CN107249188B - Wireless sensor network routing method based on digital watermarking and energy balance - Google Patents

Wireless sensor network routing method based on digital watermarking and energy balance Download PDF

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CN107249188B
CN107249188B CN201710322893.5A CN201710322893A CN107249188B CN 107249188 B CN107249188 B CN 107249188B CN 201710322893 A CN201710322893 A CN 201710322893A CN 107249188 B CN107249188 B CN 107249188B
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node
data
watermark
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CN107249188A (en
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安玲玲
辛悦
王群
裴庆祺
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Qingdao Institute Of Computing Technology Xi'an University Of Electronic Science And Technology
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Xidian University
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    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W12/00—Security arrangements; Authentication; Protecting privacy or anonymity
    • H04W12/02—Protecting privacy or anonymity, e.g. protecting personally identifiable information [PII]
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W12/00—Security arrangements; Authentication; Protecting privacy or anonymity
    • H04W12/06—Authentication
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W40/00—Communication routing or communication path finding
    • H04W40/02—Communication route or path selection, e.g. power-based or shortest path routing
    • H04W40/04—Communication route or path selection, e.g. power-based or shortest path routing based on wireless node resources
    • H04W40/10—Communication route or path selection, e.g. power-based or shortest path routing based on wireless node resources based on available power or energy
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W40/00—Communication routing or communication path finding
    • H04W40/24—Connectivity information management, e.g. connectivity discovery or connectivity update
    • H04W40/32—Connectivity information management, e.g. connectivity discovery or connectivity update for defining a routing cluster membership
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02D—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN INFORMATION AND COMMUNICATION TECHNOLOGIES [ICT], I.E. INFORMATION AND COMMUNICATION TECHNOLOGIES AIMING AT THE REDUCTION OF THEIR OWN ENERGY USE
    • Y02D30/00—Reducing energy consumption in communication networks
    • Y02D30/70—Reducing energy consumption in communication networks in wireless communication networks

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Abstract

The invention discloses a wireless sensor network routing method based on digital watermarking and energy balance, which mainly solves the defects that the energy balance of network nodes cannot be fully considered and data safe transmission cannot be effectively realized in the conventional method. The method comprises the steps of firstly generating a watermark and embedding the watermark into a data packet to be transmitted, then introducing a node quality evaluation degree to carry out optimization selection of a next hop node on the basis of comprehensively considering distance, safety degree and residual energy, then judging whether the data packet is tampered in the transmission process or not through detecting the watermark in the received data packet, adaptively adjusting the safety degree of the node, and finally realizing safe and effective transmission of data in the wireless sensor network. The invention improves the network life of the wireless sensor network, better realizes the optimized selection of the next hop node, has the advantages of node energy balance and data security authentication, has better overall performance than similar methods, and can be used for the routing selection of the wireless sensor network.

Description

Wireless sensor network routing method based on digital watermarking and energy balance
Technical Field
The invention belongs to the technical field of wireless sensor network security, and particularly relates to a wireless sensor network routing method based on digital watermarking and energy balance.
Background
The wireless sensor network consists of a large number of miniature sensor nodes deployed in a monitoring area, and aims to cooperatively sense, acquire, process and transmit monitoring information in the coverage area of the network. The wireless sensor network has wide application in the fields of environmental monitoring, medical care, military, emergency rescue and disaster relief and the like. Because the sensor nodes are generally powered by batteries, the balance of node energy consumption becomes a main factor influencing the service life of the network. Meanwhile, due to the deliberate destruction of a network attacker, the accuracy and the safety of data transmission of the wireless sensor network are very important. Therefore, how to balance node energy consumption and prolong the life cycle of the wireless sensor network on the basis of ensuring data transmission security is a challenging problem for the routing method of the wireless sensor network, and has attracted extensive attention of researchers. BradKarp et al, in "GPSR: Greedy Perimeter Stateless routing for Wireless Networks" ("Proceedings of the 6th Annual conference on Mobile Computing and routing" 2000, 243-254), propose a routing algorithm named GPSR (Greedy Perimeter Stateless routing) which utilizes Greedy algorithm and right-hand rule to achieve routing based on inter-node distance between network nodes. The method has the following defects: because the method only takes the distance between the network nodes as a judgment factor for selecting the next hop node, the node energy in the network is difficult to be fully utilized. A check code-based data reliability protection method in a wireless sensor network is disclosed in a patent of Hunan science and technology university (application No. 201510432030.4, application publication No. CN 105072618A). The method judges the reliability of the data by comparing the confidence threshold value by using a digital watermarking technology. The method has the following defects: when the data packet is detected to be tampered, the data packet is determined to be received or discarded only by comparing the confidence threshold, and the security of the data packet transmission path cannot be calibrated, so that the method cannot effectively protect the security of data transmission.
