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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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
The invention relates to the field of wireless sensor networks, in particular to a method for realizing coverage of a large target by a mobile node of a directed sensor network in a three-dimensional space, and specifically relates to a method for covering the large target in the three-dimensional space by the mobile node of the directed sensor network.
Background
In recent years, wireless sensor networks have become a leading-edge hotspot emerging in the current IT field due to high interdisciplinary property and wide application prospect thereof, which are highly concerned by the academic and industrial communities around the world. Wireless sensor networks can be divided into many types, depending on the type of sensor node employed. For example, if the node has a camera device and has a video capture function, the node is called a video sensor network; if the mobile device is provided, the mobile device is called a mobile sensor network; if the sensing range of the sensor nodes forming the network is related to the direction, the network is called a directional sensor network. In the aspect of target monitoring, the directional sensor has more advantages in the aspects of important direction coverage and energy consumption compared with the traditional omnidirectional sensor. From the practical application perspective, the current common sensor types such as images, infrared, sound waves and the like all have directionality, so that the directional sensor network is closer to practical use.
The directed mobile sensor network is formed by additionally arranging the autonomous mobile device on the directed sensor network node, such as an aerial video sensor network used in military, agriculture and disaster rescue, wherein the node is a microminiature aircraft with a camera, and the information of a target area can be acquired more timely and accurately due to networking and collaborative flight.
For various wireless sensor networks, the problems of deployment and coverage control of nodes are always a hot research problem. Common node deployment methods are mainly classified into random deployment, manual deployment and autonomous deployment. In a random deployment mode, nodes are randomly scattered in a monitoring area at one time; in the manual deployment mode, each node needs to be manually laid; the autonomous deployment means that the nodes are randomly scattered at the beginning, but the nodes can autonomously move due to the mobile devices arranged on the nodes, and the deployment can be completed through autonomous movement according to a certain deployment method.
For autonomous deployment, due to the limited resources of the nodes and the limited communication range and sensing range, the quality of an autonomous deployment algorithm has an important influence on the coverage of a monitoring area. A good autonomous deployment algorithm should avoid overlapping coverage as much as possible, reduce coverage holes as much as possible, and avoid mutual interference (e.g., collision) between nodes or between a node and a target as much as possible during deployment.
The directed mobile sensor network has great application potential in disaster rescue, can rapidly and closely carry out all-around monitoring on a disaster occurrence place, assists in searching trapped people and feeds back field information in time. However, in practical applications, the monitored target usually has a certain space volume, such as a snowy mountain with avalanche and a high-rise building with fire, and there is a strong need for omnibearing monitoring. However, the existing autonomous deployment algorithm mainly aims at the two-dimensional plane environment to carry out region coverage, and does not find relevant research results aiming at the coverage deployment problem of the large target surface in the three-dimensional space. Therefore, those skilled in the art are keenly required to develop a method for autonomously covering a large target in a three-dimensional space by using a mobile node of a directed sensor network.
Disclosure of Invention
In view of this, the technical problem to be solved by the present invention is to provide a method for covering a large three-dimensional space target by using a directed mobile sensor network node, so as to solve the problem that the directed mobile sensor network node in the prior art cannot perform coverage deployment on the surface of the large three-dimensional space target.
In order to solve the above problem, an embodiment of the present invention provides a method for covering a large target in a three-dimensional space by using a directed mobile sensor network node, including: obtaining the mass center of the three-dimensional space large target according to all outer convex points of the three-dimensional space large target; obtaining an external ball of the three-dimensional space large target by taking the mass center as a sphere center; deploying the mobile nodes around an external ball of the three-dimensional space large target according to virtual force between the mobile nodes and the external ball of the three-dimensional space large target; and adjusting the orientation of the mobile node according to a connecting line of the mobile node and the centroid, so that the orientation points to the spherical center.
According to the above embodiments of the present invention, the method for covering a large target in a three-dimensional space by using a directed mobile sensor network node has at least the following advantages or features: based on the virtual force principle, the collaborative autonomous deployment process of the directional mobile sensor network is converted into the process that the nodes are acted by the virtual force in the virtual force field to autonomously move and autonomously rotate, and the nodes of the mobile sensor network can autonomously and uniformly cover the large target in the three-dimensional space, so that the comprehensive monitoring of the large target in the three-dimensional space is realized, the node deployment is fast, the intelligent degree is high, and the human resources are saved.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate exemplary embodiments of the invention and together with the description, serve to explain the principles of the invention.
