CN107995598B - Target tracking method based on transmission tree in wireless sensor network - Google Patents
Target tracking method based on transmission tree in wireless sensor network Download PDFInfo
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Abstract
The invention discloses a target tracking method based on a transmission tree in a wireless sensor network, when a target is close enough to the boundary of a coverage area, a node adding algorithm is executed to form an initial tree, and one node close to the target is selected as a temporary root; each node perceiving the target uses a fuzzy inference rule to find the fuzzy distance between the node and the target; nodes entering the 'far' area from the 'very far' area execute a node joining algorithm, and then the transmission tree is reconfigured; to get the root as close to the target as possible, the algorithm selects a node from the "very close" region as the permanent root; will broadcast its status when the temporary root is far from the target and changes area; this information is broadcast when declared as a new temporary root, each existing node updates its database, and the old temporary root sets the new root as its parent. The transmission tree is established around the target in the coverage area, so that 100% coverage can be realized, and the accuracy of information acquisition is improved.
Description
Technical Field
The invention belongs to the field of wireless sensor networks, and relates to a target tracking method based on a transmission tree in a wireless sensor network.
Background
Wireless Sensor Networks (WSNs) are composed of a large number of cheap miniature Sensor nodes deployed in a coverage area, the nodes have communication capacity and computing capacity, a self-organizing network system is formed in a multi-hop Wireless communication mode, information of the environment or a monitored object in the coverage area is sensed, collected and processed in real time, and the processed information is transmitted to interested network terminal users. As an emerging hot spot field, the wireless sensor network is increasingly receiving high attention from the global academic world and the industrial world with ITs advanced concept and wide application prospect, and is regarded as one of IT technologies which will have great influence on the human life style in the 21 st century after the internet, and the wide application prospect thereof has attracted wide attention from the world, so that many derived technical problems also become hot spots of domestic and foreign research.
Very important application areas of WSNs are surveillance, habitat detection, etc., deploying networks in the coverage area to track the movement of objects. One method of tracking targets is to use a delivery tree. The nodes sensing the target cooperate with each other to form a rooted tree structure around the target. The tree structure will be reconfigured as the target moves. This tree structure always moves with the object within the coverage area and is therefore called a delivery tree. New nodes are added to the tree and some old nodes leave the tree as the target moves. Any node in the tree does not send the collected data directly to the base station, but to the root node. Because all nodes in the tree are perceiving the same target, there is a large amount of data redundancy in the collected data.
At present, in a target tracking algorithm based on a transmission tree, 100% tree coverage can be rarely achieved, nodes are continuously added and removed along with the movement of the transmission tree, and the transmission tree needs to be continuously constructed and reconfigured, so that the energy loss of a wireless sensor network is increased, and the service life of the whole network is shortened.
Disclosure of Invention
Aiming at the problems in the prior art, the invention provides a moving target tracking method based on a dynamic transmission tree in a wireless sensor network, which utilizes a fuzzy perception model to realize the expansion and deletion of the transmission tree and the reconfiguration of the tree, and has 100 percent of tree coverage rate and low energy consumption.
In order to achieve the above object, the technical solution of the present invention is a target tracking method based on a transmission tree in a wireless sensor network, comprising the following steps:
1) when the target is close enough to the boundary of the coverage area, some nodes along the boundary or close to the boundary start to monitor the target, the nodes execute a node adding algorithm to form an initial tree, and one node close to the target is selected as a temporary root;
2) each node perceiving the target uses a fuzzy inference rule to find the fuzzy distance between the node and the target, each node in the wireless sensor network must belong to one of fuzzy areas, depending on the fuzzy distance between the node and the target, and if any node exceeds the range of the target, the node belongs to a 'very far' area;
3) nodes entering the "far" area from the "very far" area perform a node join algorithm, and similarly nodes moving from the "far" area to the "very far" area will become candidate nodes that need to be removed from the tree, and perform a node prune algorithm, the delivery tree being reconfigured whenever these nodes change their fuzzy area;
4) to get the root as close to the target as possible, the algorithm selects one node from the "very near" region as the permanent root, if there is more than one node in the "very near" region, the node with the highest rank will be selected as the permanent root, if there is no node in the "very near" region, the node from the nearest region will be selected as the temporary root;
5) will broadcast its status when the temporary root is far from the target and changes area;
6) when a node in the tree moves to a target and changes the fuzzy area, checking whether the fuzzy distance is better than the temporary root, if so, declaring the node as a new temporary root and broadcasting the information, and after receiving the broadcast, each existing node updates the database thereof, and the old temporary root sets the new root as a parent node thereof.
