CN106358210B - Isomery directional sensor network dynamic coverage method based on mixed strategy - Google Patents
Isomery directional sensor network dynamic coverage method based on mixed strategy Download PDFInfo
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Abstract
The isomery directional sensor network dynamic coverage method based on mixed strategy that the invention discloses a kind of, is classified as boundary node or non-boundary node for node according to Node distribution situation, then adjusts the perceived direction of node, reduces covering redundancy；Further detect whether there is covering cavity, covering if it exists is empty, then the optimum position of calculate node, finally by node motion to optimum position.The utility model has the advantages that reducing covering redundancy using the isomery directional sensor network dynamic coverage method of the invention based on mixed strategy, redundant node is moved to optimization position, covering cavity is repaired.The results show that proposing that algorithm can effectively improve the network coverage compared to comparison algorithm and reduce energy consumption.
Description
Technical field
The present invention relates to field of intelligent control, more particularly to a kind of isomery directional sensor network based on mixed strategy
Dynamic coverage method.
Background technique
In recent years, with the development of hardware technology, the sensors such as video sensor, ultrasonic sensor and infrared sensor
Price is more and more cheaper so that directional sensor network using more and more extensive, supervised in video monitoring, smart home and environment
The occasions such as survey are used widely.
A basic problem of the covering control as directional sensor network, is the important finger for reflecting network service quality
Mark, the in recent years attention by more and more researchers.Different from traditional omnidirectional's sensor node, oriented sensor node
Overlay area depends not only on the position of node, but also related with perceived direction with the perception angle of node.
The dynamic coverage algorithm of directional sensor network refers to the physics of perceived direction or node by concept transfer
Position come achieve the purpose that improve the network coverage.In recent years, the dynamic coverage algorithm of directional sensor network is by increasingly
The attention of more researchers.Although studying directional sensor network covering problem, and certain achievement is achieved, it is existing
Research achievement all assume that participate in covering oriented sensor node type it is identical, i.e., the perception radius of node, perception angle, move
The parameters such as kinetic force are all identical, have ignored influence of the node isomerism to directional sensor network covering performance and have
The disadvantage of network scalability difference.
Meanwhile existing dynamic coverage algorithm only relies on merely the adjustment of perceived direction or changing for node physical location
Become and then achieve the purpose that enhance network covering property, fails the influence sufficiently combined both Kao Lvs to covering performance.
In addition, in certain scenes, the phenomenon that adjustment in node perceived direction is likely to result in covering " cavity " is relied solely on.
Summary of the invention
In order to solve the above technical problems, the present invention provides a kind of isomery directional sensor network dynamic based on mixed strategy
Covering method reduces overlapping area of the node in overlay area, by adjusting the perceived direction of node by adjusting node
Physical location reduces unlapped region area in overlay area.
Technical solution is as follows:
A kind of isomery directional sensor network dynamic coverage method based on mixed strategy, key are to include following step
It is rapid:
Step 1, the monitoring region of sensor network is divided into the identical grid of N number of area, and obtains covering for each grid
Lid situation；
Step 2, to the node s in monitoring regioniClassify, determines node siIt is boundary node is also non-boundary node,
Node siIndicate that i-th of sensor in monitoring region, i=1,2,3 ... H, H are the sensor sum monitored in region；
Step 3, predicate node siWhether adjustment direction is needed, if not needing to adjust, node siFormer direction is kept, is entered
Step 5；If desired it adjusts, then enters step 4；
Step 4, predicate node siIt whether is redundant node, if not redundant node, then by node siIt is adjusted to optimal perceived
Direction enters step 5 later；If redundant node then enters step 5；
Step 5, i=i+1 is enabled, determines whether i is greater than H, if i is greater than H, enters step 6, otherwise, return step 2；
Step 6, determine whether have grid not by any node perceived in monitoring region, if all grids are by node sense
Know, then keeps the original position of all nodes in sensing network constant, algorithm terminates；Under conditions of there are redundant node, if having
Grid by any node perceived, does not then enter step 7；
Step 7, the physical location for adjusting all redundant nodes selects to make the maximum physical location of areal coverage as superfluous
The optimum position of remaining node.
Using the above method, it is divided into the identical grid of several areas by the way that region will be monitored, and according to each grid
Coverage condition determine the perceived direction of each node, fully considered influence of the node isomerism to network covering property,
It is improved the scalability of network.And the adjustment of perceived direction and the adjustment of node physical location are combined, net is enhanced
Network covering performance avoids the occurrence of unlapped region.
Further, the coverage condition of grid includes whether node ID, the grid of covering grid are coated in step 1
The case where whether lid, grid are repeated covering.
Using the above method, counted convenient for the coverage condition to each grid.
Further, pass through node s in step 2iCome with the nearest Euclidean distance d of monitoring zone boundary to node si
Classify, if Euclidean distance d is less than threshold value Q, node siFor boundary node, on the contrary is non-boundary node.
Using the above method, node can be divided into boundary node and non-boundary node, the node different to two classes be not using
Same method carries out perceived direction adjustment, keeps the adjustment of node perceived direction more accurate.
