broadcasting in signal.Receive in one section time of intercept when unknown node surpass some default thresholdings from the beacon signal quantity of anchor node after, this node thinks that anchor node is communicated with therewith, and self-position is defined as the polygonal barycenter that all anchor nodes that are communicated with it form.When producing dead leader cluster node, can the checkmate geographical location information of leader cluster node of anchor node sends to the base station, the replacing fast knot point that the base station can be in good time according to the geographical position;
The step 9) base station just sends neighbor discovery messages every set time t and re-elects leader cluster node and reserve leader cluster node until cover complete network to adapt to the mobility of node.During less than certain value, this bunch hair send a message to the base station when the energy of certain bunch i, and the base station to message of the whole network broadcasting, inspires clustering into of next cycle;
When step 10) is received the message of sub-clustering again when a node, with this node and all neighbor node
ClusterID and RClusterID all are set to Null;
When step 11) enters resting state when the node i in network owing to not working for a long time, node i sent a message to the leader cluster node at its place bunch before entering dormancy, bunch head is sent out message again and is preserved and recorded the follow-up relation of forerunner to higher level's bunch head until pass to the base station, when the resting state of this node has influence on network connectivty, the base station sends activation message by original path and activates it to this dormancy node, removes the content of these preservations when elapsed time k;
Add this network during the legal authentication of step 12) new node process, it will initiatively send neighbours and find that information is to seek its neighborhood:
If ● there is no neighbor node, this node failure;
● if leader cluster node is arranged in neighbor node, add this bunch, send request message to a bunch hair, bunch head upgrades the neighbor list of this node when it is added own neighbor list;
● if neighborhood non-NULL and without leader cluster node judges according to the election of cluster head scheme whether oneself can become a bunch head;
When step 13) has node to withdraw from, if this node is non-leader cluster node, on sub-clustering without any impact, as long as it is deleted from the neighbor node table.When withdraw from be leader cluster node the time, the neighbor node of this bunch can not received a bunch message again, occur overtimely during overtime s, will be set to Null as ClusterID or the RClusterID of all neighbor nodes of bunch head with this point, again carry out election of cluster head according to the election of cluster head scheme.
Beneficial effect: the present invention proposes the cluster-dividing method of mobile node in a kind of wireless sensor network, the method has following advantage:
(1) gusset material in this method has adopted the magnetic material of tool, because node is constantly mobile, bunch head of different bunches might move together, can cause like this bunch and bunch between communication confusion, utilize between magnetic material repulsion mutually can avoid bunch head and a bunch head to move together;
(2) when fast knot point and node dormancy occurring, the node that can find rapidly fast knot point or arouse dormancy by location and the communication between bunch head of anchor node;
(3) by set time t just again sub-clustering to adapt to constantly mobile characteristic of node;
(4) considered the connection degree of node during election bunch, mobile speed and and neighbours apart from sum, make the election of bunch head more reasonable;
(5) can choose a plurality of leader cluster nodes when the member of bunch is too much, can increase the high efficiency of network, and choose simultaneously a plurality of reserve leader cluster nodes, can become rapidly the stability that leader cluster node improves network when the leader cluster node sudden failure;
Description of drawings
Fig. 1 is the flow process of sub-clustering,
The process of setting up that Fig. 2 is bunch.
Embodiment
The below further describes technical scheme of the present invention and method flow take Fig. 3 as example by a concrete example.