Fig. 1 is a schematic diagram of a large target model of a directed mobile sensor network.
Fig. 2 is a schematic diagram of a node awareness model of a directed mobile sensor network.
Fig. 3 is a schematic diagram of the steps executed by a large-target mobile node coverage method in a three-dimensional space of a directed mobile sensor network.
Fig. 4 is a diagram of virtual forces between nodes of a directed mobility sensor network.
Fig. 5 is a schematic diagram of virtual forces between a directed mobile sensor network node and a large target.
Fig. 6 is a schematic diagram of an angle relationship between a direction of a node of a directed mobile sensor network and a large target.
Fig. 7 is an initialization state diagram of an example of a directional mobile sensor network deployment.
Fig. 8 is a schematic diagram of a state of a deployment instance of a directed mobile sensor network at a certain time during a deployment process.
FIG. 9 is a diagram of a final deployment state of an example deployment of a directed mobile sensor network.
FIG. 10 is a schematic diagram of a cross-sectional deployment state of an example deployment of a directed mobility sensor network.
Fig. 11 is a flow chart of a method for covering a large target in three-dimensional space with directed mobile sensor network nodes.
Detailed Description
For the purpose of promoting a clear understanding of the objects, aspects and advantages of the embodiments of the invention, reference will now be made to the drawings and detailed description, wherein there are shown in the drawings and described in detail, various modifications of the embodiments described herein, and other embodiments of the invention will be apparent to those skilled in the art.
The exemplary embodiments of the present invention and the description thereof are provided to explain the present invention and not to limit the present invention. Additionally, the same or similar numbered elements/components used in the drawings and the embodiments are used to represent the same or similar parts.
As used herein, the terms "first," "second," …, etc., do not denote any order or sequence, nor are they used to limit the present invention, but rather are used to distinguish one element from another or from another element or operation described in the same technical language.
With respect to directional terminology used herein, for example: up, down, left, right, front or rear, etc., are simply directions with reference to the drawings. Accordingly, the directional terminology used is intended to be illustrative and is not intended to be limiting of the present teachings.
As used herein, the terms "comprising," "including," "having," "containing," and the like are open-ended terms that mean including, but not limited to.
As used herein, "and/or" includes any and all combinations of the described items.
As used herein, the terms "substantially", "about" and the like are used to modify any slight variation in quantity or error that does not alter the nature of the variation. Generally, the range of slight variations or errors modified by such terms may be 20% in some embodiments, 10% in some embodiments, 5% in some embodiments, or other values. It should be understood by those skilled in the art that the aforementioned values can be adjusted according to actual needs, and are not limited thereto.
Certain words used to describe the present application are discussed below or elsewhere in this specification to provide additional guidance to those skilled in the art in describing the present application.
The invention is further described with reference to the accompanying drawings, which are shown in figures 1-10 of the specification.
The large target refers to a monitored object which is large in volume (a small number of directed sensor network nodes cannot complete coverage) and can be represented as a single volume, as shown in fig. 1. The surface area of the large target should be covered to the maximum extent after deployment is completed. Set S of all outer bumps of large targeta＝{S1,S2,...,SkLet the centroid of the large target be CTThe calculation formula of the centroid is shown as formula (1)：
k represents the maximum number of the outer salient points of the large target, and the three-dimensional centroid point, namely the sphere center of the external sphere of the large target, can be obtained by calculating the arithmetic mean value of the coordinates of all the outer salient points in the set. The maximum distance between the outer convex point and the center of mass point, namely the radius of the large target external ball is set as RTThe formula for calculating the radius is shown in formula (2):
the sensing range of the nodes of the directed mobile sensor network is represented as a cone, the nodes are located at the cone top of the cone, and the sensing range can be translated in space and can also rotate by taking the cone top as the center, as shown in fig. 2. The node perception model can use an octave group<P,θ,C,RGuiding device,RRepelling,CT,RT,Sn>Shown in the figure. Wherein P represents the position coordinates of a directed mobile sensor node P in three-dimensional space; theta represents the sensing angle of the directional sensor of the node; c represents the sphere center coordinates of the circumscribed sphere of the sensing range of the node P; rGuiding deviceThe maximum communication distance of the nodes is represented, and the maximum distance of virtual attraction generated between the nodes is also represented; rRepellingRepresents the maximum distance, R, at which a virtual repulsive force is generatedRepellingR is less than or equal toGuiding deviceAnd is greater than or equal to ROuter cover；ROuter coverThe radius of an external sphere of the sensing range of the mobile node is; cTRepresenting a centroid of the large three-dimensional space target; rTRepresenting the radius of an external sphere of the three-dimensional space large target; snA set of neighbor mobile nodes which are mobile nodes, wherein the distance between the neighbor mobile nodes and the mobile nodes is less than or equal to the maximum communication distance RGuiding deviceThe node of (2). ROuter coverThe calculation formula is shown in formula (3):
s represents a neighbor node set of the node P, wherein the neighbor node means that the distance between the neighbor node and the node P is less than or equal to the maximum communication distance RGuiding deviceThe node of (2).
