CN108337711B - Mobile sensing data routing method of mobile wireless sensor network - Google Patents

Mobile sensing data routing method of mobile wireless sensor network Download PDF

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CN108337711B
CN108337711B CN201810244874.XA CN201810244874A CN108337711B CN 108337711 B CN108337711 B CN 108337711B CN 201810244874 A CN201810244874 A CN 201810244874A CN 108337711 B CN108337711 B CN 108337711B
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CN108337711A (en
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陈友荣
万锦昊
任条娟
刘半藤
杨海波
许森
苏子漪
祝云凯
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Zhejiang Shuren University
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    • 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
    • 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
    • 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
    • H04W84/00—Network topologies
    • H04W84/18—Self-organising networks, e.g. ad-hoc networks or sensor networks
    • 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 relates to a mobile sensing data routing method of a mobile wireless sensor network, which comprises a static Sink node data collection step and a mobile sensor node data routing step. By adopting the method, when the mobile sensing node is near the Sink node and the path of the Sink node can be found, the data is sent to the Sink node through the aggregation tree in a multi-hop mode; when the mobile sensing node cannot find a path to the Sink node, analyzing whether the Sink node is known or not, providing different transmission probability calculation formulas and methods for relaying data of other mobile sensing nodes, and sending the data to the Sink node through opportunistic routing; the invention solves the problem of data reporting of the mobile sensing node, improves the data transmission quantity, reduces the data redundancy rate and the node energy consumption, and reduces the system cost of the method application.

Description

Mobile sensing data routing method of mobile wireless sensor network
Technical Field
The invention relates to the technical field of communication, in particular to a mobile sensing data routing method of a mobile wireless sensor network.
Background
In some wireless sensor networks for real applications, all moving sensor nodes need to be considered, for example, in monitoring of wild animals, the sensor nodes are installed on animals to collect data thereof and analyze behaviors and habits thereof. In volcano, earthquake and severe environment with toxic gas, the sensing node is arranged on a mobile trolley or an aircraft, and is used for collecting environmental data and reporting to the sink node. However, the static wireless sensor network considers the static situation of the sensor node, so that on the basis of the static wireless sensor network, a Mobile Wireless Sensor Network (MWSNs) needs to be further developed. The MWSNs are composed of sensing nodes and sink nodes which move in a monitoring area, and the movement of the sensing nodes and the sink nodes is realized by installing moving elements capable of controlling the positions of the MWSNs or moving objects such as vehicles, animals, robots and the like, so that the MWSNs are a new wireless sensing network. At present, MWSNs develop rapidly in the fields of environmental monitoring, intelligent medical treatment and the like, and also attract extensive attention in academic circles and industrial circles.
In MWSNs, the sensing nodes are small, with limited on-board storage, processing, power, and communication capabilities. Therefore, there is a need for an efficient method to use limited resources, reduce node energy consumption, extend network lifetime, and increase data transmission rates. Among them, routing is one of effective methods for reducing communication energy consumption and prolonging network lifetime. Therefore, some scholars research the data routing method of the mobile wireless sensor network and obtain certain results. For example, Jinman Jung et al propose a mobility-aware efficient routing method considering static sensor nodes, mobile sensor nodes, and static Sink nodes. Adel a. ahmed et al propose a real-time routing protocol without node location information, i.e., a Sink node broadcast control packet (CCP), which allows each sensing node to calculate a weight based on a link RSSI value, battery power, and data transmission delay. And the sensing nodes with high weight send data to the sensing nodes with the same or smaller values. However, these methods only consider that there are many mobile nodes in the monitored area, and each node has a connection to the Sink node, but do not consider network splitting caused by node movement, and are not suitable for sparse networks. Hence bear never et al propose an opportunistic data collection method. Each node has a forwarding measure, and when two sensing nodes meet, the sensing node with the large forwarding measure forwards to the sensing node with the small forwarding measure. Jiang Ling cloud et al propose an energy delay constrained adaptive routing method. In the method, if a sensing node with a token encounters a sink node, the sensing node directly forwards the data, otherwise, the sensing node forwards the data to a node with high residual energy. Saifullah Khalid et al propose a load balancing routing method. The method considers the transition count, the remote degree and the change speed of node movement, provides a weight function based on a movement factor, residual energy and node load, and selects a neighbor sensing node with a large weight and a small hop count as a forwarding node. Although some scholars consider sparse networks and adopt an opportunistic routing mode to forward data, data transmission to Sink nodes is blind and poor in transmission performance.
