CN104348559B - Periodical quick positioning method of underwater communication network based on centralized topology structure - Google Patents
Periodical quick positioning method of underwater communication network based on centralized topology structure Download PDFInfo
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Abstract
The invention relates to a periodical quick positioning method of an underwater communication network based on a centralized topology structure. The periodical quick positioning method comprises the following steps of setting an uniform positioning standard interval time; enabling a common node to send a positioning signal at the initial point of one interval time; after a center node receives the positioning signal, recording the receiving time, and calculating the distance between the center node and each common node according to the time and the initial point of the latest interval time; after one common node receives the positioning signal of other common nodes, recording the receiving time of the positioning signal, and calculating the delay and distance between the common nodes according to the time and the initial point of the latest interval time; enabling one common node to send the message carrying the distance information between the common node and other common nodes to the center node; after the center node receives the message, extracting the distance information between the common nodes; according to the distance between the center node and the common nodes and the distance between the common nodes, calculating the distance between the nodes.
Description
Technical field
The present invention relates to underwater acoustic network field, specifically, the present invention relates to a kind of water based on Centralized Topology
The periodicity method for rapidly positioning of lower communication network.
Background technology
With the fast development of modern information technologies, ground, aerial, space, the water surface steric information net are covered
Define a huge communication network, the political, economic, cultural of various countries and military affairs are organically linked together, to the whole world
Economic exchange and development, the development and utilization of resource, military surveillance and defence etc. bring huge benefit.Each with the world
The continually developing and studying of state ocean, Underwater Acoustic Network has become as a current study hotspot.
Due to researching and developing the needs of marine resources, Modern Communication System and network extend to from land and in the air
Ocean.Underwater Acoustic Network is to quickly grow in recent years, study one of quite active communication technical field, is that contemporary ocean is ground
Study carefully, exploration of ocean resources and exploitation, oceanographic data collection, the monitoring of marine environment stereoscopic monitoring, seismic sea wave and Distributed Tactical
Important technology ingredient in the systems such as supervision, its research provides important skill for the transmitting solving underwater information
Art ensures.
The Basic Topological of Underwater Acoustic Network has centralized, distributed.Centralized belong to primary and secondary structure, distributed genus
In peer-to-peer structure.
As shown in figure 1, in centralized network, all of network node is communicated by a Centroid, this
Centroid is referred to as host node, the also sometimes referred to as hub of network, and remaining node in network is then referred to as from node.
This topological structure is suitable for deep-sea underwater acoustic network.In the deep-sea underwater acoustic network using Centralized Topology, will be with water
The water surface float of sound communication machine and radio frequency communicator as Centroid, by this node with other under water node communicated.This
The major advantage of class topological structure is: structure is simple, is easy to safeguard it is easy to optimize；Major defect is: to center nodal dependencies
Excessive, if Centroid breaks down, whole network will sink into paralysis.Further, since the transmission range of single communication equipment has
Limit, network is unable to large area and covers.
Distributed topology, becomes complete again and connects equity topology, refer to that each of network node can be direct
Communicated with other any one nodes, as shown in Figure 2.The advantage of this topological structure is to adopt decentralised control, local event
Barrier does not interfere with the operation of whole network, has very high reliability；Between node two all right one way or the other logical it is not necessary to Route Selection, network
Postpone also less.The disadvantage is that, needing very big power with remote node when being communicated；Additionally, that closely locates is adjacent
Node will cause " near-far interference " problem with remote node to the node communicating.The same with centralized topology, this net
Network also can be limited it is impossible to large area covers by single communication equipment transmission range.
In view of the feature of Centralized Topology, involved subsurface communication network in the application is using centralized topology knot
Structure.
In underwater sound communication network, the positioning between node is one of most commonly seen function during network service.Existing
The node positioning method in technology is had by the time difference of the information interaction of node and the velocity of sound, two nodes to be surveyed
Away from thus realizing node locating.
As shown in figure 3, node a is in tsIn the moment, send routing broadcast and be grouped to node b；Node b receives routing broadcast and divides
Through one section of process time t after group0Afterwards, send routing reply packet to node a, in routing reply packet, have recorded node b's
Process time t0, that is, reply time delay；Node a is in moment trReceive routing reply packet.Assume routing broadcast packet, routing reply
The propagation time being grouped in water is equal, can calculate egress the distance between a, b and be:
dab=c* (tr-ts-t0)/2
Wherein, c is the velocity of sound, typically takes 1500m/s.
