CN106131860B - Utilize the big mesh calibration method of oriented mobile sensor network coverage three-dimensional space - Google Patents
Utilize the big mesh calibration method of oriented mobile sensor network coverage three-dimensional space Download PDFInfo
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- CN106131860B CN106131860B CN201610456891.0A CN201610456891A CN106131860B CN 106131860 B CN106131860 B CN 106131860B CN 201610456891 A CN201610456891 A CN 201610456891A CN 106131860 B CN106131860 B CN 106131860B
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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
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- H—ELECTRICITY
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- H04W—WIRELESS COMMUNICATION NETWORKS
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Abstract
The big mesh calibration method of oriented mobile sensor network coverage three-dimensional space is utilized the present invention provides a kind of, wherein this method comprises: obtaining the mass center of the big target of the three-dimensional space according to all outer salient points of the big target of three-dimensional space；The circumsphere of the big target of the three-dimensional space is obtained using the mass center as the centre of sphere；Circumsphere according to the fictitious force between fictitious force and the mobile node between mobile node and the circumsphere of the big target of the three-dimensional space around the big target of the three-dimensional space disposes the mobile node；The direction of the mobile node is adjusted according to the line of the mobile node and the mass center, so that described towards the direction centre of sphere.The present invention can carry out uniform fold to the big target surface of three-dimensional space using oriented sensor mobile network node, and mobile node deployment is fast, intelligence degree is high, saves a large amount of human resources.
Description
Technical field
It is mobile that the present invention relates to directional sensor networks in wireless sensor network field more particularly to a kind of three-dimensional space
The implementation method of the big target of coverage is specifically exactly a kind of oriented mobile sensor network coverage three-dimensional space of utilization
Between big mesh calibration method.
Background technique
In recent years, wireless sensor network due to the subject crossing and broad application prospect of its height it is each by the world
The highest attention of ground academia and industry, it has also become the emerging forward position focus of current IT field.According to the sensor section of use
Vertex type, wireless sensor network can be divided into many kinds.For example, having the function of video acquisition, then if node has photographic device
Referred to as video sensor network；If having mobile device, referred to as mobile sensor network；If the sensor section of network consisting
The sensing range and directional correlation of point, then referred to as directional sensor network.In target monitoring problem, oriented sensor is in emphasis
It is more advantageous that traditional omnidirectional's sensor is compared in terms of direction covering and Energy in use.From practical application angle, mesh
Preceding common sensor type, such as image, infrared, sound wave all have directionality, it can be seen that directional sensor network is more
Close to practical.
Directional sensor network node has installed autonomous device additional, just constitutes oriented mobile sensor network, such as
For the airborne video sensor network in military, agricultural, disaster relief, node is that microminiature of the frame with camera flies
Row device, due to can networking collaboration flight, so as to more timely and accurately obtain target area information.
For all kinds of wireless sensor networks, the deployment of node and covering control problem have been a hot spot of research problem.
Common node deployment method is broadly divided into random placement, artificial deployment and autonomous deployment three classes.In random placement mode, section
Point is disposably shed at random in monitoring region；In artificial deployment way, need manually to lay each node；From
Principal part administration when referring to initial node dispensed at random, but due to node itself with mobile device can autonomous, can be according to
Certain dispositions method is completed to dispose by autonomous.
For autonomous deployment, resource-constrained due to node, communication range and sensing range are all extremely limited, therefore
The quality of autonomous deployment algorithm can have an important influence on monitoring region overlay.Good autonomous deployment algorithm should avoid weight as far as possible
Superimposition lid reduces covering loophole as far as possible, avoids as far as possible during deployment mutual between node or between node and target
Interference (as collided).
Oriented mobile sensor network has big application potential in disaster relief, can quickly, closely to calamity
Difficult scene carries out comprehensive monitoring, assists search trapped person, timely feedbacks field data.However, in practical applications,
Monitored target usually has certain spatial volume, such as snow mountain, the high-rise on fire of a generation snowslide,
It is monitored there is an urgent need to comprehensive.But current existing autonomous deployment algorithm, it is carried out primarily directed to two-dimensional surface environment
Region overlay, for the covering deployment issue of the big target surface of three-dimensional space, it is not yet found that related research result.Therefore, originally
Field technical staff urgently researches and develops a kind of side that the big target of three-dimensional space is independently covered using directional sensor network mobile node
Method.
