CN104936194B - A kind of water sound sensor network and its node deployment and network-building method - Google Patents
A kind of water sound sensor network and its node deployment and network-building method Download PDFInfo
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- CN104936194B CN104936194B CN201510309829.4A CN201510309829A CN104936194B CN 104936194 B CN104936194 B CN 104936194B CN 201510309829 A CN201510309829 A CN 201510309829A CN 104936194 B CN104936194 B CN 104936194B
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- 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
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04B—TRANSMISSION
- H04B13/00—Transmission systems characterised by the medium used for transmission, not provided for in groups H04B3/00 - H04B11/00
- H04B13/02—Transmission systems in which the medium consists of the earth or a large mass of water thereon, e.g. earth telegraphy
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- 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
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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
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- Y02D30/70—Reducing energy consumption in communication networks in wireless communication networks
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Abstract
The present invention relates to a kind of water sound sensor network and its node deployment and network-building method, sub-clustering mode coverage goal waters by different level is used, network is divided into three levels, each distinguishing hierarchy is at several continuous three dimensions；The underwater general sensor nodes are evenly distributed on the different depth of the different levels of target area, perception, acquisition surrounding physical environmental data, and form several self-organizing Cluster Networks with sound wave link；The underwater mobile node can be moved in target water, be assessed the change of water quality of route, and assessment result is directly transferred to water surface float node；The water surface float node integrates mixed communication module, receives, handles, converges and merge underwater network data by acoustic communication module, and terrestrial base station is transmitted in a manner of multi-hop by radio magnetic wave communication module.Remote monitoring can be achieved in the present invention, and monitoring range is wide, and scalability is good, good reliability, is suitable for many submerged applications, there is preferable application prospect.
Description
【Technical field】
The present invention relates to a kind of network communicating systems, and in particular to a kind of water sound sensor network and its node deployment and group
Network method belongs to underwater sound wave sensor network communication networking technology field.
【Background technology】
Underwater sound wireless sensor network（Underwater Acoustic Sensor Networks, UASNs）It is by more work(
The wireless network that energy Minitype underground sensor node is formed with acoustic communication link self-organizing.It is by underwater sensor node
The sensor assembly of assembly collaboratively monitors, perceives and acquire the data of measurand under underwater environment, and filled by it in real time
The floating drum module matched and air pump control node float up and down, and are laid in different depth and form three-dimensional network, and using included
Processor and memory are respectively processed and store, at the same each underwater sensor node rely on acoustic communication module receive and
Forward data information.But in most applications of water sound sensor network, node can not recycling, and do not have
Blind spot overlay area caused by considering node mobility caused by flow and barrier is detached from topology control model so as to cause node
It encloses and the damage of link.Therefore, all standing of underwater environment is monitored, needs effective node deployment method and self-configuring group
Net maintenance strategy carries out reliable monitoring in real time to target area.
Currently, the conventional node dispositions method towards UASNs includes mainly static node deployment, from main modulation node deployment
With mobile auxiliary node deployment.For static node dispositions method, it is assumed that sensor node is static, side after deployment
Blind spot overlay area caused by method is simple and energy-efficient, but it ignores mobility caused by flow and barrier the two not
Therefore evitable practical factor cannot solve the real-time monitoring application problem of extensive UASNs.For from main modulation section
Point dispositions method, sensor node can be specific to meet some with the position of adjuster environment under water after preliminary deployment
The demand of application, and consider the mobility of node, but it adjusts position and consumes additional energy, the average energy consumption of network compared with
Greatly.For mobile auxiliary node dispositions method, Autonomous Underwater Vehicle is utilized（AUVs）Or UAV navigation（UUVs）
Other sensor nodes are assisted to complete monitoring task etc. various underwater mobile nodes.But underwater mobile node consumes energy very
Greatly, timing artificial supplementation energy is needed.
Therefore, in order to solve the above technical problems, it is necessory to provide a kind of water sound sensor network and its node of innovation
Deployment and network-building method, to overcome the defect in the prior art.
