CN103237332A - Energy-saving routing method for underwater sensor network on basis of vector forwarding - Google Patents

Energy-saving routing method for underwater sensor network on basis of vector forwarding Download PDF

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CN103237332A
CN103237332A CN201310108016XA CN201310108016A CN103237332A CN 103237332 A CN103237332 A CN 103237332A CN 201310108016X A CN201310108016X A CN 201310108016XA CN 201310108016 A CN201310108016 A CN 201310108016A CN 103237332 A CN103237332 A CN 103237332A
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魏博
罗咏梅
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Tianjin University
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    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
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    • Y02D—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN INFORMATION AND COMMUNICATION TECHNOLOGIES [ICT], I.E. INFORMATION AND COMMUNICATION TECHNOLOGIES AIMING AT THE REDUCTION OF THEIR OWN ENERGY USE
    • Y02D30/00—Reducing energy consumption in communication networks
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Abstract

The invention provides an energy-saving routing method for an underwater sensor network on the basis of vector forwarding. The energy-saving routing method includes computing distances from nodes to previous hop nodes recorded in data packets and angles of arrival of the previous hop nodes when the nodes receive the data packets, and judging whether the distances and the angles of arrival are within ranges of radiuses of forwarding channels or not; computing the distance from each node to projection of the node on a routing vector from a corresponding source node to a corresponding destination node and an included angle between a vector from each previous hop node to a corresponding destination node and a vector from the previous hop node to the corresponding node; computing forwarding coefficients; enabling the nodes to hold the data packets and wait for certain periods, and computing the corresponding forward coefficients relative to a plurality of corresponding nodes again whenever a certain node receives the corresponding data packet from the corresponding nodes during waiting; and broadcasting within the forwarding radiuses if repeated packets are not received during waiting, and forwarding the data packets. The energy-saving routing method for the underwater dynamic network has the advantages that the routing energy consumption of the network can be effectively saved, the energy consumption of the total network can be balanced, network cavities are prevented, and accordingly the service life of the network is greatly prolonged.