In a word, in the existing data routing method of more mobile wireless sensor networks, only more sensor nodes exist in a monitoring area, network splitting caused by node movement is not considered, a sparse network is not considered, and a large number of sensor nodes are needed to sense the monitoring area, so that the hardware cost of the method application is greatly increased. Meanwhile, some data routing methods suitable for sparse networks have blindness in data transmission and poor transmission performance.
Disclosure of Invention
In order to solve the technical problems, the invention provides a mobile sensing data routing method of a mobile wireless sensor network by considering that a certain amount of mobile sensing nodes exist in a monitoring area. The method solves the problem of data reporting of the mobile sensing node, improves the data transmission quantity, reduces the redundancy rate of data and the energy consumption of the node, and reduces the system cost of the method application.
In order to achieve the above object, the present invention has the following configurations:
the mobile sensing data routing method of the mobile wireless sensor network comprises the following steps:
the method comprises a static Sink node data collection step and a mobile sensing node data routing step, wherein the static Sink node data collection step comprises the steps that a Sink node sends a routing information packet containing self ID, a packet serial number and position coordinates at regular time, and sensing data of a mobile sensing node is received through a convergence tree; the data routing of the mobile sensing node comprises the following steps:
(1) initializing each parameter, and acquiring the position coordinate of the mobile sensing node;
(2) if the routing information packet of the Sink node is received, the mobile sensing node is shown to be in the 1-hop communication range of the Sink node, and the step (3) is continued, otherwise, the step (4) is continued;
(3) reading information in a routing information packet of the Sink node, judging whether Sink node routing information with the same ID number and the same packet serial number exists in a neighbor node information table, if so, directly discarding, continuing the step (4), otherwise, calculating a link expected value of the current Sink node, setting the route expected value of the current Sink node as a father node as a routing weight of the current Sink node, recording the receiving time and the position coordinate of the Sink node, updating the neighbor node information table, forwarding the routing information packet of the Sink node, and continuing the step (4);
(4) if receiving the routing information packet of the neighbor mobile sensing node, reading the routing information packet of the neighbor sensing node, calculating the link weight of the neighbor sensing node and selecting the neighbor sensing node as the routing expected value of the father node, recording the receiving time and the position coordinate of the Sink node, updating the neighbor node information table, continuing the step (5), otherwise continuing the step (7);
(5) if the information of the Sink node exists in the neighbor node information table, setting the self transmission probability as 100%, selecting the Sink node with the minimum routing expectation value as a father node, setting the self routing weight as the minimum routing expectation value, broadcasting and sending a routing information packet of the mobile sensing node, which comprises the self ID, the self position coordinate, the Sink node position coordinate, the self residual energy, the self routing weight and the data transmission probability, and sending sensing data to the father node, continuing the step (7), otherwise, continuing the step (6);
(6) if the neighbor mobile sensing node information exists in the neighbor node information table, calculating and selecting a neighbor sensing node as a routing expected value of a father node, updating the neighbor node information table, setting the self transmission probability as 100%, broadcasting and transmitting a routing information packet of the mobile sensing node, which comprises the self ID, the self position coordinate, the Sink node position coordinate, the self residual energy, the self routing weight and the data transmission probability, selecting the neighbor mobile sensing node with the minimum routing expected value from the neighbor node information table as the father node to transmit sensing data, continuing the step (7), otherwise, continuing the step (8);
