CN108650695B - Wireless network routing path planning method driven by node dynamic coverage - Google Patents
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Abstract
The invention discloses a wireless network routing path planning method driven by node dynamic coverage, which comprises the following steps: driving the wireless execution node to move to a network designated position through a driving device; taking the output of the position sensor as feedback, and updating the position of the drifting wireless execution node under the driving of the driving device; forming a non-uniform coverage model of the wireless execution node in the whole target area; dividing the wireless execution nodes into different clusters; judging whether the relative geometric distance of the nodes in the cluster and the residual energy are optimal or not; the wireless execution node in the cluster transmits data to the cluster head node, and the cluster head node transmits the data to the relay node along the neighbor cluster head node. The invention improves the wireless network coverage rate and network energy consumption and improves the data transmission performance of the monitoring area perception parameters.
Description
Technical Field
The invention relates to a wireless network routing path planning method driven by node dynamic coverage, and belongs to the technical field of wireless network node coverage, routing paths and network construction and maintenance.
Background
With the development of electronic technology, communication technology and networking technology, wireless nodes have the characteristics of low cost and power consumption and small size and have the functions of sensing and communication, a self-organizing network system is formed in a wireless mode, and tasks such as parameter sensing, data processing, network communication and the like in a monitoring area are completed in a cooperative mode, so that the wireless sensor network is widely applied to the aspects of environment monitoring, health monitoring, industrial monitoring, safety guarantee and the like. Different from a monitoring network which is partially connected in a wired mode, the wireless network monitoring system has the defects of difficult installation, poor self-adaptability and the like, once a fault occurs in the network, the wired network fails, the wireless network has the advantages of no need of fixed equipment for supporting, quick deployment, easy networking and no wired network constraint, and is very suitable for severe environments in which the traditional wired communication mechanism is difficult to use to implement real-time and efficient environment and equipment monitoring.
When a wireless node executes a long-time monitoring task in a target area, the complex environment easily causes the wireless node to drift, and the quality of wireless network coverage and data transmission is influenced. Under the conditions that the wireless nodes are limited in energy and face a plurality of monitoring tasks, network coverage optimization and routing planning are needed to be carried out on drifting wireless nodes, and therefore service quality such as network coverage, data transmission and survival time is optimized. In view of a virtual force algorithm of the mobile robot, the sensor nodes are equivalent to the robot, when the distance between the two sensor nodes is larger than a threshold value, the nodes are closer and closer under the action of attractive force, when the distance between the two sensor nodes is smaller than the threshold value, the nodes are farther and farther under the action of repulsive force, and the influence of a hot spot and an obstacle area on the coverage performance needs to be considered in the deployment process. Meanwhile, the wireless nodes are clustered according to the communication capacity of the nodes, and the nodes in the clusters transmit data to the relay nodes through the cluster heads, so that the data transmission route is reduced, the transmission error rate is reduced, and the survival time of the wireless network can be effectively prolonged. Therefore, for the topological structure characteristics of the target area and specific monitoring tasks, the research on the coverage deployment and the routing path of the wireless sensor nodes is the basis for constructing the wireless network.
Disclosure of Invention
Aiming at the defects in the prior art, the invention aims to provide a wireless network routing path planning method driven by node dynamic coverage.
In order to achieve the purpose, the invention is realized by the following technical scheme:
the invention provides a wireless routing path planning method adopting coverage driving by moving a type of wireless nodes to cause the problem that networks have coverage blind areas and can not be communicated.
