CN109413588A - A kind of underwater node location prediction technique of constant depth underwater sensor network - Google Patents
A kind of underwater node location prediction technique of constant depth underwater sensor network Download PDFInfo
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- CN109413588A CN109413588A CN201811129820.5A CN201811129820A CN109413588A CN 109413588 A CN109413588 A CN 109413588A CN 201811129820 A CN201811129820 A CN 201811129820A CN 109413588 A CN109413588 A CN 109413588A
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/02—Services making use of location information
- H04W4/029—Location-based management or tracking services
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W64/00—Locating users or terminals or network equipment for network management purposes, e.g. mobility management
- H04W64/006—Locating users or terminals or network equipment for network management purposes, e.g. mobility management with additional information processing, e.g. for direction or speed determination
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- 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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- Radar, Positioning & Navigation (AREA)
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- General Physics & Mathematics (AREA)
- Measurement Of Velocity Or Position Using Acoustic Or Ultrasonic Waves (AREA)
Abstract
The invention discloses a kind of underwater node location prediction technique of constant depth underwater sensor network, this method is suitable for the fixed three-dimensional underwater sensor network of node depth.Wherein, the mobile sink of the water surface is positioned by global position system, calculates water velocity and deviation angle, and these property information cycle are broadcasted to buoy node, buoy node forwards this information to water interior joint again；Water interior joint uses Ai Keman drift flow model, calculates the water velocity and deviation angle of locating depth, the displacement of drift is calculated, finally with this predicted position information.Underwater Navigation method compared to routine based on ranging, this method can reduce the broadcast of position information behavior of buoy node, reduce energy loss.
Description
Technical field
The present invention relates to a kind of underwater node location prediction techniques of constant depth underwater sensor network, belong to three-dimensional water
Lower sensor network node positioning field.
Background technique
Underwater sensor network is in military supervision, underwater navigation, disaster preparedness, pollution detection, resource exploitation, earthquake monitoring
Etc. show huge application prospect.In most applications, the deployment, maintenance, the acquisition of data etc. of network need geography
The support of location information.Therefore, the research and development of efficient, stable underwater sensor network location technology are just becoming one and are being concerned
Hot spot.
The current polygon positioning that ranging is mainly based upon for underwater sensor network localization method, this method need frequent
Carry out the broadcast of node location information, waste of energy.
Summary of the invention
To solve the above-mentioned problems, the present invention proposes that a kind of underwater node location of constant depth underwater sensor network is pre-
Survey method, the three-dimensional underwater sensor network fixed suitable for node depth, passes through satellite positioning using the mobile sink of the water surface
System is positioned, and calculates water velocity and deviation angle, and these property information cycle are broadcasted to water surface float node, the water surface
Buoy node forwards this information to water interior joint again；Water interior joint uses Ai Keman drift flow model, calculates locating depth
The displacement of drift is finally calculated in water velocity and deviation angle, with this predicted position information.Compared to routine based on ranging
Underwater Navigation method, this method can reduce the broadcast of position information behavior of buoy node, reduce energy loss.
The technical solution mainly used in the present invention are as follows:
A kind of underwater node location prediction technique of constant depth underwater sensor network, the specific steps are as follows:
Step 1: network model, mobile sink migration include water in an underwater three-dimensional environment in the water surface, underwater node deployment
Interior joint and water surface float node, wherein mobile sink is equipped with global position system and electromagnetic wave wireless telecom equipment；Water surface floating
It marks node and is equipped with global position system, electromagnetic wave wireless telecom equipment and underwater acoustic communication equipment；Water interior joint is equipped with underwater sound communication
Equipment；Initial position known to water surface float node and water interior joint, is anchored on seabed with different depth, fills equipped with depth adjustment
It sets, water interior joint acquires underwater data, is transmitted to buoy node by underwater sound communication, buoy node is wirelessly communicated by electromagnetic wave
Device forwards are to mobile sink；
Step 2: flow information of water broadcast, mobile sink timing acquisition SPS signal and the water flow velocity for calculating the water surface
Degree and water flow deviation angle are broadcasted by electromagnetic wave wireless telecom equipment to water surface float node, and water surface float node is by the letter
Breath is broadcasted by underwater sound communication to water interior joint；
Step 3: the position prediction of water interior joint, the water surface that water interior joint is transmitted according to the water surface float node that receives
Water velocity and water flow deviation angle information, in conjunction with Ai Keman drift flow model calculate water interior joint locating for depth water velocity and
Water flow deviation angle is calculated the moving displacement of water outlet interior joint with this, and measured in conjunction with the previous positioning coordinate of water interior joint
Current location.