【Invention content】
In order to solve the above technical problems, it is an object of the invention to a kind of water sound sensor network, with sub-clustering by different level
Target area coverage mode, effectively dispose underwater general sensor nodes to the different depth of different levels, form self-organizing
Cluster Networks, and adaptively perceived using underwater mobile node and damage link and blind spot overlay area, ensure that the whole network is covered without dead angle
The connectivity of network is covered and safeguarded, it can be achieved that remote monitoring, monitoring range is wide, scalability is good, good reliability, is suitable for many
Submerged applications have preferable application prospect.
Another object of the present invention is to provide a kind of node deployment of water sound sensor network and network-building methods.
For above-mentioned first purpose of realization, the technical solution that the present invention takes is：A kind of water sound sensor network comprising if
General sensor nodes, several underwater mobile nodes and several water surface float nodes under solid carbon dioxide；It is used divides by different level
Network is divided into three levels by cluster mode coverage goal waters, and each distinguishing hierarchy is at several continuous three dimensions；Its
In, the underwater general sensor nodes are evenly distributed on the different depth of the different levels of target area, perception, acquisition
Surrounding physical environmental data, and several self-organizing Cluster Networks are formed with sound wave link；The underwater mobile node can be
Target water moves, and assesses the change of water quality of route, and assessment result is directly transferred to water surface float node；Institute
The water surface float node stated integrates mixed communication module, and underwater network is received, handles, converges and merge by acoustic communication module
Data, and terrestrial base station is transmitted in a manner of multi-hop by radio magnetic wave communication module.
The present invention water sound sensor network be further：The underwater general sensor nodes are equipped with floating control
Module, water quality sensor module, acoustic communication module, power module and micro controller module, each node deployment is in dynamic flow
The non-leader cluster node of middle several sub-clusterings of formation, each cluster is only communicated with the cluster head of this cluster in a manner of single-hop, cluster head and cluster head root
Water surface float node is successively sent data in a manner of multi-hop according to location information.
The present invention water sound sensor network be further：The floating control module includes for providing the floating of buoyancy
Mark air bag module, the air pump for controlling floating airbag module degrees of expansion, and for reducing flow caused by horizontal displacement
Anchoring system.
The present invention water sound sensor network be further：The underwater mobile node includes for acquiring surrounding physics
The water quality sensor module of environmental data, for obtain its move about posture gyroscope and acceleration sensor module, for keeping away
Open the avoidance sensor assembly of underwater obstacle, the tail portion brushless motor for starting propeller, for coordinating control change side
To rudder with elevator, for entire underwater mobile node execute operation micro controller module, for driving air pump to take out
Water enters water or the control motor of water in cabin is discharged, the underwater sound for being communicated with adjacent leader cluster node and other underwater mobile nodes leads to
Believe module and the solar energy for its power supply and the double integrated drive generator modules of accumulator.
The present invention water sound sensor network be further：The Cluster Networks are led to after completing to build in cluster
Letter, and cluster head holding is communicated with adjacent underwater mobile node, reports without delay the network state information in cluster.
The present invention water sound sensor network be further：The underwater mobile node is in perception, acquisition along traveling road
It is responsible for safeguarding the connectivity of network and reliability while the physical environmental data of line, and keeps in touch with adjacent cluster head,
The travelling route of oneself is determined according to network state information in the cluster of adjacent multiple cluster head feedbacks.
The present invention water sound sensor network can also be：The underwater mobile node there are two types of Move Mode, one is
Network under normal circumstances, move according to scheduled route, to acquiring the physical environmental data along route, the water quality of route become
Change is assessed, and assessment result is directly transferred to water surface float node；Another kind be network when something goes wrong, according to phase
The network state information of adjacent multiple cluster heads feedbacks determines mobile route and function, when non-leader cluster node fails, is moved to pair
It answers position to serve as the role of non-leader cluster node, when cluster head can not be elected, is moved to the centre bit of corresponding three dimensions
The role for serving as cluster head is set, until disposing new underwater general sensor nodes；After network recovery is normal, underwater mobile node returns
Original route is returned to advance.