Further, include determining whether boundary node needs to adjust perceived direction and determine non-boundary section in step 3
Whether point needs to adjust perceived direction:
1) Decision boundaries node is made whether to need to adjust perceived direction:
A calculates the perception area c of boundary nodei, sense is obtained by calculating the grid quantity in boundary node coverage area
Know area ci；
Whether b needs to adjust perceived direction according to following formula Decision boundaries node:
Wherein, p is preset threshold,For node siPerception angle,For node siThe perception radius, Sboundary=1
Indicate node siNeed to adjust perceived direction, Sboundary=0 indicates not needing adjustment perceived direction；
2) determine that non-boundary node is made whether to need to adjust perceived direction:
A, the grid number for repeating covering in the coverage area of non-boundary node is counted, that is, counts what non-boundary node was covered
In grid, the grid sum of covering is repeated by other nodes；
B, determine to repeat whether the grid sum of covering is more than preset value θtIf being more than, non-boundary node needs to adjust
Perceived direction, conversely, not needing adjustment perceived direction then.
Using the above method, threshold determination is carried out to boundary node and non-boundary node, does not need adjustment perceived direction
Node does not have to carry out direction adjustment, avoids flogging a dead horse.Because the coverage condition of boundary node and non-boundary node is different, institute
To be determined using different methods boundary node and non-boundary node, more accurately.
Further, include determining whether boundary node is redundant node and whether determines non-boundary node in step 4
The step of for redundant node；
The first, whether Decision boundaries node is redundant node:
Step 4.1, the marginal coverage effectiveness S of boundary node is calculatedA, i.e., only by the grid number of boundary node perception；
Step 4.2, boundary node is rotated A times along same direction of rotation with fixed angle BC, and is calculated postrotational every time
Marginal coverage effectiveness Sa, a=1,2,3 ... A, A=2 × π/BC；
Step 4.3, determine postrotational marginal coverage effectiveness S every timeaWhether S is greater thanA, if more than institute after rotation is then selected
There is marginal coverage effectiveness SaIntermediate value maximum corresponding induction direction in border is optimal perceived direction；Otherwise, the boundary node is superfluous
Remaining node；
The second, determine whether non-boundary node is redundant node:
Step 4.1a, the marginal coverage effectiveness S of non-boundary node is calculatedB, i.e., only by the grid of non-boundary node itself perception
Lattice number；
Step 4.1b, non-boundary node obtains the adjacent segments points of itself, i.e., in the communication radius of non-boundary node
The quantity of node；
Step 4.1c, all non-boundary nodes, which count adjacent segments, sends aggregation node, and aggregation node obtains overlay area
Adjacent node sum；
Step 4.1d, aggregation node obtains the average nodal number of overlay area according to adjacent node sum and is sent to each
A non-boundary node；
Step 4.1e, the adjacent segments points whether each non-boundary node judgement average nodal number is greater than itself are compared
Compared with；
If adjacent segments points are greater than average nodal number, which is in Node distribution close quarters, described non-
Boundary node rotates 2 × π/Small_Angle time along same direction of rotation with fixed angle Small_Angle, and calculates every time
The marginal coverage effectiveness S of non-boundary node after rotationb1；
2 × π of b1=1,2,3 .../Small_Angle；
If adjacent segments points are less than average nodal number, which is in Node distribution sparse region, described non-
Boundary node rotates 2 × π/Big_Angle time along same direction of rotation with fixed angle Big_Angle, and calculates and rotate every time
The marginal coverage effectiveness S of non-boundary node afterwardsb2, b2=1,2,3 ... 2 × π/Big_Angle；
Step 4.1f, determine postrotational marginal coverage effectiveness S every timeb1、Sb2Whether S is greater thanB, if more than then selecting to revolve
All marginal coverage effectiveness S after turningb1、Sb2The corresponding induction direction of middle maximum value is optimal perceived direction；Otherwise the non-boundary
Node is redundant node.
The above method is used, because boundary node and non-boundary node are different to the coverage condition of grid, using not
Same method respectively screens the redundant node in boundary node and non-boundary node, and adjusts the perceived direction of node,
Keep the perceived direction of node adjusted more accurate, enhances the covering performance of network.
Further, determine whether non-boundary node is that step 4.1b in redundant node using following methods obtains phase
Neighbors number:
Node siA Neighbor_discover message is issued in its communication radius, includes node s in messageiOnly
One ID, physical locationThe perception radiusPerceive angleAnd perceived directionNeighbor_discover is received to disappear
The node s of breathjThen recovery of node siOne Ack message, interior message includes node siID and node sjID, node siPass through system
The Ack message collected obtains its neighbor node number.
Using the above method, the adjacent segments points of each non-boundary node can be obtained, convenient for the subsequent average section to network
Points are calculated.