The method of the present invention specifically includes 8 execution steps, as shown in fig. 3. Each node in the directed mobile sensor network independently executes the 8 steps in the deployment process:
(1) initialization: the node obtains a position information point set of the large target outer salient points needing to be deployed, the mass center point of the large target can be obtained according to the position information in the set, and therefore the large target outer sphere which takes the mass center point as the sphere center and the farthest distance between the inner salient point and the outer salient point in the set and the mass center point as the radius is obtained and serves as the deployment distance reference of the node;
(2) calculating the virtual force: in order to enable the node to be as close to the large target as possible to carry out deployment work under the condition that the node does not collide with the large target, the large target generates virtual acting force on the deployment node according to the distance between the node and the large target: the spherical center of the external ball of the large target generates attraction force to enable the node to gather towards the large target, and the external ball boundary of the large target generates virtual repulsion force to enable the node close to the large target to be not collided with the large target under the action of the repulsion force. Meanwhile, in order to prevent the problem of collision dispersion among nodes in the deployment process, virtual acting force is generated among all the nodes: the nodes generate attraction force to enable the discrete nodes to approach each other, and the nodes generate repulsion force to enable the nodes which are possibly too close to each other to be far away from each other;
(3) the virtual force borne by the node is the resultant force of the virtual forces from the neighbor node and the large target;
(4) the node moves one unit step length along the direction of resultant force;
(5) calculating the angle deviation between the node direction and the center direction of the large-target external sphere: calculating the angle deviation between the direction of the directed sensor of the node and the direction of the node pointing to the center of the external sphere of the large target;
(6) adjusting the direction of a directional sensor of the node to enable the direction of the directional sensor to point to the center of a large-target external sphere;
(7) and (5) returning to the step (2) to continue execution.
The step (2) is used for calculating the virtual force possibly generated in the deployment process. There is a virtual attraction or a virtual repulsion or no virtual force between nodes according to the distance, as shown in fig. 4. The large target is based on the current node PnThe distance (c) to (d) generates a virtual attraction or a virtual repulsion or no virtual force, as shown in fig. 5. This step may be further refined to include the following processing steps:
(21) let the current node be PnNode PnSet of all neighbor nodes S ═ { P ═ P1,P2… }, compute node PnCorresponding external ball center CnAnd the sphere center set C ═ C of the external sphere corresponding to each neighbor node1,C2,…}；
(22) Calculating the current node PnThe external ball center CnWith each neighboring node PmCenter C of an external ball belonging to the element SmThe distance therebetween, as shown in equation (4):
(23) calculating the current node PnAll neighboring nodes P ofmE.g. S pair of nodes PnWherein the virtual force calculation formula is shown in formula (5):
wherein k isRepelling，λRepellingIs coefficient of repulsion, kGuiding device，λGuiding deviceIs the coefficient of attraction.Is a unit vector, represented by a node PnThe external ball center CnPoint to neighbor node PmC as the center of the ballmThe direction of the attractive force.