Preferably, specific step is as follows for flow information of water broadcast in step 2:
2-1: mobile sink periodically remain stationary state, and obtains location information coordinate according to global position system, calculates
Within time drift time t, drift displacement s and deviation angle α；
2-2: s and drift time t is displaced according to the drift of mobile sink, calculates the water velocity of the water surface
2-3: mobile sink is by V0, α and t water surface float node, water surface floating be transmitted to by electromagnetic wave wireless communication broadcast
The information is forwarded to water interior joint by underwater sound communication broadcast again by mark node.
Preferably, specific step is as follows for the position prediction of water interior joint in step 3:
3-1: according to Ai Keman drift flow model, the drift velocity and drift angle of water interior joint are calculated, when depth of water arrival angstrom
Gram graceful depthWhen, water velocity V=-0.043V0, whereinAZFor eddy viscosity, f is Coriolis force parameter,
A may be regarded as constant in the case where dimension is constant, and when the depth of water is to Ekman depth D, water velocity is water surface water velocity
0.043 times, direction and the water velocity of the water surface are completely opposite；
3-2: node by ocean current thrust when accelerate, be changed to uniform motion after a period of time, at this point, section
The movement speed of point is equal with water velocity；
Accordingly, the speed of water surface float node is equal to water surface water velocity V0, save in the speed and water of water surface float node
The speed V of point is according to Ai Keman drift flow model solution are as follows:
V=V0eaZ+iaZ (1)
Wherein, z is the depth of water interior joint, and i is imaginary unit；
3-3: the move angle β of water interior joint is according to Ai Keman drift flow model solution between the water surface and Ekman depth are as follows:
The displacement s ' of water interior joint is calculated according to v, t, after water calculated according to the initial position of water interior joint and drift angle beta
The current location of interior joint.
Preferably, the previous positioning coordinate of water interior joint need to periodically carry out the update of the whole network node initial position,
Specific update method is as follows:
4-1. obtains the location information of water surface float node using the global position system of water surface float node, according to the water surface
The location information of buoy node periodically carries out the accurate positioning of the whole network, and the home position of water interior joint is periodically updated with this；
The position offset of 4-2. mobile sink be more than certain value, i.e., the present satellites positioning-system coordinate of mobile sink and
When being more than certain value according to the coordinate difference that last water velocity and angle of current calculate, the satellite of water surface float node is used
Position system location information carries out the accurate positioning of the whole network, updates the home position of water interior joint.
Preferably, described be accurately positioned is positioned using three-dimensional location.
Preferably, the three-dimensional location is the multilateration based on subaqueous sound ranging.
The utility model has the advantages that the present invention provides a kind of underwater node location prediction technique of constant depth underwater sensor network,
Compared with Underwater Navigation algorithm of the routine based on ranging need to be in the broadcast that all localization time slots carry out location information, the present invention only exists
Step 1 and step 3 carry out the information broadcast of buoy node, in other localization time slots underwater node can voluntarily calculating position, therefore,
The information broadcast behavior of underwater node can be greatly reduced, reduce energy loss.
Detailed description of the invention
Fig. 1 is Ai Keman drift flow model of the present invention；
Fig. 2 is the targeted constant depth underwater sensor nodal analysis method of the present invention.
Specific embodiment
In order to make those skilled in the art better understand the technical solutions in the application, below to the embodiment of the present application
In technical solution be clearly and completely described, it is clear that described embodiments are only a part of embodiments of the present application,
Instead of all the embodiments.Based on the embodiment in the application, those of ordinary skill in the art are not making creative labor
Every other embodiment obtained under the premise of dynamic, shall fall within the protection scope of the present application.