Centroid in centralized subsurface communication net for the above-mentioned localization method of the prior art sends routing broadcast and divides
After group, multiple ordinary nodes may reply routing reply packet simultaneously, and routing reply is grouped at Centroid and is susceptible to touch
Hit, thus lead to Centroid can not position with the ordinary node colliding.And, above-mentioned localization method adopts node broadcasts
Packet is realized, and is grouped in physical layer and sends reception in the form of data, needs modulation and demodulation, and the energy consuming node is more,
It is difficult to estimate process time t of receiving node b exactly simultaneously0, lead to the error positioning larger.In addition, water sonic propagation is prolonged
When larger, above-mentioned localization method needs the propagation delay of twice and the process time of node it is more difficult to meet the requirement of quick positioning.
Content of the invention
It is an object of the invention to overcoming the localization method of subsurface communication net of the prior art to need higher propagation to prolong
When and the node processing time it is difficult to meet the defect of quick positioning requirements, thus providing a kind of periodicity method for rapidly positioning.
To achieve these goals, the invention provides a kind of cycle of the subsurface communication net based on Centralized Topology
Property method for rapidly positioning, the subsurface communication net of described Centralized Topology includes Centroid and passes through described Centroid
The ordinary node of communication, the method includes:
Step 1), to each node setting unified localization criteria interval time in subsurface communication net；
Step 2), according to step 1) set by localization criteria interval time, in starting point a certain interval time, described general
Logical node sends framing signal respectively；
Step 3), after described Centroid receives the framing signal that described ordinary node is sent, record receives fixed
The time of position signal, then described centromere is calculated with nearest starting point interval time according to the time receiving framing signal
The distance between point and each ordinary node；
Step 4), after a certain ordinary node receives the framing signal of other ordinary nodes in described subsurface communication net, note
The time of record reception framing signal, then this is calculated according to the time and nearest starting point interval time receiving framing signal general
Time delay between logical node and another ordinary node and distance:
Step 5), a certain ordinary node sends to Centroid with aloha mode and carries this ordinary node and other are general
The message of range information between logical node；
Step 6) if Centroid receives step 5) in the message that sent, extract each from this message common
The distance between node information；If ordinary node receives step 5) in the message that sent, this ordinary node cancels itself and treats
The corresponding message sending；
Step 7), according to step 3) the distance between the Centroid that obtains and ordinary node and step 6) obtain general
The distance between logical node, calculates the angle between each node in subsurface communication net.
In technique scheme, it does not interfere with each other between the framing signal of described Centroid and ordinary node transmission.
In technique scheme, described framing signal adopts mutually orthogonal signal to realize, or using in different frequency bands
Linear FM signal is realized.
In technique scheme, described carry range information between this ordinary node and other ordinary nodes message be
Distance message, this message includes the field of three types: type field, src field, node number and euclidean distance between node pair word
Section；Wherein, type field includes 4 bits, for representing the type of message；Src field includes 4 bits, for representing this
Address of node；Node number and euclidean distance between node pair field are used for representing the distance between ordinary node, it includes two parts, first
Part has 4 bits, for representing the address of another ordinary node different from this node in subsurface communication network, Part II
There are 12 bits, common representated by this node address in Part I represented by the address in src field for representing
The distance of node.
It is an advantage of the current invention that:
1st, in the node positioning method of the present invention, each one non-interfering orthogonal signalling of node distribution, it thus is avoided that
The positioning answer signal of multiple nodes collides at Centroid, so that each node in centralized communication net is sent
Framing signal Centroid all can receive, and these framing signals are without modulation /demodulation, and node is to during the process of framing signal
Between close to zero, the energy so having saved node reduces the calculation error of time delay between node again, makes positioning more accurate.
2nd, the node positioning method of the present invention only needs to one times of propagation delay, needs twice with existing network localization method
Propagation delay compare with the process time of node, what the node positioning method of the present invention disclosure satisfy that periodically quick positioning will
Ask.
Brief description
Fig. 1 is the schematic diagram of Centralized Topology；
Fig. 2 is the schematic diagram of distributed topology；
Fig. 3 is the flow chart of node positioning method of the prior art；
Fig. 4 is the flow process of the periodicity method for rapidly positioning of the subsurface communication net based on Centralized Topology of the present invention
Figure；
Fig. 5 is the schematic diagram of the node under water in same two dimensional surface.
Specific embodiment
The localization method of the present invention is applied to the subsurface communication net based on Centralized Topology, in order to make it easy to understand,
Before the localization method of the present invention is elaborated, first to the described subsurface communication net based on Centralized Topology in addition
Explanation.
Based on the subsurface communication net of Centralized Topology, described has the following characteristics that network size is little, node has
Mobility, that is, in network, the relative position of each node is constantly changing；There is Centralized Topology, in network
Ordinary node is all communicated with Centroid.
With specific embodiment, the localization method of the present invention is illustrated below in conjunction with the accompanying drawings.