Summary of the invention
In view of this, the technical problem to be solved in the present invention is that providing a kind of utilization oriented mobile sensor network node
The big mesh calibration method of three-dimensional space is covered, solving oriented mobile sensor network mobile node in the prior art can not be for three
The big target surface of dimension space carries out the problem of covering deployment.
To solve the above-mentioned problems, the specific embodiment of the invention provides a kind of utilization oriented mobile sensor network node
Cover the big mesh calibration method of three-dimensional space, comprising: obtain the three-dimensional space according to all outer salient points of the big target of three-dimensional space
The mass center of big target；The circumsphere of the big target of the three-dimensional space is obtained using the mass center as the centre of sphere；According between mobile node
Fictitious force and the mobile node and the circumsphere of the big target of the three-dimensional space between fictitious force surround the three-dimensional
The circumsphere of the big target in space disposes the mobile node；The shifting is adjusted according to the line of the mobile node and the mass center
The direction of dynamic node, so that described towards the direction centre of sphere.
Above-mentioned specific embodiment according to the present invention is it is found that utilize oriented mobile sensor network coverage three-dimensional space
Between big mesh calibration method at least have the advantages that or feature: based on fictitious force principle, by oriented mobile sensor network
Collaboration autonomous deployment process is converted into node autonomous, independently process for rotating by fictitious force effect in the virtual field of force,
It can be realized that mobile sensor network node is autonomous, the big target of uniform fold three-dimensional space, to realize to the big mesh of three-dimensional space
The comprehensive monitoring of target, node deployment is fast, intelligence degree is high, saves human resources.
Detailed description of the invention
Following appended attached drawing is part of specification of the invention, depicts example embodiments of the present invention, institute
Attached drawing is used to illustrate the principle of the present invention together with the description of specification.
Fig. 1 is the big object module schematic diagram of oriented mobile sensor network.
Fig. 2 is oriented mobile sensor network node perceived model schematic.
Fig. 3 is that the big destination mobile node covering method of oriented mobile sensor network three-dimensional space executes step schematic diagram.
Fig. 4 is the fictitious force schematic diagram between oriented mobile sensor network node.
Fig. 5 is the fictitious force schematic diagram between oriented mobile sensor network node and big target.
Fig. 6 is angular relationship schematic diagram between oriented mobile sensor network node direction and big target.
Fig. 7 is the init state schematic diagram of oriented mobile sensor network deployment examples.
Fig. 8 is oriented mobile sensor network deployment examples a certain moment status diagram during deployment.
The final deployable state schematic diagram of the oriented mobile sensor network deployment examples of Fig. 9.
The section deployable state schematic diagram of the oriented mobile sensor network deployment examples of Figure 10.
Figure 11 is the flow chart using the big mesh calibration method of oriented mobile sensor network coverage three-dimensional space.
Specific embodiment
Understand in order to make the object, technical scheme and advantages of the embodiment of the invention clearer, below will with attached drawing and in detail
Narration clearly illustrates the spirit of disclosed content, and any skilled artisan is understanding the content of present invention
After embodiment, when the technology that can be taught by the content of present invention, it is changed and modifies, without departing from the essence of the content of present invention
Mind and range.
The illustrative embodiments of the present invention and their descriptions are used to explain the present invention, but not as a limitation of the invention.
In addition, in the drawings and embodiments the use of element/component of same or like label is for representing same or like portion
Point.
About " first " used herein, " second " ... etc., not especially censure the meaning of order or cis-position,
It is non-to limit the present invention, only for distinguish with same technique term description element or operation.
About direction term used herein, such as: upper and lower, left and right, front or rear etc. are only the sides with reference to attached drawing
To.Therefore, the direction term used is intended to be illustrative and not intended to limit this creation.
It is open term, i.e., about "comprising" used herein, " comprising ", " having ", " containing " etc.
Mean including but not limited to.
About it is used herein " and/or ", including any of the things or all combination.
About term used herein " substantially ", " about " etc., to modify it is any can be with the quantity or mistake of microvariations
Difference, but this slight variations or error can't change its essence.In general, microvariations that such term is modified or error
Range in some embodiments can be 20%, in some embodiments can be 10%, can be in some embodiments 5% or its
His numerical value.It will be understood by those skilled in the art that the aforementioned numerical value referred to can be adjusted according to actual demand, it is not limited thereto.
It is certain to describe the word of the application by lower or discuss in the other places of this specification, to provide art technology
Personnel's guidance additional in relation to the description of the present application.
Below in conjunction with attached drawing, the invention will be further described, as shown in Figure of description 1- Figure 10.
