CN104301864B - The method for wireless communication networking of electric automobile charging pile cluster - Google Patents

The method for wireless communication networking of electric automobile charging pile cluster Download PDF

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CN104301864B
CN104301864B CN201410352792.9A CN201410352792A CN104301864B CN 104301864 B CN104301864 B CN 104301864B CN 201410352792 A CN201410352792 A CN 201410352792A CN 104301864 B CN104301864 B CN 104301864B
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CN104301864A (en
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张有兵
杨晓东
梁晓莉
周文委
谢路耀
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Zhejiang University of Technology ZJUT
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    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
    • H04W4/06—Selective distribution of broadcast services, e.g. multimedia broadcast multicast service [MBMS]; Services to user groups; One-way selective calling services
    • H04W4/10—Push-to-Talk [PTT] or Push-On-Call services
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W16/00—Network planning, e.g. coverage or traffic planning tools; Network deployment, e.g. resource partitioning or cells structures
    • H04W16/18—Network planning tools
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W84/00—Network topologies
    • H04W84/18—Self-organising networks, e.g. ad-hoc networks or sensor networks
    • 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
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • 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
    • Y02D30/70—Reducing energy consumption in communication networks in wireless communication networks

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Abstract

The method for wireless communication networking of electric automobile charging pile cluster, its core is a kind of wireless sensor network MANET route control method based on geographical location information.Node (charging pile) positional information is obtained using range-free localization algorithm.Hierarchical network is built based on adaptive dynamic clustering thought, network environment for place of charging considers local nodes density and node to the distance factor of Sink (base station), propose a kind of new threshold definitions method, the load balance degree of network is improved, and alleviates " hot-zone " problem to a certain extent；To ensure the connection of large scale network, auxiliary leader cluster node is introduced, routed path selection is carried out according to trust value between cluster node and Sink node.Finally, after limited number of time circulation, the local optimum constrained with interval upper limit performance indications is determined by Route Optimization Model and route.The present invention has good economic benefit prospect relative to wired backbone, can effectively improve the networking capability and data-handling capacity of management system.

Description

The method for wireless communication networking of electric automobile charging pile cluster
Technical field：
The present invention relates to a kind of electric automobile charging pile Trunked Radio network-building method based on geographical location information, its Core is a kind of private radio sensor network (WSN) MANET route control method, for meeting electric automobile charging pile collection The data communication needs of cluster management system, belong to wireless communication technology field.
Background technology：
The energy resource supply for how solving the problems, such as electric automobile (EV) be electric automobile quickly popularize the key issue that faces it One.At present, main charged by charging pile of the energy resource supply of electric automobile provides.Electric automobile charging pile is providing safe efficient Charging service on the basis of, it is necessary to carry out centralized watch and system to the multiple charging piles of the same area by advanced technological means One management is there is provided perfect cluster management system, to promote the development of ev industry.
There are a variety of monitoring such as charger, controller switching equipment and protection supervisory equipment in electric automobile charging pile cluster to set Standby, cluster management system is to contact electric automobile and cluster management center, the information taken point of power-management centre, it is necessary to ginseng Number configuration, monitoring device state and charging process real time information etc. carry out integrated, analysis, contain much information, to the reliability of communication It is high with requirement of real-time, therefore efficient information exchange is the key factor that system is rationally run.Relative to conventional wireline communication side Formula, the cluster management system communication mode based on wireless sensor network is with its distinctive quick self organization ability and superior Autgmentability, adaptivity, conveniently realize flexible and efficient, quick and safe charging service, be electric automobile charging pile cluster pipe The desired communication mode of reason system.
However, traditional wireless sensor network route control method is unsuitable for the network environment of noenergy constraint, now The challenge of network faces is no longer to reduce energy consumption and extension network lifetime as far as possible, and is the performance of maximization network. All demands are disclosure satisfy that there is presently no a kind of route control method, domestic and foreign scholars are to wireless sensor network route test The research of method is both for particular network environment.Huang H. etc. propose EIGR control methods, it is considered to positional information and receipts Hair power does forwarding strategy, shows excellent in terms of time delay and Packet delivery ratio.Miao Shihong etc. is proposed by many for distribution line Path authentic communication routing mechanism meets network reliability requirement, and channel quality and sensor section are mainly considered during Path selection Point arrives the hop count of Sink node, it is ensured that the quick transmission of data, but network throughput can not ensure；Preetika etc. is analyzed The energy management of electric automobile is carried out using wireless sensor network and realizes the feasible of information system management and electronics charging Property, route using Cluster-Tree and route the method combined with AODVjr, improve algorithm performance, but be only applicable to scale compared with Small network, routed path is also not necessarily optimal.Sun Wei et al. points out that power distribution network interior joint uses mains-supplied, in the absence of energy Measure supply problem, it is proposed that a kind of route control method based on layering wireless sensor network topology and link-quality, utilize Layered Multipath is balanced the load, and the data communication services of low Packet Error Rate, short time-delay are provided for controller switching equipment, but algorithm is opened up to network Flutter structure change it is insensitive, it cannot be guaranteed that whole node networks.To solve the above problems, realize each charging pile and administrative center it Between efficient data interaction carried out by wireless sensor network, it is necessary to which primary study is suitable to electric automobile charging pile cluster management The efficient wireless sensor network MANET route control method of system.