The invention discloses a wireless network routing path planning method driven by node dynamic coverage, which comprises the following steps:
1) the method comprises the following steps that a wireless network comprising a wireless execution node and a relay node is adopted to monitor a target area (the monitoring is various, the temperature, the humidity, the vibration, the signal arrival intensity and the like are adopted, the purpose is to master parameters in real time so as to be used as the basis for early warning and forecasting and even control, and the detailed description is omitted in the prior art), the wireless execution node is driven by a driving device to move to a network designated position, and a position sensor is installed on the wireless execution node;
2) after the wireless execution node is interfered by the external acting force in the step 1), the coordinate of the wireless execution node drifts, namely the initial coordinate and the network topological structure of the wireless execution node dynamically change; taking the output of the position sensor as feedback, and updating the position of the drifting wireless execution node under the driving of the driving device;
3) respectively setting different virtual force coefficients including different attraction force coefficients and repulsion force coefficients for a boundary area, a relay node and an obstacle area by adopting an improved virtual force method, and forming a non-uniform coverage model of the wireless execution node of the whole target area (if all the nodes have the same action force coefficient, the wireless nodes are uniformly deployed; the wireless execution nodes are non-uniformly deployed due to different coefficients of attraction and repulsion among the whole wireless nodes);
4) dividing the wireless execution nodes into different clusters according to the neighbor aggregation degree; judging whether the relative geometric distance of the nodes in the cluster and the residual energy are optimal or not, if so, selecting the nodes as cluster head nodes, and turning to the step 5); if not, the wireless routing path is a common wireless execution node, then whether the wireless network is abnormal is judged, if the wireless execution node in the cluster and the cluster head node die successively, the wireless execution node which survives in the cluster and the neighboring wireless execution node form a dynamic multi-hop quasi-oriented routing table when the wireless network part fails by taking network connectivity as a target, and the wireless routing path planning under the coverage driving is completed;
5) the wireless executive node in the cluster transmits data (namely temperature, humidity, vibration, signal arrival strength and the like) to the cluster head node, and the cluster head node transmits the data to the relay node along the neighbor cluster head node. And then the data is transmitted to a computer through serial port connection to carry out wireless network monitoring parameter display and result analysis (data transmission: serial port; display and result analysis are carried out by utilizing the functions of a display, such as positioning precision, temperature deviation and the like).
In step 1), the wireless executive node is deployed in a target area far away from a boundary area and an obstacle area, and the relay node is deployed in the boundary area.
In step 1), the wireless execution node is powered by a battery, the driving device is connected with the wireless execution node, the position sensor is used for measuring a moving path of the wireless execution node, and the output result of the position sensor is used as feedback through the signal receiving unit, the signal filtering unit, the signal processing unit and the signal storage unit to control the rotating speed of the driving device so as to control the moving distance of the wireless execution node.
In the step 1), the driving device adopts a miniature motor.
In step 3), the wireless executive nodes are densely deployed along the relay nodes, and are relatively sparsely deployed in boundary areas and obstacles.
In the step 3), the virtual force method uses the acting force between the atomic nuclei for reference, when the distance is too close, repulsive force is shown, and when the distance is too far, attractive force is shown; the improved virtual force method is to consider the repulsive force to the boundary area, the attractive force to the relay node and the repulsive force to the obstacle in the actual deployment process of the node.
In step 4), the cluster head node is used for collecting sensing data of the wireless execution node in the cluster and transmitting the sensing data to the relay node through the neighbor cluster head node, and the relay node transmits the data to the computer for processing through the user interface unit and the data storage unit (the wireless execution node under the coverage of the mainly protected virtual force is driven and can be processed by the computer for a network system).
In step 4), the specific method for judging whether the relative geometric distance and the residual energy of the nodes in the cluster are optimal is as follows: the inter-node distance in the cluster is obtained by inter-node distance measurement, namely, the inter-node distance is indicated by using arrival time, arrival angle and signal strength; in the node communication process, a packet containing a node label, a signal amplitude and residual energy is sent to a neighbor node and is transmitted to a cluster head node; the maximum residual energy of the node is obtained by sending a message through the node and then comparing the respective residual energy.
In step 4), a specific forming method of the dynamic multi-hop quasi-directional routing table is as follows:
because the cluster head node is selected according to the geometric distance and the residual energy, and all the common nodes in the cluster transmit data to the cluster head node, the routing transmission is dynamic; since the final data is transmitted to the relay node through a plurality of clusters, the data is multi-hop; since the common nodes included in each cluster are fixed relative to the whole network, the basic transmission paths of the nodes are fixed, and therefore the routing paths are quasi-directional.
Because the wireless nodes in a plurality of target areas are easy to be affected by external force to change the positions of the calibration coordinates of the wireless nodes, the wireless nodes are accurately positioned, even the error results are brought to the monitoring of the emergency, different acting force coefficients are given to the wireless nodes in different environments according to the space boundary of the target area, the position of an obstacle and a relay node and the coverage requirements, so that the wireless nodes are unevenly deployed, the full coverage of the wireless network is met, and the hardware resources of the nodes are saved; the method comprises the steps of clustering a wireless network by using positions of different nodes, enabling wireless nodes near a certain field to be clustered, selecting a cluster head according to the residual energy of the nodes in the cluster and the relative geometric distance, considering the maintenance of a routing path table when the multi-round operation part of the network is abnormal, transmitting the shortest route of monitoring key data to a relay node, reducing communication energy loss caused by frequent communication among the wireless nodes, and improving the accuracy of wireless data transmission.