The big target refers to volume larger (a small amount of directional sensor network node is unable to complete covering) and can behave as
The monitored object of single volume, as shown in Figure 1.The surface area of big target should be covered after deployment to greatest extent.Big target
All evagination point set Sa={ S1,S2,...,Sk, if the mass center of big target is CT, the calculation formula of the mass center such as formula (1)
It is shown:
K indicates the maximum number of the outer salient point of big target, passes through the arithmetic mean of the coordinate of outer salient points all in set of computations
Three-dimensional center of mass point, that is, the centre of sphere of big target circumsphere can be obtained in value.If outer salient point and the maximum distance of center of mass point, that is, big
The radius of target circumsphere is RT, shown in the calculation formula of the radius such as formula (2):
The sensing range of the node of the oriented mobile sensor network is expressed as a cone, and node is located at cone
The vertex of a cone, sensing range can be translatable in space, can also be pivoted about with the vertex of a cone, as shown in Figure 2.Node perceived model
An eight tuples < P, θ, C, R can be usedDraw,RReprimand,CT,RT,Sn> show.Wherein P indicates the oriented movable sensor section in three-dimensional space
The position coordinates of point P；θ indicates the perception angle of the oriented sensor of node；C indicates the circumsphere of the sensing range of node P
Sphere centre coordinate；RDrawIndicate the maximum distance that virtual gravitation is generated between node maximum communication distance and node；RReprimandIt indicates to generate empty
The maximum distance of quasi- repulsion, RReprimandLess than or equal to RDrawAnd it is more than or equal to ROutside；ROutsideFor the radius of mobile node sensing range circumsphere；CT
Indicate the mass center of the big target of the three-dimensional space；RTIndicate the radius of the circumsphere of the big target of the three-dimensional space；SnFor movable joint
Point neighboring mobile node set, neighboring mobile node refer to the distance between mobile node be less than or equal to maximum communication away from
From RDrawNode.ROutsideShown in calculation formula such as formula (3):
S indicates the neighbor node set of node P, and so-called neighbor node refers to that the distance between node P is less than or equal to most
Big communication distance RDrawNode.
The method of the invention specifically includes 8 execution steps, as shown in Figure 3.It is every in oriented mobile sensor network
A node respectively independently executes 8 steps during deployment:
(1) initialize: node obtains the location information point set of the outer salient point of the big target for needing to be deployed to, according in set
Location information, the center of mass point of available big target, and thus obtaining using center of mass point as the centre of sphere, inside and outside distance set salient point with
The maximum distance of center of mass point be radius big target circumsphere as node deployment apart from benchmark；
(2) calculating of fictitious force: to enable node in the case where not colliding with big target as close possible to big
Target maps out the work, and according to the distance between node and big target, big target generates virtual active force to deployment node: big
The centre of sphere of the circumsphere of target, which generates gravitation, enables node to gather to big target, and the circumsphere boundary of big target generates virtual reprimand
Power makes the node close to big target that will not be collided big target by repulsion effect.The section occurred during deployment in order to prevent simultaneously
Collision dispersed problem between point generates virtual active force between all nodes: gravitation is generated between node allows discrete node phase
It mutually draws close, repulsion is generated between node is located remotely from each other node that may be excessively close；
(3) fictitious force suffered by node is the resultant force of the fictitious force from neighbor node and big target；
(4) node moves an one step along resultant direction；
(5) calculating of the angular deviation in node direction and big target circumsphere centre of sphere direction: the oriented sensing of calculate node
Device direction and node are directed toward the angular deviation between big target circumsphere centre of sphere direction；
(6) direction for adjusting the oriented sensor of node, makes oriented sensor orientation be directed toward the big target circumsphere centre of sphere；
(7) return step (2) continues to execute.
The step (2) is for issuable fictitious force during calculating deployment.According to the distance of distance between node
There are virtual gravitation or virtual repulsion or without virtual active force, as shown in Figure 4.Big target according to present node Pn's
Distance generates virtual gravitation or virtual repulsion or without virtual active force, as shown in Figure 5.The step can be further
Refinement includes following processing step:
(21) present node is set as Pn, node PnAll neighbor node set S={ P1,P2..., calculate node PnIt is corresponding
Circumsphere centre of sphere CnAnd the centre of sphere set C={ C of the corresponding circumsphere of each neighbor node1,C2,…}；
(22) present node P is calculatednCircumsphere centre of sphere CnWith each neighbor node PmThe centre of sphere C of the circumsphere of ∈ SmIt
Between distance, as shown in formula (4):
(23) present node P is calculatednAll adjacent node Pm∈ S is to node PnFictitious force, wherein virtual force computation is public
Shown in formula such as formula (5):
Wherein, kReprimand, λReprimandFor repulsion coefficient, kDraw, λDrawFor gravitational coefficients.For unit vector, indicate by node PnIt is outer
Receive centre of sphere CnIt is directed toward neighbor node PmThe circumsphere centre of sphere C of ∈ SmGravity direction.