(24) Calculating the current node PnThe resultant force of the virtual attractive force and the repulsive force of all the neighbor nodes is shown in formula (6):
(25) let the current node be PnNode PnThe corresponding external ball center is CnCalculate PnBall center C for connecting with large targetTAs shown in equation (7);
(26) calculating the external ball center C of the large targetTTo node PnThe virtual attractive force (c) is expressed by equation (8):
wherein,is a unit vector, represented by a node PnThe external ball center CnExternal ball center C pointing to large targetTThe direction of the attractive force.
(27) Computing large target external ballCentre of sphere CTTo node PnAs shown in formula (9):
(28) calculating the current node PnThe resultant force of all the virtual attractive and repulsive forces from the large target is shown in equation (10):
the step (5) is used for calculating the rotation angle of the node, and as shown in fig. 6, the method can further comprise the following processing steps:
(51) is set by the current node PnBall center C of ball directed to the outsidenUnit vector ofIs set by the current node PnExternal ball center C pointing to large targetTUnit vector ofAndis α. calculation of angle α is shown in equation (11):
(52) if α is less than or equal to pi, the node rotation direction is clockwise, the rotation angle is α, otherwise, the node rotation direction is anticlockwise by 2 pi- α.
Fig. 7 to 10 show an embodiment of the method of the present invention. As shown in fig. 7, the initial state of the directed mobile sensor network is shown, the number of nodes is 200, the nodes are randomly distributed in a three-dimensional space region, the large target is a cube (simulated building), and the external ball is a sphere. Fig. 8 shows a state at a certain time during the autonomous deployment of the directed mobile sensor network node. And as shown in fig. 9, the directed mobile sensor network is in the final deployment state, nodes of the directed mobile sensor network are all deployed around the spheroid, and the direction points to the center of the spheroid. An internal cross-sectional view of the final deployed state of the node is shown in fig. 10.
Fig. 11 is a flowchart of a method for covering a large target in a three-dimensional space by using a directed mobile sensor network node, as shown in fig. 11, the specific implementation shown in the drawing includes the following steps:
s101: obtaining the mass center of the three-dimensional space large target according to all outer convex points of the three-dimensional space large target;
s102: obtaining an external ball of the three-dimensional space large target by taking the mass center as a sphere center;
s103: deploying the mobile nodes around an external ball of the three-dimensional space large target according to virtual force between the mobile nodes and the external ball of the three-dimensional space large target; and
s104: and adjusting the orientation of the mobile node according to a connecting line of the mobile node and the centroid, so that the orientation points to the spherical center.
Further, the radius of the circumscribed sphere of the three-dimensional space large target is the maximum distance between the mass center and the outer salient point.
Further, the virtual force comprises: the virtual attraction force of the nodes between the mobile nodes, the virtual repulsion force of the nodes between the mobile nodes, the virtual attraction force between the mobile nodes and the external ball of the three-dimensional space large target, and the virtual repulsion force between the mobile nodes and the external ball of the three-dimensional space large target.
Further, when the mobile node is stationary, the virtual attraction force, the virtual repulsion force, the virtual attraction force and the virtual repulsion force applied to the mobile node are balanced.
Further, the set of all the outer salient points is Sa＝{S1,S2,...,SkIs the center of mass CTSaid center of mass CTIs shown in formula (1):
wherein k represents the maximum number of outer bumps, and the centroid C can be obtained by calculating the average value of the coordinates of all the outer bumps in the set of the outer bumpsTNamely the spherical center of the external ball of the three-dimensional large target; x is the number ofTX-axis coordinates of the centroid; y isTY-axis coordinates of the centroid; z is a radical ofTZ-axis coordinates of the centroid; x is the number ofkIs the X-axis coordinate of the outer convex point; y iskIs the Y-axis coordinate of the outer convex point; z is a radical ofkIs the Z-axis coordinate of the outer convex point;
due to the outer convex point and the mass center CTThe farthest distance of (A) is the radius of the circumscribed sphere of the large target in the three-dimensional space, and is recorded as RTThe radius RTIs shown in formula (2):
wherein x isTX-axis coordinates of the centroid; y isTY-axis coordinates of the centroid; z is a radical ofTZ-axis coordinates of the centroid; x is the number ofkIs the X-axis coordinate of the outer convex point; y iskIs the Y-axis coordinate of the outer convex point; z is a radical ofkIs the Z-axis coordinate of the outer salient point.
