CN109413588B - Underwater node position prediction method of fixed-depth underwater sensor network - Google Patents

Underwater node position prediction method of fixed-depth underwater sensor network Download PDF

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CN109413588B
CN109413588B CN201811129820.5A CN201811129820A CN109413588B CN 109413588 B CN109413588 B CN 109413588B CN 201811129820 A CN201811129820 A CN 201811129820A CN 109413588 B CN109413588 B CN 109413588B
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CN109413588A (en
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张�杰
蔡梦颖
钱玉洁
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Changzhou Campus of Hohai University
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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
    • 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
    • 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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    • 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
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Abstract

The invention discloses an underwater node position prediction method for a fixed-depth underwater sensor network, which is suitable for a three-dimensional underwater sensor network with fixed node depth. The method comprises the following steps that a mobile sink on the water surface is positioned through a satellite positioning system, the water flow speed and the offset angle are calculated, the information is periodically broadcast to a buoy node, and the buoy node forwards the information to the underwater node again; and (3) calculating the water velocity and the offset angle of the depth of the underwater node by using an Eckman drift model, and finally calculating the drift displacement so as to predict the position information. Compared with the conventional underwater positioning method based on distance measurement, the method can reduce the broadcasting behavior of the position information of the buoy node and reduce the energy consumption.