Further, the node adding algorithm comprises the following steps:
1) nodes moving from a "very far" area to a "far" area are candidates for joining the delivery tree, and these nodes first broadcast a node join message containing their ID and rank to find their parent and wait for t1Time;
2) when a tree node receives a node joining message, a node accepting message is immediately sent to a sender, if the tree exists, the joining node receives at least one node accepting message from the tree node, a first sender of the message is used as a parent node of the joining node, a child node message containing an ID of the joining node is sent to the parent node, and when the child node message is received, the tree node saves the sender as a child node of the tree node;
3) if the delivery tree does not exist, join node niAt t1J-1 node join messages are received within time, the levels of other nodes in those messages are compared with the level of the node itself, and the node itself is selected as a temporary root under the following two conditions: i) if node niHas the largest grade; ii) if the nodes have the minimum ID at the same level, otherwise, setting the other nodes with the maximum level or the minimum ID as parent nodes thereof and a temporary root of the tree;
4) if node n is joinediAt t1No message is received within time, i.e. the tree does not exist and there is only one joining node, then selects itself as the temporary root and starts to form the tree.
The node deletion algorithm comprises the following steps:
1) moving a node moving from a "far" region to a "very far" region out of the delivery tree as the target moves, removing a tree node from the delivery tree if its remaining battery power falls below a threshold, sending a node leave message containing all its child node IDs to its parent node and sending a new parent node message containing all its parent node IDs to all its child nodes;
2) when receiving the node leaving message, the father node deletes the corresponding node from the child node list;
3) when a node receives a new father node message from a father node of the node, replacing the father node with a new father node identified by the father node ID in the message;
4) when the temporary root node moves from a 'far' area to a 'very far' area or the residual battery power of the temporary root node can be reduced below a critical value, the temporary root sends a sub-root message to all the sub-nodes of the temporary root node;
5) nodes receiving the child root message begin election of the new temporary root, each such node broadcasts a node data message containing its ID and rank, and then waits for t4Time during which node niD node data messages may be received, then node niCompares its rank with the ranks of other nodes in the D node data messages if node niFinding that its rank is maximum or the same as the ranks of other nodes but its ID is minimum, it declares itself a new temporary root and broadcasts a root election message to announce the election, otherwise, node niThe other nodes with the highest rank are set as the new root and its parent.
The root node selection algorithm comprises the following steps:
1) selecting a permanent root from the nodes in the "very near" area, the permanent root election procedure being triggered when the permanent root has just left the "very near" area or its battery energy has dropped below a critical level, the root ready to leave broadcasting a root leave message containing a root ID, a root type and a root area;
2) if there are no nodes in the tree, the root that is ready to leave will not receive any messages and it will continue as a temporary root;
3) if there are nodes present in the "very close" area, a node acceptance message is returned to the sender, such that the root receives N node acceptance messages and sets the first sender as its parent;
4) nodes in the 'very close' region start election of a new root after receiving a root away message, broadcast a node data message containing the node ID and its rank, and after receiving D node data messages, each node n in the 'very close' regioniFinding the node with the maximum grade from the message, and comparing with the grade of the node n if the node niIs greater than nmaxIf the level is the same, if the node n is the same, the node itself is taken as a new permanent root and broadcasts a message of root changeiIf the ID is minimum, the node itself is also selected as a new permanent root, otherwise, the node with the maximum level is selected as a new root and a father node.