Further detailed description has been done to technical solution of the present invention with reference to the accompanying drawing:
A kind of underwater node location prediction technique of constant depth underwater sensor network, the specific steps are as follows:
Step 1: network model, mobile sink migration include water in an underwater three-dimensional environment in the water surface, underwater node deployment
Interior joint and water surface float node, wherein mobile sink is equipped with global position system and electromagnetic wave wireless telecom equipment；Buoy section
Point is equipped with global position system, electromagnetic wave wireless telecom equipment and underwater acoustic communication equipment；Water interior joint is equipped with underwater acoustic communication equipment；
Initial position known to water surface float node and water interior joint, is anchored on seabed with different depth, is furnished with depth adjustment, such as schemes
Shown in 2, water interior joint can adjust buoyancy by depth adjustment and reach the depth for keeping certain.In Fig. 2, water interior joint is used
Hawser is fixed in water, and when buoyancy is consistent with gravity suffered by water interior joint, water interior joint can float on the water of designated depth
Bottom；When the mobile a distance of water interior joint makes hawser be straightened, water interior joint still can maintain depth constant by increasing buoyancy,
At this point, Wherein, F is buoyancy, G is gravity, W is fluid force suffered by water interior joint, Z is deep
Degree, L are rope length；Water interior joint acquires underwater data, is transmitted to buoy node by underwater sound communication, water surface float node passes through electricity
Magnetic wave wireless telecom equipment is forwarded to mobile sink；
Step 2: flow information of water broadcast, mobile sink timing acquisition SPS signal and the water flow velocity for calculating the water surface
Degree and water flow deviation angle are broadcasted by electromagnetic wave wireless telecom equipment to water surface float node, and water surface float node is by the letter
Breath is broadcasted by underwater sound communication to water interior joint；
Step 3: the position prediction of water interior joint, the water surface that water interior joint is transmitted according to the water surface float node that receives
Water velocity and water flow deviation angle information, in conjunction with Ai Keman drift flow model calculate water interior joint locating for depth water velocity and
Water flow deviation angle is calculated the moving displacement of water outlet interior joint with this, and measured in conjunction with the previous positioning coordinate of water interior joint
Current location.
Preferably, specific step is as follows for flow information of water broadcast in step 2:
2-1: mobile sink periodically remain stationary state, and obtains location information coordinate according to global position system, calculates
Within time drift time t, drift displacement s and deviation angle α；
2-2: it is displaced s and drift time t using the drift of mobile sink, calculates the water velocity of the water surface
2-3: mobile sink is by V0, α and t water surface float node, water surface floating be transmitted to by electromagnetic wave wireless communication broadcast
The information is forwarded to water interior joint by underwater sound communication broadcast again by mark node.
Preferably, specific step is as follows for the position prediction of water interior joint in step 3:
3-1: according to Ai Keman drift flow model, the drift velocity and drift angle of water interior joint are calculated, when depth of water arrival angstrom
Gram graceful depthWhen, water velocity V=-0.043V0, whereinAz is eddy viscosity, and f is Coriolis force parameter,
A may be regarded as constant in the case where dimension is constant, and when the depth of water is to Ekman depth D, water velocity is the 0.043 of water surface speed
Times, direction and water surface water velocity completely on the contrary,
3-2: the speed V of water surface float node0Speed V with water interior joint is according to Ai Keman drift flow model solution are as follows:
V=V0eaZ+iaZ (1)
Wherein, z is the depth of water interior joint；
3-3: the angle beta of water interior joint is according to Ai Keman drift flow model solution between the water surface and Ekman depth are as follows:
The displacement s of water interior joint is calculated using v, t, after water calculated according to the home position of water interior joint and drift angle beta
The existing position of interior joint.
In the present invention, when the displacement s of water interior joint prediction is greater than the maximum moving range of itself (hawser is straightened), s
Value will substitute into the maximum moving range of the node.
Preferably, the previous positioning coordinate of water interior joint need to periodically carry out the update of the whole network node initial position,
Specific update method is as follows:
4-1. obtains the location information of water surface float node using the global position system of water surface float node, periodically carries out
The accurate positioning of the whole network updates the home position of water interior joint；
The position offset of 4-2. mobile sink be more than certain value, i.e., the present satellites positioning-system coordinate of mobile sink and
When being more than certain value according to the coordinate difference that last water velocity and angle of current calculate, the satellite of water surface float node is used
Position system location information carries out the accurate positioning of the whole network, updates the home position of water interior joint.
In the present invention, step 4-1 is periodically to be accurately positioned, and step 4-2 is to carry out accurately determining when meeting certain condition
Position, two methods carry out simultaneously.
Preferably, described be accurately positioned is positioned using three-dimensional location.
Preferably, the three-dimensional location is the multilateration based on subaqueous sound ranging.