Description

Underwater node position prediction method of fixed-depth underwater sensor network
Technical Field
The invention relates to a method for predicting the position of an underwater node of a fixed-depth underwater sensor network, and belongs to the field of three-dimensional underwater sensor network node positioning.
Background
The underwater sensor network has great application prospect in military supervision, underwater navigation, disaster prevention, pollution detection, resource exploitation, earthquake monitoring and the like. In most applications, deployment, maintenance, data collection, etc. of a network require support of geographical location information. Therefore, the development of an efficient and stable underwater sensor network positioning technology is becoming a hot spot of great interest.
The existing positioning method for the underwater sensor network is mainly multilateral positioning based on distance measurement, and the method needs to broadcast node position information frequently, so that energy is wasted.
Disclosure of Invention
In order to solve the problems, the invention provides an underwater node position prediction method of a fixed-depth underwater sensor network, which is suitable for a three-dimensional underwater sensor network with fixed node depth, the three-dimensional underwater sensor network is positioned by a mobile sink on the water surface through a satellite positioning system, the water flow speed and the offset angle are calculated, the information is periodically broadcast to a water surface buoy node, and the water surface buoy node forwards the information to the underwater node again; and (3) calculating the water velocity and the offset angle of the depth of the underwater node by using an Eckman drift model, and finally calculating the drift displacement so as to predict the position information. Compared with the conventional underwater positioning method based on distance measurement, the method can reduce the broadcasting behavior of the position information of the buoy node and reduce the energy consumption.
The invention mainly adopts the technical scheme that:
a method for predicting the position of an underwater node of an underwater sensor network with fixed depth comprises the following steps:
step 1: the system comprises a network model, a mobile sink and an underwater node, wherein the mobile sink walks on the water surface, the underwater node is deployed in an underwater three-dimensional environment and comprises an underwater node and a water surface buoy node, and the mobile sink is provided with a satellite positioning system and electromagnetic wave wireless communication equipment; the water surface buoy node is provided with a satellite positioning system, electromagnetic wave wireless communication equipment and underwater acoustic communication equipment; the underwater node is provided with underwater acoustic communication equipment; the initial positions of the buoy nodes on the water surface and the underwater nodes are known, the buoy nodes and the underwater nodes are anchored on the seabed at different depths, the underwater nodes are provided with depth adjusting devices, underwater data are collected by the underwater nodes and transmitted to the buoy nodes through underwater acoustic communication, and the buoy nodes are forwarded to a mobile sink through electromagnetic wave wireless communication equipment;
step 2: broadcasting water flow information, namely, regularly acquiring satellite positioning system signals by a mobile sink, calculating the water flow speed and the water flow offset angle of the water surface, broadcasting the signals to a water surface buoy node through electromagnetic wave wireless communication equipment, and broadcasting the information to an underwater node through underwater acoustic communication by the water surface buoy node;
and step 3: and (3) predicting the position of the underwater node, wherein the underwater node calculates the water flow speed and the water flow deviation angle of the depth of the underwater node by combining an Eckman drift model according to the received water flow speed and water flow deviation angle information of the water surface transmitted by the water surface buoy node, so that the motion displacement of the underwater node is calculated, and the current position is measured by combining the previous positioning coordinate of the underwater node.
Preferably, the step 2 of the water flow information broadcast comprises the following specific steps:
2-1: the mobile sink regularly keeps a static state, acquires position information coordinates according to a satellite positioning system, and calculates drift displacement s and a drift angle alpha within a drift time t;
2-2: calculating the water velocity of the water surface according to the drift displacement s and the drift time t of the mobile sink
Figure BDA0001813208850000021
2-3: moving sink to V0And alpha and t are transmitted to the water surface buoy node through electromagnetic wave wireless communication broadcast, and the water surface buoy node forwards the information to the underwater node through underwater acoustic communication broadcast again.
Preferably, the concrete steps of the position prediction of the underwater node in step 3 are as follows:
3-1: according to the Eckman drift model, the drift velocity and the drift angle of the nodes in water are calculated, and when the water depth reaches the Eckman depth
Figure BDA0001813208850000031
When the water flow velocity V is equal to-0.043V0Wherein, in the step (A),
Figure BDA0001813208850000032
AZthe eddy viscosity is adopted, f is a Coriolis force parameter, a can be regarded as a constant under the condition that the dimensionality is unchanged, when the water depth reaches the Ackerman depth D, the water flow speed is 0.043 times of the water flow speed of the water surface, and the direction is completely opposite to the water flow speed of the water surface;
3-2: the node does accelerated motion under the thrust of ocean current, changes to uniform motion after a period of time, and at the moment, the moving speed of the node is equal to the water flow speed;
accordingly, the velocity of the surface buoy node is equal to the surface water velocity V0The speed of the water surface buoy node and the speed V of the water node are solved as follows according to the Eckman drift model:
V＝V0eaZ+iaZ (1)
wherein z is the depth of the node in water, and i is an imaginary unit;
3-3: the moving angle beta of the underwater node between the water surface and the Eckman depth is solved according to an Eckman drift model as follows:
Figure BDA0001813208850000033
and calculating the displacement s' of the node in the water according to v and t, and then calculating the current position of the node in the water according to the initial position of the node in the water and the drift angle beta.
Preferably, the previous positioning coordinates of the underwater nodes need to be periodically updated in the initial positions of the nodes in the whole network, and the specific updating method is as follows:
4-1, acquiring the position information of the water surface buoy nodes by using a satellite positioning system of the water surface buoy nodes, and periodically and accurately positioning the whole network according to the position information of the water surface buoy nodes so as to periodically update the original positions of the water nodes;
and 4-2, when the position offset of the mobile sink exceeds a certain value, namely the difference value between the current satellite positioning system coordinate of the mobile sink and the coordinate calculated according to the current water velocity and the water flow angle exceeds a certain value, using the satellite positioning system position information of the water surface buoy node to perform accurate positioning of the whole network, and updating the original position of the water node.
Preferably, the precise positioning adopts a three-dimensional positioning algorithm for positioning.
Preferably, the three-dimensional positioning algorithm is a multilateral positioning algorithm based on underwater acoustic ranging.
Has the advantages that: compared with the conventional distance measurement-based underwater positioning algorithm which needs to broadcast position information in all positioning time slots, the method for predicting the position of the underwater node of the fixed-depth underwater sensor network only broadcasts information of the buoy node in the step 1 and the step 3, and the underwater node in other positioning time slots can calculate the position by self, so that the information broadcasting behavior of the underwater node can be greatly reduced, and the energy loss is reduced.
Drawings
FIG. 1 is an Eckmann drift model employed by the present invention;
FIG. 2 is a fixed depth underwater sensor node model to which the present invention is directed.
Detailed Description
In order to make those skilled in the art better understand the technical solutions in the present application, the technical solutions in the embodiments of the present application are clearly and completely described below, and it is obvious that the described embodiments are only a part of the embodiments of the present application, and not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