(24) present node P is calculatednThe resultant force of suffered all neighbor nodes virtual gravitation and repulsion, as shown in formula (6):
(25) present node is set as Pn, node PnThe corresponding circumsphere centre of sphere is Cn, calculate PnWith the big target circumsphere centre of sphere
CTDistance, as shown in formula (7)；
(26) big target circumsphere centre of sphere C is calculatedTTo node PnVirtual gravitation, as shown in formula (8):
Wherein,For unit vector, indicate by node PnCircumsphere centre of sphere CnIt is directed toward big target circumsphere centre of sphere CT's
Gravity direction.
(27) big target circumsphere centre of sphere C is calculatedTTo node PnVirtual repulsion, as shown in formula (9):
(28) present node P is calculatednThe virtual gravitation of suffered all next arrogant targets and the resultant force of repulsion, such as formula (10)
It is shown:
The step (5) is used for the rotational angle of calculate node, as shown in fig. 6, can further refine comprising following processing
Step:
(51) it sets by present node PnIt is directed toward its circumsphere centre of sphere CnUnit vector beIf by present node PnIt is directed toward big
Target circumsphere centre of sphere CTUnit vector beWithAngle be α.Shown in the calculating of angle α such as formula (11):
(52) if α≤π, joint rotation direction be it is clockwise, rotation angle is α, otherwise to rotate 2 π-α counterclockwise.
Such as the specific example that Fig. 7~Figure 10 is the method for the invention.It is oriented movable sensor net as shown in Figure 7
The original state of network, number of nodes are 200, and node is randomly dispersed in three-dimensional spatial area, and big target is a cube (simulation
Building), circumsphere is sphere.It is a certain moment as shown in Figure 8 during oriented mobile sensor network node autonomous deployment
State.It is the final deployable state of oriented mobile sensor network as shown in Figure 9, oriented mobile sensor network node is all disposed
To around orbicule, and ball centre is directed toward in direction.The internal cross section figure of the final deployable state of node is as shown in Figure 10.
Figure 11 is the flow chart using the big mesh calibration method of oriented mobile sensor network coverage three-dimensional space, is such as schemed
Shown in 11, the specific embodiment shown in the drawings the following steps are included:
S101: the mass center of the big target of the three-dimensional space is obtained according to all outer salient points of the big target of three-dimensional space；
S102: the circumsphere of the big target of the three-dimensional space is obtained using the mass center as the centre of sphere；
S103: according to the fictitious force and the mobile node and the big target of the three-dimensional space between mobile node
Fictitious force between circumsphere disposes the mobile node around the circumsphere of the big target of the three-dimensional space；And
S104: adjusting the direction of the mobile node according to the line of the mobile node and the mass center, so that described
Towards the direction centre of sphere.
Further, the radius of the circumsphere of the big target of the three-dimensional space is between the mass center and the outer salient point
Maximum distance.
Further, the fictitious force include: node virtual gravitation between the mobile node, the mobile node it
Between node virtual repulsion, the virtual gravitation between the mobile node and the circumsphere of the big target of the three-dimensional space and
Virtual repulsion between the mobile node and the circumsphere of the big target of the three-dimensional space.
Further, when the mobile node is static, the node virtual gravitation, the section that the mobile node is subject to
The virtual repulsion of point, the virtual gravitation and the virtual repulsion balance.
Further, the collection of all outer salient points is combined into Sa={ S1,S2,...,Sk, the mass center is CT, the mass center
CTCalculation formula such as formula (1) shown in:
Wherein, k indicates the maximum number of outer salient point, and the coordinate of all outer salient points is flat in the set by calculating outer salient point
Mass center C can be obtained in mean valueT, that is, the big target of three-dimensional space circumsphere the centre of sphere；xTFor the X axis coordinate of mass center；yTFor matter
The Y axis coordinate of the heart；zTFor the Z axis coordinate of mass center；xkFor the X axis coordinate of outer salient point；ykFor the Y axis coordinate of outer salient point；zkFor evagination
The Z axis coordinate of point；
Due to outer salient point and mass center CTMaximum distance be exactly the big target of three-dimensional space circumsphere radius, be denoted as RT, should
Radius RTCalculation formula such as formula (2) shown in:
Wherein, xTFor the X axis coordinate of mass center；yTFor the Y axis coordinate of mass center；zTFor the Z axis coordinate of mass center；xkFor outer salient point
X axis coordinate；ykFor the Y axis coordinate of outer salient point；zkFor the Z axis coordinate of outer salient point.