The content of the invention：
The present invention, which will be overcome in the conventional cluster way to manage based on wired backbone, to be connected up, debugs and later maintenance, change The drawbacks of upper consuming huge manpower and materials, it is intended to management system networking capability and data-handling capacity are improved, based on cluster management The communication requirement of system, inquires into suitable wireless communication network scheme, devises electric automobile charging pile cluster management system Double-deck group-net communication framework, the framework is in units of region, and region is embodied in the charging station of some in city, and each region is matched somebody with somebody One group of wireless sensor network is put, for the data interaction at each charging pile and cluster management center, and provides a kind of for electronic The wireless sensor network MANET route control method of automobile charging pile cluster management system；Each region and cluster management center Between connected by GPRS private network modes, layering upload data.The present invention carries out height to realize between each charging pile and administrative center Effect, real-time data interaction, improve the service quality of charging pile cluster, propose a kind of electric automobile charging pile Trunked Radio Network-building method, as shown in Figure 1, the detailed process of technical scheme are as follows：
1st, determine that EV charging piles cluster scale (charging pile number N) and distributed areas (length lt and width wt), node lead to Communication distance R, Sink node is located at edges of regions；
2nd, to ensure that all charging piles network, introduce auxiliary leader cluster node, according to sensitive zones size and node communication away from From the number and the position that aid in leader cluster node for determining to need to dispose；
3rd, the acquisition of node geo-location information
Range-free localization algorithm：Algorithm only needs a mobile beacon, it is assumed that the perceived distance of node is Rs, beaconing nodes With speed VmFrom (- Rs,-Rs) arrive (lt+Rs, wt+Rs) make along straight line at intervals of lIBack and forth movement, and with frequency fBPeriodically Packet of the broadcast packet containing current location information；During movement, when a certain node S to be positioned is apart from beaconing nodes Rs When, then now the positional information of beacon is that may participate in node S positioning；In practice, the hardware due to beaconing nodes and positioning The limitation of time, the interval of beaconing nodes broadcast packe will not be infinitesimal, and the radio broadcast range of node is presented Go out certain degree of irregularity (DOI), as shown in Figure 2, therefore it is R to be considered as apart from node to be positionedsPosition it is actual with The distance of node to be positioned is R 's, certain error is there is, i.e., as (1-DoI) Rs≤R′s≤(1+DoI)RsWhen, it is considered as Node to be positioned is R with beaconing nodes distances, this moment the positional information of beaconing nodes can as positioning S reference coordinate it One；To improve positioning precision, the present invention makes node to be positioned in three set of locations for participating in positioning using node dormancy mechanism Into triangle in, then using maximum-likelihood method estimate node location；
As shown in Figure 2, position fixing process interior joint S receives beacon message 4 times altogether, and the positional information received for the first time is A1, the now not direct dormancy of record position information, dormancy time is t1, it is assumed that node S dormancy t1The positional information received first afterwards For A2, record position information, then dormancy t2, by that analogy, recorded A4The information point of beaconing nodes is then no longer received afterwards Group；The dormancy time in each stage is：
In formula, TlThe time spent to be moved along a straight line from region D side to opposite side, rand is used to generate (0,1) Between random number；
When node S (x, y) to be positioned by dormancy mechanism receives three positional informations：A2(x2, y2)、A3(x3, y3)、A4 (x4, y4) when have：
Above formula is converted into the system of linear equations of AX=b forms
The coordinate that can obtain node to be positioned using the nonlinear IEM model method of standard is：
4th, to threshold value TnDefinition
Tn=2p λ e(-λ)[(-k)log(1+kδ)] (5)
WhereinP is the probability that node is chosen as cluster head, here it is considered that every charging Stake one node of correspondence, N is sensing network interior joint sum, dA→BFor node A to node B distance, A, B can represent all types of Node, snRepresent sensing node, dmaxFor the maximum distance of region interior joint to Sink node, k, α and λminFor special parameter；
5th, the process that ordinary node is added in cluster
A value in this stage, each node random selection (0,1), if selected value is less than specific threshold Tn, that The node will utilize CSMA-MAC protocol broadcast ADV message, announce oneself elected epicycle cluster head, ordinary node is according to formula (6) determine to add which cluster, a member as the cluster, and notify cluster head；
S in formulaiRepresent ordinary node, QCjExpression cluster head is CjCluster, UiRepresent in node SiCluster head section in communication range Point set, NCnFor with CnFor the cluster number of members of cluster head；When formula (6) represents that ordinary node adds cluster, distance is not only considered, it is also contemplated that The scale of each cluster in communication；
6th, MANET route control method
Shown in accompanying drawing 3 is that cluster head in the topological structure schematic diagram of certain sensing network, clustering architecture is in the way of TDMA Member node arrangement sends the order of data in cluster, and cluster head is after necessary de-redundancy, using CSMA/CA mechanism by data edge Path is sent to Sink node between cluster；The transmission of data is using the multihop routing mechanism inspired based on trust value, Cu Jian roads between cluster The selection in footpath follows the principles 1；
The next-hop of the selection of rule 1. is that line is minimum, nearest apart from destination node between deviation source node and destination node And the node connected with present node；
As shown in Figure 4, detailed process is as follows for route-determining process block diagram：
6.1 path selection process are from source node CiStart, make Ci=CNh(next-hop node), determines CNhAdjoining cluster node (leader cluster node and auxiliary leader cluster node) setAnd judge Sink node whetherIn, if jumping to step 6.3, otherwise calculating CNhTrust value matrix：
KNh,jRepresent node CNhAssign node CjTrust value, measured by the function on distance, its calculate such as formula (8) It is shown：
6.2 fromThe maximum node P of middle selection trust valuen, decision node PnWhether in CiTo Sink path PathiIn, if it was not then by PnAdd PathiIn, otherwise, by PnFromMiddle to delete, repeat step 6.2 is until it is determined that Pn, And make Pn=CNh；
6.3 repeat steps 6.1,6.2 are until CNhWhen finally searching Sink node, node CiPath P athiIt is chosen It is fixed；
6.4 work as source node CiWhen having traveled through all cluster nodes, i.e. i>mrWhen (i=1,2 ..., mr, represent that cluster node is compiled Number, mrThe cluster knot points produced for previous cycle), the preliminary route of this circulation has been determined that, one has been formd and is saved with Sink The routing tree that point is root, cluster node is backbone；
7th, routing optimality
When setting up clustering architecture, although introducing selection of the node density factor to leader cluster node has certain guidance quality, The position that cluster head occurs still has randomness, further many to handling capacity, time delay etc. to prevent routing tree from only having a trunk Target is coordinated and optimized, and the present invention determines route by the way of first breadth first search again deep search；Route establishment is walked originally Afterwards, the route that current route carries out a period of time is assessed, obtains following assessment parameter：1. mean transit delay Dr(the present invention Processing delay of the time delay of statistics for the time delay and node because of Channel Access Mechanism generation in itself)；2. network throughput ThPr, i.e., The total amount of data that Sink node is received in observing time；After h times circulates, determine to meet from route storehouse according to parameter is assessed The optimal network routing of cluster management system transmission request message, and broadcast corresponding cluster head；The determination of route can be reduced to area Between upper limit performance indications constrain end-to-end uncertain course optimizing Solve problems, limited number of time circulation in seek optimal solution；It is full Route Optimization Model under the conditions of sufficient real-time is：
Wherein
D in formula0The maximum delay allowed for information transfer in charging pile cluster management system, specifically, the only circulation Propagation delay time be less than D0When, be possible to be confirmed as final route,For each circulation time delay value be sorted in ascending order after The V time delay value, parameter V is obtained by experiment experience, shown in value such as formula (11),U maximum integer is represented less than, h is represented Cycle-index.