Further, the mobile node is composed of an autonomous mobile device and a directional sensor, a sensing range of the mobile node is a cone, the mobile node is located at the cone top of the cone, the mobile node translates or rotates under the action of the virtual force, and the rotation rotates by taking the cone top of the cone as a center.
Further, the perception model of the mobile node uses an octave<P,θ,C,RGuiding device,RRepelling,CT,RT,Sn>Indicating, where P is the location of the mobile node; θ represents a perceived angle of the directional sensor; c is the sphere center of the external sphere of the sensing range of the mobile node; rGuiding deviceRepresents the maximum communication distance of the mobile nodes and is also the maximum distance for generating the virtual gravitation of the nodes between the mobile nodes; rRepellingRepresents the maximum distance, R, between moving nodes that generates a virtual repulsive force of the nodesRepellingR is less than or equal toGuiding deviceAnd is greater than or equal to ROuter cover；ROuter coverThe radius of an external sphere of the sensing range of the mobile node is; cTRepresenting a centroid of the large three-dimensional space target; rTRepresenting the radius of an external sphere of the three-dimensional space large target; snA set of neighbor mobile nodes which are mobile nodes, wherein the distance between the neighbor mobile nodes and the mobile nodes is less than or equal to the maximum communication distance RGuiding deviceA node of (2); rOuter coverThe calculation formula (2) is shown in formula (3):
wherein x isCThe X-axis coordinate of the sphere center C of the sphere outside the sensing range of the mobile node is shown; y isCA Y-axis coordinate of a sphere center C of an external sphere in the sensing range of the mobile node is shown; z is a radical ofCA Z-axis coordinate of a sphere center C of an external sphere in the sensing range of the mobile node is obtained; x is the number ofPIs the X-axis coordinate of the mobile node; y isPIs the Y-axis coordinate of the mobile node; z is a radical ofPIs the Z-axis coordinate of the mobile node.
Further, the specific calculation step of the virtual force between the mobile nodes comprises:
determining a current mobile node PnSphere center C of external sphere in sensing rangenAnd a sphere center set C ═ C of sphere outside the sensing range of each neighbor mobile node1,C2… } where the set of all neighboring mobile nodes is Sn＝{P1,P2,…}；
Calculating the current Mobile node PnSphere center C of external sphere in sensing rangenWith each neighboring mobile node Pm∈SnSphere center C of external sphere in sensing rangemThe distance betweenThe calculation method of (2) is shown in formula (4):
wherein,for the current mobile node PnSphere center C of external sphere in sensing rangenX-axis coordinates of (a);for the current mobile node PnSphere center C of external sphere in sensing rangenY-axis coordinates of (a);for the current mobile node PnSphere center C of external sphere in sensing rangenZ-axis coordinates of (a);for neighbor mobile nodes PmExternal ball center C corresponding to sensing rangemX-axis coordinates of (a);for neighbor mobile nodes PmExternal ball center C corresponding to sensing rangemY-axis coordinates of (a);for neighbor mobile nodes PmExternal ball center C corresponding to sensing rangemZ-axis coordinates of (a);
computing all neighbor mobile nodes PmFor the current mobile node PnVirtual force ofVirtual forceIncluding a node virtual attraction force and a node virtual repulsion force, wherein the virtual forceThe calculation formula is shown in formula (5):
wherein k isRepelling，λRepellingIs coefficient of repulsion, kGuiding device，λGuiding deviceIs the coefficient of gravity;is a unit vector, representing the current mobile node PnSphere center C of external sphere in sensing rangenPointing to neighbor mobile node PmSphere center C of external sphere in sensing rangemThe direction of attraction of;
calculating the current Mobile node PnBy all neighbouring mobile nodes PmThe resultant force of the node virtual attractive force and the node virtual repulsive force is shown in formula (6):
wherein,for the current mobile node PnWith one of the neighbouring mobile nodes PmThe virtual attractive force or the virtual repulsive force of the nodes therebetween.