In summary, the routing method fails to fully consider energy balance of nodes in the wireless sensor network, and fails to effectively realize secure data transmission of the wireless sensor network.
Disclosure of Invention
The invention aims to overcome the defects of the prior art and provide a wireless sensor network routing method based on digital watermarking and energy balance, introduces a node quality evaluation degree to optimally select a next hop node on the basis of comprehensively considering distance, safety degree and residual energy, and aims to solve the problems that the energy balance of network nodes cannot be fully considered and data safety transmission cannot be effectively realized in the existing wireless sensor network routing algorithm. The specific idea for realizing the purpose of the invention is that firstly, a watermark is generated and embedded into a data packet to be transmitted, then on the basis of comprehensively considering the distance, the safety degree and the residual energy, the node quality evaluation degree is introduced to carry out the optimization selection of the next hop node, and then, whether the data packet is falsified in the transmission process is judged by detecting the watermark in the received data packet, the node safety degree is adaptively adjusted, and finally, the safe and effective transmission of the data in the wireless sensor network is realized.
Further, the wireless sensor network routing method based on digital watermarking and energy balancing comprises the following steps:
step one, deploying wireless sensor network nodes: the wireless sensor network working area comprises 1 source node N, 1 destination node Sink and N intermediate nodes B ═ B1,B2,…,Bn}. The source node N is responsible for generating a data packet containing a watermark, the destination node Sink is responsible for receiving the data packet, and the intermediate node B is { B ═ B1,B2,…,BnResponsible for transmitting the data packet containing the watermark generated by the source node N to the destination node Sink, wherein each intermediate node comprises three attributes of energy, safety degree and position, and the attribute of the ith intermediate node is respectively marked as energy Ei∈[0,0.2]Degree of safety Si∈[0,10]And position (x)i,yi)；
Step two, generating a data packet containing the watermark: firstly, a source node N generates an original data packet data ═ { data ═ data1,data2,…,datai,…,data8Wherein the ith data item dataiConsists of a 28-bit binary sequence; then generating 32-bit original watermark sequence w ═ w1,w2,…wi,…,w8W, wherein the ith watermark item wiConsists of a 4-bit binary sequence; thirdly, the ith watermark item wiAppended to the ith data item dataiThen, obtaining the ith 32-bit watermark data item wdataiAnd finally, repeating the process until a watermark-containing data packet wdata ═ wdata is obtained1,wdata2,…,wdatai,…,wdata8}，i＝1,2,…8；
Step three, selecting a neighbor node;
step four, forwarding the data packet containing the watermark;
step five, extracting and detecting the watermark;
step six, repeating the step two to the step five until any intermediate node in the wireless sensor network cannot find the next hop node meeting the conditions for data packet forwarding, and terminating;
further, the selecting the neighbor node specifically includes:
(3a) selecting a source node N as a current node and marking as U;
(3b) according to the following formula, calculating the distance d from the current node U to the destination node SinkUSink：
Figure BDA0001290342620000031
Wherein (x)U,yU) As the position of the current node U, (x)Sink,ySink) The position of a destination node Sink;
(3c) according to the formula TR ═ π R2Calculating the transmission range TR of the current node U, and taking all intermediate nodes in the transmission range TR of the current node U as candidate neighbor nodes to obtain a candidate neighbor node set BM＝{BM 1,BM 2,…,BM i,…,BM mThe circumferential ratio is 3.14, and R is the transmission radius of the current node U, namely the maximum distance that the current node U can transmit data;
(3d) the ith candidate neighbor node B is calculated according to the following formulaM iDistance d to destination node SinkiAnd the distance d between the current node U and the destination node Sink is determinedUSinkThe comparison is carried out in such a way that,