Further, step 7 determines redundant node s using following methodskOptimum position, redundant node skIndicate kth
A redundant node:
Step 7.1, coding, to all redundant node s by the way of real codingkPosition coordinates encoded, obtain
To each redundant node skPosition coordinates corresponding to individual, wherein k=1,2,3..., nm, nmFor the sum of redundant node；
Step 7.2 establishes initial population, carries out random initializtion to individual, establishes initial population, formula is as follows:
Wherein,The maximum value and minimum value of the jth dimension of g-th of individual respectively in initial population,For
The jth of g-th of individual ties up element in initial population, and NP is number individual in initial population, and rand is random between (0,1)
Number；
Step 7.3, mutation operation make a variation to initial population using DE/rand-to-best/1 variation method, simultaneously
It introduces fictitious force to guide the variation direction of initial population, formula is as follows:
At=[At(1),...,At(nm)]
At(k)=[Axt(k),Ayt(k)]
Wherein,Individual corresponding to areal coverage best in population when for the t times iteration, r1, r2, r3 are kind
Randomly selected three individual serial numbers in group, r1 ≠ r2 ≠ r3,WithIt is randomly selected three in population
The value of individual jth dimension element in the t times iteration, F is zoom factor, AC1WithIt is the constant and variable for controlling fictitious force,
AtIndicate the change of all redundant nodes position in suffered fictitious force,Indicate redundant node skSuffered is virtual
Power FkComponent in x-axis,Indicate the redundant node skSuffered fictitious force FkComponent on the y axis, MaxStep are
The redundant node skThe maximum distance moved under the guidance of fictitious force；
Step 7.4, crossover operation carry out crossover operation to initial population using following formula:
Wherein,Indicate the value of the jth dimension element of g-th of individual in initial population after crossover operation, CR be intersect because
Son, value are (0,1)；Rand (g) is 1 random integers for arriving NP；
Step 7.5, according to valueCalculate the areal coverage in monitoring region
Step 7.6, selection operation, g-th of individual when following formula being used to obtain the number of iterations as t+1:
Step 7.7 determines whether to reach maximum number of iterations, if not having, return step 7.2 selects energy if reaching
Make the maximum individual of the areal coverage for monitoring region, the coordinate of each redundant node position corresponding using in the individual as
The optimum position of oneself.
Using the above method, more extensive position coordinates can be obtained, then are selected from these position coordinates optimal
Position, the new position coordinates of redundant node consider more comprehensive, and obtained optimum position is also more in line with actual conditions.
Further, fictitious force F in step 7.3kIt is calculated according to following formula:
Fk′jIndicate redundant node skBy its adjacent node sjFictitious force, mkIndicate redundant node skPerception area,
mjIndicate adjacent node sjPerception area, αkjUnit vector is represented, indicates the direction of fictitious force, i.e., by redundant node skIt is directed toward
Adjacent node sjDirection,Indicate redundant node skThe perception radius, l1For constant, Neig_bor (sk) indicate node skPhase
The set of neighbors, redundant node skThe fictitious force being subject to is the resultant force that its all adjacent node applies fictitious force to it.
Using the above method, the choice direction of optimum position is guided using fictitious force, reduces the feelings of data processing amount
Under condition, the accuracy of optimal location ensure that.
Further, areal coverage in step 7.5It calculates in accordance with the following methods:
Step 7.51, the one-dimension array CoverStatus that initialization length is N, makes the value 0 of its all elements, one-dimensional
Element and grid in array correspond；Iteration indicator variable n and k is initialized, n=1, k=1 are made.
Step 7.52, the central point of grid is obtained to the redundant node skDistance dnWith the central point and redundancy of grid
Node skPosition formed vector and redundant node skPerceived direction between angle αn；
Step 7.53, determine distance dnWhether the redundant node s is less thankThe perception radiusIf not less than perception half
DiameterN=n+1 is then enabled, that is, next grid is determined, and return step 7.52；If being less than the perception radius
Then enter step 7.54；
Step 7.54, determine the central point and redundant node s of gridkPosition formed vector and redundant node skSense
Know the angle α between directionnWhether redundant node s is less thankPerception angle half, if being less than, the grid is in redundant node
skSensing range, the value of element corresponding with the grid becomes 1 in one-dimension array CoverStatus, that is, enables
CoverStatus (n)=1；Otherwise, the grid is not by redundant node skPerception.
Step 7.55, determine whether that all grids have been carried out judgement, that is, judge whether n is greater than N, if not right
All grids are determined, i.e. n < N, then return step 7.52；Otherwise, illustrate that judgement has been completed in all grids, then into
Enter step 7.56；
Step 7.56, next redundant node is determined, that is, enables k=k+1, determine whether k is greater than nmIf k
Greater than nm, then 7.57 are entered step；Otherwise, return step 7.52.
Step 7.57, the element sum that element value is 1 in one-dimension array CoverStatus is counted, and being equal to the value of L should
It is worth and according to formulaCalculate the areal coverage in monitoring region.
Using the above method, the coverage condition of each grid can be obtained, so that the areal coverage of each node is calculated,
Convenient for the coverage condition evaluation to node.