(7) judging the latest recording time of each node routing information in the neighbor node information table, if the latest recording time of the node routing information is more than 5 minutes earlier than the current time, indicating that no routing information packet of a Sink node or a neighbor mobile sensing node is received in the near future, deleting the routing information of the node in the neighbor node information table, and continuing to the step (8);
(8) if the neighbor node information table is an empty table, the mobile sensing node is an isolated node, the transmission probability of the mobile sensing node is calculated, a route discovery packet is sent, and the step (9) is continued, otherwise, the step (2) is continued;
(9) if the Sink node is found in the moving process, updating the neighbor node information table, directly selecting the Sink node as a father node, setting the self transmission probability as 100%, broadcasting and sending a routing information packet of the mobile sensing node, and continuing the step (2), otherwise, continuing the step (10);
(10) if a route discovery packet of a neighbor mobile sensing node is received in the moving process, sending a route information packet of the neighbor mobile sensing node, continuing the step (11), otherwise, continuing the step (11);
(11) if receiving a routing information packet of a neighbor mobile sensing node in the moving process, judging whether the transmission probability of the neighbor mobile sensing node is 100%, if so, indicating that the neighbor mobile sensing node is in a Sink node aggregation tree, updating a neighbor node information table, selecting the neighbor mobile sensing node as a father node, setting the self transmission probability as 100%, broadcasting and sending the routing information packet of the mobile sensing node, continuing the step (2), otherwise, continuing the step (12);
(12) acquiring and comparing the transmission probability of the neighbor mobile sensing nodes, if the transmission probability of the neighbor mobile sensing nodes is greater than the transmission probability of the neighbor mobile sensing nodes and data exists in the cache, sending the data in the cache to the neighbor mobile sensing nodes, adding 1 to the transmission times of the data, recording the transmission times of the data, if the transmission times of the data is equal to 3, deleting the data, otherwise, still storing the data, if the transmission probability of the neighbor mobile sensing nodes is not greater than the transmission probability of the neighbor mobile sensing nodes, receiving the data of the neighbor mobile sensing nodes, storing the data in the cache, and continuing to the step (2).
Optionally, the data collection of the static Sink node further includes the following steps:
and receiving the sensing data of the mobile sensing nodes through the aggregation tree, judging whether the sensing data are repeated, directly discarding the sensing data if the sensing data are repeated, and otherwise, storing the sensing data.
Optionally, the specific calculation formula for selecting the current Sink node as the route expected value of the parent node and the link weight to the current Sink node in step (3) is as follows:
Figure BDA0001606253820000041
wherein R isisAnd a mobile sensing node i in the 1-hop communication range of the current Sink node selects the current Sink node as a route expected value, w, of a parent nodeisRepresents the link weight from the mobile sensing node i to the current Sink node within the 1-hop communication range of the current Sink node, disRepresents the distance, g, from the mobile sensing node i to the current Sink nodeiSRepresenting the amount of data that the mobile sensing node i needs to transmit to the current Sink node, EelecIndicating the electronic energy consumption of the circuit, epsilon, in the wireless transmission of unit bit datafsWhich represents the electronic power consumption of the signal amplifier when amplifying a unit bit signal.
Optionally, the calculation formula of the link weight to the neighboring sensing node in the step (4) is as follows:
Figure BDA0001606253820000042
wherein, wijRepresents the link weight, d, of the mobile sensing node i to its neighbor mobile sensing node jisRepresents the distance, g, from the mobile sensing node i to its neighbor mobile sensing node jijRepresents the data quantity that the mobile sensing node i needs to send to the neighbor mobile sensing node j, Ere(j) Representing the residual energy, y, of the mobile sensing node j1Represents the energy consumption factor, y2Representing the received residual energy factor, y3Representing a distance factor.