In one embodiment, described have three nodes based on the subsurface communication net of Centralized Topology, represents respectively
For node 0, node 1 and node 2；Node centered on node 1 therein, node 0, node 2 are ordinary node.
Positioning taking described in this embodiment based on the subsurface communication net of Centralized Topology as a example, to the present invention
Method is been described by.It should be noted that realize the positioning of subsurface communication nodes in the localization method using the present invention
Before, each node in this subsurface communication network has been completed networking and simultaneously operating.
With reference to Fig. 4, described localization method comprises the following steps:
Step 1), quickly position for property performance period, the positioning unified to each node setting in subsurface communication net
The normal space time.
Set localization criteria in this step can be used for periodically sending framing signal it can also be used to save interval time
Time delay between point is calculated and is calculated with distance, has further description below.The size of described localization criteria interval time
Can be decided according to the actual requirements, depend primarily on ordinary node to the ultimate range of Centroid, in general, between localization criteria
Need the maximum propagation time delay more than ordinary node to Centroid every the time.In the present embodiment, localization criteria interval time
Be set to every 2 seconds, then according to localization criteria can get interval time starting point interval time expression way as follows: 2 seconds, 4
Second ..., the 2n second (n=1,2,3 ...).In other embodiments, localization criteria interval time can also be other values, such as 3 seconds
Or 4 seconds.
Step 2), according to step 1) set by localization criteria interval time, in starting point a certain interval time, common save
Point 0,2 sends framing signal 0,2 respectively；
In the present invention, be one framing signal of each node distribution in subsurface communication network, these framing signals it
Between do not interfere with each other.In the present embodiment, subsurface communication network has 3 nodes, and this 3 nodes each send non-interfering positioning letter
Number.Described non-interfering framing signal can using three kinds of mutually orthogonal signals, or adopt linear in different frequency bands
FM signal.Because the underwater sound has serious Doppler frequency shift, and orthogonal signalling are more sensitive to Doppler frequency shift, and linear frequency modulation is believed
Number insensitive to Doppler frequency shift, therefore as a kind of preferred implementation, adopt linear in different frequency bands in the present embodiment
FM signal is realizing three kinds of framing signals.Additionally, these framing signals are also without modulation /demodulation.
Step 3), Centroid 1 receive the framing signal 0,2 that ordinary node 0,2 is sent respectively, record its receive fixed
Position signal 0,2 time recv_0_time and recv_2_time, then according to receive framing signal time and nearest between
Every the distance between time starting point calculating Centroid 1 and ordinary node 0,2:
d1,0=(recv_0_time 2n) * 1500
d1,2=(recv_2_time 2n) * 1500
Wherein, d1,0Centered on the distance between node 1 and ordinary node 0, d1,2Centered on node 1 and ordinary node 2 it
Between distance, unit be rice.
Step 4), ordinary node 0 or 2 receives the framing signal 2 or 0 that another ordinary node is sent respectively, and records and connect
Receive time recv_2_time or recv_0_time of framing signal 2 or 0, then according to receive framing signal time with
Near interval time, starting point calculated time delay and distance between an ordinary node and another ordinary node:
τ0,2=recv_0_time 2n
d0,2=(recv_0_time 2n) * 1500
τ0,2=recv_2_time 2n
d0,2=(recv_2_time 2n) * 1500
Wherein, τ0,2Represent the time delay between ordinary node 0 and ordinary node 2, described d0,2Represent ordinary node 0 with general
The distance between logical node 2.
Step 5), ordinary node 0 or 2 aloha mode respectively to Centroid 1 send carry d0,2Distance report
Literary composition, assumes in this step that ordinary node 0 first sends distance message.The form such as table 1 below of described distance message
Shown, it includes the field of three types, and wherein type field includes 4 bits, for representing the type of message；Src field
Including 4 bits, for representing this address of node；Node number and euclidean distance between node pair field, this field is used for representing common section
The distance between point, it includes two parts, and Part I has 4 bits, for representing in subsurface communication network with this node not
Node1 field in the address of same another ordinary node, such as table 1, Part II has 12 bits, for representing src field
In the ordinary node representated by the address in node1 of this node represented by address distance, in table 1
Distance2node1, unit 0.01m.In the present embodiment, because ordinary node only has two, i.e. node 0 and node 2.Cause
This node number and nodal distance field only one of which in Table 1, in other embodiments, the number of this field is according in network
The number of ordinary node and change.
Table 1
Step 6), Centroid 1 and ordinary node 2 receive the distance message that ordinary node 0 is sent respectively.Due to
Aloha backoff period is more than the propagation time of message, so ordinary node 2 does not now also send successfully the distance report of oneself
Transmission distance message cancelled in literary composition, therefore ordinary node 2, and Centroid 1 then extracts d from distance message0,2.