The utility model has the advantages that being subtracted using the isomery directional sensor network dynamic coverage method of the invention based on mixed strategy
Redundancy is covered less, redundant node is moved to optimization position, covering cavity is repaired.The results show that propose algorithm compared to
Comparison algorithm can effectively improve the network coverage and reduce energy consumption.
Detailed description of the invention
Fig. 1 is flow chart of the method for the present invention；
Fig. 2 is the method flow diagram that optimum position is determined in Fig. 1；
Fig. 3 is the calculation method flow chart of areal coverage；
Fig. 4 is sensor sensor model schematic diagram；
Fig. 5 is sensor transmissions apart from schematic diagram；
Fig. 6 is individual UVR exposure schematic diagram；
Fig. 7 is network coverage comparison diagram after perceived direction adjustment；
Fig. 8 is final area coverage rate comparison diagram；
Fig. 9 is coverage overlapping area variation comparison diagram；
Figure 10 is Node distribution schematic diagram；
Figure 11 is algorithm Energy Expenditure Levels comparison diagram.
Specific embodiment
Below with reference to embodiment and attached drawing, the invention will be further described.
As shown in figs. 1-11, first by H sensor node random placement in monitoring region, following steps pair are then used
Sensor node in monitoring region is adjusted:
Step 1, the monitoring region of sensor network is divided into the identical grid of N number of area, and obtains covering for each grid
Lid situation.The coverage condition of grid includes the node ID for covering grid, whether capped, grid is repeated covering to grid
Situations such as.
Step 2, pass through node siCome with the nearest Euclidean distance d of monitoring zone boundary to node siClassify, if Europe
Formula distance d is less than threshold value Q, node siFor boundary node, on the contrary is non-boundary node.Node siIndicate i-th in monitoring region
Sensor, i=1,2,3 ... H, H are the sensor sum monitored in region.
Step 3, predicate node siWhether adjustment direction is needed, if not needing to adjust, node siFormer direction is kept, is entered
Step 5；If desired it adjusts, then enters step 4；
Predicate node siAdjustment direction whether is needed to include determining whether boundary node needs to adjust perceived direction and judgement
Whether non-boundary node needs to adjust perceived direction:
1) Decision boundaries node is made whether to need to adjust perceived direction:
A calculates the perception area c of boundary nodei, sense is obtained by calculating the grid quantity in boundary node coverage area
Know area ci；
Whether b needs to adjust perceived direction according to following formula Decision boundaries node:
Wherein, p is preset threshold,For node siPerception angle,For node siThe perception radius, Sboundary=1
Indicate node siNeed to adjust perceived direction, Sboundary=0 indicates not needing adjustment perceived direction；
2) determine that non-boundary node is made whether to need to adjust perceived direction:
A, the grid number for repeating covering in the coverage area of non-boundary node is counted, that is, counts what non-boundary node was covered
In grid, the grid sum of covering is repeated by other nodes；
B, determine to repeat whether the grid sum of covering is more than preset value θtIf being more than, non-boundary node needs to adjust
Perceived direction, conversely, not needing adjustment perceived direction then.
Step 4, predicate node siIt whether is redundant node, if not redundant node, then by node siIt is adjusted to optimal perceived
Direction enters step 5 later；If redundant node then enters step 5.
Predicate node siWhether it is redundant node includes determining whether boundary node is redundant node and determines that non-boundary is saved
The step of whether point is redundant node；
The first, whether Decision boundaries node is redundant node:
Step 4.1, the marginal coverage effectiveness S of boundary node is calculatedA, i.e., only by the grid number of boundary node perception；
Step 4.2, boundary node is rotated A times along same direction of rotation with fixed angle BC, and is calculated postrotational every time
Marginal coverage effectiveness Sa, a=1,2,3 ... A, A=2 × π/BC；
Step 4.3, determine postrotational marginal coverage effectiveness S every timeaWhether S is greater thanA, if more than institute after rotation is then selected
There is marginal coverage effectiveness SaIntermediate value maximum corresponding induction direction in border is optimal perceived direction；Otherwise, the boundary node is superfluous
Remaining node；
The second, determine whether non-boundary node is redundant node:
Step 4.a, the marginal coverage effectiveness S of non-boundary node is calculatedB, i.e., only by the grid of non-boundary node itself perception
Number；
Step 4.b, non-boundary node obtains the adjacent segments points of itself, the i.e. section in the communication radius of non-boundary node
The quantity of point；
Step 4.c, all non-boundary nodes, which count adjacent segments, sends aggregation node, and aggregation node obtains overlay area
Adjacent node sum；
Step 4.d, aggregation node obtains the average nodal number of overlay area according to adjacent node sum and is sent to each
A non-boundary node；
Step 4.e, the adjacent segments points whether each non-boundary node judgement average nodal number is greater than itself are compared；
If adjacent segments points are greater than average nodal number, which is in Node distribution close quarters, described non-
Boundary node rotates 2 × π/Small_Angle time along same direction of rotation with fixed angle Small_Angle, and calculates every time
The marginal coverage effectiveness S of non-boundary node after rotationb1,
2 × π of b1=1,2,3 .../Small_Angle；
If adjacent segments points are less than average nodal number, which is in Node distribution sparse region, described non-
Boundary node rotates 2 × π/Big_Angle time along same direction of rotation with fixed angle Big_Angle, and calculates and rotate every time
The marginal coverage effectiveness S of non-boundary node afterwardsb2, b2=1,2,3 ... 2 × π/Big_Angle.