Step 1) is disposed fixing anchor node in the target area with the form of grid, i.e. triangular nodes in figure, and record separately geographical coordinate information;
Step 2) base-station node and around node broadcasts send neighbor discovery messages in the Hello packet, find neighbor node and add separately neighbor node table;
After step 3) elapsed time T, the neighbours of base station i.e. all nodes in the circle of base station in figure, select leader cluster node 1,2 and backup node 3,4 according to the election of cluster head scheme, and open the magnetic function of bunch head, then broadcasting bunch head is set up information to all nodes in this zone, and the geographical location information of leader cluster node and reserve leader cluster node sends to anchor node A simultaneously;
If the step 4) recipient node is the general type node, be assumed to be and first upgrade its neighbor node table when node 5 is received the Hello packet of node 1, then judge the type of message content, this message does not add any bunch for a bunch message and this node, immediately ClusterID is write in No. ID of node 1, expression has added this bunch and has broadcasted an information that adds this bunch.When receiving the Hello packet of node 4, again upgrades node 5 the neighbor node table, then judge type of message, this message is that the reserve leader cluster node of reserve leader cluster node and the Hello message of self is sky, and this moment, node was write into RClusterID to the reserve leader cluster node for No. ID;
Step 5) reserve leader cluster node 3 and 4 becomes gateway and continue to send neighbor discovery messages in the Hello packet to be sought neighbor node and sets up the neighbor node table, then continue to choose leader cluster node and reserve leader cluster node, continue successively until all mobile sensor network nodes have all added bunch, as shown in Figure 3;
Step 6) when leader cluster node 1 and 2 when certain time point moves together, because magnetic is repelled each other, so the leader cluster node of two bunches can not move together;
When step 7) becomes fast knot point suddenly when leader cluster node 2, the position that reserve leader cluster node 4 replaces bunch head immediately becomes leader cluster node, and all members of this bunch of broadcast announcement and bunch head of its upper level are the base station, then use election of cluster head method (seeing definition) again to select leader cluster node leader cluster node in support;
Neighbor discovery messages in step 8) reserve leader cluster node 3,4 continuation transmission Hello packets is sought neighbor node and is set up the neighbor node table, node 3 is chosen leader cluster node 5,6 and reserve bunch 7,8, node 4 is chosen leader cluster node 9 and reserve leader cluster node 10, continue successively until all mobile sensor network nodes have all added bunch, as shown in Figure 3;
How much barycenter of step 8) leader cluster node 9 and reserve leader cluster node 10 anchor node B, the C in its communication range, D, F with all are as the estimated position of oneself.Detailed process is as follows: anchor node B, C, D, F include ID and the positional information of anchor node self at set intervals to beacon signal of neighbor node broadcasting in signal.Receive in one section time of intercept when node 11 surpass some default thresholdings from the beacon signal quantity of anchor node after, this node thinks that anchor node is communicated with therewith, and self-position is defined as the polygonal barycenter that all anchor nodes that are communicated with it form.When node 11 becomes when dying for the sake of honour, anchor node can send to the base station with the geographical location information of node 11, the replacing fast knot point that the base station can be in good time according to the geographical position;
The step 9) base station just sends neighbor discovery messages every set time t and re-elects leader cluster node and reserve leader cluster node until cover complete network to adapt to the mobility of node.Energy when bunch 1 is during less than certain value, and this bunch hair send a message to the base station, and the base station to message of the whole network broadcasting, inspires clustering into of next cycle;
When step 10) was received the message of sub-clustering again when node 2, ClusterID and the RClusterID with this node and all neighbor node all was set to Null;
When step 11) enters resting state when the node 5 in network owing to not working for a long time, node 5 sent a message to the leader cluster node 2 at its place bunch before entering dormancy, bunch head is sent out message again and is preserved and recorded the relation of forerunner's rear-guard to a higher level bunch base station, when the resting state of this node has influence on network connectivty, the base station sends activation message by original path and activates it to this dormancy node, removes the content of these preservations when elapsed time k;
Add this network during the 12 legal authentication of process of step 12) new node, it will initiatively send neighbours and find that information is to seek its neighborhood:
If ● there is no neighbor node, this node failure;
● if leader cluster node 9 is arranged in neighbor node, add this bunch, send request message to a bunch hair, bunch head upgrades the neighbor list of this node when it is added own neighbor list;
● if neighborhood non-NULL and without leader cluster node judges according to the election of cluster head scheme whether oneself can become a bunch head; When step 13) withdraws from when node 12, because this node is non-leader cluster node, so on sub-clustering without any impact, as long as it is deleted from the neighbor node table.When withdraw from be leader cluster node 9 time, the neighbor node of this bunch can not received a bunch message again, occur overtime during overtime s, will be set to Null as ClusterID or the RClusterID of all neighbor nodes of bunch head with this point, again carry out election of cluster head according to election of cluster head scheme (seeing definition).