The temporary node algorithm comprises the following steps:
1) broadcasting a root zone change message containing the ID, type and current zone of the root when the temporary root is far away from the target and changes the fuzzy zone thereof;
2) any node receives the message, compares whether the self area is better than the broadcast area, if yes, the node sends a root change message containing the ID and the level of the node to the temporary root;
3) at t2After a time, the temporary root may receive "C" messages in which the temporary root finds the node with the largest rank, finds the node with the smallest ID if the rank is the largest, selects the node as the new temporary root, and broadcasts a root change message containing the ID, area, and type of the new temporary root, and sets the new root as its parent node;
4) any tree node updates the root information after receiving the root change message, and the new root node changes the state of the new root node into a temporary root.
The "very close" region node algorithm described above comprises the following steps:
1) when tree node niWhen entering a VN zone from an N zone, it checks the type of the existing root, sets the root as its parent node if the existing root is a permanent root, and sends a root join message containing its ID to the root node, sets the sender as its child node when the permanent root receives the root join message, on the other hand, if the root is temporary, node N is a temporary oneiSetting itself as a new permanent root, and broadcasting a root change message containing the ID of itself, the type of the root, and the area thereof;
2) when the old temporary root receives the root change message, setting the sending node as a parent node of the sending node and updating the root information;
3) except for node niAll tree nodes and old roots, upon receiving the root change message, update their databases with the root information in the message.
The invention further provides a system model of the wireless sensor network used in the target tracking method based on the transmission tree in the wireless sensor network, and the wireless sensor network is assumed to be composed of n sensor nodes uniformly deployed in one area, and the sensor nodes are set to be niThe related sensing node sequence is V ═ n1,n2,…,ni,…,nNAnd f, wherein | V | ═ N, the sensor nodes and the underlying network model are as follows:
1) the sensors are randomly deployed on a certain area;
2) a base station, namely a data receiving end, is arranged at a position far away from the square sensing area;
3) both the sensors and the base station are fixed after deployment;
4) all nodes are homogeneous and have the same function;
5) each node is assigned a unique identifier;
6) nodes can change their transmission range by changing transmission power as needed, i.e., nodes have variable communication radii;
7) assuming the maximum communication range r reachable by any nodecGreater than the monitoring range rs；
8) Nodes use GPS devices or run some algorithm to obtain their precise location information;
9) the node may use power control to vary the transmission power, the value of which depends on the distance to the receiving end;
10) the links are symmetric and the nodes can use the corresponding fuzzy inference system to calculate the approximate distance to another node and the sink node according to the received signal strength.
Further, preferably, rc≤2rs。
Compared with the prior art, the invention has the advantages and beneficial effects that:
1) the algorithm of the present invention begins tracking and capturing when the target is near the coverage area and is not yet within the coverage area. This ensures that the target can be detected right from the beginning.
2) The transmission tree of the present invention is built around the objects within the coverage area. Sensor nodes within the target range are contained in the transmission tree, 100% coverage is achieved, and accuracy of information acquisition is improved.
3) The invention uses mature fuzzy region model, and the reconfiguration of transmission tree is reduced. The use of the fuzzy area concept allows the addition and deletion of nodes to be localized, thereby reducing the energy consumption for the construction and reconfiguration of the tree.
4) In the invention, each father node uses data aggregation and compression technology to reduce the data volume to be transmitted and improve the quality of information, so that the root node receives very concise information from the tree. Thereby the energy loss of data transmission is greatly reduced.
Drawings
FIG. 1 is a specific flow of a node adding algorithm in the target tracking method based on a dynamic delivery tree according to the present invention;
FIG. 2 is a specific flow of a node deletion algorithm;
FIG. 3 is a detailed flow of a root node selection algorithm;
FIG. 4 is a detailed flow of a temporary node algorithm;
fig. 5 is a specific flow of nodes in the VN area.