For above-mentioned first purpose of realization, the technical solution that the present invention takes is：A kind of section based on water sound sensor network
Point deployment and network-building method, it is characterised in that：Include the following steps：
First, configuration needs the floating control module parameter for the underwater general sensor nodes disposed, and node is uniform
It is distributed in the target area in divided good space；Node ID is defined to divide space as foundation；Launching underwater mobile node
Afterwards, network enters init state；Underwater general sensor nodes are divided according to formation in corresponding unit three dimensions is defined on
Cluster selects cluster head, forms self-organizing network；Underwater mobile node is advanced according to scheduled track, and multiple underwater mobile nodes can
Dynamically to be monitored change of water quality to waters according to formation control；
Then, after the completion of cluster head structure, group-net communication success in cluster, group-net communication success, cluster head and phase between cluster and cluster
Adjacent underwater mobile node communicates successfully, and cluster communicates successfully with water surface float node；Non- leader cluster node in cluster is in a manner of single-hop
It is transmitted to the cluster head of this cluster, cluster head is broadcasted the network state information in cluster and forwarded in a manner of multi-hop after adjacent cluster head receives information
To water surface float node, after adjacent underwater mobile node receives information, the travelling route of oneself is determined according to its information；
Secondly, when the information for having node lost contact in the data packet that underwater mobile node receives, the energy of oneself is first determined whether
Whether amount is sufficient, if energy is less than some threshold value, bubbles through the water column and carries out solar recharging, original position is sneaked into after charging
It sets and works on；If energy is sufficient, the number of lost contact node is calculated according to the packet of adjacent multiple cluster heads, if lost contact node
Quantity is more than threshold value, then disposes new underwater general sensor nodes, the track that underwater mobile node keeps original is advanced；If losing
It is few to join number of nodes, then corresponding position is moved to according to location information and serves as its role, until new underwater common sensing
Device node deployment is to the position；
Finally, after the completion of the deployment of new underwater general sensor nodes, energy is less than the old underwater ordinary sensors of threshold value
Node is determined as death nodes, and floating airbag is opened completely, node is made to bubble through the water column；Underwater mobile node completes network dimension
After shield task, returns to original path and continue on.
The present invention water sound sensor network node deployment and network-building method be further：The water surface float node is adopted
There is provided accurate geographical location with GPS module, be supplied to underwater network node reference geographical location, and using radio magnetic wave and
Two kinds of communication modes of sound wave are received by acoustic communication module, convergence, handle and merge the number reported by the cluster head of approximately level
According to, and terrestrial base station is transmitted in a manner of multi-hop by radio magnetic wave communication module.
The present invention water sound sensor network node deployment and network-building method can also be：The threshold value is disposed for the layer
The half of underwater mobile node number.
Compared with prior art, the present invention has the advantages that：
（1）The floating control module design of underwater general sensor nodes, makes node be evenly distributed on different levels not
Same depth, anchoring system reduces horizontal position offset caused by flow, when node energy is less than some threshold value, floating airbag
It opens completely, makes it float on the water surface, be convenient for recycling.
（2）Underwater general sensor nodes form underwater sound communication network using underwater sound communication module, and network is using distributed
Sub-clustering mode has the characteristics that expansible good, Network Load Balance.
（3）Underwater mobile node uses solar energy and accumulator dual power supply associating power supply, can in the case of not enough power supply
Solar recharging is carried out to bubble through the water column, extends the operational lifetime of underwater mobile node.Multiple underwater mobile nodes with
Adaptive perception damages the mode of link and blind spot overlay area, fills blind spot overlay area in time.
（4）The desired trajectory of underwater mobile node uses adaptive congestion control algorithm algorithm and event trigger mechanism, works as node
After the triggering of lost contact event, corresponding position can be moved in time and serve as its role, realize the whole network covering and connectivity, and ensure with
Travel distance is reduced while local cluster head communication, saves energy consumption.
（5）Water surface float node uses two kinds of communication modes of radio magnetic wave and sound wave, received by acoustic communication module,
The data that convergence, processing and fusion are reported by the cluster head of approximately level, and passed in a manner of multi-hop by radio magnetic wave communication module
Transport to terrestrial base station.