Drawings
FIG. 1 is a wireless network topology structure diagram under the dynamic coverage driving of the nodes of the present invention;
fig. 2 is a schematic diagram of a wireless network node coverage driving and route planning method of the present invention;
FIG. 3 is a schematic diagram of the wireless network system of the present invention;
fig. 4 is a network reconstruction diagram under the action of a virtual force when a wireless node drifts.
Detailed Description
In order to make the technical means, the creation characteristics, the achievement purposes and the effects of the invention easy to understand, the invention is further described with the specific embodiments.
The embodiment is used for a target area containing a boundary area and an obstacle area, and wireless execution nodes in a wireless network can move autonomously and have unique identifiers; the wireless enforcement nodes are powered by batteries, but the relay nodes are powered by wires.
A wireless network routing path planning method driven by node dynamic coverage is characterized in that a wireless network consists of wireless execution nodes and relay nodes, wherein the wireless execution nodes carry miniature motors with position sensors to move autonomously. Performing density difference coverage on wireless nodes based on the boundary of a target area, an obstacle and different areas of a relay node, establishing a non-uniform clustering intra-cluster wireless execution node, and transmitting a routing path to the relay node through an intra-cluster head node; when a communication blind area appears when a node in a wireless cluster works for a long time, the network connectivity is taken as a target, a wireless execution node is driven by a micro motor to move and repair the communication blind area, route planning under the drive of wireless execution node coverage is completed, and effective wireless network coverage and energy consumption in a monitoring area are realized, and the method comprises the following steps:
1) the wireless network consists of wireless execution nodes and relay nodes, and the wireless execution nodes interfered by external force can move to the designated position of the network under the driving of the micromotor;
2) the wireless network node drifts to make the initial coordinate and the network topology structure dynamically change, and the output of the position sensor is used as a feedback control virtual force moving path to carry out network reconstruction;
3) setting a difference virtual force coefficient to enable the wireless execution nodes to effectively cover the wireless execution nodes based on different positions of the nodes and taking full coverage as a target;
4) the wireless execution nodes are divided into different functional clusters according to the neighbor aggregation degree, cluster heads are selected in the clusters based on the node distance and the residual energy, and the wireless execution nodes transmit data to the relay nodes along the cluster head nodes;
5) the wireless network dies and covers blind areas after working for a long time, and the wireless execution nodes in the cluster and the neighbor wireless execution nodes take network connectivity as a target to form a wireless network dynamic multi-hop quasi-directional routing table;
in the step 1), a wireless network comprising a wireless execution node and a relay node is adopted to monitor a target area, the wireless execution node is powered by a battery and carries a micro motor with a position controller, and the wireless execution node can autonomously move in the target area under the drive of a motor.
In the step 2), the initial coordinate value of the wireless execution node which finishes coordinate calibration in the monitoring area is interfered by external force and changes, so that the network topology structure is changed or the network coverage rate is reduced, the output of a position sensor arranged on the wireless execution node is used as feedback, the position of the drifting wireless execution node is updated under the driving of a micro motor, and the wireless network reconstruction is carried out by taking the full coverage of the target area as a target.
In the step 3), virtual force coefficients including different attraction force coefficients and repulsion force coefficients are respectively set for the boundary area, the relay node and the obstacle area to form a non-uniform coverage model of the whole monitoring area, the wireless nodes are densely deployed along the relay node, and are relatively sparsely deployed in the boundary area and the obstacle.
In the step 4), the wireless execution nodes are divided into different functional clusters according to the neighbor aggregation degree, the wireless execution nodes in the clusters transmit data to the cluster head node, the cluster head is selected in the clusters based on the distance between the nodes and the residual energy, the cluster head node transmits the data to the relay node along the neighbor cluster head node, and the routing metric in the data transmission process is reduced.
In step 5), when the wireless network multi-round operation network is abnormal, the wireless execution nodes in the cluster and the cluster head nodes are dead, the surviving wireless execution nodes and the neighbor wireless execution nodes in the cluster form a dynamic multi-hop quasi-directional routing table when the network part fails by taking network connectivity as a target, and the data transmission accuracy rate when the network is abnormal is improved by transmitting the shortest route to the relay node.