Detailed Description
The present invention will now be described in further detail with reference to the accompanying drawings. The invention firstly provides a system model of a wireless sensor network. The wireless sensor network is assumed to be composed of n sensor nodes uniformly deployed in one area, and the sensor nodes are set to be niThe related sensing node sequence is V ═ n1,n2,…,ni,…,nNN, where | V | ═ N. The sensor node and underlying network models are as follows:
1) the sensors are randomly deployed on a certain area;
2) a base station (namely a data receiving end) is arranged at a position far away from the square sensing area;
3) both the sensors and the base station are fixed after deployment;
4) all nodes are homogeneous and have the same function;
5) each node is assigned a unique Identifier (ID);
6) nodes can change their transmission range by changing transmission power as needed, i.e., nodes have variable communication radii;
7) assuming the maximum communication range (r) reachable by any nodec) Greater than the monitoring range (r)s). More specifically, rc≤2rs；
8) Nodes use GPS devices or run some algorithm to obtain their precise location information;
9) the node may use power control to vary the transmission power, the value of which depends on the distance to the receiving end;
10) the links are symmetric and the nodes can use the corresponding fuzzy inference system to calculate the approximate distance to another node and the sink node according to the received signal strength.
In order to reduce the energy consumption of transmission tree reconfiguration, the invention provides a mature fuzzy perception model. Five fuzzy areas are formed around the target according to the signal strength emitted by the target. These fuzzy areas are:
1) vn (front near) area, area very close to where the target signal is very strong;
2) an N (near) region close to the target and having a strong signal;
3) an m (modified) area, an area having a medium distance to a target and a medium signal intensity;
4) f (far) region, region far from target and weak signal;
5) the vf (very far) area is an area which is very far away from the target and has very weak signals, and the sensor node located in the area can not detect the target any more.
The invention provides a target tracking method in a wireless sensor network on the basis of a fuzzy perception model. The method first specifies three operations of the nodes of the transmission tree: 1) connecting a new node entering the range of the target (the target can be monitored weakly), 2) deleting the node which exceeds the range of the target (the target cannot be monitored), 3) adjusting the existing node and reconfiguring the tree to ensure that the root of the tree is kept as close to the target as possible.
The steps of forming the dynamic transmission tree for realizing the target tracking are as follows:
1) when the object is close enough to the boundary of the coverage area, some nodes along or near the boundary start to monitor the object. The nodes perform a node joining algorithm to form an initial tree. One of the nodes near the target is selected as the temporary root.
2) Each target-aware node uses fuzzy inference rules to find its fuzzy distance from the target. Each node in the wireless sensor network must belong to one of the fuzzy areas depending on their fuzzy distance from the target. If any node is out of range of the target, then the node belongs to a "very far" area.
3) Node joining algorithm executed from a node that enters the "far" (F) zone (just entering the target's monitoring range) from the "very far" (VF) zone. Similarly, a node that moves from a "far" (F) region to a "very far" (VF) region (just short of the unmonitorable target) will become a candidate node that needs to be deleted from the tree and a node pruning algorithm is performed. The delivery tree is reconfigured whenever the nodes change their fuzzy area.
4) To bring the root as close as possible to the target, the algorithm selects one node from the VN area as the root (permanent). If there is more than one node in the VN area, the node with the highest rank will be selected as the permanent root. If no node is present in the VN area, the node from the nearest area will be selected as the root (temporary).
5) The status of the temporary root will be broadcast when it is far away from the target and changes the area (temporary or permanent, its fuzzy distance, etc.).
6) When a node in the tree moves to a target and changes the fuzzy area, it is checked whether its fuzzy distance is better than the temporary root. If so, declare it as a new temporary root and broadcast this information. Upon receiving this broadcast, each existing node updates its database, and the old temporary root sets the new root as its parent.
The target tracking method based on the dynamic transmission tree adopts node fuzzy grade division. Each node within the coverage area periodically calculates its rank by the fuzzy inference rule defined in table 1. The rank calculation depends on the battery remaining energy. When calculating the grade, the node reads the battery state, sets the battery residual energy, and finds the corresponding grade by using the rule.
TABLE 1 node Battery remaining energy and corresponding grade
| Residual energy of battery | Grade |
| Zero | Zero |
| Chinese character shao (a Chinese character of 'shao') | Is low in |
| Medium and high grade | In |
| Multiple purpose | Height of |
| A plurality of | Is very high |
| Is full of | Highest point of the design |
The node adding algorithm of the transmission tree is shown in fig. 1, and comprises the following specific steps:
1) the node moved from the VF area to the F area is taken as a candidate node to join the delivery tree. These nodes first broadcast a node join message containing their ID and rank to find their parent and wait for t1Time.