Optionally, the calculation formula of the routing expected value of the neighboring sensor node selected in step (4) as the parent node is as follows:
Rij＝wij+Rj (3)
wherein R isijThe expected routing value, R, representing that the mobile sensing node i selects the neighbor sensing node as the father nodejRepresenting the routing weight of the mobile sensing node i;
optionally, the self-transmission probability calculation method includes:
(a1) if the mobile sensing node does not know the position coordinate of the Sink node, directly calculating the self transmission probability through a formula (4), and ending, otherwise, continuing the step (a 2);
Figure BDA0001606253820000043
wherein, PitRepresenting the probability, k, of the mobile sensing node i successfully transmitting information to the Sink node at t1Denotes the initial parameter, k2Representing a storage capacity parameter, DiIndicating free storage space of mobile sensor node i, DtRepresenting the total storage space of the sensing node;
(a2) if the mobile sensing node learns the position coordinates of the Sink node, calculating the self transmission probability according to a formula (5) and a formula (6);
Figure BDA0001606253820000044
wherein x isitAbscissa, y, representing the position of the mobile sensing node i at time titWhen it is indicatedOrdinate, x, of the position of the mobile sensing node i at the moment tsAbscissa, y, representing the position of Sink nodesOrdinate, d, representing the position of Sink nodemaxRepresents the distance, k, from the Sink node to the boundary of the monitoring area3Denotes a storage capacity parameter, k4Representing a distance parameter, k, from the mobile sensing node to the Sink node5Representing a moving direction parameter, s5Indicating a movement direction indicator symbol, s50 represents that the mobile sensing node moves close to the Sink node, s51 means that the mobile sensing node moves away from the Sink node.
Optionally, the moving direction indicator s5The calculation formula of (a) is as follows:
Figure BDA0001606253820000051
and theta represents an included angle between the moving direction of the mobile sensing node and a directed line segment from the mobile sensing node to the Sink node.
By adopting the mobile sensing data routing method of the mobile wireless sensor network, when the mobile sensor node is near the Sink node and a path of the Sink node can be found, the data is sent to the Sink node through the aggregation tree in a multi-hop mode; when the mobile sensing node cannot find a path to the Sink node, analyzing whether the Sink node is known or not, providing different transmission probability calculation formulas and methods for relaying data of other mobile sensing nodes, and sending the data to the Sink node through opportunistic routing; the invention solves the problem of data reporting of the mobile sensing node, improves the data transmission quantity, reduces the data redundancy rate and the node energy consumption, and reduces the system cost of the method application.
Drawings
Fig. 1 is a flowchart illustrating a method for routing mobility-aware data of a mobile sensor node according to the present invention;
fig. 2 is a schematic diagram of opportunistic routing in accordance with the present invention.
Detailed Description
In order to more clearly describe the technical contents of the present invention, the following further description is given in conjunction with specific embodiments.
Referring to fig. 1-2, the invention provides a mobile sensing data routing method of a mobile wireless sensor network, which comprises a static Sink node data collection method and a mobile sensor node data routing method. The data collection method of the static Sink node comprises the steps that the Sink node sends a routing information packet containing information such as self ID, packet serial number and position coordinates at regular time, sensing data of the mobile sensing node are received through the aggregation tree, whether the sensing data are repeated is judged, if the sensing data are repeated, the sensing data are directly discarded, and otherwise the sensing data are stored.
Referring to fig. 1, the data routing method of the mobile sensor node is as follows:
(1) initializing each parameter and acquiring a position coordinate of the parameter;
(2) if the routing information packet of the Sink node is received, the mobile sensing node is shown to be in the 1-hop communication range of the Sink node, and the step (3) is continued, otherwise, the step (4) is continued;
(3) reading information in a routing information packet of the Sink node, judging whether Sink node routing information with the same ID number and the same packet serial number exists in a neighbor node information table, if so, directly discarding, continuing the step (4), otherwise, calculating a link expected value of the current Sink node, setting the route expected value of the current Sink node as a father node as a routing weight of the current Sink node, recording the receiving time and the position coordinate of the Sink node, updating the neighbor node information table, forwarding the routing information packet of the Sink node, and continuing the step (4); the specific calculation formula for selecting the current Sink node as the route expected value of the father node and the link weight to the current Sink node is as follows:
Figure BDA0001606253820000061
wherein R isisAnd a mobile sensing node i in the 1-hop communication range of the current Sink node selects the current Sink node as a route expected value, w, of a parent nodeisRepresenting a mobile sensing node i within a 1-hop communication range of the current Sink node to the current Sink nodeLink weight, disRepresents the distance, g, from the mobile sensing node i to the current Sink nodeiSRepresenting the amount of data that the mobile sensing node i needs to transmit to the current Sink node, EelecIndicating the electronic energy consumption of the circuit, epsilon, in the wireless transmission of unit bit datafsRepresenting the electronic power consumption of the signal amplifier when amplifying the unit bit signal;
(4) if receiving the routing information packet of the neighbor mobile sensing node, reading the routing information packet of the neighbor sensing node, calculating the link weight of the neighbor sensing node and selecting the neighbor sensing node as the routing expected value of the father node, recording the receiving time and the position coordinate of the Sink node, updating the neighbor node information table, continuing the step (5), otherwise continuing the step (7); the calculation formula of the link weight to the neighbor sensing node is as follows:
Figure BDA0001606253820000062
wherein, wijRepresents the link weight, d, of the mobile sensing node i to its neighbor mobile sensing node jisRepresents the distance, g, from the mobile sensing node i to its neighbor mobile sensing node jijRepresents the data quantity that the mobile sensing node i needs to send to the neighbor mobile sensing node j, Ere(j) Representing the residual energy, y, of the mobile sensing node j1Represents the energy consumption factor, y2Representing the received residual energy factor, y3Represents a distance factor;
the calculation formula of the routing expected value of the neighbor sensing node as the father node is as follows:
Rij＝wij+Rj (3)
wherein R isijThe expected routing value, R, representing that the mobile sensing node i selects the neighbor sensing node as the father nodejRepresenting the routing weight of the mobile sensing node i;
(5) if the information of the Sink node exists in the neighbor node information table, setting the self transmission probability as 100%, directly selecting the Sink node with the minimum routing expectation value as a father node, setting the self routing weight as the minimum routing expectation value, broadcasting and sending a routing information packet of the mobile sensing node, which comprises information such as self ID, self position coordinates, Sink node position coordinates, self residual energy, self routing weight, data transmission probability and the like, and sending sensing data to the father node, continuing the step (7), otherwise, continuing the step (6).
(6) If the neighbor mobile sensing node information exists in the neighbor node information table, calculating and selecting a neighbor sensing node as a routing expected value of a father node, updating the neighbor node information table, setting the self transmission probability as 100%, broadcasting and transmitting a routing information packet of the mobile sensing node, which comprises the self ID, the self position coordinate, the Sink node position coordinate, the self residual energy, the self routing weight, the data transmission probability and other information, selecting the neighbor mobile sensing node with the minimum routing expected value from the neighbor node information table as the father node to transmit sensing data, and continuing the step (7), otherwise, directly continuing the step (8);
(7) judging the latest recording time of each node routing information in the neighbor node information table, if the latest recording time of the node routing information is more than 5 minutes earlier than the current time, indicating that no routing information packet of a Sink node or a neighbor mobile sensing node is received in the near future, deleting the routing information of the node in the neighbor node information table, and continuing to the step (8);
(8) if the neighbor node information table is an empty table, the mobile sensing node is an isolated node, the transmission probability of the mobile sensing node is calculated, a route discovery packet is sent, and the step (9) is continued, otherwise, the step (2) is continued; the self-transmission probability calculation method comprises the following steps:
(a1) if the mobile sensing node does not know the position coordinate of the Sink node, directly calculating the self transmission probability through a formula (4), and ending, otherwise, continuing the step (a 2);
Figure BDA0001606253820000071
wherein, PitOutline representing that the mobile sensing node i successfully transmits information to the Sink node at tRate, k1Denotes the initial parameter, k2Representing a storage capacity parameter, DiIndicating free storage space of mobile sensor node i, DtRepresenting the total memory space of the sensing node.