Further, the specific calculation step of the virtual force between the mobile node and the external ball of the three-dimensional space large target comprises the following steps:
calculating the current Mobile node PnAnd the center of mass CTAs shown in equation (7);
wherein,for the current mobile node PnSphere center C of external sphere in sensing rangenX-axis coordinates of (a);for the current mobile node PnSphere center C of external sphere in sensing rangenY-axis coordinates of (a);for the current mobile node PnSphere center C of external sphere in sensing rangenZ-axis coordinates of (a);is the center of mass CTX-axis coordinates of (a);is the center of mass CTY-axis coordinates of (a);is the center of mass CTZ-axis coordinates of (a);
computing the external ball pair current mobile node P of the three-dimensional space large targetnThe virtual attractive force (c) is expressed by equation (8):
wherein,is a unit vector, representing the current mobile node PnSphere center C of external sphere in sensing rangenPoint to the center of mass CTThe direction of attraction of; k is a radical ofGuiding device，λGuiding deviceIs the coefficient of gravity;
computing the external ball pair current mobile node P of the three-dimensional space large targetnAs shown in formula (9):
wherein,is a unit vector, representing the current mobile node PnSphere center C of external sphere in sensing rangenPoint to the center of mass CTThe direction of attraction of; k is a radical ofRepelling，λRepellingIs the coefficient of repulsion;
calculating the current Mobile node PnThe resultant force of the virtual attraction and the virtual repulsion of the external ball of the large target in the three-dimensional space is shown in the formula (10):
wherein,for the current mobile node PnAnd the resultant force of the virtual attraction and the virtual repulsion between the external balls of the large three-dimensional space target.
Further, the step of adjusting the orientation of the mobile node according to the connection line between the mobile node and the centroid specifically includes:
calculating unit vectorAnd unit vectorThe included angle α between, wherein,to be moved by the current mobile node PnPointing to the current mobile node PnSphere center C of external sphere in sensing rangenThe unit vector of (a) is,for the current mobile node PnPoint to the center of mass CTWherein angle α is calculated as shown in equation (11):
adjusting a current mobile node PnSo as to make the current mobile node PnIs directed towards the centroid CTWherein, if α is less than or equal to pi, the current mobile node PnThe rotation direction is clockwise, the rotation angle is α, otherwise, the rotation direction is counterclockwise 2 pi- α.
The specific implementation mode of the invention provides a method for covering a three-dimensional space large target by utilizing a directed mobile sensor network node, based on the virtual force principle, the coordinated autonomous deployment process of the directed mobile sensor network is converted into the autonomous movement and autonomous rotation process of the node under the action of the virtual force in a virtual force field, and the autonomous and uniform coverage of the three-dimensional space large target by the mobile sensor network node can be realized, so that the omnibearing monitoring of the three-dimensional space large target is realized, the node deployment is fast, the intelligent degree is high, and the human resources are saved.
The embodiments of the invention described above may be implemented in various hardware, software code, or combinations of both. For example, the embodiment of the present invention may be a program code executed in a Digital Signal Processor (DSP) to execute the above program. The invention may also relate to a variety of functions performed by a computer processor, digital signal processor, microprocessor, or Field Programmable Gate Array (FPGA). The processor described above may be configured according to the present invention to perform certain tasks by executing machine-readable software code or firmware code that defines certain methods disclosed herein. Software code or firmware code may be developed in different programming languages and in different formats or forms. Software code may also be compiled for different target platforms. However, the different code styles, types, and languages of software code and other types of configuration code that perform tasks in accordance with the present invention do not depart from the spirit and scope of the present invention.
The foregoing is merely an illustrative embodiment of the present invention, and any equivalent changes and modifications made by those skilled in the art without departing from the spirit and principle of the present invention should fall within the protection scope of the present invention.
Claims (10)
1. A method for covering a large target in a three-dimensional space by utilizing a directional mobile sensor network node is characterized by comprising the following steps:
obtaining the mass center of the three-dimensional space large target according to all outer convex points of the three-dimensional space large target;
obtaining an external ball of the three-dimensional space large target by taking the mass center as a sphere center;
deploying the mobile nodes around an external ball of the three-dimensional space large target according to virtual force between the mobile nodes and the external ball of the three-dimensional space large target;
and adjusting the orientation of the mobile node according to a connecting line of the mobile node and the centroid, so that the orientation points to the spherical center.
2. The method of claim 1, wherein a radius of an outer sphere of the three-dimensional space large target is a maximum distance between the centroid and the outer salient point.