（6）The present invention effectively solves the problems, such as link down caused by node mobility caused by flow and barrier, in water
Lower general sensor nodes are distributed in the case of sparse or link down, can realize that the self-configuring of network is safeguarded in time.This method
Have the characteristics that extend flexible, high efficiency, high reliability, one is provided for the node deployment and networking of underwater sound wave sensor network
The completely new solution of kind is applicable to water field of big area monitoring application.
【Description of the drawings】
Fig. 1 is the network architecture diagram of the water sound sensor network of the present invention；
Fig. 2 is the structure principle chart of underwater general sensor nodes；
Fig. 3 is communication data format in underwater general sensor nodes cluster；
Fig. 4 is the structural schematic diagram of underwater mobile node；
Fig. 5 is to communicate between cluster head and data format that cluster head is communicated with underwater mobile node；
Fig. 6 is the node deployment of the water sound sensor network of the present invention and the step flow chart of network-building method.
【Specific implementation mode】
The invention will be further described below in conjunction with the accompanying drawings：
Referring to Fig.1, a kind of node deployment and network-building method based on water sound sensor network, the water sound sensor network packet
Include multiple underwater general sensor nodes 1, several underwater mobile nodes 2 and several water surface float nodes 3.It is used point
Hierarchical Clustering mode coverage goal waters, by three levels of network hierarchy, each distinguishing hierarchy is at several continuous three-dimensional spaces
Between.Underwater general sensor nodes 1 are evenly distributed on the different depth of the different levels of target area according to floating control module,
Perception, acquisition surrounding physical environmental data, and several self-organizing Cluster Networks are formed with sound wave link.Belong to identical three-dimensional space
Interior underwater general sensor nodes 1 form cluster, and non-leader cluster node is communicated in a manner of single-hop with cluster head, if cluster head is dead,
Select new cluster head.Cluster head is communicated with other adjacent cluster heads in cluster, and water surface float node is successively transferred data in a manner of multi-hop
3.Underwater mobile node 2 there are two types of Move Mode, one is network under normal circumstances, moved according to scheduled route, work(
It can be the physical environmental data acquired along route, the change of water quality of route be assessed, and assessment result is directly transferred to
Water surface float node 3；Another kind be network when something goes wrong, carried out according to the network state information of adjacent multiple cluster heads feedback
Intervene, realizes that the self-configuring of network is safeguarded.When some non-leader cluster node in certain cluster in the case of energy abundance lost contact and not
It appearing in other sub-clusterings, then underwater mobile node 2 carries out cover according to adjacent multiple cluster head feedacks and location technology,
Until new underwater general sensor nodes 1 are deployed to the position.When in cluster cluster head can not be elected, underwater mobile node 3
It is moved to the center in corresponding three-dimensional space（The node of center can be logical with the node of any one in three dimensions
Letter）, until the underwater general sensor nodes 1 new in center deployment.After network recovery is normal, underwater mobile node 2 returns
Original route is returned to advance.Water surface float node 3 receives by acoustic communication mode, handles, converges and merges underwater network number
According to, and with radio magnetic wave communication mode multi-hop transmission to terrestrial base station 4.