The present embodiment obtains adjacent segments points using following methods:
Node siA Neighbor_discover message is issued in its communication radius, includes node s in messageiOnly
One ID, physical locationThe perception radiusPerceive angleAnd perceived directionReceive Neighbor_discover message
Node sjThen recovery of node siOne Ack message, interior message includes node siID and node sjID, node siPass through statistics
The Ack message received obtains its neighbor node number.
Step 4.f, determine postrotational marginal coverage effectiveness S every timeb1、Sb2Whether S is greater thanB, if more than then selecting to rotate
All marginal coverage effectiveness S afterwardsb1、Sb2The corresponding induction direction of middle maximum value is optimal perceived direction；Otherwise the non-boundary section
Point is redundant node.
Step 5, i=i+1 is enabled, determines whether i is greater than H, if i is greater than H, enters step 6, otherwise, return step 2；
Step 6, determine whether have grid not by any node perceived in monitoring region, if all grids are by node sense
Know, then keeps the original position of all nodes in sensing network constant, algorithm terminates；Under the conditions of there are redundant node, if there is grid
Lattice by any node perceived, then do not enter step 7；
Step 7, the physical location for adjusting all redundant nodes selects to make the maximum physical location of areal coverage as superfluous
The optimum position of remaining node.
The present embodiment determines redundant node s using following methodskOptimum position, redundant node skIndicate k-th of redundancy section
Point:
Step 7.1, coding, to all redundant node s by the way of real codingkPosition coordinates encoded, obtain
To each redundant node skPosition coordinates corresponding to individual, wherein the initial value of k be 1, k=1,2,3..., nm, nmIt is superfluous
The sum of remaining node；
Step 7.2 establishes initial population, carries out random initializtion to individual, establishes initial population, formula is as follows:
Wherein,The maximum value and minimum value of the jth dimension of g-th of individual respectively in initial population,For
The jth of g-th of individual ties up element in initial population, and NP is number individual in initial population, and rand is random between (0,1)
Number；
Step 7.3, mutation operation make a variation to initial population using DE/rand-to-best/1 variation method, simultaneously
It introduces fictitious force to guide the variation direction of initial population, formula is as follows:
At=[At(1),...,At(nm)]
At(k)=[Axt(k),Ayt(k)]
Wherein,Individual corresponding to areal coverage best in population when for the t times iteration, r1, r2, r3 are kind
Randomly selected three individual serial numbers in group, r1 ≠ r2 ≠ r3,WithIt is randomly selected three in population
The value of individual jth dimension element in the t times iteration, F is zoom factor, AC1WithIt is the constant and variable for controlling fictitious force,
AtIndicate the change of all redundant nodes position in suffered fictitious force,Indicate redundant node skSuffered is virtual
Power FkComponent in x-axis,Indicate the redundant node skSuffered fictitious force FkComponent on the y axis, MaxStep are
The redundant node skThe maximum distance moved under the guidance of fictitious force.
Wherein, fictitious force FgIt is calculated according to following formula:
Fk′jIndicate redundant node skBy its adjacent node sjFictitious force, mkIndicate redundant node skPerception area,
mjIndicate adjacent node sjPerception area, αkjUnit vector is represented, indicates the direction of fictitious force, i.e., by redundant node skIt is directed toward
Adjacent node sjDirection,Indicate redundant node skThe perception radius, l1For constant, Neig_bor (sk) indicate node skPhase
The set of neighbors, redundant node skThe fictitious force being subject to is the resultant force that its all adjacent node applies fictitious force to it.
Step 7.4, crossover operation carry out crossover operation to initial population using following formula:
Wherein,Indicate the value of the jth dimension element of g-th of individual in initial population after crossover operation, CR be intersect because
Son, value are (0,1)；Rand (g) is 1 random integers for arriving NP；
Step 7.5, according to valueCalculate the areal coverage in monitoring region
Wherein, areal coverageIt calculates in accordance with the following methods:
Step 7.51, the one-dimension array CoverStatus that initialization length is N, makes the value 0 of its all elements, one-dimensional
Element and grid in array correspond；Iteration indicator variable n and k is initialized, n=1, k=1 are made.
Step 7.52, the central point of grid is obtained to the redundant node skDistance dnWith the central point and redundancy of grid
Node skPosition formed vector and redundant node skPerceived direction between angle αn。
Step 7.53, determine distance dnWhether the redundant node s is less thankThe perception radiusIf not less than perception half
DiameterN=n+1 is then enabled, that is, next grid is determined, and return step 7.52；If being less than the perception radius
Then enter step 7.54；
Step 7.54, determine the central point and redundant node s of gridkPosition formed vector and redundant node skSense
Know the angle α between directionnWhether redundant node s is less thankPerception angle half, if being less than, the grid is in redundant node
skSensing range, the value of element corresponding with the grid becomes 1 in one-dimension array CoverStatus, that is, enables
CoverStatus (n)=1；Otherwise, the grid is not by redundant node skPerception.