Further, the mobile node is made of autonomous device and oriented sensor, the sense of the mobile node
Know that range is cone, the mobile node is located at the cone vertex of a cone, and the mobile node is put down under the action of the fictitious force
Dynamic or rotation, wherein rotation is pivoted about with the cone vertex of a cone.
Further, the sensor model of the mobile node one eight tuples < P, θ, C, RDraw,RReprimand,CT,RT,Sn> indicate,
Wherein, P is the position of mobile node；θ indicates the perception angle of the oriented sensor；C is that mobile node sensing range is external
The centre of sphere of ball；RDrawIndicate the maximum that node virtual gravitation is generated between the maximum communication distance and mobile node of mobile node
Distance；RReprimandIndicate the maximum distance that node virtual repulsion is generated between mobile node, RReprimandLess than or equal to RDrawAnd it is more than or equal to ROutside；ROutside
For the radius of mobile node sensing range circumsphere；CTIndicate the mass center of the big target of the three-dimensional space；RTIndicate the three-dimensional space
Between big target circumsphere radius；SnFor the set of the neighboring mobile node of mobile node, neighboring mobile node refers to and moves
The distance between dynamic node is less than or equal to maximum communication distance RDrawNode；ROutsideCalculation formula such as formula (3) shown in:
Wherein, xCFor the X axis coordinate of the centre of sphere C of mobile node sensing range circumsphere；yCOutside for mobile node sensing range
The Y axis coordinate of the centre of sphere C to receive；zCFor the Z axis coordinate of the centre of sphere C of mobile node sensing range circumsphere；xPFor mobile node
X axis coordinate；yPFor the Y axis coordinate of mobile node；zPFor the Z axis coordinate of mobile node.
Further, the specific calculating step of the fictitious force between mobile node includes:
Determine current mobile node PnThe centre of sphere C of sensing range circumspherenAnd each neighboring mobile node sensing range
The centre of sphere set C={ C of circumsphere1,C2..., wherein the collection of all neighboring mobile nodes is combined into Sn={ P1,P2,…}；
Calculate current mobile node PnThe centre of sphere C of sensing range circumspherenWith each neighboring mobile node Pm∈SnPerceive model
Enclose the centre of sphere C of circumspheremThe distance betweenCalculation method such as formula (4) shown in:
Wherein,For current mobile node PnThe circumsphere centre of sphere C of sensing rangenX axis coordinate；For current movable joint
Point PnThe circumsphere centre of sphere C of sensing rangenY axis coordinate；For current mobile node PnThe circumsphere centre of sphere C of sensing rangen's
Z axis coordinate；For neighboring mobile node PmThe corresponding circumsphere centre of sphere C of sensing rangemX axis coordinate；For neighbours' movable joint
Point PmThe corresponding circumsphere centre of sphere C of sensing rangemY axis coordinate；For neighboring mobile node PmSensing range is corresponding external
Ball centre of sphere CmZ axis coordinate；
Calculate all neighboring mobile node PmTo current mobile node PnFictitious forceFictitious forceIncluding node
Virtual gravitation and node virtual repulsion, wherein fictitious forceShown in calculation formula such as formula (5):
Wherein, kReprimand, λReprimandFor repulsion coefficient, kDraw, λDrawFor gravitational coefficients；For unit vector, indicate by current movable joint
Point PnThe centre of sphere C of sensing range circumspherenIt is directed toward neighboring mobile node PmThe centre of sphere C of sensing range circumspheremGravity direction；
Calculate current mobile node PnBy all neighboring mobile node PmNode virtual gravitation and node virtual repulsion
With joint efforts, as shown in formula (6):
Wherein,For current mobile node PnWith one of neighboring mobile node PmBetween node virtual gravitation or
Node virtual repulsion.