Figure BDA0001290342620000032
if d isi＜dUSinkThen the ith candidate neighbor node BM iAsPutting neighbor nodes into neighbor node set BHWherein (x)i,yi) As candidate neighbor node BM iI is 1,2, … m, (x)Sink,ySink) The position of a destination node Sink;
(3e) repeating the step (3d) until the candidate neighbor node set B is processedM＝{BM 1,BM 2,…,BM i,…,BM mGet neighbor node set BH＝{BH 1,BH 2,…,BH i,…,BH h}；
Further, the forwarding the watermark-containing data packet specifically includes:
(4a) the ith neighbor node B is calculated according to the following formulaH iDegree of quality evaluation Mi：
Figure BDA0001290342620000041
Wherein D isiIndicating the ith neighbor node BH iDistance to destination node Sink, EiIndicating the ith neighbor node BH iEnergy of SiIndicating the ith neighbor node BH iI is 1,2, … h, α, γ is constant and the value range is [0, 10%]；
(4b) Repeating the step (4a) until the neighbor node set B is calculatedH＝{BH 1,BH 2,…,BH i,…,BH hQuality assessment degree M ═ M of all nodes in } ═ M1,M2,…,Mi,…,Mh}；
(4c) Quality evaluation degree M ═ { M ═ M1,M2,…,Mi,…,MhSorting is carried out, a neighbor node with the minimum quality evaluation degree is selected as a next hop node, a watermark-containing data packet wdata forwarded by a current node U is received, and the next hop node is recorded in a data forwarding node setC, performing heat treatment;
(4d) and (4) taking the next hop node as the current node U, and repeating the steps (3b) to (4c) until the watermark-containing data packet wdata is sent to the destination node Sink to obtain a received data packet rdata ═ { rdata ═ rdata1,rdata2,…,rdatai,…,rdata8C and a set of data forwarding nodes C ═ C1,C2,…,Ci,…,Cr}；
Further, the watermark extraction and detection specifically includes:
(5a) the destination node Sink receives the data packet rdata from the receiving data packet { rdata ═ in turn1,rdata2,…,rdatai,…,rdata8Intercept the ith data item rdataiTo obtain a 32-bit received watermark sequence rw ═ rw1,rw2,…,rwi,…,rw8Wherein the ith receives the watermark item rwiConsists of a 4-bit binary sequence, i is 1,2, … 8;
(5b) the received watermark sequence rw ═ { rw is calculated according to the following equation1,rw2,…,rwi,…,rw8W and original watermark sequence w ═ w1,w2,…wi,…,w8Is error of, wherein
Figure BDA0001290342620000042
Which represents an exclusive-or operation, and,
Figure BDA0001290342620000043
(5c) if err is equal to 0, it indicates that the data packet is received correctly; on the contrary, if err is not equal to 0, it indicates that the data packet is tampered, and the data forwarding node set C obtained in step (4d) is modified in sequence according to the following formula, where C is { C ═ C1,C2,…,Ci,…,CrThe security of each node in the (f) network,
Figure BDA0001290342620000051
wherein S isiAnd Si' respectively areIth data forwarding node CiThe current security level and the modified security level.
Another object of the present invention is to provide a wireless sensor network using the wireless sensor network routing method based on digital watermarking and energy equalization.
The routing method of the wireless sensor network based on the digital watermarking and the energy balance overcomes the defects that the energy balance of network nodes cannot be fully considered and the safe data transmission cannot be effectively realized in the conventional method, and further improves the comprehensive performance of the wireless sensor network. Firstly, generating a watermark and embedding the watermark into a data packet to be transmitted, then introducing a node quality evaluation degree to perform the optimization selection of a next hop node on the basis of comprehensively considering the distance, the safety degree and the residual energy, then judging whether the data packet is tampered in the transmission process by detecting the watermark in the received data packet, adaptively adjusting the safety degree of the node, and finally realizing the safe and effective transmission of data in the wireless sensor network. The invention improves the network life of the wireless sensor network, better realizes the optimized selection of the next hop node, has the advantages of node energy balance and data security authentication, has better overall performance than similar methods, and can be used for the routing selection of the wireless sensor network.