The present invention considers underwater characteristic, is positioned using the mobile sink of the water surface by global position system, meter
The water velocity and water flow deviation angle of the water surface are calculated, and these property information cycle electromagnetic wave wireless telecom equipments are broadcasted to the water surface
The information is forwarded to water interior joint by underwater acoustic communication equipment again by buoy node, water surface float node；Water interior joint uses
Ai Keman drift flow model calculates the water velocity and water flow deviation angle of locating depth, and the drift of water interior joint is finally calculated
Displacement, water interior joint location information is predicted with this.The present invention is further detailed below.
Mobile sink and buoy node: firstly, in a locating periodically, mobile sink is remain stationary, and according to satellite
The mobile sink coordinate that position system obtains calculates the deviation angle of the mobile sink drift displacement s in drift time t and drift
Spend α；Then, it is displaced s and drift time t using the drift of mobile sink, calculates water velocityFinally, mobile sink will
V0, α and t broadcasted by electromagnetic wave wireless telecom equipment to water surface float node, water surface float node again passes through the information
Underwater acoustic communication equipment is forwarded to water interior joint；
Water interior joint: after the broadcast message for receiving water surface float node, according to the water surface stream of Ai Keman drift flow model derivation
The relational expression V=V of speed and flow velocity in water0eaZ+iaZ, calculate the water velocity V of depth locating for water interior joint；It is drifted about according to Ai Keman
The relational expression of angle of current in the water surface angle of current and water of model inferenceCalculate depth locating for water interior joint
Angle of current β；According to the position prediction interval t that buoy node is broadcasted, displacement S '=V*t is calculated；It is broadcasted according to buoy node
Offset angle [alpha], coordinates computedWherein, (x, y) is original coordinates, and (x ', y ') is prediction coordinate.
During being somebody's turn to do, it is assumed that the initial coordinate of water interior joint is it is known that the original coordinates of first time position prediction are initial coordinate, later
Original coordinates are previous prediction coordinate.
All nodes: in the above process, it is assumed that water velocity, the drift velocity in direction and node, direction remain one
It causes.But in actual conditions, node can be because of the small rule of inertia motion Occurrence forecast coordinate when water velocity and direction change
Mould error.And predict that coordinate becomes original coordinates next time, which can continue to accumulate.Therefore, it need to carry out periodically being directed to institute
There is the accurate positioning of node, it is specific as follows: 1) according to the demand of positioning accuracy, buoy node setting time threshold value △ t.Through △ t
After, buoy node will obtain geographical location information from global position system, and broadcast to water interior joint, water interior joint is using conventional
Multilateration based on subaqueous sound ranging positions coordinate, resets initial coordinate.2) mobile according to the demand of positioning accuracy
Sink sets prediction drift threshold value △ s.Mobile sink obtains changing coordinates (x from global position system0, y0), after according to the last time
V0With the coordinate (x of α prediction current period0', y0'), such as (x0, y0) and (x0', y0') offset be greater than △ s, by notifying
There is buoy node to be accurately positioned.Buoy node and water interior joint will be using the conventional multilaterations based on subaqueous sound ranging
Coordinate is positioned, the initial coordinate of water interior joint is reset.
The above is only a preferred embodiment of the present invention, it is noted that for the ordinary skill people of the art
For member, various improvements and modifications may be made without departing from the principle of the present invention, these improvements and modifications are also answered
It is considered as protection scope of the present invention.
Claims (6)
1. a kind of underwater node location prediction technique of constant depth underwater sensor network, which is characterized in that specific steps are such as
Under:
Step 1: network model, mobile sink migration in the water surface, underwater node deployment in an underwater three-dimensional environment, comprising being saved in water
Point and water surface float node, wherein mobile sink is equipped with global position system and electromagnetic wave wireless telecom equipment；Water surface float section
Point is equipped with global position system, electromagnetic wave wireless telecom equipment and underwater acoustic communication equipment；Water interior joint is equipped with underwater acoustic communication equipment；
Initial position known to water surface float node and water interior joint, is anchored on seabed with different depth, is furnished with depth adjustment, in water
Node acquires underwater data, is transmitted to buoy node by underwater sound communication, buoy node is turned by electromagnetic wave wireless telecom equipment
It is sent to mobile sink；
Step 2: flow information of water broadcast, mobile sink timing acquisition SPS signal and calculate the water surface water velocity and
Water flow deviation angle is broadcasted by electromagnetic wave wireless telecom equipment to water surface float node, and water surface float node leads to the information
Underwater sound communication is crossed to broadcast to water interior joint；
Step 3: the position prediction of water interior joint, the water flow for the water surface that water interior joint is transmitted according to the water surface float node received
Speed and water flow deviation angle information calculate the water velocity and water flow of depth locating for water interior joint in conjunction with Ai Keman drift flow model
Deviation angle is calculated the moving displacement of water outlet interior joint with this, and measured currently in conjunction with the previous positioning coordinate of water interior joint
Position.