With reference to Fig. 2 ~ 3, as shown in Fig. 2, the underwater general sensor nodes are equipped with floating control module, water quality passes
Sensor module, acoustic communication module, power module and micro controller module, each node deployment form several in dynamic flow
Sub-clustering, the non-leader cluster node of each cluster are only communicated with the cluster head of this cluster in a manner of single-hop, cluster head and cluster head according to location information with
Multi-hop mode is successively transmitted to water surface float node.The floating control module includes the floating airbag mould for providing buoyancy
Block, the air pump for controlling floating airbag module degrees of expansion, and for reducing flow caused by horizontal displacement anchoring mould
Block.Node sets the configuration of floating control module according to the law of buoyancy before deployment, and configuration parameter is divided into according to depth level
Three kinds, so that it is guaranteed that the number of nodes needed for every layer of different depth covering.During deployment, in the water surface as unit of the cluster of space
Node is uniformly launched around buoy node, as the corresponding vertical area of some unit space cluster needs being configured to for the node launched
, whereinLRepresentational level（L=1,2,3）,iIndicate node serial number,
Indicate theiA preset depth of node,Indicate theLThe number of nodes of the single space cluster of layer, then it is corresponding vertical
The three node layer total numbers in region are。
As shown in figure 3, after the completion of cluster structure, non-leader cluster node transfers data to leader cluster node with the communication data format,
Such as L102XXYYZZID21DDDDKKP, wherein L102（The cluster head that the ID of Layer1 is 02）For the ID of the affiliated cluster head of node,
XXYYZZ is geographical location of the node according to location technology acquisition relative to cluster head, and cluster head can be obtained relative to water surface float section
The geographical location of point (GPS positioning module is housed), to which the non-leader cluster node in cluster can be according to the relative position meter with cluster head
Calculation obtains accurate position, and ID is node ID, and 21 be the total length of data packet, and DDDD is valid data, and KK is residual energy
Amount, P is check bit.After cluster head receives data packet, with certain communication data format broadcast message packet, non-cluster head section in cluster
Point, adjacent cluster head and adjacent underwater mobile node can receive the packet.
With reference to Fig. 4 ~ 5, as shown in figure 4, the underwater mobile node includes water quality sensor probe 5, water outlet water inlet
6, underwater acoustic transducer 7, solar cell 8, micro controller module 9, accumulator 10, control motor 11, air pump 13, air bag 12, electricity
Tune machine 14, steering engine group 15, brushless motor 16, gyroscope and acceleration transducer 17 and avoidance sensor 18.Underwater mobile node
Inside include the sealed compartments of multiple waterproof and anticorrosions, the protective cover of solar cell 8 uses transparent material, it is made to move under water
Node can come into full contact with sunlight after bubbling through the water column.The 5 acquisition surrounding physical environmental data of water quality sensor probe being dipped in water,
Gyroscope obtains the travelling posture of underwater mobile node with acceleration transducer 17, and avoidance sensor 18 obtains front obstacle letter
Breath.Micro controller module 9 is the processing center that entire underwater mobile node executes operation, and underwater mobile node is by controlling motor
The water that 11 driving air pumps 13 draw water in water bag 12 or discharge water bag 12, realizes the sink-float up and down of underwater mobile node, passes through control
The brushless motor 16 of the electric 14 drive tail portion of tune machine of system starts propeller, utilizes steering engine group 15（Rudder and elevator）Cooperation control
Change direction；Underwater acoustic transducer 7 is used as underwater sound wave means of communication, underwater mobile node to pass through its reception and forwarding data.
As shown in figure 5, cluster head cluster head adjacent with other and the communication data format with neighbouring underwater mobile node.Sub-clustering structure
After the completion of building, cluster head holding is contacted with the underwater mobile node in communication range, while cluster head is according to geographical location information
Data packet is successively transmitted in a manner of multi-hop except water surface float node.Underwater mobile node receives data packet（Such as
L3CH01XXYYZZKKNNDDDDWWP, wherein L3CH01 is the cluster head of Layer3 layers of ID=01, and XXYYZZ is cluster head according to positioning
The accurate geographic position that technology obtains, KK are the dump energy of cluster head, and NN counts for cluster internal segment, and DDDD is valid data, and WW is
Sub-clustering connectivity assessed value, P are check bit）, the indices in data packet are checked, if cluster head dump energy is less than some threshold value
And come out without new election of cluster head, then it is mobile or be directly moved to sub-clustering center according to the cluster head position of offer；If in cluster
Non- leader cluster node number change, then judged that sub-clustering connectivity assessed value is cluster head in conjunction with sub-clustering connectivity assessed value
According to the value that the dump energy of non-leader cluster node and newest location information obtain, there are following several situations：（1）00：Non- cluster
The dump energy of head node is sufficient, but cluster head control range is deviateed in position, and cluster internal segment points are reduced；（2）01：Non- leader cluster node exists
In cluster head control range, but dump energy is insufficient and dead, and cluster internal segment points are reduced；（3）10：The dump energy of non-leader cluster node
Abundance, position are very close with cluster head, it is possible to which barrier causes link down, cluster internal segment points to reduce；（4）11：Have new
Non- leader cluster node is added, and dump energy is sufficient, then keeps in new node ID, and cluster internal segment points increase.Underwater mobile node
Cluster interior nodes varied number and sub-clustering connectivity assessed value are kept in, and broadcast the leader cluster node near notice within single-hop, root
Mobile control is carried out according to its feedback information and sub-clustering connectivity assessed value, if occurring multiple lost contact nodes simultaneously, in order to control under water
The cost of mobile node, then the underwater general sensor nodes for needing deployment new are to area of absence, to realize target area
Whole network covers in real time and reliable connectivity.If there is no the triggering of node lost contact in the data packet that underwater mobile node receives
Event then ensures that original route is advanced, and during this, adjacent cluster head constantly changes, for that can keep near
Multiple cluster head communications, broadcast JION_IN packets, it includes node ID, dump energy and signal intensity intensity.