Step 7.55, determine whether that all grids have been carried out judgement, that is, judge whether n is greater than N, if not right
All grids are determined, i.e. n < N, then return step 7.52；Otherwise, illustrate that judgement has been completed in all grids, then into
Enter step 7.56；
Step 7.56, next redundant node is determined, that is, enables k=k+1, determine whether k is greater than nmIf k
Greater than nm, then 7.57 are entered step；Otherwise, return step 7.52.
Step 7.57, the element sum that element value is 1 in one-dimension array CoverStatus is counted, and being equal to the value of L should
It is worth and according to formulaCalculate the areal coverage in monitoring region.
Step 7.6, selection operation, g-th of individual when following formula being used to obtain the number of iterations as t+1:
Step 7.7 determines whether to reach maximum number of iterations, if not having, return step 7.2 selects energy if reaching
Make the maximum individual of the areal coverage for monitoring region, each redundant node skMade with the coordinate of position corresponding in the individual
For the optimum position of oneself.
Various parameters are configured: B_MI=10, BC=π/12, μ=0.5, p=60, p '=0.9, Big_Angle=π/
36, Small_Angle=π/180.G=200, NP=30, CR=0.6, AC1=1, F obey N (0,1) normal distribution, l1=2,.
Fig. 5 is some individual UVR exposure schematic diagram in population, whereinWithThe section of shift position is needed for i-th
The X axis coordinate and Y axis coordinate of point.
Fig. 6 is comparison diagram the case where the network coverage after perceived direction adjustment under different number of nodes.It can from figure
Out, with the increase of node deployment density, the coverage rate for perceiving network after angle adjusts all be increased, algorithm proposed in this paper
Covering performance is better than comparison algorithm, it was demonstrated that the validity of the adjustment of node perceived angle proposed in this paper.
Fig. 7 is the Landfill covering rate comparison diagram of network after node location changes.It can be seen from the figure that as deployment saves
Purpose of counting increases, and the coverage rate of network increases therewith, and algorithm proposed in this paper is obvious excellent in terms of the final network coverage
In comparison algorithm.
The situation of change of Fig. 8 nodes covering overlapping area.It can be seen from the figure that proposing that algorithm compares compared with two kinds
Compared with the redundant cover that algorithm can effectively reduce node.
Fig. 9 is 60 oriented sensor nodes of isomery in operation this paper algorithm posterior nodal point distribution schematic diagram.It (a) is 60 sections
Point, initial distribution, coverage rate 0.69；It (b) is the network coverage 0.71 after boundary node adjustment；(c) after for perception angle adjustment
The network coverage 0.80；It (d) be the coverage rate of network after node physical location change is 0.90.It can be seen that from four figures
With the operation of algorithm, the distribution between node tends to rationally, and overlapping area gradually reduces, and coverage rate steps up, it was demonstrated that
The validity of algorithm.
The energy consumption comparison diagram of Figure 10 algorithm.Using the energy consumption of the method record node of existing document, that is,
Node energy of every rotation 180 degree consumption during perceiving angle adjustment is 1.5J, in physical location moving process, every shifting
The consumption of dynamic 1m energy is 3.6J, as a result as shown in Figure 7.It can be seen from the figure that the algorithm proposed is bright in terms of energy consumption
It is aobvious to be better than comparison algorithm, it was demonstrated that propose that algorithm is a kind of energy efficient covering algorithm.
Finally, it should be noted that foregoing description is only the preferred embodiment of the present invention, the ordinary skill people of this field
Member under the inspiration of the present invention, without prejudice to the purpose of the present invention and the claims, can make multiple similar tables
Show, such transformation is fallen within the scope of protection of the present invention.
Claims (9)
1. a kind of isomery directional sensor network dynamic coverage method based on mixed strategy, it is characterised in that including following step
It is rapid:
Step 1, the monitoring region of sensor network is divided into the identical grid of N number of area, and obtains the covering feelings of each grid
Condition；
Step 2, to the node s in monitoring regioniClassify, determines node siIt is boundary node is also non-boundary node, node
siIndicate that i-th of sensor in monitoring region, i=1,2,3 ... H, H are the sensor sum monitored in region；
Step 3, predicate node siWhether adjustment direction is needed, if not needing to adjust, node siFormer direction is kept, is entered step
5；If desired it adjusts, then enters step 4；
Step 4, predicate node siIt whether is redundant node, if not redundant node, then by node siIt is adjusted to optimal perceived side
To entering step 5 later；If redundant node then enters step 5；
Step 5, i=i+1 is enabled, determines whether i is greater than H, if i is greater than H, enters step 6, otherwise, return step 2；
Step 6, determine whether have grid not by any node perceived in monitoring region, if all grids by node perceived,
Keep the original position of all nodes in sensing network constant, algorithm terminates；Under conditions of there are redundant node, if having grid not
By any node perceived, then 7 are entered step；
Step 7, the physical location for adjusting all redundant nodes selects to make the maximum physical location of areal coverage as redundancy section
The optimum position of point.