The beneficial effects of the present invention are devise the double-deck group-net communication frame of electric automobile charging pile cluster management system Structure, as shown in Figure 5, pre-test has been carried out to its Wireless Networking, is proposed particular for the region charging station in accompanying drawing 5 a kind of Wireless sensor network MANET route control method：Routed path selection, the path of selection are carried out based on geographical location information It is convergent towards Sink node, the most jete route from source node to destination node is realized, for the use field of charging pile For scape (densely distributed, noenergy constraint), propagation delay time can be effectively reduced；Routing Optimization Algorithm promotes routing tree toward many trunks Direction is developed, and shows excellent in terms of network throughput, mean transit delay；Relative to conventional wireline communication mode, it is based on The communication mode of wireless sensor network, due to its self-organization and extensive property, rapid networking is convenient, cost performance is high, It is suitable for distributed treatment to improve data-handling capacity, is more suitable for building electric automobile charging pile cluster management system, it is convenient Realize flexible and efficient, quick and safe charging service.
Brief description of the drawings：
The route control method block diagram of Fig. 1 present invention.
The irregular radio broadcasting patterns of Fig. 2.
Fig. 3 sensor network topology structural representations.
Fig. 4 route-determining process block diagrams.
Fig. 5 cluster management system structure charts.
Fig. 6 routing optimalities：6 (a) Node distribution figure；6 (b) path selection process；6 (c) optimal routed path.
Fig. 7 days charging EV distributed number figures.
The network throughput curve determined under Fig. 8 difference cycle-indexes
Embodiment：
With reference to embodiment and accompanying drawing, the present invention is described in further detail, but embodiments of the present invention are not It is limited to this.Embodiment is based on the wireless sensor network route-determining process expansion in the EV charging pile clusters of region, and general diagram is such as Shown in accompanying drawing 1, the method for wireless communication networking of electric automobile charging pile cluster comprises the following steps：
1st, determine that EV charging piles cluster scale (charging pile number N) and distributed areas (length lt and width wt), node lead to Communication distance R, Sink node is located at edges of regions；
2nd, to ensure that all charging piles network, introduce auxiliary leader cluster node, according to sensitive zones size and node communication away from From the number and the position that aid in leader cluster node for determining to need to dispose；
3rd, the acquisition of node geo-location information
Range-free localization algorithm：Algorithm only needs a mobile beacon, it is assumed that the perceived distance of node is Rs, beaconing nodes With speed VmFrom (- Rs,-Rs) arrive (lt+Rs, wt+Rs) make along straight line at intervals of lIBack and forth movement, and with frequency fBPeriodically Packet of the broadcast packet containing current location information；During movement, when a certain node S to be positioned is apart from beaconing nodes Rs When, then now the positional information of beacon is that may participate in node S positioning；In practice, the hardware due to beaconing nodes and positioning The limitation of time, the interval of beaconing nodes broadcast packe will not be infinitesimal, and the radio broadcast range of node is presented Go out certain degree of irregularity (DOI), as shown in Figure 2, therefore it is R to be considered as apart from node to be positionedsPosition it is actual with The distance of node to be positioned is R 's, certain error is there is, i.e., as (1-DoI) Rs≤R′s≤(1+DoI)RsWhen, it is considered as Node to be positioned is R with beaconing nodes distances, this moment the positional information of beaconing nodes can as positioning S reference coordinate it One；To improve positioning precision, the present invention makes node to be positioned in three set of locations for participating in positioning using node dormancy mechanism Into triangle in, then using maximum-likelihood method estimate node location；
As shown in Figure 2, position fixing process interior joint S receives beacon message 4 times altogether, and the positional information received for the first time is A1, the now not direct dormancy of record position information, dormancy time is t1, it is assumed that node S dormancy t1The positional information received first afterwards For A2, record position information, then dormancy t2, by that analogy, recorded A4The information point of beaconing nodes is then no longer received afterwards Group；Shown in the dormancy time in each stage such as formula (1)；
When node S (x, y) to be positioned receives three positional informations shown in accompanying drawing 2 by dormancy mechanism：A2(x2, y2)、 A3(x3, y3)、A4(x4, y4) when, obtain shown in equation group such as formula (2)；
Formula (2) is converted into the system of linear equations of AX=b forms, and wherein A, b, X is expressed as shown in formula (3)；
The coordinate of node to be positioned can be obtained using the nonlinear IEM model method of standard, as shown in formula (4)；
4th, to threshold value TnDefinition such as formula (5) shown in；
5th, the process that ordinary node is added in cluster
A value in this stage, each node random selection (0,1), if selected value is less than specific threshold Tn, that The node will utilize CSMA-MAC protocol broadcast ADV message, announce oneself elected epicycle cluster head, ordinary node is according to formula (6) determine to add which cluster, a member as the cluster, and notify cluster head.When formula (6) represents that ordinary node adds cluster, no Only consider distance, it is also contemplated that the scale of each cluster in communication；
6th, MANET route control method