As shown in fig. 1, the wireless network mainly includes wireless enforcement nodes deployed in a target area far from a boundary area and an obstacle area, and relay nodes deployed near the boundary area. The wireless execution nodes are divided into a plurality of clusters, cluster head nodes are elected from nodes in the clusters based on the mutual distance between the wireless nodes and the residual energy, each wireless execution node can independently collect data and transmit the data to the elected cluster head node, the cluster head node and monitoring parameters of the previous cluster are transmitted to the relay node through the neighbor cluster head node, and then the monitoring parameters are transmitted to the computer through serial port connection to perform wireless network monitoring parameter display and result analysis.
As shown in fig. 2, the steps of the wireless network node coverage driving and route planning method of the present invention are as follows:
1. the method comprises the steps that a wireless execution node is deployed in a target area to monitor interested parameters in real time, the wireless execution node is powered by a battery in a limited mode, the coordinate position of the wireless execution node is moved in the target area under the action of external force, meanwhile, a relay node is deployed near a computer and used for receiving perception parameters gathered from the wireless execution node, the relay node needs to transmit massive data, therefore, the relay node is powered by a power supply of a computer power grid in an unlimited mode, and a wireless network for monitoring the target area is mainly constructed by the wireless execution node and the relay node.
2. When the wireless execution node is subjected to external force, the coordinate position is drifted, so that the topological structure of the wireless network is changed, and the network coverage rate is reduced, namely the wireless network has under-coverage and coverage blind areas. According to the positions of the wireless execution nodes, including the positions near the boundary, the positions near the obstacle and the positions near the relay node, different repulsive force coefficients and attractive force coefficients are respectively set for the wireless execution nodes in the boundary area, the relay node and the positions near the obstacle by adopting an improved virtual force method, the output of a position sensor installed on the wireless execution nodes is used as feedback, the wireless execution nodes are driven to proper positions by a micro motor, a non-uniform coverage model of the wireless execution nodes in the whole target area is formed, the wireless execution nodes are densely deployed along the relay node, and are relatively sparsely deployed in the boundary area and the obstacle.
3. The wireless network is divided into a plurality of clusters based on the node communication capacity, the wireless execution node in each cluster transmits data to the cluster head node, the cluster head is selected based on the distance between the nodes and the residual energy in each cluster, the cluster head node transmits the data to the relay node along the adjacent cluster head node, the routing measurement in the data transmission process is reduced, the node data participating in the data forwarding to the relay node is reduced, and therefore the error rate in the data transmission process is reduced. After the wireless network continuously works for a plurality of rounds, the wireless execution nodes in the cluster and the cluster head node die successively, the surviving wireless execution nodes and the neighbor wireless execution nodes in the cluster are subjected to route driving according to the requirement of network connectivity, a routing path table when the wireless network part fails is formed, and the fact that the monitoring task can still be continuously executed by utilizing the network survivability when the wireless network part fails is guaranteed.
As shown in fig. 3, the wireless network 1 mainly comprises a relay node 2 and a wireless execution node 3, wherein the wireless execution node 3 is powered by a battery 8, and the wireless execution node 3 is provided with a position sensor 6 which is responsible for measuring the moving path of the wireless execution node 3, and controls the moving distance of the wireless execution node 3 by using the output result of the position sensor 6 as feedback to control the rotating speed of the micro motor 5 through a signal receiving unit 7A, a signal filtering unit 7B, a signal processing unit 7C and a signal storage unit 7D; meanwhile, the wireless executive node 3 elects a cluster head node 4 according to a cluster head selection principle, the cluster head node 4 is responsible for collecting sensing data of the wireless executive node 3 in a cluster and transmitting the sensing data to the relay node 2 through the neighbor cluster head node 4, and the relay node 2 transmits the data to a computer for processing through user structure units 9A and 9B.
As shown in fig. 4, a network reconstruction diagram of the wireless node drift under the action of the virtual force is given. The wireless execution nodes are driven by the micro motor to move under the action of the virtual force, so that the wireless execution nodes meet the requirement of wireless network coverage, when moving to the corresponding positions, the acting force balance is achieved, meanwhile, the wireless execution nodes can be far away from the boundary area, the waste of communication resources is reduced, sufficient energy supply is guaranteed by gathering near the relay nodes, and the target area is finally covered completely through multiple iterations under the action of the virtual force of the wireless execution nodes.
The foregoing shows and describes the general principles and broad features of the present invention and advantages thereof. It will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, which are described in the specification and illustrated only to illustrate the principle of the present invention, but that various changes and modifications may be made therein without departing from the spirit and scope of the present invention, which fall within the scope of the invention as claimed. The scope of the invention is defined by the appended claims and equivalents thereof.