With reference to Fig. 6, as shown in fig. 6, node deployment and network-building method are as follows：
First, configuration needs the floating control module parameter for the underwater general sensor nodes disposed, and node is uniform
It is distributed in the target area in divided good space.Node ID is defined to divide space as foundation, is convenient to the building process of cluster.
After launching underwater mobile node, network enters init state.Underwater general sensor nodes are according to being defined on corresponding list
Sub-clustering is formed in the three dimensions of position, selects cluster head, forms self-organizing network.Underwater mobile node is advanced according to scheduled track,
Multiple underwater mobile nodes can dynamically be monitored change of water quality according to formation control to waters.
Then, after the completion of cluster head structure, group-net communication success in cluster, group-net communication success, cluster head and phase between cluster and cluster
Adjacent underwater mobile node communicates successfully, and cluster communicates successfully with water surface float node.Non- leader cluster node in cluster is in a manner of single-hop
It is transmitted to the cluster head of this cluster, cluster head is broadcasted the network state information in cluster and forwarded in a manner of multi-hop after adjacent cluster head receives information
To water surface float node, after adjacent underwater mobile node receives information, the travelling route of oneself is determined according to its information.
Secondly, when the information for having node lost contact in the data packet that underwater mobile node receives, the energy of oneself is first determined whether
Whether amount is sufficient, if energy is less than some threshold value, bubbles through the water column and carries out solar recharging, original position is sneaked into after charging
It sets and works on.If energy is sufficient, the number of lost contact node is calculated according to the packet of adjacent multiple cluster heads, if lost contact node
Quantity is more than threshold value（The generally half of this layer deployment underwater mobile node number）, then new underwater common sensing is disposed
Device node, the track that underwater mobile node keeps original are advanced.If lost contact number of nodes is few, it is moved to according to location information
Its role is served as in corresponding position, until new underwater general sensor nodes are deployed to the position（Generally in lost contact number of nodes
Amount is more than property deployment again after threshold value）.
Finally, after the completion of the deployment of new underwater general sensor nodes, energy is less than the old underwater ordinary sensors of threshold value
Node is determined as death nodes, and floating airbag is opened completely, so that node is bubbled through the water column, facilitates recycling.It is underwater to move
After dynamic node completes network operation task, returns to original path and continue on.
Water surface float node provides accurate geographical location using GPS module, is supplied to underwater network node with reference to geographical
Position, and two kinds of communication modes of radio magnetic wave and sound wave are used, it received by acoustic communication module, convergence, handle and merge
The data reported by the cluster head of approximately level, and terrestrial base station is transmitted in a manner of multi-hop by radio magnetic wave communication module.Land
Ground base station can obtain the network state of underwater sound wave sensor network and the position of node and state letter as monitoring center
Breath, and visualization processing is carried out, the intuitive operating condition for expressing network.