Cluster head in clustering architecture sends the order of data in the way of TDMA as member node arrangement in cluster, and cluster head is in necessity De-redundancy after, data are sent to by Sink node along path between cluster using CSMA/CA mechanism；The transmission of data is used between cluster The multihop routing mechanism inspired based on trust value, the selection in path follows the principles 1 between cluster：
The next-hop of the selection of rule 1. is that line is minimum, nearest apart from destination node between deviation source node and destination node And the node connected with present node；
As shown in Figure 4, detailed process is as follows for route-determining process block diagram：
6.1 path selection process are from source node CiStart, make Ci=CNh(next-hop node), determines CNhAdjoining cluster node (leader cluster node and auxiliary leader cluster node) setAnd judge Sink node whetherIn, if jumping to step 6.3, otherwise calculating CNhTrust value matrix, calculate such as formula (7) institute Show；
6.2 fromThe maximum node P of middle selection trust valuen, decision node PnWhether in CiTo Sink path PathiIn, if it was not then by PnAdd PathiIn, otherwise, by PnFromMiddle to delete, repeat step 6.2 is until it is determined that Pn, And make Pn=CNh；
6.3 repeat steps 6.1,6.2 are until CNhWhen finally searching Sink node, node CiPath P athiIt is chosen It is fixed；
6.4 work as source node CiWhen having traveled through all cluster nodes, i.e. i>mrWhen (i=1,2 ..., mr, represent that cluster node is compiled Number, mrThe cluster knot points produced for previous cycle), the preliminary route of this circulation has been determined that, one has been formd and is saved with Sink The routing tree that point is root, cluster node is backbone；
7th, routing optimality
When setting up clustering architecture, although introducing selection of the node density factor to leader cluster node has certain guidance quality, The position that cluster head occurs still has randomness, further many to handling capacity, time delay etc. to prevent routing tree from only having a trunk Target is coordinated and optimized, and the present invention determines route by the way of first breadth first search again deep search.Route establishment is walked originally Afterwards, the route that current route carries out a period of time is assessed, obtains following assessment parameter：1. mean transit delay Dr(the present invention Processing delay of the time delay of statistics for the time delay and node because of Channel Access Mechanism generation in itself)；2. network throughput ThPr, i.e., The total amount of data that Sink node is received in observing time.After h times circulates, determine to meet from route storehouse according to parameter is assessed The optimal network routing of cluster management system transmission request message, and broadcast corresponding cluster head.Meet the route under the conditions of real-time Shown in Optimized model such as formula (9).
Using being analyzed exemplified by a charging station being located in community parking field in the present embodiment, the charging station is located at face Product is 14400m2Square region (lt=wt=120m) in, possess 300 charging piles, charge power is 7kW, charge load Power factor is 0.9, daily service EV1200, and battery capacity is 32kWh；Sink node coordinate is (60m, 120m), section Point communication distance R is 50m, and 4 auxiliary leader cluster nodes are uniformly distributed, shown in each Node distribution such as accompanying drawing 6 (a).Node locating phase Related parameter is set：The movement rate V of beaconing nodesmFor 10m/s, the frequency f of beaconing nodes broadcast position informationBFor 10 times/s, Rs For 30m, straight wire spacing lI0.1 is taken for 3m, DOI.
To TnDefinition in, p is that 0.1, k is 2/3, λminIt is 0.1 for 0.455, α.
EV charge datas setting in table 1, and assume that charging terminates rear user and immediately rolls EV away from.The present invention is based on Monte Carlo simulation approach (MCS), randomly generates each EV days charge requirement data, obtains intraday charging EV distributed numbers Figure, as shown in Figure 7.
Table 1EV charge data setting
Note：A ∨ b represent to take the higher value between a and b.
From accompanying drawing 7 as can be seen that daily 20:During 00 or so charging evening peak, the charging pile almost all in cluster Service is participated in, therefore selects the communication requirement of this period to carry out testing algorithm.
In accompanying drawing 6 (b), with C5Path selection process of the explanation to Sink node exemplified by (No. 85 nodes).First, C5Neighbour Connect cluster nodeThen K5=[7.72 × 103,4.88×102,-3.89×102,4.62×103,5.52 ×103], according to step 6.2, next-hop node CNh=C3, nowAnd have K3= [1.22×104,1.13×104,-9.09×102,8.01×103,6.94×103,4.57×103,5.96×103,1.02× 104,1.16×104], therefore next-hop node CNh=C1, for C1, due toTherefore Sink node is in setIn, C1 Sink node, such C can be connected5Path just have selected, i.e. path5={ C3,C1,Sink}。
Parameter h determination process：Network is emulated by the parameter of above-mentioned setting, obtained under different cycle-indexes by step The network throughput curve that Route Optimization Model in rapid 7 is determined, as shown in Figure 8.As can be seen that after cycle-index is more than 120, Throughput curve is held essentially constant, it is taken as that can obtain ideal routing tree when cycle-index h is set as into 120.
Often set up and be referred to as one cycle after a clustering architecture, all cluster node path selections, then by h be 120 times Circulation after, the optimal network routing in above-mentioned circulation is determined according to Route Optimization Model, shown in selection result such as accompanying drawing 6 (c).
As described above, the present invention can be better realized, above-described embodiment is only the exemplary embodiments of the present invention, is not used To limit the practical range of the present invention, these embodiments can be carried out in the case where not departing from the principle and objective of the present invention A variety of change, modification, replacement and modification, the scope of the present invention is by claim and its equivalent limits.