Compared with the prior art, the invention has the following advantages:
firstly, on the basis of comprehensively considering the distance, the safety degree and the residual energy, the invention introduces the node quality evaluation degree to carry out the optimization selection of the next hop node, overcomes the routing selection idea that the GPSR algorithm only takes the distance as the condition, and has the advantages of balanced node energy, long network service life and the like.
Secondly, the invention realizes the authentication of data tampering through the embedding and detection of digital watermarks in the data transmission process, and overcomes the problem that the security of a data packet transmission path cannot be calibrated by adopting a data reliability protection method based on check codes in a wireless sensor network (application No. 201510432030.4, application publication No. CN105072618A) by adopting a mode of self-adaptive adjustment of security degree, so that the invention has the advantages of the security authentication and transmission of data in the wireless sensor network.
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Fig. 1 is a flowchart of a wireless sensor network routing method based on digital watermarking and energy balancing according to an embodiment of the present invention.
Fig. 2 is a diagram of an operating area of a wireless sensor network according to an embodiment of the present invention.
Fig. 3 is a diagram of a data packet structure containing watermark according to an embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is further described in detail with reference to the following embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
The following detailed description of the principles of the invention is provided in connection with the accompanying drawings.
As shown in fig. 1, a wireless sensor network routing method based on digital watermarking and energy balancing according to an embodiment of the present invention includes the following steps:
s101: firstly, generating a watermark and embedding the watermark into a data packet to be transmitted, and then introducing a node quality evaluation degree to perform the optimal selection of a next hop node on the basis of comprehensively considering the distance, the safety degree and the residual energy;
s102: and then, whether the data packet is tampered in the transmission process is judged by detecting the watermark in the received data packet, and the node safety degree is adaptively adjusted, so that the safe and effective transmission of the data in the wireless sensor network is finally realized.
The application of the principles of the present invention will now be described in further detail with reference to specific embodiments.
Step 1, deploying wireless sensor network nodes.
As shown in fig. 2, the wireless sensor network working area includes 1 source node N, 1 destination node Sink and N intermediate nodes B ═ B1,B2,…,Bn}. Wherein, the source node N is responsible for generating a data packet containing the watermark, and the destination node Sink is negativeReceiving data packet in charge, intermediate node B ═ B1,B2,…,BnResponsible for transmitting the data packet containing the watermark generated by the source node N to the destination node Sink, wherein each intermediate node comprises three attributes of energy, safety degree and position, and the attribute of the ith intermediate node is respectively marked as energy Ei∈[0,0.2]Degree of safety Si∈[0,10]And position (x)i,yi)。
And 2, generating a data packet containing the watermark.
(2a) The source node N generates an original data packet data ═ { data ═ data1,data2,…,datai,…,data8Wherein the ith data item dataiConsists of a 28-bit binary sequence, i ═ 1,2, … 8;
(2b) generating 32-bit original watermark sequence w ═ w1,w2,…wi,…,w8W, wherein the ith watermark item wiConsists of a 4-bit binary sequence, i is 1,2, … 8;
(2c) the ith watermark item wiAppended to the ith data item dataiThen, obtaining the ith 32-bit watermark data item wdataiRepeating the process until obtaining a watermark-containing data packet wdata ═ wdata1,wdata2,…,wdatai,…, wdata 81,2, … 8, as shown in fig. 3.
And 3, selecting the neighbor nodes.
(3a) Selecting a source node N as a current node and marking as U;
(3b) according to the following formula, calculating the distance d from the current node U to the destination node SinkUSink：
Figure BDA0001290342620000071
Wherein (x)U,yU) As the position of the current node U, (x)Sink,ySink) The position of a destination node Sink;
(3c) according to the formula TR ═ π R2Calculating the transmission range TR of the current node U, and taking all intermediate nodes in the transmission range TR of the current node U as candidatesNeighbor nodes to obtain a candidate neighbor node set BM＝{BM 1,BM 2,…,BM i,…,BM mThe circumferential ratio is 3.14, and R is the transmission radius of the current node U, namely the maximum distance that the current node U can transmit data;
(3d) the ith candidate neighbor node B is calculated according to the following formulaM iDistance d to destination node SinkiAnd the distance d between the current node U and the destination node Sink is determinedUSinkThe comparison is carried out in such a way that,
Figure BDA0001290342620000072
if d isi＜dUSinkThen the ith candidate neighbor node BM iPut into neighbor node set B as neighbor nodeHWherein (x)i,yi) As candidate neighbor node BM iI is 1,2, … m, (x)Sink,ySink) The position of a destination node Sink;
(3e) repeating the step (3d) until the candidate neighbor node set B is processedM＝{BM 1,BM 2,…,BM i,…,BM mGet neighbor node set BH＝{BH 1,BH 2,…,BH i,…,BH h}。
And 4, forwarding the data packet containing the watermark.