Blind spot overlay area caused by the present invention considers node mobility caused by flow and barrier, is suitable for node
It is deployed in dynamic flow, is especially relatively distributed sparse underwater sound wave sensor network application, as marine environment is supervised
Survey, assisting navigation etc., all standing event and reliable connectivity of the whole network of method concern.
In conclusion the present invention by the way of sub-clustering by different level, can set the floating of underwater general sensor nodes
The configuration of control module, the different depth for being evenly distributed on the different levels of target area form several sub-clusterings, perceive, adopt
Collect surrounding physical environmental data, and according to certain communication data format in a manner of acoustic communication transmission data.Consider that flow is drawn
Blind spot overlay area caused by the node mobility and barrier that rise introduces underwater mobile node, according to the net of adjacent sub-clustering
Network situation carries out mobile control, can the blind spot area of coverage of completion in time, ensure all standing and the connectivity of network.Underwater movable joint
Point is used as active node, and solar cell and accumulator dual power supply is used to combine, and can be used as usable multifunctional equipment for a long time.
Water surface float node uses mixed communication mode, and underwater network number is received, handles, converges and merge by acoustic communication module
According to data are transmitted to terrestrial base station in a manner of multi-hop by radio magnetic wave communication module.The present invention can effectively solve to supervise under water
It surveys and applies existing blind zone problem, without dead angle detect underwater environment comprehensively, wide, the expansible good, reliability with monitoring range
High, the features such as monitoring data are comprehensive, provides the solution of a kind of node deployment and Networking Design for underwater monitoring application.
Above specific implementation mode is only the preferred embodiment of this creation, all in this wound not to limit this creation
Any modification, equivalent substitution, improvement and etc. done within the spirit and principle of work, should be included in this creation protection domain it
It is interior.
Claims (9)
1. a kind of water sound sensor network, it is characterised in that：Including several underwater general sensor nodes, several underwater movements
Node and several water surface float nodes；It uses sub-clustering mode coverage goal waters by different level, and network is divided into three layers
Secondary, each distinguishing hierarchy is at several continuous three dimensions；Wherein, the underwater general sensor nodes are evenly distributed on
The different depth of the different levels of target area, perception, acquisition surrounding physical environmental data, and formed with sound wave link several
A self-organizing Cluster Networks；The underwater mobile node can be moved in target water, be commented the change of water quality of route
Estimate, and assessment result is directly transferred to water surface float node；The water surface float node integrates mixed communication module, passes through
Acoustic communication module receives, handles, converges and merges underwater network data, and by radio magnetic wave communication module with multi-hop side
Formula is transmitted to terrestrial base station；The underwater mobile node there are two types of Move Mode, one is network under normal circumstances, according to
Scheduled route movement is assessed the change of water quality of route, and assessment is tied acquiring the physical environmental data along route
Fruit is directly transferred to water surface float node；Another kind be network when something goes wrong, according to the network of adjacent multiple cluster heads feedback
Status information determines that mobile route and function are moved to corresponding position and serve as non-leader cluster node when non-leader cluster node fails
Role, when that can not elect cluster head, the role of cluster head is served as in the center for being moved to corresponding three dimensions, until
The new underwater general sensor nodes of deployment；After network recovery is normal, underwater mobile node returns to original route and advances.
2. water sound sensor network as described in claim 1, it is characterised in that：The underwater general sensor nodes assembly
There are floating control module, water quality sensor module, acoustic communication module, power module and micro controller module, each node deployment
Several sub-clusterings are formed in dynamic flow, the non-leader cluster node of each cluster is only communicated with the cluster head of this cluster in a manner of single-hop, cluster
Head successively sends data to water surface float node according to location information with cluster head in a manner of multi-hop.
3. water sound sensor network as claimed in claim 2, it is characterised in that：The floating control module includes for carrying
For the floating airbag module of buoyancy, the air pump for controlling floating airbag module degrees of expansion, and cause for reducing flow
Horizontal displacement anchoring system.