Claims (1)

1. the method for wireless communication networking of electric automobile charging pile cluster, it is characterised in that comprise the following steps：
Step 1, determine EV charging piles cluster scale and distributed areas D, node communication distance R, Sink node is located at edges of regions, The charging pile number N of EV charging pile clusters, distributed areas D length lt and width wt；
Step 2, to ensure that all charging piles network, introduce auxiliary leader cluster node, according to sensitive zones size and node communication away from From the number and the position that aid in leader cluster node for determining to need to dispose；
The acquisition of step 3, node geo-location information
Range-free localization algorithm：Algorithm only needs a mobile beacon, it is assumed that the perceived distance of node is Rs, beaconing nodes are with speed Rate VmFrom (- Rs,-Rs) arrive (lt+Rs, wt+Rs) make along straight line at intervals of lIBack and forth movement, and with frequency fBPeriodically broadcast Packet comprising current location information；During movement, when a certain node S to be positioned is apart from beaconing nodes RsWhen, So now the positional information of beacon is that may participate in node S positioning；In practice, the hardware due to beaconing nodes and positioning time Limitation, the interval of beaconing nodes broadcast packe will not be infinitesimal, and the radio broadcast range of node shows one Fixed degree of irregularity (DOI), therefore it is R to be considered as apart from node to be positionedsThe actual distance with node to be positioned in position For Rs', certain error is there is, i.e., as (1-DoI) Rs≤Rs'≤(1+DoI)RsWhen, it is considered as node to be positioned and beacon Nodal distance is Rs, this moment the positional information of beaconing nodes can be used as positioning S one of reference coordinate；To improve positioning accurate Degree, the present invention makes node to be positioned be in the triangle for the three positions composition for participating in positioning using node dormancy mechanism, so Afterwards node location is estimated using maximum-likelihood method；
Position fixing process interior joint S receives beacon message 4 times altogether, and the positional information received for the first time is A1, now record position is not believed Direct dormancy is ceased, dormancy time is t1, it is assumed that node S dormancy t1The positional information received first afterwards is A2, record position information, Then dormancy t2, by that analogy, recorded A4The information block of beaconing nodes is then no longer received afterwards；The dormancy time in each stage For：
<mrow> <msub> <mi>t</mi> <mn>1</mn> </msub> <mo>=</mo> <mn>0.25</mn> <mfrac> <msub> <mi>R</mi> <mi>s</mi> </msub> <msub> <mi>l</mi> <mi>I</mi> </msub> </mfrac> <msub> <mi>T</mi> <mi>l</mi> </msub> <mo>+</mo> <mfrac> <mrow> <mn>2</mn> <mrow> <mo>(</mo> <mo>-</mo> <msub> <mi>R</mi> <mi>s</mi> </msub> <mo>)</mo> </mrow> <mi>l</mi> <mi>o</mi> <mi>g</mi> <mrow> <mo>(</mo> <mn>1</mn> <mo>-</mo> <mi>r</mi> <mi>a</mi> <mi>n</mi> <mi>d</mi> <mo>)</mo> </mrow> </mrow> <mrow> <mo>(</mo> <mi>l</mi> <mi>t</mi> <mo>+</mo> <mn>2</mn> <msub> <mi>R</mi> <mi>s</mi> </msub> <mo>)</mo> <msub> <mi>f</mi> <mi>B</mi> </msub> <mo>/</mo> <msub> <mi>V</mi> <mi>m</mi> </msub> </mrow> </mfrac> <msub> <mi>T</mi> <mi>l</mi> </msub> </mrow>
<mrow> <msub> <mi>t</mi> <mn>2</mn> </msub> <mo>=</mo> <mfrac> <mrow> <mn>2</mn> <msqrt> <mrow> <msubsup> <mi>R</mi> <mi>s</mi> <mn>2</mn> </msubsup> <mo>-</mo> <msup> <mrow> <mo>(</mo> <msub> <mi>R</mi> <mi>s</mi> </msub> <mo>-</mo> <mn>3</mn> <msub> <mi>l</mi> <mi>I</mi> </msub> <mo>)</mo> </mrow> <mn>2</mn> </msup> </mrow> </msqrt> <mo>-</mo> <msub> <mi>R</mi> <mi>s</mi> </msub> <mi>D</mi> <mi>o</mi> <mi>I</mi> </mrow> <mrow> <mi>l</mi> <mi>t</mi> <mo>+</mo> <mn>2</mn> <msub> <mi>R</mi> <mi>s</mi> </msub> </mrow> </mfrac> <msub> <mi>T</mi> <mi>l</mi> </msub> <mo>-</mo> <mo>-</mo> <mo>-</mo> <mrow> <mo>(</mo> <mn>1</mn> <mo>)</mo> </mrow> </mrow>
<mrow> <msub> <mi>t</mi> <mn>3</mn> </msub> <mo>=</mo> <mrow> <mo>(</mo> <mfrac> <mrow> <mn>2</mn> <msub> <mi>R</mi> <mi>s</mi> </msub> </mrow> <msub> <mi>l</mi> <mi>I</mi> </msub> </mfrac> <mo>-</mo> <mn>0.25</mn> <mfrac> <msub> <mi>R</mi> <mi>s</mi> </msub> <msub> <mi>l</mi> <mi>I</mi> </msub> </mfrac> <mo>-</mo> <mfrac> <mrow> <msub> <mi>R</mi> <mi>s</mi> </msub> <mi>D</mi> <mi>o</mi> <mi>I</mi> </mrow> <msub> <mi>l</mi> <mi>I</mi> </msub> </mfrac> <mo>)</mo> </mrow> <msub> <mi>T</mi> <mi>l</mi> </msub> </mrow>