Claims (7)
1. A wireless network routing path planning method driven by node dynamic coverage is characterized by comprising the following steps:
1) monitoring a target area by adopting a wireless network comprising a wireless execution node and a relay node, driving the wireless execution node to move to a network designated position by a driving device, and installing a position sensor on the wireless execution node;
2) after the wireless execution node is interfered by the external acting force in the step 1), the coordinate of the wireless execution node drifts, namely the initial coordinate and the network topological structure of the wireless execution node dynamically change; taking the output of the position sensor as feedback, and updating the position of the drifting wireless execution node under the driving of the driving device;
3) respectively setting different virtual force coefficients including different attraction force coefficients and repulsion force coefficients for a boundary area, a relay node and an obstacle area by adopting an improved virtual force method to form a non-uniform coverage model of a wireless execution node of the whole target area;
4) dividing the wireless execution nodes into different clusters according to the neighbor aggregation degree; judging whether the relative geometric distance of the nodes in the cluster and the residual energy are optimal or not, if so, selecting the nodes as cluster head nodes, and turning to the step 5); if not, the wireless routing path is a common wireless execution node, then whether the wireless network is abnormal is judged, if the wireless execution node in the cluster and the cluster head node die successively, the wireless execution node which survives in the cluster and the neighboring wireless execution node form a dynamic multi-hop quasi-oriented routing table when the wireless network part fails by taking network connectivity as a target, and the wireless routing path planning under the coverage driving is completed;
5) the method comprises the steps that a wireless execution node in a cluster transmits data to a cluster head node, and the cluster head node transmits the data to a relay node along a neighbor cluster head node;
in the step 3), the virtual force method uses the acting force between the atomic nuclei for reference, when the distance is too close, repulsive force is shown, and when the distance is too far, attractive force is shown;
the improved virtual force method is to consider the repulsive force to the boundary area, the attractive force to the relay node and the repulsive force to the obstacle in the actual deployment process of the node;
in step 4), a specific forming method of the dynamic multi-hop quasi-directional routing table is as follows:
because the cluster head node is selected according to the geometric distance and the residual energy, and all the common nodes in the cluster transmit data to the cluster head node, the routing transmission is dynamic; since the final data is transmitted to the relay node through a plurality of clusters, the data is multi-hop; since the common nodes included in each cluster are fixed relative to the whole network, the basic transmission paths of the nodes are fixed, and therefore the routing paths are quasi-directional.
2. The node dynamic coverage driven wireless network routing path planning method according to claim 1, wherein in step 1), the wireless execution node is deployed in a target area far away from a boundary area and an obstacle area, and the relay node is deployed in the boundary area.
3. The method for planning routing path of wireless network driven by node dynamic coverage according to claim 1, wherein in step 1), the wireless execution node is powered by battery, the driving device is connected with the wireless execution node, the position sensor is used for measuring the moving path of the wireless execution node, and the moving distance of the wireless execution node is controlled by using the output result of the position sensor as feedback through the signal receiving unit, the signal filtering unit, the signal processing unit and the signal storage unit and controlling the rotating speed of the driving device.
4. The method for planning routing path of wireless network driven by dynamic node coverage according to claim 1, wherein in step 1), the driving device employs a micro motor.
5. The method for planning routing paths of wireless networks driven by dynamic node coverage according to claim 1, wherein in step 3), the wireless executive nodes are densely deployed along the relay nodes and relatively sparsely deployed in boundary areas and obstacles.
6. The node dynamic coverage driven wireless network routing path planning method according to claim 1, wherein in step 4), the cluster head node is configured to collect sensing data of a wireless executive node in a cluster, and transmit the sensing data to a relay node via a neighboring cluster head node, and the relay node transmits the data to a computer for processing through a user interface unit and a data storage unit.
7. The method for planning a routing path of a wireless network driven by dynamic node coverage according to claim 1, wherein in step 4), the specific method for determining whether the relative geometric distance and the remaining energy of the nodes in the cluster are optimal is as follows: the inter-node distance in the cluster is obtained by inter-node distance measurement, namely, the inter-node distance is indicated by using arrival time, arrival angle and signal strength; in the node communication process, a packet containing a node label, a signal amplitude and residual energy is sent to a neighbor node and is transmitted to a cluster head node; the maximum residual energy of the node is obtained by sending a message through the node and then comparing the respective residual energy.
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