(4a) The ith neighbor node B is calculated according to the following formulaH iDegree of quality evaluation Mi：
Figure BDA0001290342620000081
Wherein D isiIndicating the ith neighbor node BH iDistance to destination node Sink, EiIndicating the ith neighbor node BH iEnergy of SiIndicating the ith neighbor node BH iI is 1,2, … h, α, γ is constant and the value range is [0, 10%]；
(4b) Repeating the step (4a) until the neighbor node set B is calculatedH＝{BH 1,BH 2,…,BH i,…,BH hQuality assessment degree M ═ M of all nodes in } ═ M1,M2,…,Mi,…,Mh}；
(4c) Quality evaluation degree M ═ { M ═ M1,M2,…,Mi,…,MhSorting, selecting the neighbor node with the minimum quality evaluation degree as a next hop node, receiving the watermark-containing data packet wdata forwarded by the current node U, and recording the next hop node into a data forwarding node set C;
(4d) and (4) taking the next hop node as the current node U, and repeating the steps (3b) to (4c) until the watermark-containing data packet wdata is sent to the destination node Sink to obtain a received data packet rdata ═ { rdata ═ rdata1,rdata2,…,rdatai,…,rdata8C and a set of data forwarding nodes C ═ C1,C2,…,Ci,…,Cr}。
And 5, extracting and detecting the watermark.
(5a) The destination node Sink receives the data packet rdata from the receiving data packet { rdata ═ in turn1,rdata2,…,rdatai,…,rdata8Intercept the ith data item rdataiTo obtain a 32-bit received watermark sequence rw ═ rw1,rw2,…,rwi,…,rw8Wherein the ith receives the watermark item rwiConsists of a 4-bit binary sequence, i is 1,2, … 8;
(5b) the received watermark sequence rw ═ { rw is calculated according to the following equation1,rw2,…,rwi,…,rw8W and original watermark sequence w ═ w1,w2,…wi,…,w8Is error of, wherein
Figure BDA0001290342620000091
Which represents an exclusive-or operation, and,
Figure BDA0001290342620000092
(5c) if err is equal to 0, it indicates that the data packet is received correctly; on the contrary, if err is not equal to 0, it indicates that the data packet is tampered, and the data forwarding node set C obtained in step (4d) is modified in sequence according to the following formula, where C is { C ═ C1,C2,…,Ci,…,CrThe security of each node in the (f) network,
Figure BDA0001290342620000093
wherein S isiAnd Si' i-th data forwarding nodes C, respectivelyiThe current security level and the modified security level.
And 6, repeating the step 2 to the step 5 until any intermediate node in the wireless sensor network cannot find the next hop node meeting the conditions for data packet forwarding, and terminating.
The application effect of the present invention will be described in detail with reference to simulation experiments.
1. Experimental conditions and Experimental Explanation
The software environment of the invention is Opnet 10.5 developed by OPNET corporation of America. Some notations of this experiment are: the GPSR routing method is marked as GPSR, a method in a patent 'data reliability protection method based on check codes in a wireless sensor network' applied by Hunan university of science and technology is marked as CHEC, and the method is marked as ES.
2. Content of the experiment
Experiment 1: network life experiment
The concrete process of the invention for carrying out the network life test is as follows: firstly, a source node N generates an original data packet, then a watermark is embedded to obtain a data packet containing the watermark, then the next hop of nodes are calculated through a routing algorithm to carry out data packet forwarding, and finally the data packet containing the watermark is sent to a destination node Sink. In an experiment, a source node N continuously generates a data packet containing a watermark until any intermediate node in the wireless sensor network cannot find a next hop node meeting the conditions for data packet forwarding, and the data packet forwarding is terminated.