In formula, TlThe time spent to be moved along a straight line from region D side to opposite side, rand be used to generate between (0,1) with Machine number；
When node S (x, y) to be positioned by dormancy mechanism receives three positional informations：A2(x2, y2)、A3(x3, y3)、A4(x4, y4) when have：
<mrow> <mfenced open = "{" close = ""> <mtable> <mtr> <mtd> <mrow> <msup> <mrow> <mo>(</mo> <msub> <mi>x</mi> <mn>2</mn> </msub> <mo>-</mo> <mi>x</mi> <mo>)</mo> </mrow> <mn>2</mn> </msup> <mo>+</mo> <msup> <mrow> <mo>(</mo> <msub> <mi>y</mi> <mn>2</mn> </msub> <mo>-</mo> <mi>y</mi> <mo>)</mo> </mrow> <mn>2</mn> </msup> <mo>=</mo> <msubsup> <mi>R</mi> <mi>s</mi> <mn>2</mn> </msubsup> </mrow> </mtd> </mtr> <mtr> <mtd> <mrow> <msup> <mrow> <mo>(</mo> <msub> <mi>x</mi> <mn>3</mn> </msub> <mo>-</mo> <mi>x</mi> <mo>)</mo> </mrow> <mn>2</mn> </msup> <mo>+</mo> <msup> <mrow> <mo>(</mo> <msub> <mi>y</mi> <mn>3</mn> </msub> <mo>-</mo> <mi>y</mi> <mo>)</mo> </mrow> <mn>2</mn> </msup> <mo>=</mo> <msubsup> <mi>R</mi> <mi>s</mi> <mn>2</mn> </msubsup> </mrow> </mtd> </mtr> <mtr> <mtd> <mrow> <msup> <mrow> <mo>(</mo> <msub> <mi>x</mi> <mn>4</mn> </msub> <mo>-</mo> <mi>x</mi> <mo>)</mo> </mrow> <mn>2</mn> </msup> <mo>+</mo> <msup> <mrow> <mo>(</mo> <msub> <mi>y</mi> <mn>4</mn> </msub> <mo>-</mo> <mi>y</mi> <mo>)</mo> </mrow> <mn>2</mn> </msup> <mo>=</mo> <msubsup> <mi>R</mi> <mi>s</mi> <mn>2</mn> </msubsup> </mrow> </mtd> </mtr> </mtable> </mfenced> <mo>-</mo> <mo>-</mo> <mo>-</mo> <mrow> <mo>(</mo> <mn>2</mn> <mo>)</mo> </mrow> </mrow>
Above formula is converted into the system of linear equations of AX=b forms
<mrow> <mtable> <mtr> <mtd> <mrow> <mi>A</mi> <mo>=</mo> <mfenced open = "[" close = "]"> <mtable> <mtr> <mtd> <mrow> <mn>2</mn> <mrow> <mo>(</mo> <msub> <mi>x</mi> <mn>2</mn> </msub> <mo>-</mo> <msub> <mi>x</mi> <mn>4</mn> </msub> <mo>)</mo> </mrow> </mrow> </mtd> <mtd> <mrow> <mn>2</mn> <mrow> <mo>(</mo> <msub> <mi>y</mi> <mn>2</mn> </msub> <mo>-</mo> <msub> <mi>y</mi> <mn>4</mn> </msub> <mo>)</mo> </mrow> </mrow> </mtd> </mtr> <mtr> <mtd> <mrow> <mn>2</mn> <mrow> <mo>(</mo> <msub> <mi>x</mi> <mn>3</mn> </msub> <mo>-</mo> <msub> <mi>x</mi> <mn>4</mn> </msub> <mo>)</mo> </mrow> </mrow> </mtd> <mtd> <mrow> <mn>2</mn> <mrow> <mo>(</mo> <msub> <mi>y</mi> <mn>3</mn> </msub> <mo>-</mo> <msub> <mi>y</mi> <mn>4</mn> </msub> <mo>)</mo> </mrow> </mrow> </mtd> </mtr> </mtable> </mfenced> </mrow> </mtd> </mtr> <mtr> <mtd> <mtable> <mtr> <mtd> <mrow> <mi>b</mi> <mo>=</mo> <mfenced open = "[" close = "]"> <mtable> <mtr> <mtd> <mrow> <msubsup> <mi>x</mi> <mn>2</mn> <mn>2</mn> </msubsup> <mo>-</mo> <msubsup> <mi>x</mi> <mn>4</mn> <mn>2</mn> </msubsup> <mo>+</mo> <msubsup> <mi>y</mi> <mn>2</mn> <mn>2</mn> </msubsup> <mo>-</mo> <msubsup> <mi>y</mi> <mn>4</mn> <mn>2</mn> </msubsup> </mrow> </mtd> </mtr> <mtr> <mtd> <mrow> <msubsup> <mi>x</mi> <mn>3</mn> <mn>2</mn> </msubsup> <mo>-</mo> <msubsup> <mi>x</mi> <mn>4</mn> <mn>2</mn> </msubsup> <mo>+</mo> <msubsup> <mi>y</mi> <mn>3</mn> <mn>2</mn> </msubsup> <mo>-</mo> <msubsup> <mi>y</mi> <mn>4</mn> <mn>2</mn> </msubsup> </mrow> </mtd> </mtr> </mtable> </mfenced> </mrow> </mtd> <mtd> <mrow> <mi>X</mi> <mo>=</mo> <mfenced open = "[" close = "]"> <mtable> <mtr> <mtd> <mi>x</mi> </mtd> </mtr> <mtr> <mtd> <mi>y</mi> </mtd> </mtr> </mtable> </mfenced> </mrow> </mtd> </mtr> </mtable> </mtd> </mtr> </mtable> <mo>-</mo> <mo>-</mo> <mo>-</mo> <mrow> <mo>(</mo> <mn>3</mn> <mo>)</mo> </mrow> </mrow>
The coordinate that can obtain node to be positioned using the nonlinear IEM model method of standard is：
<mrow> <mover> <mi>X</mi> <mo>^</mo> </mover> <mo>=</mo> <msup> <mrow> <mo>(</mo> <msup> <mi>A</mi> <mi>T</mi> </msup> <mi>A</mi> <mo>)</mo> </mrow> <mrow> <mo>-</mo> <mn>1</mn> </mrow> </msup> <msup> <mi>A</mi> <mi>T</mi> </msup> <mi>b</mi> <mo>-</mo> <mo>-</mo> <mo>-</mo> <mrow> <mo>(</mo> <mn>4</mn> <mo>)</mo> </mrow> </mrow>
Step 4, to threshold value TnDefinition
Tn=2p λ e(-λ)[(-k)log(1+kδ)] (5)
WhereinP is the probability that node is chosen as cluster head, here it is considered that every charging pile pair Answer a node, dA→BFor node A to node B distance, A, B can represent all types of nodes, snRepresent sensing node, dmaxFor area Domain interior joint is to the maximum distance of Sink node, k, α and λminFor special parameter；