Claims (1)
1. the cluster-dividing method of mobile node in a wireless sensor network, is characterized in that this cluster-dividing method is fit to the sub-clustering of mobile node in special screne, considered all many-sided factors, and detailed process is as follows:
Step 1) is disposed fixing anchor node in the target area with the form of grid, i.e. triangular nodes, and record separately geographical coordinate information;
Step 2) base-station node and around node broadcasts send neighbor discovery messages in the Hello packet, find neighbor node and add separately neighbor node table;
After step 3) elapsed time T, the neighbours of base station are all nodes in the circle of base station, select leader cluster node 1,2 and backup node 3,4 according to the election of cluster head scheme, and open the magnetic function of bunch head, then broadcasting bunch head is set up information to all nodes in this zone, and the geographical location information of leader cluster node and reserve leader cluster node sends to anchor node A simultaneously;
If the step 4) recipient node is the general type node, be assumed to be and first upgrade its neighbor node table when node 5 is received the Hello packet of node 1, then judge the type of message content, this message does not add any bunch for a bunch message and this node, immediately ClusterID is write in No. ID of node 1, expression has added this bunch and has broadcasted an information that adds this bunch; When receiving the Hello packet of node 4, again upgrades node 5 the neighbor node table, then judge type of message, this message is that the reserve leader cluster node of reserve leader cluster node and the Hello message of self is sky, this moment, node was write into RClusterID to the reserve leader cluster node No. ID, then broadcasted an information that adds this bunch;
Step 5) reserve leader cluster node 3 and 4 becomes gateway and continue to send neighbor discovery messages in the Hello packet to be sought neighbor node and sets up the neighbor node table, then continue to choose leader cluster node and reserve leader cluster node, continue successively until all mobile sensor network nodes have all added bunch;
Step 6) when leader cluster node 1 and 2 when certain time point moves together, because magnetic is repelled each other, so the leader cluster node of two bunches can not move together;
When step 7) becomes fast knot point suddenly when leader cluster node 2, the position that reserve leader cluster node 4 replaces bunch head immediately becomes leader cluster node, and all members of this bunch of broadcast announcement and bunch head of its upper level are the base station, then again select leader cluster node leader cluster node in support with the election of cluster head method;
Neighbor discovery messages in step 8) reserve leader cluster node 3,4 continuation transmission Hello packets is sought neighbor node and is set up the neighbor node table, node 3 is chosen leader cluster node 5,6 and reserve bunch 7,8, node 4 is chosen leader cluster node 9 and reserve leader cluster node 10, continues successively until all mobile sensor network nodes have all added bunch;
how much barycenter of step 8) leader cluster node 9 and reserve leader cluster node 10 anchor node B, the C in its communication range, D, F with all are as the estimated position of oneself, detailed process is as follows: anchor node B, C, D, F is at set intervals to beacon signal of neighbor node broadcasting, the ID and the positional information that include anchor node self in signal, receive in one section time of intercept when node 11 surpass some default thresholdings from the beacon signal quantity of anchor node after, this node thinks that anchor node is communicated with therewith, and self-position is defined as the polygonal barycenter that all anchor nodes that are communicated with it form, when node 11 becomes when dying for the sake of honour, anchor node can send to the base station with the geographical location information of node 11, the replacing fast knot point that the base station is in good time according to the geographical position,
The step 9) base station just sends neighbor discovery messages every set time t and re-elects leader cluster node and reserve leader cluster node until cover complete network to adapt to the mobility of node, energy when bunch 1 is during less than certain value, this bunch hair send a message to the base station, the base station to message of the whole network broadcasting, inspires clustering into of next cycle;
When step 10) was received the message of sub-clustering again when node 2, ClusterID and the RClusterID with this node and all neighbor node all was set to Null;
When step 11) enters resting state when the node 5 in network owing to not working for a long time, node 5 sent a message to the leader cluster node 2 at its place bunch before entering dormancy, bunch head is sent out message again and is preserved and recorded the relation of forerunner's rear-guard to a higher level bunch base station, when the resting state of this node has influence on network connectivty, the base station sends activation message by original path and activates it to this dormancy node, removes the content of these preservations when elapsed time t;
Add this network during the 12 legal authentication of process of step 12) new node, it will initiatively send neighbours and find that information is to seek its neighborhood:
If ● there is no neighbor node, this node failure;
● if leader cluster node 9 is arranged in neighbor node, add this bunch, send request message to a bunch hair, bunch head upgrades the neighbor list of this node when it is added own neighbor list;
● if neighborhood non-NULL and without leader cluster node judges according to the election of cluster head scheme whether oneself can become a bunch head;
When step 13) withdraws from when node 12, because this node is non-leader cluster node, so on sub-clustering without any impact, as long as it is deleted from the neighbor node table; When withdraw from be leader cluster node 9 time, the neighbor node of this bunch can not received a bunch message again, occur overtimely during overtime s, will be set to Null as ClusterID or the RClusterID of all neighbor nodes of bunch head with this point, again carry out election of cluster head according to the election of cluster head scheme.
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