Description

A kind of underwater sensor network energy-saving routing method of transmitting based on vector
Technical field
The present invention relates to the underwater sensor network communication technical field, specifically is that a kind of route of network under water layer is based on the method for the saving routing procedure energy consumption of vector forwarding.
Background technology
Though network environment and land network have certain similitude in the network interconnection with aspect such as communicate by letter under water, aspect a lot of larger difference are arranged.Network is because the influence of following factor causes the network service situation to be different from land under water: electromagnetic wave under water in the long propagation bandwidth seriously limited, 30-3000HZ is only arranged, need higher transmitting power and through-put power simultaneously, and transmission delay is big; Multipath effect and decay make under water, and channel is very easy to impaired; The extreme feature of channel causes the high error rate of signal transmission under water; Underwater sensor is owing to factors such as water body corrosion lost efficacy easily; The difficulty of charging or replacing battery makes the transducer life span limited, thereby has limited the life span of whole network.
In addition, the particularity of underwater environment makes underwater sensor network also have following characteristics: extensive, self-organizing, dynamic.It is wide to be mainly reflected in the waters scope on a large scale, and the ocean area is bigger, and the significant information of unknown which zone meeting generation, so need lay sensor node on a large scale, with the big as far as possible zone of covering, thereby obtains Useful Information widest in area.Self-organizing then is because underwater sensor is not most of node of picture land, can in needs, obtain attendant's adjustment, the value of the information that more need judge positional information voluntarily and collect, in addition, more to dispose automatically and manage, rely on the topological structure of transmitting Routing Protocol and autonomous formation to constitute transfers net system under water.Topological structure neither be unalterable, and the movement of Marine Weather situation, mankind's activity and sensor node and inefficacy all may cause the dynamic of underwater sensor network, and topological structure is constantly changed.
The attainability that is difficult for of underwater environment makes sensor node can not in time obtain electric weight supply or battery altering, and the decay of underwater acoustic channel and multipath effect make transmission and it is more high-power to receive signal demand, therefore, the power-saving technology of underwater sensor network is to study the emphasis of network under water.
The existing Routing Protocol of transmitting based on vector under water often can not be taken all factors into consideration position, motion and three factors of energy for the network of transmitting under water, comprehensive inadequately when selecting route: the node of repeatedly selecting to have the advantageous position is transmitted, make the individual areas individual node because repeatedly use and depleted of energy, cause the whole network at the routing failure of these node locations, formation network cavity causes network to be paralysed too early.
Summary of the invention
The present invention is intended to overcome the above-mentioned deficiency of prior art, and the underwater sensor network energy-saving routing method of node location information, movable information and energy information is provided when providing a kind of network under water to carry out Route Selection.In order to achieve the above object, the present invention adopts following technical scheme:
A kind of underwater sensor network energy-saving routing method of transmitting based on vector, each packet of this method transmission has sending node, destination node and previous dive node location information, forward-path determines that to the vector of destination node this method comprises the following aspects by source node:
1) movement velocity be the node of v when receiving packet, calculate the previous dive node that records in itself and the packet apart from m and the angle of arrival, judge whether transmitting within the pipeline radius s; If, then computing node and its in the source-destination node route vector
Figure BDA00002988833500011
Last projection apart from l, and previous dive-destination node vector With previous dive-this knot vector Angle β; Otherwise, abandon;
2) employing formula (1) is calculated and is transmitted coefficient δ:
δ = v * 0.1 + ( 1 - energy initialenergy ) N + ( l s ) + ( r - m * cos β r ) - - - ( 1 )
In the formula, N is value greater than 0 natural number, and r is for transmitting radius, and energy is the node current remaining, and initialenergy is the node primary power;
3) node holds data and wraps the T that waits for a period of time Adaptation, node at waiting time if repeatedly receive this packet from a plurality of nodes, every reception once, it can recomputate own forwarding coefficient with respect to these nodes, remember that initial previous dive node forwarding coefficient is δ 0, afterwards be respectively δ 1, δ 2..., δ nIf satisfy
Figure BDA00002988833500021
N is except issuing the node number of this node identical data packet, δ after the initial previous dive node cBe a predefined constant, 0≤δ c≤ 3, node is just transmitted this packet, otherwise, it is abandoned; Do not receive duplicate packages if waiting bides one's time, then in transmitting radius r, broadcast, continue to transmit packet.
As preferred implementation, adopt formula (1) to calculate when transmitting coefficient, l, s, m and angle β are based on that the present node positional information judges, and v is based on that the node movable information judges; N can get different value according to practical application, if network to the requirements of saving energy height, N gets 1, if to transmitting the requirement height of success rate, can get 2,3 or higher; Stand-by period is determined according to formula (2):
T adaptation = δ * T delay + ( r - m v 0 ) - - - ( 2 )
Wherein, T DelayBe the maximum delay of a cosine definition, v 0The transmission rate of underwater sound signal.
Compare with conventional method, node average residual energy of the present invention enlarges markedly; The residue energy of node variance reduces; Transmitting success rate reduces few, can ignore, do not influence practical application, can be effectively balanced node energy consumption, make and take all factors into consideration position and dump energy information in the node routing procedure, to whether suitable the forwarding evaluated, correct comprehensively calculating ownly held priority in the identical data packet node at all, the node of energy abundance is preferentially transmitted, thereby balance energy consumption, prolonged network lifetime, realized purpose of energy saving, and for the topological diagram of dynamic change adaptability has preferably been arranged.
Description of drawings
Fig. 1 adopts underwater sensor network schematic diagram of the present invention.
Fig. 2 is route flow chart of the present invention.
Embodiment
The energy-saving routing method that underwater sensor network route layer provided by the invention is transmitted based on vector, optimize the energy consumption of in the past transmitting route technology based on vector by introducing capacity factor, in routing procedure, take all factors into consideration position, motion and energy and consume three factors, select dump energy nodes more, that positional information is more excellent preferentially to transmit, help the balanced consumption of node energy like this, avoid individual nodes repeatedly to use, depleted of energy was so that lost efficacy.Scheme is as follows:
1. the vector from the source node to the destination node determines that is transmitted a cylindrical region, and there is certain width s in this zone.Directivity in the repeating process is the direction towards close destination node all the time from source node, can not return transmission.Previous dive carries out with the forms of broadcasting this time forwarding, not only a node receives packet, all nodes that receive this bag calculate the previous dive node that records in itself and the packet apart from m and the angle of arrival (the angle of arrival, AOA, the angle of arrival are the direction line that arrives of packet and the angle between the horizontal plane of node place).
2. sensor node judges whether oneself is enough near apart from repeating vector, if not, directly abandon this packet, thereby can save unnecessary forwarding step, save energy.If enough near, the preparation of transmitting of then having an opportunity.In underwater sound communication network, the information that all sensor node is collected is sent to ship base receiving station (SINK) usually, carries out analyzing and processing by the data of SINK.
Sensor node calculate with its in the source-destination node route vector
Figure BDA00002988833500031
Last projection apart from l, and previous dive-destination node vector
Figure BDA00002988833500032
With previous dive-this knot vector
Figure BDA00002988833500033
Angle β.Adopt formula (1) to calculate and transmit coefficient δ.Effectively avoid having the node energy excessive loss of position advantage, make position deviation little, movement velocity node little and that have an enough energy can participate in transmitting packet, rationally the equalizing network energy consumption.
4. use and transmit preceding waiting mechanism, node holds data and wraps the T that waits for a period of time AdaptationAdopt formula (2) to calculate stand-by period T AdaptationNode is evaluated oneself again at waiting time and transmit the adaptability of packet in numerous neighbor node.Time-delay and speed positive correlation make that the big node of movement velocity does not participate in transmitting, and reduce consequent packet loss.The N value can be chosen according to different situations, if network to the requirements of saving energy height, N gets 1, if can get 2 or higher to transmitting the success rate height.One of the energy that adds in the formula (1) is less than 0.5, and speed term is less than 0.3, and location entries does not cause the influence of essence to time-delay between [0,3], and is that the balancing energy of cost is acceptable suitably to increase time-delay.
5. when residue energy of node was big, it was less to transmit coefficient δ, and this node can more early be transmitted, otherwise, then to wait for.If waiting time is received the identical packet that other nodes are sent out again, then calculate again and transmit coefficient δ, judge whether at last to transmit.In the reality, if node is received the packet of repetition more than two waiting to bide one's time, then this node will be with data packet discarding.
6. node is judged own priority in all neighbor nodes, if for the highest, then broadcasts to transmit radius r, uses identical judgement priority approach to continue to transmit packet.
So just can effectively save and transmit energy consumption, the equalizing network energy greatly prolongs network lifetime.
As follows referring to Fig. 1 and the concrete scheme of Fig. 2 the present invention.
(1) three band of position: OP is arranged in each packet, TP, FP, the i.e. coordinate system of sending node, destination node and previous dive node.Each includes a RANGE zone, when packet arrives the RANGE zone at destination node place, just carries out inundation in this zone.Underwater sensor network is initiated route requests, and dual mode is arranged: a kind of is that the ship base SINK of receiving station initiates; A kind of is the source initiation of route.Wherein, the mode of the SINK of ship base receiving station initiation has two kinds: independently ask location-based request and position.The former is that the ship base SINK of receiving station only wants to understand the data message that certain particular range inner sensor node collects, so it is based on the position.The latter is SINK to certain type or to have the data of some information interesting, goes for these information, then no matter which node has, no matter the node that these information are arranged where, all will obtain this information.
(2) node is transmitted packet with the forms of broadcasting, and the vector from the source node to the destination node determines that is transmitted a zone, and this zone is cylindrical, and width is s.The direction of repeating process all the time from source node to the destination node direction.Be destination node with the SINK point in the network model under water.The sensor node that receives this packet calculate the previous dive node that records in itself and the packet apart from m and the angle of arrival (AOA).Sensor node judges whether oneself is positioned at cylindrical region, if not, abandon this packet, save redundant forwarding step, save energy.If in the zone, the preparation of having an opportunity to transmit.In the underwater sound communication network, the information that sensor node is collected is sent to the ship base SINK of receiving station usually, carries out analyzing and processing by the data of SINK.
(3) sensor node calculate with its in the source-destination node route vector
Figure BDA00002988833500034
Last projection apart from l, and previous dive-destination node vector
Figure BDA00002988833500035
With previous dive-this knot vector
Figure BDA00002988833500036
Angle β, obtain relevant position information, adopt formula (1) calculate to transmit coefficient δ again.
(4) if certain node is on the repeating vector and at the broadcasting area edge of previous dive forward node, then this node is called as optimal node, its position is called as the optimum position, consider the motion and capacity factor after, effectively avoided this type of to have the node energy excessive loss of position advantage.Can repeatedly not select this node when selecting route, consume its energy excessively, then consider the node of other positions, even position deviation is not very big, also can transmit when but having enough energy and appropriate motion speed, reasonably the equalizing network energy consumption makes that network energy consumption is even.
(5) use the preceding waiting mechanism of forwarding, node holds data and wraps the T that waits for a period of time AdaptationAdopt formula (2) to calculate stand-by period T AdaptationIf waiting time is received the identical data that other nodes are sent out again, then calculate again and transmit coefficient δ, judge whether at last to transmit.When minimum is transmitted the factor less than threshold value
Figure BDA00002988833500041
Shi Jixu transmits packet.
Use Aqua-Sim network simulation software under water verifies based on underwater sensor network route layer, environment facies is set together down, and this method is compared node average residual energy and enlarged markedly with conventional method; The residue energy of node variance reduces; Transmit success rate and reduce seldom, can ignore, do not influence practical application.Prove this method balanced effectively node energy consumption, make and take all factors into consideration position and dump energy information in the node routing procedure, to whether suitable the forwarding evaluated, correct comprehensively calculating ownly held priority in the identical data packet node at all, the node of energy abundance is preferentially transmitted, thus balance energy consumption, prolonged network lifetime, realized purpose of energy saving, and for the topological diagram of dynamic change adaptability has preferably been arranged.