The process that step 5, ordinary node are added in cluster
A value in this stage, each node random selection (0,1), if selected value is less than specific threshold Tn, then the section Point will utilize CSMA-MAC protocol broadcast ADV message, announce oneself elected epicycle cluster head, and ordinary node is determined according to formula (6) Which cluster is added, as the cluster a member, and notify cluster head；
<mrow> <msub> <mi>S</mi> <mi>i</mi> </msub> <mo>&amp;Element;</mo> <msub> <mi>Q</mi> <msub> <mi>C</mi> <mi>j</mi> </msub> </msub> <mo>&amp;DoubleLeftRightArrow;</mo> <mfenced open='{' close=''> <mtable> <mtr> <mtd> <mrow> <mo>(</mo> <mi>R</mi> <mo>&amp;GreaterEqual;</mo> <msub> <mi>d</mi> <mrow> <msub> <mi>S</mi> <mi>i</mi> </msub> <mo>&amp;RightArrow;</mo> <msub> <mi>C</mi> <mi>j</mi> </msub> </mrow> </msub> <mo>)</mo> </mrow> </mtd> </mtr> <mtr> <mtd> <mo>&amp;ForAll;</mo> <mi>k</mi> <mo>&amp;NotEqual;</mo> <mi>j</mi> <mo>,</mo> <msub> <mi>S</mi> <mi>i</mi> </msub> <mo>&amp;NotElement;</mo> <msub> <mi>Q</mi> <msub> <mi>C</mi> <mi>k</mi> </msub> </msub> </mtd> </mtr> <mtr> <mtd> <msub> <mrow> <mo>&amp;ForAll;</mo> <mi>C</mi> </mrow> <mi>n</mi> </msub> <mo>&amp;Element;</mo> <msub> <mi>U</mi> <mi>i</mi> </msub> <mo>,</mo> <msub> <mi>N</mi> <msub> <mi>C</mi> <mi>n</mi> </msub> </msub> <mo>&amp;GreaterEqual;</mo> <msub> <mi>N</mi> <msub> <mi>C</mi> <mi>j</mi> </msub> </msub> </mtd> </mtr> </mtable> </mfenced> <mo>-</mo> <mo>-</mo> <mo>-</mo> <mrow> <mo>(</mo> <mn>6</mn> <mo>)</mo> </mrow> </mrow>
S in formulaiRepresent ordinary node, QCjExpression cluster head is CjCluster, UiRepresent in node SiLeader cluster node collection in communication range Close, NCnFor with CnFor the cluster number of members of cluster head；
Step 6, MANET route control method
Cluster head in clustering architecture sends the order of data in the way of TDMA as member node arrangement in cluster, and cluster head is gone necessary After redundancy, data are sent to by Sink node along path between cluster using CSMA/CA mechanism；The transmission of data is used and is based between cluster The multihop routing mechanism that trust value is inspired, the selection in path follows the principles 1 between cluster：
The next-hops of the selection of rule 1. be deviate line between source node and destination node it is minimum, apart from destination node recently and with The node of present node connection；
It route the detailed process determined as follows：
6.1 path selection process are from source node CiStart, make Ci=CNh, CNhIt is next-hop node, determines CNhAdjoining cluster node Set ΓCNh, adjacent cluster node is leader cluster node or auxiliary leader cluster node：It is cluster node or Sink node, andAnd judge Sink node whetherIn, if jumping to step 6.3, otherwise calculating CNhTrust value matrix：
<mrow> <msub> <mi>K</mi> <mrow> <mi>N</mi> <mi>h</mi> </mrow> </msub> <mo>=</mo> <mo>&amp;lsqb;</mo> <msub> <mi>K</mi> <mrow> <mi>N</mi> <mi>h</mi> <mo>,</mo> <mn>1</mn> </mrow> </msub> <msub> <mi>K</mi> <mrow> <mi>N</mi> <mi>h</mi> <mo>,</mo> <mn>2</mn> </mrow> </msub> <mo>...</mo> <msub> <mi>K</mi> <mrow> <mi>N</mi> <mi>h</mi> <mo>,</mo> <mo>|</mo> <msub> <mi>&amp;Gamma;</mi> <msub> <mi>C</mi> <mrow> <mi>N</mi> <mi>h</mi> </mrow> </msub> </msub> <mo>|</mo> </mrow> </msub> <mo>&amp;rsqb;</mo> <mo>=</mo> <msub> <mrow> <mo>(</mo> <msub> <mi>K</mi> <mrow> <mi>N</mi> <mi>h</mi> <mo>,</mo> <mi>j</mi> </mrow> </msub> <mo>)</mo> </mrow> <mrow> <mn>1</mn> <mo>&amp;times;</mo> <mo>|</mo> <msub> <mi>&amp;Gamma;</mi> <msub> <mi>C</mi> <mrow> <mi>N</mi> <mi>h</mi> </mrow> </msub> </msub> <mo>|</mo> </mrow> </msub> <mo>-</mo> <mo>-</mo> <mo>-</mo> <mrow> <mo>(</mo> <mn>7</mn> <mo>)</mo> </mrow> </mrow>
KNh,jRepresent node CNhAssign node CjTrust value, measured by the function on distance, its calculate as shown in formula (8)：