3. The method of covering a large target in three-dimensional space with directed mobile sensor network nodes of claim 1, wherein the virtual force comprises: the virtual attraction force of the nodes between the mobile nodes, the virtual repulsion force of the nodes between the mobile nodes, the virtual attraction force between the mobile nodes and the external ball of the three-dimensional space large target, and the virtual repulsion force between the mobile nodes and the external ball of the three-dimensional space large target.
4. The method according to claim 3, wherein the total force of the virtual attraction between the mobile nodes, the virtual repulsion between the mobile nodes, the virtual attraction between the external balls of the large three-dimensional space object and the virtual repulsion between the external balls of the large three-dimensional space object experienced by the mobile nodes when the mobile nodes are stationary is zero.
5. The method of claim 3, wherein the set of all outer salient points is Sa＝{S1,S2,...,SkIs the center of mass CTSaid center of mass CTIs shown in formula (1):
wherein k represents the maximum number of outer bumps, and the centroid C can be obtained by calculating the average value of the coordinates of all the outer bumps in the set of the outer bumpsTNamely the spherical center of the external ball of the three-dimensional large target; x is the number ofTX-axis coordinates of the centroid; y isTY-axis coordinates of the centroid; z is a radical ofTZ-axis coordinates of the centroid; x is the number ofkIs the X-axis coordinate of the outer convex point; y iskIs the Y-axis coordinate of the outer convex point; z is a radical ofkIs the Z-axis coordinate of the outer convex point;
due to the outer convex point and the mass center CTThe farthest distance of (A) is the radius of the circumscribed sphere of the large target in the three-dimensional space, and is recorded as RTThe radius RTIs shown in formula (2):
wherein x isTX-axis coordinates of the centroid; y isTY-axis coordinates of the centroid; z is a radical ofTZ-axis coordinates of the centroid; x is the number ofkIs the X-axis coordinate of the outer convex point; y iskIs the Y-axis coordinate of the outer convex point; z is a radical ofkIs the Z-axis coordinate of the outer salient point.
6. The method for covering a large target in a three-dimensional space by using a directional mobile sensor network node as claimed in claim 3, wherein the mobile node is composed of an autonomous mobile device and a directional sensor, the sensing range of the mobile node is a cone, the mobile node is located at the cone apex of the cone, and the mobile node translates or rotates under the action of the virtual force, wherein the rotation rotates by taking the cone apex as the center.
7. The method of covering a large target in three-dimensional space with directed mobile sensor network nodes of claim 6, wherein the perception model of the mobile nodeUsing an octave<P,θ,C,RGuiding device,RRepelling,CT,RT,Sn>Indicating, where P is the location of the mobile node; θ represents a perceived angle of the directional sensor; c is the sphere center of the external sphere of the sensing range of the mobile node; rGuiding deviceRepresents the maximum communication distance of the mobile nodes and is also the maximum distance for generating the virtual gravitation of the nodes between the mobile nodes; rRepellingRepresents the maximum distance, R, between moving nodes that generates a virtual repulsive force of the nodesRepellingR is less than or equal toGuiding deviceAnd is greater than or equal to ROuter cover；ROuter coverThe radius of an external sphere of the sensing range of the mobile node is; cTRepresenting a centroid of the large three-dimensional space target; rTRepresenting the radius of an external sphere of the three-dimensional space large target; snA set of neighbor mobile nodes which are mobile nodes, wherein the distance between the neighbor mobile nodes and the mobile nodes is less than or equal to the maximum communication distance RGuiding deviceA node of (2); rOuter coverThe calculation formula (2) is shown in formula (3):
wherein x isCThe X-axis coordinate of the sphere center C of the sphere outside the sensing range of the mobile node is shown; y isCA Y-axis coordinate of a sphere center C of an external sphere in the sensing range of the mobile node is shown; z is a radical ofCA Z-axis coordinate of a sphere center C of an external sphere in the sensing range of the mobile node is obtained; x is the number ofPIs the X-axis coordinate of the mobile node; y isPIs the Y-axis coordinate of the mobile node; z is a radical ofPIs the Z-axis coordinate of the mobile node.