2. the isomery directional sensor network dynamic coverage method based on mixed strategy, feature exist according to claim 1
In: the coverage condition of grid includes the node ID for covering grid, whether capped, grid is repeated grid in step 1
The case where covering.
3. the isomery directional sensor network dynamic coverage method based on mixed strategy, feature exist according to claim 1
In: pass through node s in step 2iCome with the nearest Euclidean distance d of monitoring zone boundary to node siClassify, if it is European away from
It is less than threshold value Q from d, then node siFor boundary node, on the contrary is non-boundary node.
4. the isomery directional sensor network dynamic coverage method based on mixed strategy, feature exist according to claim 1
In: include determining whether boundary node needs to adjust perceived direction and determines whether non-boundary node needs to adjust sense in step 3
Know direction:
1) Decision boundaries node is made whether to need to adjust perceived direction:
A calculates the perception area c of boundary nodei, perception face is obtained by calculating the grid quantity in boundary node coverage area
Product ci；
Whether b needs to adjust perceived direction according to following formula Decision boundaries node:
Wherein, p is preset threshold,For node siPerception angle,For node siThe perception radius, Sboundary=1 indicates
Node siNeed to adjust perceived direction, Sboundary=0 indicates not needing adjustment perceived direction；
2) determine that non-boundary node is made whether to need to adjust perceived direction:
A, the grid number for repeating covering in the coverage area of non-boundary node is counted, that is, counts the grid that non-boundary node is covered
In, the grid sum of covering is repeated by other nodes；
B, determine to repeat whether the grid sum of covering is more than preset value θtIf being more than, non-boundary node needs to adjust perception side
To conversely, not needing adjustment perceived direction then.
5. the isomery directional sensor network dynamic coverage method based on mixed strategy, feature exist according to claim 1
In: the step of whether boundary node is redundant node and whether the non-boundary node of judgement is redundant node is included determining whether in step 4；
The first, whether Decision boundaries node is redundant node:
Step 4.1, the marginal coverage effectiveness S of boundary node is calculatedA, i.e., only by the grid number of boundary node perception；
Step 4.2, boundary node is rotated A times along same direction of rotation with fixed angle BC, and calculates postrotational limit every time
Cover effectiveness Sa, a=1,2,3 ... A, A=2 × π/BC；
Step 4.3, determine postrotational marginal coverage effectiveness S every timeaWhether S is greater thanA, if more than all sides after rotation are then selected
Border covers effectiveness SaIntermediate value maximum corresponding induction direction in border is optimal perceived direction；Otherwise, the boundary node is redundancy section
Point；
The second, determine whether non-boundary node is redundant node:
Step 4.a, the marginal coverage effectiveness S of non-boundary node is calculatedB, i.e., only by the grid number of non-boundary node itself perception；
Step 4.b, non-boundary node obtains the adjacent segments points of itself, the i.e. node in the communication radius of non-boundary node
Quantity；
Step 4.c, all non-boundary nodes, which count adjacent segments, sends aggregation node, and aggregation node obtains the adjacent of overlay area
Node total number；
Step 4.d, aggregation node obtains the average nodal number of overlay area according to adjacent node sum and to be sent to each non-
Boundary node；
Step 4.e, the adjacent segments points whether each non-boundary node judgement average nodal number is greater than itself are compared；
If adjacent segments points are greater than average nodal number, which is in Node distribution close quarters, the non-boundary
Node rotates 2 × π/Small_Angle time along same direction of rotation with fixed angle Small_Angle, and calculates and rotate every time
The marginal coverage effectiveness S of non-boundary node afterwardsb1；
2 × π of b1=1,2,3 .../Small_Angle；
If adjacent segments points are less than average nodal number, which is in Node distribution sparse region, the non-boundary
Node rotates 2 × π/Big_Angle time along same direction of rotation with fixed angle Big_Angle, and calculate rotate every time after it is non-
The marginal coverage effectiveness S of boundary nodeb2, b2=1,2,3 ... 2 × π/Big_Angle；
Step 4.f, determine postrotational marginal coverage effectiveness S every timeb1、Sb2Whether S is greater thanB, if more than institute after rotation is then selected
There is marginal coverage effectiveness Sb1、Sb2The corresponding induction direction of middle maximum value is optimal perceived direction；Otherwise the non-boundary node is
Redundant node.
6. the isomery directional sensor network dynamic coverage method based on mixed strategy, feature exist according to claim 5
In: determine whether non-boundary node is that step 4.b in redundant node using following methods obtains adjacent segments points:
Node siA Neighbor_discover message is issued in its communication radius, includes node s in messageiIt is unique
ID, physical locationThe perception radiusPerceive angleAnd perceived directionReceive Neighbor_discover message
Node sjThen recovery of node siOne Ack message, interior message includes node siID and node sjID, node siIt is received by statistics
To Ack message obtain its neighbor node number.