(a2) If the mobile sensing node learns the position coordinates of the Sink node, calculating the self transmission probability according to a formula (5) and a formula (6);
Figure BDA0001606253820000072
wherein x isitAbscissa, y, representing the position of the mobile sensing node i at time titOrdinate, x, representing the position of the mobile sensing node i at time tsAbscissa, y, representing the position of Sink nodesOrdinate, d, representing the position of Sink nodemaxRepresents the distance, k, from the Sink node to the boundary of the monitoring area3Denotes a storage capacity parameter, k4Representing a distance parameter, k, from the mobile sensing node to the Sink node5Representing a moving direction parameter, s5Indicating a movement direction indicator symbol, s50 represents that the mobile sensing node moves close to the Sink node, s51 represents that the mobile sensing node moves away from the Sink node, and the moving direction indicates a symbol s5The calculation formula of (a) is as follows:
Figure BDA0001606253820000073
and theta represents an included angle between the moving direction of the mobile sensing node and a directed line segment from the mobile sensing node to the Sink node.
(9) If the Sink node is found in the moving process, updating the neighbor node information table, directly selecting the Sink node as a father node, setting the self transmission probability as 100%, broadcasting and sending a routing information packet of the mobile sensing node, and continuing the step (2), otherwise, directly continuing the step (10);
(10) if the route discovery packet of the neighbor mobile sensing node is received in the moving process, sending the route information packet of the neighbor mobile sensing node, continuing the step (11), otherwise, directly continuing the step (11);
(11) if receiving a routing information packet of a neighbor mobile sensing node in the moving process, judging whether the transmission probability of the neighbor mobile sensing node is 100%, if so, indicating that the neighbor mobile sensing node is in a Sink node aggregation tree, updating a neighbor node information table, directly selecting the neighbor mobile sensing node as a father node, setting the self transmission probability as 100%, broadcasting and sending the routing information packet of the mobile sensing node, continuing the step (2), otherwise, continuing the step (12);
(12) acquiring and comparing the transmission probability of the neighbor mobile sensing node, if the transmission probability of the neighbor mobile sensing node is greater than the transmission probability of the neighbor mobile sensing node and data exists in the cache, sending the data in the cache to the neighbor mobile sensing node, adding 1 to the transmission times of the data, recording the transmission times of the data, if the transmission times of the data is equal to 3, deleting the data, otherwise still storing the data, if the transmission probability of the neighbor mobile sensing node is not greater than the transmission probability of the neighbor mobile sensing node, receiving the data of the neighbor mobile sensing node, storing the data in the cache, continuing to step (2), referring to the graph shown in FIG. 2, and at the time t1< time t2At time t1If the mobile sensing node 1 finds that the transmission probability of the mobile sensing node 2 is higher than that of the mobile sensing node 1, the mobile sensing node 1 sends the stored data to the mobile sensing node 2, and in the moving process, the mobile sensing node 2 sends the data to the mobile sensing node 2 at the moment t2And if a path to the Sink node 0 is found through the mobile sensing node 3, the data is forwarded to the mobile sensing node 3, and finally, the data of the mobile sensing node 1 is successfully transmitted to the Sink node 0 through the forwarding paths 1 → 2, 2 → 3 → 0.
By adopting the mobile sensing data routing method of the mobile wireless sensor network, when the mobile sensor node is near the Sink node and a path of the Sink node can be found, the data is sent to the Sink node through the aggregation tree in a multi-hop mode; when the mobile sensing node cannot find a path to the Sink node, analyzing whether the Sink node is known or not, providing different transmission probability calculation formulas and methods for relaying data of other mobile sensing nodes, and sending the data to the Sink node through opportunistic routing; the invention solves the problem of data reporting of the mobile sensing node, improves the data transmission quantity, reduces the data redundancy rate and the node energy consumption, and reduces the system cost of the method application.
In this specification, the invention has been described with reference to specific embodiments thereof. It will, however, be evident that various modifications and changes may be made thereto without departing from the broader spirit and scope of the invention. The specification and drawings are, accordingly, to be regarded in an illustrative rather than a restrictive sense.