8. The method of claim 7, wherein the step of computing the virtual force between the mobile nodes comprises:
determining a current mobile node PnSphere center C of external sphere in sensing rangenAnd a sphere center set C ═ C of sphere outside the sensing range of each neighbor mobile node1,C2… } in which, among others,the set of all neighboring mobile nodes is Sn＝{P1,P2,…}；
Calculating the current Mobile node PnSphere center C of external sphere in sensing rangenWith each neighboring mobile node Pm∈SnSphere center C of external sphere in sensing rangemThe distance betweenThe calculation method of (2) is shown in formula (4):
wherein,for the current mobile node PnSphere center C of external sphere in sensing rangenX-axis coordinates of (a);for the current mobile node PnSphere center C of external sphere in sensing rangenY-axis coordinates of (a);for the current mobile node PnSphere center C of external sphere in sensing rangenZ-axis coordinates of (a);for neighbor mobile nodes PmExternal ball center C corresponding to sensing rangemX-axis coordinates of (a);for neighbor mobile nodes PmExternal ball center C corresponding to sensing rangemY-axis coordinates of (a);for neighbor mobile nodes PmExternal ball center C corresponding to sensing rangemZ-axis coordinates of (a);
computing all neighbor mobile nodes PmFor the current mobile node PnVirtual force ofVirtual forceIncluding a node virtual attraction force and a node virtual repulsion force, wherein the virtual forceThe calculation formula is shown in formula (5):
wherein k isRepelling，λRepellingIs coefficient of repulsion, kGuiding device，λGuiding deviceIs the coefficient of gravity;is a unit vector, representing the current mobile node PnSphere center C of external sphere in sensing rangenPointing to neighbor mobile node PmSphere center C of external sphere in sensing rangemThe direction of attraction of;
calculating the current Mobile node PnBy all neighbouring mobile nodes PmThe resultant force of the node virtual attractive force and the node virtual repulsive force is shown in formula (6):
wherein,is the current movementNode PnWith one of the neighbouring mobile nodes PmThe virtual attractive force or the virtual repulsive force of the nodes therebetween.
9. The method of claim 8, wherein the step of calculating the virtual force between the mobile node and the ball circumscribing the large three-dimensional space target comprises:
calculating the current Mobile node PnAnd the center of mass CTAs shown in equation (7);
wherein,for the current mobile node PnSphere center C of external sphere in sensing rangenX-axis coordinates of (a);for the current mobile node PnSphere center C of external sphere in sensing rangenY-axis coordinates of (a);for the current mobile node PnSphere center C of external sphere in sensing rangenZ-axis coordinates of (a);is the center of mass CTX-axis coordinates of (a);is the center of mass CTY-axis coordinates of (a);is the center of mass CTZ-axis coordinates of (a);
computing the external ball pair current mobile node P of the three-dimensional space large targetnThe virtual attractive force (c) is expressed by equation (8):
wherein,is a unit vector, representing the current mobile node PnSphere center C of external sphere in sensing rangenPoint to the center of mass CTThe direction of attraction of; k is a radical ofGuiding device，λGuiding deviceIs the coefficient of gravity;
computing the external ball pair current mobile node P of the three-dimensional space large targetnAs shown in formula (9):
wherein,is a unit vector, representing the current mobile node PnSphere center C of external sphere in sensing rangenPoint to the center of mass CTThe direction of attraction of; k is a radical ofRepelling，λRepellingIs the coefficient of repulsion;
calculating the current Mobile node PnThe resultant force of the virtual attraction and the virtual repulsion of the external ball of the large target in the three-dimensional space is shown in the formula (10):
wherein,for the current mobile node PnAnd three-dimensional spaceThe resultant force of the virtual attraction and the virtual repulsion between the external balls of the large target.
10. The method of claim 9, wherein the step of adjusting the orientation of the mobile node according to the line connecting the mobile node and the centroid comprises:
calculating unit vectorAnd unit vectorThe included angle α between, wherein,to be moved by the current mobile node PnPointing to the current mobile node PnSphere center C of external sphere in sensing rangenThe unit vector of (a) is,for the current mobile node PnPoint to the center of mass CTWherein angle α is calculated as shown in equation (11):
adjusting a current mobile node PnSo as to make the current mobile node PnIs directed towards the centroid CTWherein, if α is less than or equal to pi, the current mobile node PnThe rotation direction is clockwise, the rotation angle is α, otherwise, the rotation direction is counterclockwise 2 pi- α.
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