Further, the specific calculating step packet of the fictitious force between mobile node and the circumsphere of the big target of three-dimensional space
It includes:
Calculate current mobile node PnWith mass center CTDistance, as shown in formula (7)；
Wherein,For current mobile node PnThe circumsphere centre of sphere C of sensing rangenX axis coordinate；For current movable joint
Point PnThe circumsphere centre of sphere C of sensing rangenY axis coordinate；For current mobile node PnThe circumsphere centre of sphere C of sensing rangen's
Z axis coordinate；For mass center CTX axis coordinate；For mass center CTY axis coordinate；For mass center CTZ axis coordinate；
The circumsphere of the big target of three-dimensional space is calculated to current mobile node PnVirtual gravitation, as shown in formula (8):
Wherein,For unit vector, indicate by current mobile node PnThe circumsphere centre of sphere C of sensing rangenIt is directed toward matter
Heart CTGravity direction；kDraw, λDrawFor gravitational coefficients；
The circumsphere of the big target of three-dimensional space is calculated to current mobile node PnVirtual repulsion, as shown in formula (9):
Wherein,For unit vector, indicate by current mobile node PnThe circumsphere centre of sphere C of sensing rangenIt is directed toward mass center
CTGravity direction；kReprimand, λReprimandFor repulsion coefficient；
Calculate current mobile node PnThe conjunction of the virtual gravitation and virtual repulsion of the circumsphere of the suffered big target of three-dimensional space
Power, as shown in formula (10):
Wherein,For current mobile node PnVirtual gravitation between the circumsphere of the big target of three-dimensional space and virtual
The resultant force of repulsion.
Further, the step of the direction of the mobile node is adjusted according to the line of the mobile node and the mass center
Suddenly, it specifically includes:
Unit of account vectorAnd unit vectorBetween angle α, whereinFor by current mobile node PnIt is directed toward current
Mobile node PnThe centre of sphere C of sensing range circumspherenUnit vector,For current mobile node PnIt is directed toward mass center CTUnit to
Amount, wherein shown in the calculating of angle α such as formula (11):
Adjust current mobile node PnDirection so that current mobile node PnDirection be directed toward mass center CTIf, wherein α≤
π, current mobile node PnRotation direction be it is clockwise, rotation angle be α, otherwise counterclockwise rotation 2 π-α.
A specific embodiment of the invention provides a kind of big using oriented mobile sensor network coverage three-dimensional space
Mesh calibration method is based on fictitious force principle, converts node in void for oriented mobile sensor network collaboration autonomous deployment process
In the quasi- field of force by fictitious force effect autonomous, the process that independently rotates, can be realized mobile sensor network node it is autonomous,
The big target of uniform fold three-dimensional space, to realize the comprehensive monitoring to the big target of three-dimensional space, node deployment is fast, intelligent
Degree is high, saves human resources.
The above-mentioned embodiment of the present invention can be implemented in various hardware, Software Coding or both combination.For example, this hair
Bright embodiment can also be in the middle execution executed of data signal processor (Digital Signal Processor, DSP)
State the program code of program.The present invention, which can also refer to computer processor, digital signal processor, microprocessor or scene, to be compiled
The multiple functions that journey gate array (Field Programmable Gate Array, FPGA) executes.It can configure according to the present invention
State processor and execute particular task, by execute define the machine-readable software code of ad hoc approach that the present invention discloses or
Firmware code is completed.Software code or firmware code can be developed as different program languages and different formats or form.
It can also be different target platform composing software codes.However, executing the software code and other types of task according to the present invention
Different code pattern, type and the language of configuration code do not depart from spirit and scope of the invention.
The foregoing is merely the schematical specific embodiments of the present invention, before not departing from conceptions and principles of the invention
It puts, the equivalent changes and modifications that any those skilled in the art is made should belong to the scope of protection of the invention.
Claims (10)
1. a kind of utilize the big mesh calibration method of oriented mobile sensor network coverage three-dimensional space, which is characterized in that the party
Method includes:
The mass center of the big target of the three-dimensional space is obtained according to all outer salient points of the big target of three-dimensional space；
The circumsphere of the big target of the three-dimensional space is obtained using the mass center as the centre of sphere；
According between fictitious force and the mobile node between mobile node and the circumsphere of the big target of the three-dimensional space
Fictitious force dispose the mobile node around the circumsphere of the big target of the three-dimensional space；
The direction of the mobile node is adjusted according to the line of the mobile node and the mass center, so that described towards direction institute
State the centre of sphere.
2. the big mesh calibration method of oriented mobile sensor network coverage three-dimensional space is utilized as described in claim 1,
Be characterized in that, the radius of the circumsphere of the big target of three-dimensional space between the mass center and the outer salient point it is maximum away from
From.