2) When the tree node receives the node join message, a node acceptance message is immediately sent to the sender. If the tree exists, the joining node receives at least one node acceptance message from the tree node, takes the first sender of the message as its parent node and sends a child node message containing its ID to the parent node. Upon receiving a child node message, the tree node saves the sender as one of its child nodes.
3) If the delivery tree does not exist, join node niAt t1J-1 node join messages (from other J-1 join nodes) are received in time, the levels of other nodes in those messages are compared with the level of the node itself, and the node itself is selected as a temporary root in the following two cases: i) if node niHas the largest grade; ii) if the nodes are of the same rank, have the smallest ID. Otherwise, the other node with the largest rank or smallest ID is set as its parent and the temporary root of the tree.
4) If node n is joinediAt t1No message is received within time (tree does not exist and only one joining node), then selects itself as the temporary root and begins to form the tree.
The node deletion algorithm of the transmission tree of the present invention is shown in fig. 2, and comprises the following specific steps:
1) when the target moves, the node that moved from the F region to the VF region is removed from the delivery tree. If the remaining battery power of the tree node falls below a critical value, it is removed from the transmission tree. A node leaving from the delivery tree sends a node leaving message containing the IDs of all its children nodes to its parent node and a new parent node message containing the ID of its parent node to all its children nodes.
2) The parent node, upon receiving the node leave message, deletes the corresponding node (identified by the node ID in the message) from its child node list.
3) When a node receives a new parent message from its parent, the parent is replaced with the new parent identified by the parent ID in the message.
4) When the temporary root node itself moves from the F area to the VF area or its remaining battery power may drop below a critical value, the temporary root sends a child root message to all its child nodes.
5) The node that receives the child root message starts the election of the new temporary root. Each such node broadcasts a broadcast containing its ID and rankThen waits for t4Time. During this time, node niD node data messages may be received. Then, the node niIts rank is compared with the ranks of other nodes in the D node data messages. If node niFinding that its rank is the largest or the same as the ranks of other nodes but its ID is the smallest, it declares itself a new temporary root and broadcasts a root election message to announce the election. Otherwise, node niThe other nodes with the highest rank are set as the new root and its parent.
The root node selection algorithm of the transmission tree of the present invention is shown in fig. 3, and comprises the following specific steps:
1) the root is selected from the nodes of the VN area (permanent). The permanent root election procedure is triggered when the permanent root has just left the VN area or its battery energy drops below a critical level. The root-ready to leave broadcast a root-leave message containing a root ID, a root type, and a root zone.
2) If there are no nodes in the tree, the root that is ready to leave will not receive any messages and it will continue as a temporary root.
3) If there are nodes present in the VN area, a node acceptance message is sent back to the sender, so that the root receives N node acceptance messages and sets the first sender as its parent.
4) Nodes in the VN domain start election of a new root after receiving the root leave message, broadcasting a node data message containing the node ID and its rank. After receiving D node data messages, each node n in the VN areaiThe node with the highest rank is found from the message and compared with its own rank. If node niIs greater than nmaxItself acts as a new permanent root and broadcasts a message of root change. If the grades are the same, if the node niIf the ID of (c) is minimal, then it also selects itself as the new permanent root. Otherwise, selecting the node with the maximum grade as a new root node and a new father node.
The temporary node algorithm of the transmission tree is shown in fig. 4, and comprises the following specific steps:
1) when the temporary root moves away from the target and changes its fuzzy area, a root area change message is broadcast containing the ID, type and current area of the root.
2) Any node receives the message and compares whether its own area is better than it is broadcasted. If so, the node sends a root change message containing its ID and rank to the temporary root.
3) At t2After time, the temporary root may receive "C" such messages. In these "C" messages, the temporary root finds the node with the largest rank, and if the rank is the same as the largest, finds the node with the smallest ID. The node is selected as a new temporary root and a root change message is broadcast containing the ID, area and type of the new temporary root and the new root is set as its parent.
4) Any tree node updates the root information after receiving the root change message, and the new root node changes the state of the new root node into a temporary root.