By this Centroid 1 to the distance between each node in subsurface communication net d1,0、d1,2And d0,2All have appreciated that.
Step 7), according to step 3) the distance between the Centroid that obtains and ordinary node and step 6) obtain general
The distance between logical node, calculates the angle between each node in subsurface communication net.
After obtaining the distance between Centroid and all ordinary nodes, due to carrying out the subsurface communication net of Horizontal communication
All Node distribution in network in a two-dimensional space, therefore can by the cosine law calculate egress between angle, thus
Determine the relative position of the whole network node.
As shown in figure 5, node s, node f, node d distance each other are a, b, c, according to the cosine law, Ke Yiji
The angle calculating node s and node f and node s with node d line is:
In the node positioning method of the present invention, each one non-interfering orthogonal signalling of node distribution, this avoid
The positioning answer signal of multiple nodes collides at Centroid, makes what each node in centralized communication net sent to determine
Position signal center node all can receive.And these framing signals are without modulation /demodulation, the process time to framing signal for the node
Close to zero, the energy so having saved node reduces the calculation error of time delay between node again, makes positioning more accurate.Separately
Outward, the node positioning method of the present invention only needs to one times of propagation delay, needs the propagation of twice with existing network localization method
Time delay is compared with the process time of node, and the node positioning method of the present invention disclosure satisfy that the requirement of periodically quick positioning.
It should be noted last that, above example is only in order to illustrate technical scheme and unrestricted.Although ginseng
According to embodiment, the present invention is described in detail, it will be understood by those within the art that, the technical side to the present invention
Case is modified or equivalent, and without departure from the spirit and scope of technical solution of the present invention, it all should be covered in the present invention
Right in the middle of.
Claims (4)
1. a kind of periodicity method for rapidly positioning of the subsurface communication net based on Centralized Topology, described centralized topology knot
The subsurface communication net of structure includes Centroid and the ordinary node communicating by described Centroid, and the method includes:
Step 1), to each node setting unified localization criteria interval time in subsurface communication net；
Step 2), according to step 1) set by localization criteria interval time, in starting point a certain interval time, described common section
Point sends framing signal respectively；
Step 3), after described Centroid receives the framing signal that described ordinary node is sent, record receives positioning letter
Number time, then according to receive time of framing signal and nearest starting point interval time calculate described Centroid with
The distance between each ordinary node；
Step 4), after a certain ordinary node receives the framing signal of other ordinary nodes in described subsurface communication net, record connects
Receive the time of framing signal, then this common section is calculated with nearest starting point interval time according to the time receiving framing signal
Time delay between point and another ordinary node and distance；
Step 5), a certain ordinary node sends to Centroid with aloha mode and carries this ordinary node and other commonly save
The message of range information between point；
Step 6) if Centroid receives step 5) in the message that sent, extract each ordinary node from this message
The distance between information；If ordinary node receives step 5) in the message that sent, it is to be sent that this ordinary node cancels itself
Corresponding message；
Step 7), according to step 3) the distance between the Centroid that obtains and ordinary node and step 6) the common section that obtains
The distance between point, calculates the angle between each node in subsurface communication net.
2. the periodicity method for rapidly positioning of the subsurface communication net based on Centralized Topology according to claim 1,
It is characterized in that, it does not interfere with each other between the framing signal of described Centroid and ordinary node transmission.
3. the periodicity method for rapidly positioning of the subsurface communication net based on Centralized Topology according to claim 2,
It is characterized in that, described framing signal adopts mutually orthogonal signal to realize, or using the linear FM signal in different frequency bands
Realize.
4. the periodicity method for rapidly positioning of the subsurface communication net based on Centralized Topology according to claim 1,
It is characterized in that, the described message carrying range information between this ordinary node and other ordinary nodes is reported for distance
Literary composition, this message includes the field of three types: type field, src field, node number and euclidean distance between node pair field；Wherein, type
Field includes 4 bits, for representing the type of message；Src field includes 4 bits, for representing this address of node；Section
Period and euclidean distance between node pair field are used for representing the distance between ordinary node, it includes two parts, and Part I has 4 ratios
Spy, for representing the address of another ordinary node different from this node in subsurface communication network, Part II has 12 bits,
For representing the distance of the ordinary node representated by this node address in Part I represented by the address in src field.
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| CN106054134B (en) * | 2016-05-20 | 2018-04-24 | 东南大学 | A kind of method for rapidly positioning based on TDOA |
| CN110768909B (en) * | 2019-11-07 | 2021-02-26 | 吉林大学 | Routing method and device in underwater acoustic communication network |
| CN115550238B (en) * | 2022-08-30 | 2024-01-05 | 中盈优创资讯科技有限公司 | Topology realization method, device and equipment based on wireless network and IPV6 |
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