3. the big mesh calibration method of oriented mobile sensor network coverage three-dimensional space is utilized as described in claim 1,
It is characterized in that, the fictitious force includes: node virtual gravitation between the mobile node, the node between the mobile node
The virtually virtual gravitation between repulsion, the mobile node and the circumsphere of the big target of the three-dimensional space and the movement
Virtual repulsion between node and the circumsphere of the big target of the three-dimensional space.
4. the big mesh calibration method of oriented mobile sensor network coverage three-dimensional space is utilized as claimed in claim 3,
It is characterized in that, when the mobile node is static, the node virtual gravitation between the mobile node that the mobile node is subject to,
Node virtual repulsion between the mobile node, the virtual gravitation between the circumsphere of the big target of the three-dimensional space and described
The resultant force of virtual repulsion between the circumsphere of the big target of three-dimensional space is zero.
5. the big mesh calibration method of oriented mobile sensor network coverage three-dimensional space is utilized as claimed in claim 3,
It is characterized in that, the collection of all outer salient points is combined into Sa={ S1,S2,...,Sk, the mass center is CT, the mass center CTCalculating
Shown in formula such as formula (1):
Wherein, k indicates the maximum number of outer salient point, the average value of the coordinate of all outer salient points in the set by calculating outer salient point
Mass center C can be obtainedT, that is, the big target of three-dimensional space circumsphere the centre of sphere；xTFor the X axis coordinate of mass center；yTFor mass center
Y axis coordinate；zTFor the Z axis coordinate of mass center；xkFor the X axis coordinate of outer salient point；ykFor the Y axis coordinate of outer salient point；zkFor outer salient point
Z axis coordinate；
Due to outer salient point and mass center CTMaximum distance be exactly the big target of three-dimensional space circumsphere radius, be denoted as RT, the radius
RTCalculation formula such as formula (2) shown in:
Wherein, xTFor the X axis coordinate of mass center；yTFor the Y axis coordinate of mass center；zTFor the Z axis coordinate of mass center；xkFor the X-axis of outer salient point
Coordinate；ykFor the Y axis coordinate of outer salient point；zkFor the Z axis coordinate of outer salient point.
6. the big mesh calibration method of oriented mobile sensor network coverage three-dimensional space is utilized as claimed in claim 3,
It is characterized in that, the mobile node is made of autonomous device and oriented sensor, and the sensing range of the mobile node is
Cone, the mobile node are located at the cone vertex of a cone, and the mobile node is translatable or rotates under the action of the fictitious force,
Wherein, rotation is pivoted about with the cone vertex of a cone.
7. the big mesh calibration method of oriented mobile sensor network coverage three-dimensional space is utilized as claimed in claim 6,
It is characterized in that, sensor model one eight tuples < P, θ, C, the R of the mobile nodeDraw,RReprimand,CT,RT,Sn> indicate, wherein P is
The position of mobile node；θ indicates the perception angle of the oriented sensor；C is the centre of sphere of mobile node sensing range circumsphere；
RDrawIndicate the maximum distance that node virtual gravitation is generated between the maximum communication distance and mobile node of mobile node；RReprimandTable
Show the maximum distance that node virtual repulsion is generated between mobile node, RReprimandLess than or equal to RDrawAnd it is more than or equal to ROutside；ROutsideFor movable joint
The radius of point sensing range circumsphere；CTIndicate the mass center of the big target of the three-dimensional space；RTIndicate the big target of the three-dimensional space
Circumsphere radius；SnFor the set of the neighboring mobile node of mobile node, neighboring mobile node refer to mobile node it
Between distance be less than or equal to maximum communication distance RDrawNode；ROutsideCalculation formula such as formula (3) shown in:
Wherein, xCFor the X axis coordinate of the centre of sphere C of mobile node sensing range circumsphere；yCFor mobile node sensing range circumsphere
Centre of sphere C Y axis coordinate；zCFor the Z axis coordinate of the centre of sphere C of mobile node sensing range circumsphere；xPFor the X-axis of mobile node
Coordinate；yPFor the Y axis coordinate of mobile node；zPFor the Z axis coordinate of mobile node.