7. the isomery directional sensor network dynamic coverage method based on mixed strategy, feature exist according to claim 1
In: step 7 determines redundant node s using following methodskOptimum position, redundant node skIndicate k-th of redundant node:
Step 7.1, coding, to all redundant node s by the way of real codingkPosition coordinates encoded, obtain each
Redundant node skPosition coordinates corresponding to individual, wherein k=1,2,3..., nm, nmFor the sum of redundant node；
Step 7.2 establishes initial population, carries out random initializtion to individual, establishes initial population, formula is as follows:
Wherein,The maximum value and minimum value of the jth dimension of g-th of individual respectively in initial population,It is initial
The jth of g-th of individual ties up element in group, and NP is number individual in initial population, random number of the rand between (0,1)；
Step 7.3, mutation operation make a variation to initial population using DE/rand-to-best/1 variation method, introduce simultaneously
Fictitious force guides the variation direction of initial population, and formula is as follows:
At=[At(1),...,At(nm)]
At(k)=[Axt(k),Ayt(k)]
Wherein,Individual corresponding to areal coverage best in population when for the t times iteration, r1, r2, r3 are in population
Randomly selected three individual serial numbers, r1 ≠ r2 ≠ r3,WithIt is randomly selected three in population
The value of body jth dimension element in the t times iteration, F is zoom factor, AC1WithIt is the constant and variable for controlling fictitious force, AtTable
Show the change of all redundant nodes position in suffered fictitious force,Indicate redundant node skSuffered fictitious force Fk
Component in x-axis,Indicate the redundant node skSuffered fictitious force FkComponent on the y axis, MaxStep are described
Redundant node skThe maximum distance moved under the guidance of fictitious force；
Step 7.4, crossover operation carry out crossover operation to initial population using following formula:
Wherein,The jth of g-th of individual ties up the value of element in initial population after expression crossover operation, and CR is to intersect the factor, takes
Value is (0,1)；Rand (g) is 1 random integers for arriving NP；
Step 7.5, according to valueCalculate the areal coverage in monitoring region
Step 7.6, selection operation, g-th of individual when following formula being used to obtain the number of iterations as t+1:
Step 7.7 determines whether to reach maximum number of iterations, if not having, return step 7.2 selects to make to supervise if reaching
Survey the maximum individual of areal coverage in region, the coordinate of each redundant node position corresponding using in the individual as oneself
Optimum position.
8. the isomery directional sensor network dynamic coverage method based on mixed strategy, feature exist according to claim 7
In: fictitious force F in step 7.3kIt is calculated according to following formula:
Fk′jIndicate redundant node skBy its adjacent node sjFictitious force, mkIndicate redundant node skPerception area, mjIt indicates
Adjacent node sjPerception area, αkjUnit vector is represented, indicates the direction of fictitious force, i.e., by redundant node skIt is directed towards section
Point sjDirection,Indicate redundant node skThe perception radius, l1For constant, Neig_bor (sk) indicate node skAdjacent node
Set, redundant node skThe fictitious force F being subject tokIt is the resultant force that its all adjacent node applies fictitious force to it, d (k, j) is indicated
Redundant node skTo adjacent node sjEuclidean distance.
9. the isomery directional sensor network dynamic coverage method based on mixed strategy, feature exist according to claim 7
In: areal coverage in step 7.5It calculates in accordance with the following methods:
Step 7.51, the one-dimension array CoverStatus that initialization length is N, makes the value 0 of its all elements, one-dimension array
In element and grid correspond；Iteration indicator variable n and k is initialized, n=1, k=1 are made；
Step 7.52, the central point of grid is obtained to the redundant node skDistance dnWith the central point and redundant node of grid
skPosition formed vector and redundant node skPerceived direction between angle αn；
Step 7.53, determine distance dnWhether the redundant node s is less thankThe perception radiusIf being not less than the perception radiusN=n+1 is then enabled, that is, next grid is determined, and return step 7.52；If being less than the perception radiusThen
Enter step 7.54；
Step 7.54, determine the central point and redundant node s of gridkPosition formed vector and redundant node skPerception side
Angle α betweennWhether redundant node s is less thankPerception angle half, if being less than, the grid is in redundant node sk's
Sensing range, the value of element corresponding with the grid becomes 1 in one-dimension array CoverStatus, that is, enables CoverStatus
(n)=1；Otherwise, the grid is not by redundant node skPerception；
Step 7.55, determine whether that all grids have been carried out judgement, that is, judge whether n is greater than N, if not to all
Grid determined, i.e. n < N, then return step 7.52；Otherwise, illustrate that judgement has been completed in all grids, then enter step
Rapid 7.56；
Step 7.56, next redundant node is determined, that is, enables k=k+1, determine whether k is greater than nmIf k is greater than
nm, then 7.57 are entered step；Otherwise, return step 7.52；
Step 7.57, the element sum that element value is 1 in one-dimension array CoverStatus is counted, and the value of L is made to be equal to the value,
And according to formulaCalculate the areal coverage in monitoring region.
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