4. water sound sensor network as described in claim 1, it is characterised in that：The underwater mobile node includes for adopting
The water quality sensor module of collection surrounding physical environmental data, gyroscope and acceleration transducer mould for obtaining its posture of moving about
Block, the tail portion brushless motor for starting propeller, is used to coordinate control the avoidance sensor assembly for avoiding underwater obstacle
System changes nyctitropic rudder and executes the micro controller module of operation with elevator, for entire underwater mobile node, for driving
Pumping of taking offence water enters water or the control motor of water in cabin is discharged, for being communicated with adjacent leader cluster node and other underwater mobile nodes
Underwater sound communication module and the solar energy for its power supply and the double integrated drive generator modules of accumulator.
5. water sound sensor network as claimed in claim 1, it is characterised in that：The Cluster Networks are completed to build
Afterwards, it is communicated in cluster, and cluster head holding is communicated with adjacent underwater mobile node, reports without delay the network state letter in cluster
Breath.
6. water sound sensor network as claimed in claim 1, it is characterised in that：The underwater mobile node perception,
Be responsible for safeguarding the connectivity of network and reliability while acquisition is along the physical environmental data of travelling route, and with adjacent cluster head
It keeps in touch, the travelling route of oneself is determined according to network state information in the cluster of adjacent multiple cluster head feedbacks.
7. a kind of node deployment and networking side based on the water sound sensor network as described in claim 1 to 6 any one
Method, it is characterised in that：Include the following steps：
First, configuration needs the floating control module parameter for the underwater general sensor nodes disposed, and node is uniformly distributed
Target area in divided good space；Node ID is defined to divide space as foundation；After launching underwater mobile node, net
Network enters init state；Underwater general sensor nodes are selected according to formation sub-clustering in corresponding unit three dimensions is defined on
Cluster head is selected, self-organizing network is formed；Underwater mobile node is advanced according to scheduled track, and multiple underwater mobile nodes can basis
Formation control is dynamically monitored change of water quality to waters；
Then, cluster head structure after the completion of, in cluster group-net communication success, between cluster and cluster group-net communication success, cluster head with it is adjacent
Underwater mobile node communicates successfully, and cluster communicates successfully with water surface float node；Non- leader cluster node in cluster is transmitted in a manner of single-hop
To the cluster head of this cluster, cluster head is broadcasted the network state information in cluster and is forwarded to water in a manner of multi-hop after adjacent cluster head receives information
After adjacent underwater mobile node receives information, the travelling route of oneself is determined according to its information for face buoy node；
Secondly, when the information for having node lost contact in the data packet that underwater mobile node receives, first determine whether that the energy of oneself is
No abundance, if energy be less than some threshold value, bubble through the water column carry out solar recharging, sneaked into after charging original position after
Continuous work；If energy is sufficient, the number of lost contact node is calculated according to the packet of adjacent multiple cluster heads, if lost contact number of nodes
More than threshold value, then new underwater general sensor nodes are disposed, the track that underwater mobile node keeps original is advanced；If lost contact section
Point quantity is few, then being moved to corresponding position according to location information serves as its role, until new underwater ordinary sensors section
Point is deployed to the position；
Finally, after the completion of the deployment of new underwater general sensor nodes, energy is less than the old underwater general sensor nodes of threshold value
It is determined as death nodes, floating airbag is opened completely, node is made to bubble through the water column；Underwater mobile node is completed network operation and is appointed
After business, returns to original path and continue on.
8. the node deployment and network-building method of water sound sensor network as claimed in claim 7, it is characterised in that：The water surface
Buoy node provides accurate geographical location using GPS module, is supplied to underwater network node reference geographical location, and use nothing
Two kinds of communication modes of line electromagnetic wave and sound wave are received by acoustic communication module, convergence, handle and merge the cluster head by approximately level
The data reported, and terrestrial base station is transmitted in a manner of multi-hop by radio magnetic wave communication module.
9. the node deployment and network-building method of water sound sensor network as claimed in claim 7, it is characterised in that：If lost contact section
Point quantity is more than the half of layer deployment underwater mobile node number where node, then disposes new underwater ordinary sensors section
Point.
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