The VN area node algorithm of the delivery tree of the present invention is shown in fig. 5, and the specific steps are as follows:
1) when tree node niWhen entering a VN area from an N area, it checks the type of the existing root. If the existing root is a permanent root, the root is set as its parent (all nodes in the VN area are directly connected to the root) and a root join message containing its ID is sent to the root node. When the permanent root receives the root join message, the sender is set as its child node. On the other hand, if the root is temporary, node niSets itself as a new persistent root and broadcasts a root change message containing its ID, root type (persistent) and its zone (VN).
2) When the old temporary root receives such a root change message, the sending node is set as its parent node and the root information is updated.
3) All tree nodes (except n)i) And when the old root receives the root change message, updating its database with the root information in the message.
Claims (7)
1. A target tracking method based on a transmission tree in a wireless sensor network is characterized by comprising the following steps:
1) when the target is close enough to the boundary of the coverage area, some nodes along the boundary or close to the boundary start to monitor the target, the nodes execute a node adding algorithm to form an initial tree, and one node close to the target is selected as a temporary root;
2) each node perceiving the target uses a fuzzy inference rule to find the fuzzy distance between the node and the target, each node in the wireless sensor network must belong to one of fuzzy areas, depending on the fuzzy distance between the node and the target, and if any node exceeds the range of the target, the node belongs to a 'very far' area;
3) nodes entering the "far" area from the "very far" area perform a node join algorithm, and similarly nodes moving from the "far" area to the "very far" area will become candidate nodes that need to be removed from the tree, and perform a node prune algorithm, the delivery tree being reconfigured whenever these nodes change their fuzzy area;
4) to get the root as close to the target as possible, the algorithm selects one node from the "very near" region as the permanent root, if there is more than one node in the "very near" region, the node with the highest rank will be selected as the permanent root, if there is no node in the "very near" region, the node from the nearest region will be selected as the temporary root;
5) will broadcast its status when the temporary root is far from the target and changes area;
6) when the nodes in the tree move to the target and change the fuzzy area, checking whether the fuzzy distance is better than the temporary root, if so, declaring the nodes as new temporary roots and broadcasting the information, and after receiving the broadcast, updating the database of each existing node, and setting the new roots as parent nodes of the old temporary roots;
the node joining algorithm comprises the following steps:
1) nodes moving from "very far" to "far" regions are candidates for joining the delivery tree, and these nodes first broadcast a node join message containing their ID and rank to find themFather node waits for t1Time;
2) when a tree node receives a node joining message, a node accepting message is immediately sent to a sender, if the tree exists, the joining node receives at least one node accepting message from the tree node, a first sender of the message is used as a parent node of the joining node, a child node message containing an ID of the joining node is sent to the parent node, and when the child node message is received, the tree node saves the sender as a child node of the tree node;
3) if the delivery tree does not exist, join node niAt t1J-1 node join messages are received within time, the levels of other nodes in those messages are compared with the level of the node itself, and the node itself is selected as a temporary root under the following two conditions: i) if node niHas the largest grade; ii) if the nodes have the minimum ID at the same level, otherwise, setting the other nodes with the maximum level or the minimum ID as parent nodes thereof and a temporary root of the tree;
4) if node n is joinediAt t1No message is received within time, i.e. the tree does not exist and there is only one joining node, then selects itself as the temporary root and starts to form the tree.
2. The method of claim 1, wherein the node deletion algorithm comprises the steps of:
1) moving a node moving from a "far" region to a "very far" region out of the delivery tree as the target moves, removing a tree node from the delivery tree if its remaining battery power falls below a threshold, sending a node leave message containing all its child node IDs to its parent node and sending a new parent node message containing all its parent node IDs to all its child nodes;
2) when receiving the node leaving message, the father node deletes the corresponding node from the child node list;
3) when a node receives a new father node message from a father node of the node, replacing the father node with a new father node identified by the father node ID in the message;
4) when the temporary root node moves from a 'far' area to a 'very far' area or the residual battery power of the temporary root node can be reduced below a critical value, the temporary root sends a sub-root message to all the sub-nodes of the temporary root node;
5) nodes receiving the child root message begin election of the new temporary root, each such node broadcasts a node data message containing its ID and rank, and then waits for t4Time during which node niD node data messages may be received, then node niCompares its rank with the ranks of other nodes in the D node data messages if node niFinding that its rank is maximum or the same as the ranks of other nodes but its ID is minimum, it declares itself a new temporary root and broadcasts a root election message to announce the election, otherwise, node niThe other nodes with the highest rank are set as the new root and its parent.