Claims (6)

1. A mobile sensing data routing method of a mobile wireless sensor network is characterized by comprising a static Sink node data collection step and a mobile sensor node data routing step, wherein the static Sink node data collection step comprises the steps that a Sink node sends a routing information packet containing self ID, a packet serial number and position coordinates at regular time, and sensing data of the mobile sensor node are received through a convergence tree; the data routing of the mobile sensing node comprises the following steps:
(1) initializing each parameter, and acquiring the position coordinate of the mobile sensing node;
(2) if the routing information packet of the Sink node is received, the mobile sensing node is shown to be in the 1-hop communication range of the Sink node, and the step (3) is continued, otherwise, the step (4) is continued;
(3) reading information in a routing information packet of the Sink node, judging whether Sink node routing information with the same ID number and the same packet serial number exists in a neighbor node information table, if so, directly discarding, continuing the step (4), otherwise, calculating a link expected value of the current Sink node, setting the route expected value of the current Sink node as a father node as a routing weight of the current Sink node, recording the receiving time and the position coordinate of the Sink node, updating the neighbor node information table, forwarding the routing information packet of the Sink node, and continuing the step (4);
(4) if receiving the routing information packet of the neighbor mobile sensing node, reading the routing information packet of the neighbor sensing node, calculating the link weight of the neighbor sensing node and selecting the neighbor sensing node as the routing expected value of the father node, recording the receiving time and the position coordinate of the Sink node, updating the neighbor node information table, continuing the step (5), otherwise continuing the step (7);
(5) if the information of the Sink node exists in the neighbor node information table, setting the self transmission probability as 100%, selecting the Sink node with the minimum routing expectation value as a father node, setting the self routing weight as the minimum routing expectation value, broadcasting and sending a routing information packet of the mobile sensing node, which comprises the self ID, the self position coordinate, the Sink node position coordinate, the self residual energy, the self routing weight and the data transmission probability, and sending sensing data to the father node, continuing the step (7), otherwise, continuing the step (6);
(6) if the neighbor mobile sensing node information exists in the neighbor node information table, calculating and selecting a neighbor sensing node as a routing expected value of a father node, updating the neighbor node information table, setting the self transmission probability as 100%, broadcasting and transmitting a routing information packet of the mobile sensing node, which comprises the self ID, the self position coordinate, the Sink node position coordinate, the self residual energy, the self routing weight and the data transmission probability, selecting the neighbor mobile sensing node with the minimum routing expected value from the neighbor node information table as the father node to transmit sensing data, continuing the step (7), otherwise, continuing the step (8);
(7) judging the latest recording time of each node routing information in the neighbor node information table, if the latest recording time of the node routing information is more than 5 minutes earlier than the current time, indicating that no routing information packet of a Sink node or a neighbor mobile sensing node is received in the near future, deleting the routing information of the node in the neighbor node information table, and continuing to the step (8);
(8) if the neighbor node information table is an empty table, the mobile sensing node is an isolated node, the transmission probability of the mobile sensing node is calculated, a route discovery packet is sent, and the step (9) is continued, otherwise, the step (2) is continued;
(9) if the Sink node is found in the moving process, updating the neighbor node information table, directly selecting the Sink node as a father node, setting the self transmission probability as 100%, broadcasting and sending a routing information packet of the mobile sensing node, and continuing the step (2), otherwise, continuing the step (10);
(10) if a route discovery packet of a neighbor mobile sensing node is received in the moving process, sending a route information packet of the neighbor mobile sensing node, continuing the step (11), otherwise, continuing the step (11);
(11) if receiving a routing information packet of a neighbor mobile sensing node in the moving process, judging whether the transmission probability of the neighbor mobile sensing node is 100%, if so, indicating that the neighbor mobile sensing node is in a Sink node aggregation tree, updating a neighbor node information table, selecting the neighbor mobile sensing node as a father node, setting the self transmission probability as 100%, broadcasting and sending the routing information packet of the mobile sensing node, continuing the step (2), otherwise, continuing the step (12);
(12) acquiring and comparing the transmission probability of the neighbor mobile sensing nodes, if the transmission probability of the neighbor mobile sensing nodes is greater than the transmission probability of the neighbor mobile sensing nodes and data exists in the cache, sending the data in the cache to the neighbor mobile sensing nodes, adding 1 to the transmission times of the data, recording the transmission times of the data, if the transmission times of the data is equal to 3, deleting the data, otherwise, still storing the data, if the transmission probability of the neighbor mobile sensing nodes is not greater than the transmission probability of the neighbor mobile sensing nodes, receiving the data of the neighbor mobile sensing nodes, storing the data in the cache, and continuing to the step (2);
the specific calculation formula for selecting the current Sink node as the route expected value of the father node and the link weight to the current Sink node in the step (3) is as follows:
Figure FDA0003032749310000021
wherein R isisAnd a mobile sensing node i in the 1-hop communication range of the current Sink node selects the current Sink node as a route expected value, w, of a parent nodeisRepresents the link weight from the mobile sensing node i to the current Sink node within the 1-hop communication range of the current Sink node, disRepresents the distance, g, from the mobile sensing node i to the current Sink nodeiSIndicating that the mobile sensing node i needs to be transmitted to the current Sink nodeData amount of dots, EelecIndicating the electronic energy consumption of the circuit, epsilon, in the wireless transmission of unit bit datafsWhich represents the electronic power consumption of the signal amplifier when amplifying a unit bit signal.