In the experiment, parameters α and gamma in the method are respectively taken as 2, 4.5 and 0.1, the node transmission radius R is 70 meters, the initial energy of the intermediate node is 0.2 watt, the intermediate node receives data once and consumes 356 microwatt of energy, and the intermediate node forwards the data once and consumes 454 microwatt of energy.
Table 1 shows the comparison of the network lifetime of the GPSR method and the method of the present invention in different network scales, respectively, where the network scale indicates the number of nodes in the wireless sensor network. From the experimental results, it can be seen that the network lifetime of the method of the present invention is longer than that of the GPSR method at both network scales.
TABLE 1 network lifetime (seconds) at different network scales
Figure BDA0001290342620000101
Experiment 2: safety test
The specific process of the safety experiment carried out by the invention is as follows: firstly, randomly setting a certain proportion of intermediate nodes as attack nodes under the current network scale; then, the source node N generates a data packet and selects a next hop node for forwarding by utilizing a routing algorithm, and when the attack node is selected as the next hop node, the data packet is tampered and then forwarded; and finally, the destination node Sink detects the received data packet to determine whether the data packet is tampered in the network transmission process.
The invention tests the performance of the CHEC method and the method of the invention by taking the packet loss rate PLR as a judgment basis, wherein the packet loss rate PLR is defined as:
Figure BDA0001290342620000102
wherein, RP refers to the number of data packets received by the destination node Sink in one experiment, and EP refers to the number of data packets tampered in one experiment. Under the condition that the network scale is fixed, the smaller the PLR is, the more the number of the data packets correctly received by the destination node Sink is, namely the better the security of the network is; conversely, the larger the PLR is, the fewer the number of correctly received data packets by the destination node Sink is, i.e. the worse the security of the network is.
In the experiment, the initial security of the intermediate node is 10, the network scale is 400, and table 2 shows packet loss rates at different attack node ratios. From the above experimental results, it can be seen that the packet loss ratios of the method of the present invention are all smaller than those of the CHEC method under different attack node ratios.
Table 2. packet loss ratio under different attack node ratios
Figure BDA0001290342620000111
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents and improvements made within the spirit and principles of the present invention are intended to be included within the scope of the present invention.

Claims (2)

1. A wireless sensor network routing method based on digital watermarking and energy balance is characterized in that firstly, watermarks are generated and embedded into a data packet to be transmitted, and then on the basis of comprehensively considering distance, safety degree and residual energy, a node quality evaluation degree is introduced to carry out optimization selection on a next hop node;
then, whether the data packet is tampered in the transmission process is judged through detecting the watermark in the received data packet, and the node safety degree is adjusted in a self-adaptive mode, and finally, safe and effective transmission of data in the wireless sensor network is achieved;
the wireless sensor network routing method based on digital watermarking and energy balancing comprises the following steps:
step one, deploying wireless sensor network nodes: the wireless sensor network working area comprises 1 source node N, 1 destination node Sink and N intermediate nodes B ═ B1,B2,…,Bn}; the source node N is responsible for generating a data packet containing a watermark, the destination node Sink is responsible for receiving the data packet, and the intermediate node B is { B ═ B1,B2,…,BnResponsible for transmitting the data packet containing the watermark generated by the source node N to the destination node Sink, wherein each intermediate node comprises three attributes of energy, safety degree and position, and the attribute of the ith intermediate node is respectively marked as energy Ei∈[0,0.2]Degree of safety Si∈[0,10]And position (x)i,yi)；