Claims (4)

1. underwater sensor network energy-saving routing method of transmitting based on vector, each packet of this method transmission has sending node, destination node and previous dive node location information, forward-path determines that to the vector of destination node this method comprises the following aspects by source node:
1) movement velocity be the node of v when receiving packet, calculate the previous dive node that records in itself and the packet apart from m and the angle of arrival, judge whether transmitting within the pipeline radius s; If, then computing node and its in the source-destination node route vector
Figure FDA00002988833400011
Last projection apart from l, and previous dive-destination node vector
Figure FDA00002988833400012
With previous dive-this knot vector
Figure FDA00002988833400013
Angle β; Otherwise, abandon;
2) employing formula (1) is calculated and is transmitted coefficient δ:
Figure FDA00002988833400014
In the formula, N is value greater than 0 natural number, and r is for transmitting radius, and energy is the node current remaining, and initialenergy is the node primary power;
3) node holds data and wraps the T that waits for a period of time Adaptation, if repeatedly receive this packet from a plurality of nodes, every reception is once recomputated node itself with respect to the forwarding coefficient of these sending nodes to node at waiting time, remembers that it is δ that initial previous dive node is transmitted coefficient 0, afterwards be respectively δ 1, δ 2..., δ nIf satisfy N is except issuing the node number of this node identical data packet, δ after the initial previous dive node cBe a predefined constant, 0≤δ c≤ 3, node is just transmitted this packet, otherwise, it is abandoned; Do not receive duplicate packages if waiting bides one's time, then in transmitting radius r, broadcast, continue to transmit packet.
2. method as claimed in claim 1 is characterized in that, adopts formula (1) to calculate when transmitting coefficient, and l, s, m and angle β are based on that the present node positional information judges, v is based on that the node movable information judges.
3. method as claimed in claim 1 is characterized in that, N can get different value according to practical application, if network to the requirements of saving energy height, N gets 1, if to transmitting the requirement height of success rate, can get 2,3 or higher.
4. method as claimed in claim 1 is characterized in that, the stand-by period is determined according to formula (2):
Figure FDA00002988833400016
Wherein, T DelayBe the maximum delay of a cosine definition, v 0It is the transmission rate of underwater sound signal.
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CN107509233A (en) * 2017-09-30 2017-12-22 深圳市智慧海洋科技有限公司 A kind of underwater sensor network retransmission method and system based on vector
CN110461009A (en) * 2019-06-30 2019-11-15 天津大学 The underwater sensor network Routing Protocol evaded based on dynamic network cavity
CN110798401A (en) * 2019-10-24 2020-02-14 天津大学 Path selection method based on residual energy and geographic position

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CN102186171A (en) * 2011-03-11 2011-09-14 北京工业大学 Anti-attack reliable wireless sensor network node positioning method

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Cited By (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN103607749A (en) * 2013-11-13 2014-02-26 福建工程学院 A direction perception guided data collection method in an opportunity mobile sensor network
CN103607749B (en) * 2013-11-13 2017-02-08 福建工程学院 A direction perception guided data collection method in an opportunity mobile sensor network
WO2016169505A1 (en) * 2015-04-24 2016-10-27 Beijing Zhigu Rui Tuo Tech Co., Ltd. Information transmission method and apparatus for mobile terminal
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CN107205253A (en) * 2017-04-11 2017-09-26 天津大学 A kind of biological friendly three-dimensional method for routing under water
CN107205253B (en) * 2017-04-11 2019-12-27 天津大学 Biological friendly three-dimensional underwater routing method
CN107509233A (en) * 2017-09-30 2017-12-22 深圳市智慧海洋科技有限公司 A kind of underwater sensor network retransmission method and system based on vector
CN110461009A (en) * 2019-06-30 2019-11-15 天津大学 The underwater sensor network Routing Protocol evaded based on dynamic network cavity
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CN110798401A (en) * 2019-10-24 2020-02-14 天津大学 Path selection method based on residual energy and geographic position

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