2. a kind of underwater node location prediction technique of constant depth underwater sensor network according to claim 1,
It is characterized in that, specific step is as follows for flow information of water broadcast in step 2:
2-1: mobile sink periodically remain stationary state, and obtains location information coordinate according to global position system, and calculating is being floated
In the shift time t time, drift displacement s and deviation angle α；
2-2: s and drift time t is displaced according to the drift of mobile sink, calculates the water velocity of the water surface
2-3: mobile sink is by V0, α and t water surface float node, water surface float node be transmitted to by electromagnetic wave wireless communication broadcast
The information is forwarded to water interior joint by underwater sound communication broadcast again.
3. a kind of underwater node location prediction technique of constant depth underwater sensor network according to claim 1,
It is characterized in that, specific step is as follows for the position prediction of water interior joint in step 3:
3-1: according to Ai Keman drift flow model, calculating the drift velocity and drift angle of water interior joint, when the depth of water reaches Ai Keman
DepthWhen, water velocity V=-0.043V0, whereinAZFor eddy viscosity, f is Coriolis force parameter, and a exists
It may be regarded as constant in the case that dimension is constant, when the depth of water is to Ekman depth D, water velocity is water surface water velocity
0.043 times, direction and the water velocity of the water surface are completely opposite；
3-2: node by ocean current thrust when accelerate, uniform motion is changed to after a period of time, at this point, node
Movement speed is equal with water velocity；
Accordingly, the speed of water surface float node is equal to water surface water velocity V0, the speed and the speed of water interior joint of water surface float node
V is spent according to Ai Keman drift flow model solution are as follows:
V=V0eaZ+iaZ(1)；
Wherein, z is the depth of water interior joint, and i is imaginary unit；
3-3: the move angle β of water interior joint is according to Ai Keman drift flow model solution between the water surface and Ekman depth are as follows:
The displacement s ' of water interior joint is calculated according to v, t, after saved according in the initial position of water interior joint and drift angle beta calculating water
The current location of point.
4. a kind of underwater node location prediction technique of constant depth underwater sensor network according to claim 1,
It is characterized in that, the previous positioning coordinate of water interior joint need to periodically carry out the update of the whole network node initial position, specifically more
New method is as follows:
4-1. obtains the location information of water surface float node using the global position system of water surface float node, according to water surface float
The location information of node periodically carries out the accurate positioning of the whole network, and the home position of water interior joint is periodically updated with this；
The position offset of 4-2. mobile sink be more than certain value, i.e., the present satellites positioning-system coordinate of mobile sink and according to
When the coordinate difference that last water velocity and angle of current calculate is more than certain value, the satellite positioning of water surface float node is used
System location information carries out the accurate positioning of the whole network, updates the home position of water interior joint.
5. a kind of underwater node location prediction technique of constant depth underwater sensor network according to claim 4,
It is characterized in that, described be accurately positioned is positioned using three-dimensional location.
6. a kind of underwater node location prediction technique of constant depth underwater sensor network according to claim 5,
It is characterized in that, the three-dimensional location is the multilateration based on subaqueous sound ranging.
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| CN113141591A (en) * | 2021-04-08 | 2021-07-20 | 武汉理工大学 | Anti-interference system of multi-agent search and rescue network model |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN110166934A (en) * | 2019-05-21 | 2019-08-23 | 长安大学 | Mobile underwater acoustic network method for self-locating based on the selection of dynamic reference node |
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| CN113141591A (en) * | 2021-04-08 | 2021-07-20 | 武汉理工大学 | Anti-interference system of multi-agent search and rescue network model |
| CN113141591B (en) * | 2021-04-08 | 2024-04-30 | 武汉理工大学 | Anti-interference system of multi-agent search and rescue network model |
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