Step two, generating a data packet containing the watermark: firstly, a source node N generates an original data packet data ═ { data ═ data1,data2,…,datai,…,data8Wherein the ith data item dataiConsists of a 28-bit binary sequence; then generating 32-bit original watermark sequence w ═ w1,w2,…wi,…,w8W, wherein the ith watermark item wiConsists of a 4-bit binary sequence; thirdly, the ith watermark item wiAppended to the ith data item dataiThen, obtaining the ith 32-bit watermark data item wdataiAnd finally, repeating the process until a watermark-containing data packet wdata ═ wdata is obtained1,wdata2,…,wdatai,…,wdata8}，i＝1,2,…8；
Step three, selecting a neighbor node;
step four, forwarding the data packet containing the watermark;
step five, extracting and detecting the watermark;
step six, repeating the step two to the step five until any intermediate node in the wireless sensor network cannot find the next hop node meeting the conditions for data packet forwarding, and terminating;
the selecting the neighbor node specifically includes:
(3a) selecting a source node N as a current node and marking as U;
(3b) according to the following formula, calculating the distance d from the current node U to the destination node SinkUSink：
Figure FDA0002411601370000021
Wherein (x)U,yU) As the position of the current node U, (x)Sink,ySink) The position of a destination node Sink;
(3c) according to the formula TR ═ π R2Calculating the transmission range TR of the current node U, and taking all intermediate nodes in the transmission range TR of the current node U as candidate neighbor nodes to obtain a candidate neighbor node set BM＝{BM 1,BM 2,…,BM i,…,BM mThe circumferential ratio is 3.14, and R is the transmission radius of the current node U, namely the maximum distance that the current node U can transmit data;
(3d) the ith candidate neighbor node B is calculated according to the following formulaM iDistance d to destination node SinkiAnd the distance d between the current node U and the destination node Sink is determinedUSinkThe comparison is carried out in such a way that,
Figure FDA0002411601370000022
if d isi＜dUSinkThen the ith candidate neighbor node BM iPut into neighbor node set B as neighbor nodeHWherein (x)i,yi) As candidate neighbor node BM iI is 1,2, … m, (x)Sink,ySink) The position of a destination node Sink;
(3e) repeating the step (3d) until the candidate neighbor node set B is processedM＝{BM 1,BM 2,…,BM i,…,BM mGet neighbor node set BH＝{BH 1,BH 2,…,BH i,…,BH h}；
The forwarding of the watermark-containing data packet specifically comprises:
(4a) the ith neighbor node B is calculated according to the following formulaH iDegree of quality evaluation Mi：
Figure FDA0002411601370000023
Wherein D isiIndicating the ith neighbor node BH iDistance to destination node Sink, EiIndicating the ith neighbor node BH iEnergy of SiIndicating the ith neighbor node BH iI is 1,2, … h, α, γ is constant and the value range is [0, 10%]；
(4b) Repeating the step (4a) until the neighbor node set B is calculatedH＝{BH 1,BH 2,…,BH i,…,BH hQuality assessment degree M ═ M of all nodes in } ═ M1,M2,…,Mi,…,Mh}；
(4c) Quality evaluation degree M ═ { M ═ M1,M2,…,Mi,…,MhSorting, selecting the neighbor node with the minimum quality evaluation degree as a next hop node, receiving the watermark-containing data packet wdata forwarded by the current node U, and recording the next hop node into a data forwarding node set C;
(4d) and (4) taking the next hop node as the current node U, and repeating the steps (3b) to (4c) until the watermark-containing data packet wdata is sent to the destination node Sink to obtain a received data packet rdata ═ { rdata ═ rdata1,rdata2,…,rdatai,…,rdata8C and a set of data forwarding nodes C ═ C1,C2,…,Ci,…,Cr}。
2. The wireless sensor network routing method based on digital watermarking and energy balancing according to claim 1, wherein the watermark extraction and detection specifically includes:
(5a) the destination node Sink receives the data packet rdata from the receiving data packet { rdata ═ in turn1,rdata2,…,rdatai,…,rdata8Intercept the ith data item rdataiTo obtain a 32-bit received watermark sequence rw ═ rw1,rw2,…,rwi,…,rw8Wherein the ith receives the watermark item rwiConsists of a 4-bit binary sequence, i is 1,2, … 8;
(5b) the received watermark sequence rw ═ { rw is calculated according to the following equation1,rw2,…,rwi,…,rw8W and original watermark sequence w ═ w1,w2,…wi,…,w8Error of wherein
Figure FDA0002411601370000031
Which represents an exclusive-or operation, and,
Figure FDA0002411601370000032
(5c) if err is equal to 0, it indicates that the data packet is received correctly; on the contrary, if err is not equal to 0, it indicates that the data packet is tampered, and the data forwarding node set C obtained in step (4d) is modified in sequence according to the following formula, where C is { C ═ C1,C2,…,Ci,…,CrThe security of each node in the (f) network,
Figure FDA0002411601370000033
wherein S isiAnd Si' i-th data forwarding nodes C, respectivelyiThe current security level and the modified security level.
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