3. The method of claim 2, wherein the root node selection algorithm comprises the following steps:
1) selecting a permanent root from the nodes in the "very near" area, the permanent root election procedure being triggered when the permanent root has just left the "very near" area or its battery energy has dropped below a critical level, the root ready to leave broadcasting a root leave message containing a root ID, a root type and a root area;
2) if there are no nodes in the tree, the root that is ready to leave will not receive any messages and it will continue as a temporary root;
3) if there are nodes present in the "very close" area, a node acceptance message is returned to the sender, such that the root receives N node acceptance messages and sets the first sender as its parent;
4) nodes in the 'very close' domain start election of a new root after receiving a root away message, broadcast a node data message containing the node ID and its rank, receive DAfter the node data message, each node n in the "very close" regioniFinding the node with the maximum grade from the message, and comparing with the grade of the node n if the node niIs greater than nmaxIf the level is the same, if the node n is the same, the node itself is taken as a new permanent root and broadcasts a message of root changeiIf the ID is minimum, the node itself is also selected as a new permanent root, otherwise, the node with the maximum level is selected as a new root and a father node.
4. The method of claim 1, wherein the temporary node algorithm comprises the following steps:
1) broadcasting a root zone change message containing the ID, type and current zone of the root when the temporary root is far away from the target and changes the fuzzy zone thereof;
2) any node receives the message, compares whether the self area is better than the broadcast area, if yes, the node sends a root change message containing the ID and the level of the node to the temporary root;
3) at t2After a time, the temporary root may receive "C" messages in which the temporary root finds the node with the largest rank, finds the node with the smallest ID if the rank is the largest, selects the node as the new temporary root, and broadcasts a root change message containing the ID, area, and type of the new temporary root, and sets the new root as its parent node;
4) any tree node updates the root information after receiving the root change message, and the new root node changes the state of the new root node into a temporary root.
5. The method of claim 1, wherein the "very close" area node algorithm comprises the following steps:
1) when tree node niWhen entering a VN area from an N area, it checks the type of the existing root, sets the root as its parent node if the existing root is a permanent root, and includes its IDThe root join message is sent to the root node, which sets the sender as its child node when the permanent root receives the root join message, on the other hand, if the root is temporary, node niSetting itself as a new permanent root, and broadcasting a root change message containing the ID of itself, the type of the root, and the area thereof;
2) when the old temporary root receives the root change message, setting the sending node as a parent node of the sending node and updating the root information;
3) except that niWhen all tree nodes and old roots receive the root change message, the database is updated by the root information in the message.
6. A system model of a wireless sensor network used in the target tracking method based on the delivery tree in the wireless sensor network according to claim 1, assuming that the wireless sensor network is composed of n sensor nodes uniformly deployed in a region, the sensor nodes are set to be niThe related sensing node sequence is V ═ n1,n2,…,ni,…,nNN, where | V | ═ N, N denotes the area, characterized by the sensor nodes and underlying network models as follows:
1) the sensors are randomly deployed on a certain area;
2) a base station, namely a data receiving end, is arranged at a position far away from the square sensing area;
3) both the sensors and the base station are fixed after deployment;
4) all nodes are homogeneous and have the same function;
5) each node is assigned a unique identifier;
6) nodes can change their transmission range by changing transmission power as needed, i.e., nodes have variable communication radii;
7) assuming the maximum communication range r reachable by any nodecGreater than the monitoring range rs；
8) Nodes use GPS devices or run some algorithm to obtain their precise location information;
9) the node may use power control to vary the transmission power, the value of which depends on the distance to the receiving end;
10) the links are symmetric and the nodes can use the corresponding fuzzy inference system to calculate the approximate distance to another node and the sink node according to the received signal strength.
7. System model of a wireless sensor network according to claim 6, characterized in that rc≤2rs。
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