<mrow> <msub> <mi>K</mi> <mrow> <mi>N</mi> <mi>h</mi> <mo>,</mo> <mi>j</mi> </mrow> </msub> <mo>=</mo> <mfrac> <mrow> <msup> <mi>lt</mi> <mn>2</mn> </msup> <mo>+</mo> <msup> <mi>wt</mi> <mn>2</mn> </msup> </mrow> <mn>2</mn> </mfrac> <mo>-</mo> <mrow> <mo>(</mo> <msubsup> <mi>d</mi> <mrow> <msub> <mi>C</mi> <mrow> <mi>N</mi> <mi>h</mi> </mrow> </msub> <mo>&amp;RightArrow;</mo> <msub> <mi>C</mi> <mi>j</mi> </msub> </mrow> <mn>2</mn> </msubsup> <mo>+</mo> <msubsup> <mi>d</mi> <mrow> <msub> <mi>C</mi> <mi>j</mi> </msub> <mo>&amp;RightArrow;</mo> <mi>S</mi> <mi>i</mi> <mi>n</mi> <mi>k</mi> </mrow> <mn>2</mn> </msubsup> <mo>)</mo> </mrow> <mo>,</mo> <msub> <mi>C</mi> <mi>j</mi> </msub> <mo>&amp;Element;</mo> <msub> <mi>&amp;Gamma;</mi> <msub> <mi>C</mi> <mrow> <mi>N</mi> <mi>h</mi> </mrow> </msub> </msub> <mo>-</mo> <mo>-</mo> <mo>-</mo> <mrow> <mo>(</mo> <mn>8</mn> <mo>)</mo> </mrow> </mrow>
6.2 fromThe maximum node P of middle selection trust valuen, decision node PnWhether in CiTo Sink path P athiIn, If it was not then by PnAdd PathiIn, otherwise, by PnFromMiddle to delete, repeat step 6.2 is until it is determined that Pn, and make Pn= CNh；
6.3 repeat steps 6.1,6.2 are until CNhWhen finally searching Sink node, node CiPath P athiIt is selected；
6.4 work as source node CiWhen having traveled through all cluster nodes, that is, determine this circulation preliminary route, form one with The routing tree that Sink node is root, cluster node is backbone；
Step 7, Route Optimization Model
When setting up clustering architecture, although introducing selection of the node density factor to leader cluster node has certain guidance quality, cluster head The position of appearance still has randomness, to prevent routing tree from only having a trunk, further to multiple targets such as handling capacity, time delays Coordinated and optimized, the present invention determines route by the way of first breadth first search again deep search；It is right originally after step Route establishment The route that current route carries out a period of time is assessed, and obtains following assessment parameter：1. mean transit delay Dr, the time delay counted For the processing delay of the time delay and node that produce by Channel Access Mechanism in itself；2. network throughput ThPr, i.e., in observing time The total amount of data that Sink node is received；After h times circulates, determine to meet cluster management system from route storehouse according to parameter is assessed The optimal network routing of system transmission request message, and broadcast corresponding cluster head；The determination of route can be reduced to interval upper limit performance The end-to-end uncertain course optimizing Solve problems of Index Constraints, optimal solution is sought in limited number of time circulation；Meet real-time bar Route Optimization Model under part is：
<mrow> <mfenced open = "{" close = ""> <mtable> <mtr> <mtd> <mrow> <mi>m</mi> <mi>a</mi> <mi>x</mi> <mrow> <mo>(</mo> <mi>M</mi> <mo>(</mo> <mn>1</mn> <mo>)</mo> <mo>,</mo> <mi>M</mi> <mo>(</mo> <mn>2</mn> <mo>)</mo> <mo>,</mo> <mo>...</mo> <mo>,</mo> <mi>M</mi> <mo>(</mo> <mi>r</mi> <mo>)</mo> <mo>,</mo> <mo>...</mo> <mi>M</mi> <mo>(</mo> <mi>h</mi> <mo>)</mo> <mo>)</mo> </mrow> </mrow> </mtd> </mtr> <mtr> <mtd> <mrow> <mi>s</mi> <mo>.</mo> <mi>t</mi> <mo>.</mo> <msub> <mi>D</mi> <mi>r</mi> </msub> <mo>&lt;</mo> <msub> <mi>D</mi> <mn>0</mn> </msub> </mrow> </mtd> </mtr> </mtable> </mfenced> <mo>-</mo> <mo>-</mo> <mo>-</mo> <mrow> <mo>(</mo> <mn>9</mn> <mo>)</mo> </mrow> </mrow>
Wherein
<mrow> <mi>M</mi> <mrow> <mo>(</mo> <mi>r</mi> <mo>)</mo> </mrow> <mo>=</mo> <mfenced open = "{" close = ""> <mtable> <mtr> <mtd> <mrow> <msub> <mi>ThP</mi> <mi>r</mi> </msub> <mo>,</mo> </mrow> </mtd> <mtd> <mrow> <msub> <mi>D</mi> <mi>r</mi> </msub> <mo>&amp;le;</mo> <msubsup> <mi>D</mi> <mi>V</mi> <mo>*</mo> </msubsup> </mrow> </mtd> </mtr> <mtr> <mtd> <mrow> <mn>0</mn> <mo>,</mo> </mrow> </mtd> <mtd> <mrow> <msub> <mi>D</mi> <mi>r</mi> </msub> <mo>&gt;</mo> <msubsup> <mi>D</mi> <mi>V</mi> <mo>*</mo> </msubsup> </mrow> </mtd> </mtr> </mtable> </mfenced> <mo>-</mo> <mo>-</mo> <mo>-</mo> <mrow> <mo>(</mo> <mn>10</mn> <mo>)</mo> </mrow> </mrow>
D in formula0The maximum delay allowed for information transfer in charging pile cluster management system, specifically, the only transmission of the circulation Time delay is less than D0When, be possible to be confirmed as final route,For each circulation time delay value be sorted in ascending order after the V when Prolong value, parameter V is obtained by experiment experience, shown in value such as formula (11),Represent less than u maximum integer, h table cycle-indexes.
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