2. The mobile-aware data routing method of the mobile wireless sensor network according to claim 1, wherein the data collection of the static Sink node further comprises the following steps:
and receiving the sensing data of the mobile sensing nodes through the aggregation tree, judging whether the sensing data are repeated, directly discarding the sensing data if the sensing data are repeated, and otherwise, storing the sensing data.
3. The mobile sensing data routing method of the mobile wireless sensor network according to claim 1, wherein the calculation formula of the link weight to the neighbor sensor node in the step (4) is as follows:
Figure FDA0003032749310000031
wherein, wijRepresents the link weight, d, of the mobile sensing node i to its neighbor mobile sensing node jisRepresents the distance, g, from the mobile sensing node i to its neighbor mobile sensing node jijRepresents the data quantity that the mobile sensing node i needs to send to the neighbor mobile sensing node j, Ere(j) Representing the residual energy, y, of the mobile sensing node j1Represents the energy consumption factor, y2Representing the received residual energy factor, y3Representing a distance factor.
4. The mobility-aware data routing method for the mobile wireless sensor network according to claim 3, wherein the calculation formula for the routing expectation value of the neighboring sensor node selected in step (4) as the parent node is as follows:
Rij＝wij+Rj (3)
wherein R isijIndicating that the mobile sensing node i selects the neighborExpected routing value, R, of sensor node as parent nodejAnd representing the routing weight of the mobile sensing node i.
5. The mobile sensing data routing method of the mobile wireless sensor network according to claim 1, wherein the self-transmission probability calculation method is as follows:
(a1) if the mobile sensing node does not know the position coordinate of the Sink node, directly calculating the self transmission probability through a formula (4), and ending, otherwise, continuing the step (a 2);
Figure FDA0003032749310000032
wherein, PitRepresenting the probability, k, of the mobile sensing node i successfully transmitting information to the Sink node at t1Denotes the initial parameter, k2Representing a storage capacity parameter, DiIndicating free storage space of mobile sensor node i, DtRepresenting the total storage space of the sensing node;
(a2) if the mobile sensing node learns the position coordinates of the Sink node, calculating the self transmission probability according to a formula (5) and a formula (6);
Figure FDA0003032749310000033
wherein x isitAbscissa, y, representing the position of the mobile sensing node i at time titOrdinate, x, representing the position of the mobile sensing node i at time tsAbscissa, y, representing the position of Sink nodesOrdinate, d, representing the position of Sink nodemaxRepresents the distance, k, from the Sink node to the boundary of the monitoring area3Denotes a storage capacity parameter, k4Representing a distance parameter, k, from the mobile sensing node to the Sink node5Representing a moving direction parameter, s5Indicating a movement direction indicator symbol, s50 represents that the mobile sensing node moves close to the Sink node, s5Table 1 (the attached drawings)And the mobile sensing node is shown to move away from the Sink node.
6. The method for routing mobility-aware data in a mobile wireless sensor network according to claim 5, wherein the mobility direction indicator s is a sign of mobility direction5The calculation formula of (a) is as follows:
Figure FDA0003032749310000041
and theta represents an included angle between the moving direction of the mobile sensing node and a directed line segment from the mobile sensing node to the Sink node.
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