8. the big mesh calibration method of oriented mobile sensor network coverage three-dimensional space is utilized as claimed in claim 7,
It is characterized in that, the specific calculating step of the fictitious force between mobile node includes:
Determine current mobile node PnThe centre of sphere C of sensing range circumspherenAnd each neighboring mobile node sensing range is external
The centre of sphere set C={ C of ball1,C2..., wherein the collection of all neighboring mobile nodes is combined into Sn={ P1,P2,…}；
Calculate current mobile node PnThe centre of sphere C of sensing range circumspherenWith each neighboring mobile node Pm∈SnOutside sensing range
The centre of sphere C to receivemThe distance betweenCalculation method such as formula (4) shown in:
Wherein,For current mobile node PnThe circumsphere centre of sphere C of sensing rangenX axis coordinate；For current mobile node Pn
The circumsphere centre of sphere C of sensing rangenY axis coordinate；For current mobile node PnThe circumsphere centre of sphere C of sensing rangenZ axis
Coordinate；For neighboring mobile node PmThe corresponding circumsphere centre of sphere C of sensing rangemX axis coordinate；For neighboring mobile node Pm
The corresponding circumsphere centre of sphere C of sensing rangemY axis coordinate；For neighboring mobile node PmThe corresponding circumsphere ball of sensing range
Heart CmZ axis coordinate；
Calculate all neighboring mobile node PmTo current mobile node PnFictitious forceFictitious forceIncluding node virtual
Gravitation and node virtual repulsion, wherein fictitious forceShown in calculation formula such as formula (5):
Wherein, kReprimand, λReprimandFor repulsion coefficient, kDraw, λDrawFor gravitational coefficients；For unit vector, indicate by current mobile node PnSense
Know the centre of sphere C of range circumspherenIt is directed toward neighboring mobile node PmThe centre of sphere C of sensing range circumspheremGravity direction；
Calculate current mobile node PnBy all neighboring mobile node PmNode virtual gravitation and node virtual repulsion conjunction
Power, as shown in formula (6):
Wherein,For current mobile node PnWith one of neighboring mobile node PmBetween node virtual gravitation or node
Virtual repulsion.
9. the big mesh calibration method of oriented mobile sensor network coverage three-dimensional space is utilized as claimed in claim 8,
It is characterized in that, the specific calculating step of the fictitious force between mobile node and the circumsphere of the big target of three-dimensional space includes:
Calculate current mobile node PnWith mass center CTDistance, as shown in formula (7)；
Wherein,For current mobile node PnThe circumsphere centre of sphere C of sensing rangenX axis coordinate；For current mobile node Pn
The circumsphere centre of sphere C of sensing rangenY axis coordinate；For current mobile node PnThe circumsphere centre of sphere C of sensing rangenZ axis
Coordinate；For mass center CTX axis coordinate；For mass center CTY axis coordinate；For mass center CTZ axis coordinate；
The circumsphere of the big target of three-dimensional space is calculated to current mobile node PnVirtual gravitation, as shown in formula (8):
Wherein,For unit vector, indicate by current mobile node PnThe circumsphere centre of sphere C of sensing rangenIt is directed toward mass center CT's
Gravity direction；kDraw, λDrawFor gravitational coefficients；
The circumsphere of the big target of three-dimensional space is calculated to current mobile node PnVirtual repulsion, as shown in formula (9):
Wherein,For unit vector, indicate by current mobile node PnThe circumsphere centre of sphere C of sensing rangenIt is directed toward mass center CT's
Gravity direction；kReprimand, λReprimandFor repulsion coefficient；
Calculate current mobile node PnThe virtual gravitation of the circumsphere of the suffered big target of three-dimensional space and the resultant force of virtual repulsion, such as
Shown in formula (10):
Wherein,For current mobile node PnVirtual gravitation and virtual repulsion between the circumsphere of the big target of three-dimensional space
Resultant force.
10. the big mesh calibration method of oriented mobile sensor network coverage three-dimensional space is utilized as claimed in claim 9,
Be characterized in that, according to the line of the mobile node and the mass center adjust the mobile node towards the step of, it is specific to wrap
It includes:
Unit of account vectorAnd unit vectorBetween angle α, whereinFor by current mobile node PnIt is directed toward current mobile
Node PnThe centre of sphere C of sensing range circumspherenUnit vector,For current mobile node PnIt is directed toward mass center CTUnit vector,
Wherein, shown in the calculating of angle α such as formula (11):
Adjust current mobile node PnDirection so that current mobile node PnDirection be directed toward mass center CTIf, wherein α≤π, when
Preceding mobile node PnRotation direction be it is clockwise, rotation angle be α, otherwise counterclockwise rotation 2 π-α.
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