The technical scheme of the invention is further explained in detail by combining the attached drawings:
a method for predicting the position of an underwater node of an underwater sensor network with fixed depth comprises the following steps:
step 1: the system comprises a network model, a mobile sink and an underwater node, wherein the mobile sink walks on the water surface, the underwater node is deployed in an underwater three-dimensional environment and comprises an underwater node and a water surface buoy node, and the mobile sink is provided with a satellite positioning system and electromagnetic wave wireless communication equipment; the buoy node is provided with a satellite positioning system, electromagnetic wave wireless communication equipment and underwater acoustic communication equipment; the underwater node is provided with underwater acoustic communication equipment; the surface buoy nodes and the underwater nodes have known initial positions, are anchored on the seabed at different depths, are provided with depth adjusting devices, and can adjust buoyancy to keep a certain depth through the depth adjusting devices as shown in figure 2. In fig. 2, the underwater node is fixed in the water by using a cable, and when the buoyancy is consistent with the gravity borne by the underwater node, the underwater node can float on the water bottom at a specified depth; when the underwater node moves a certain distance to make the cable be straightened, the underwater node can still keep the depth unchanged by increasing the buoyancy force,
Figure BDA0001813208850000051
Figure BDA0001813208850000052
wherein F is buoyancy, G is gravity, W is fluid force borne by the node in water, Z is depth, and L is rope length; the underwater data is collected by the underwater node and transmitted to the buoy node through underwater acoustic communication, and the water surface buoy node is wirelessly communicated through electromagnetic wavesThe information equipment forwards the information to the mobile sink;
step 2: broadcasting water flow information, namely, regularly acquiring satellite positioning system signals by a mobile sink, calculating the water flow speed and the water flow offset angle of the water surface, broadcasting the signals to a water surface buoy node through electromagnetic wave wireless communication equipment, and broadcasting the information to an underwater node through underwater acoustic communication by the water surface buoy node;
and step 3: and (3) predicting the position of the underwater node, wherein the underwater node calculates the water flow speed and the water flow deviation angle of the depth of the underwater node by combining an Eckman drift model according to the received water flow speed and water flow deviation angle information of the water surface transmitted by the water surface buoy node, so that the motion displacement of the underwater node is calculated, and the current position is measured by combining the previous positioning coordinate of the underwater node.
Preferably, the step 2 of the water flow information broadcast comprises the following specific steps:
2-1: the mobile sink regularly keeps a static state, acquires position information coordinates according to a satellite positioning system, and calculates drift displacement s and a drift angle alpha within a drift time t;
2-2: calculating the water velocity of the water surface by using the drift displacement s and the drift time t of the mobile sink
Figure BDA0001813208850000061
2-3: moving sink to V0And alpha and t are transmitted to the water surface buoy node through electromagnetic wave wireless communication broadcast, and the water surface buoy node forwards the information to the underwater node through underwater acoustic communication broadcast again.
Preferably, the concrete steps of the position prediction of the underwater node in step 3 are as follows:
3-1: according to the Eckman drift model, the drift velocity and the drift angle of the nodes in water are calculated, and when the water depth reaches the Eckman depth
Figure BDA0001813208850000062
When the water flow velocity V is equal to-0.043V0Wherein, in the step (A),
Figure BDA0001813208850000063
az is vortex viscosity, f is Coriolis force parameter, a can be regarded as constant under the condition of unchanged dimension, when the water depth reaches the Ackerman depth D, the water velocity is 0.043 times of the water surface velocity, the direction is completely opposite to the water velocity,
3-2: velocity V of water surface buoy node0The velocity V of the node in the water is solved as follows according to the Eckman drift model:
V＝V0eaZ+iaZ (1)
wherein z is the depth of the node in the water;
3-3: the angle beta of the underwater node between the water surface and the Eckman depth is solved according to an Eckman drift model as follows:
Figure BDA0001813208850000064
and (5) calculating the displacement s of the node in the water by using v and t, and then calculating the current position of the node in the water according to the original position of the node in the water and the drift angle beta.
In the invention, when the predicted displacement s of the node in water is larger than the maximum moving range of the node (the cable is straightened), the value of s is substituted into the maximum moving range of the node.
Preferably, the previous positioning coordinates of the underwater nodes need to be periodically updated in the initial positions of the nodes in the whole network, and the specific updating method is as follows:
4-1, acquiring the position information of the water surface buoy nodes by using a satellite positioning system of the water surface buoy nodes, regularly performing accurate positioning of the whole network, and updating the original positions of the water nodes;
and 4-2, when the position offset of the mobile sink exceeds a certain value, namely the difference value between the current satellite positioning system coordinate of the mobile sink and the coordinate calculated according to the current water velocity and the water flow angle exceeds a certain value, using the satellite positioning system position information of the water surface buoy node to perform accurate positioning of the whole network, and updating the original position of the water node.
In the invention, the step 4-1 is to perform accurate positioning regularly, the step 4-2 is to perform accurate positioning when a certain condition is met, and the two methods are performed simultaneously.
Preferably, the precise positioning adopts a three-dimensional positioning algorithm for positioning.
Preferably, the three-dimensional positioning algorithm is a multilateral positioning algorithm based on underwater acoustic ranging.
The underwater characteristic is considered, the mobile sink on the water surface is used for positioning through a satellite positioning system, the water flow speed and the water flow offset angle of the water surface are calculated, the information is broadcasted to the water surface buoy node through the periodic electromagnetic wave wireless communication equipment, and the information is forwarded to the water node through the underwater acoustic communication equipment by the water surface buoy node again; and (3) calculating the water flow speed and the water flow offset angle of the depth of the underwater node by using the Eckman drift model, and finally calculating the drift displacement of the underwater node so as to predict the position information of the underwater node. The present invention is further explained below.
Moving sink and buoy node: firstly, in a positioning period, the mobile sink keeps still, and the mobile sink drift displacement s and the drift offset angle alpha within the drift time t are calculated according to the mobile sink coordinate obtained by a satellite positioning system; then, the drift displacement s and the drift time t of the moving sink are used for calculating the water velocity
Figure BDA0001813208850000081
Finally, moving sink to V0The alpha and the t are broadcasted to the water surface buoy node through the electromagnetic wave wireless communication equipment, and the water surface buoy node forwards the information to the underwater node through the underwater acoustic communication equipment again;
node in water: after receiving the broadcast information of the water surface buoy node, deriving a relational expression V (V) between the water surface flow velocity and the water flow velocity according to the Eckman drift model0eaZ+iaZCalculating the water flow velocity V of the depth of the underwater node; relation between water surface water flow angle and water flow angle deduced according to Eckman drift model
Figure BDA0001813208850000082
Calculating the water flow angle beta of the depth of the node in the water; according to the buoy nodeA broadcasted position prediction interval t, calculating a displacement S' ═ V × t; calculating coordinates from the offset angle alpha broadcast by the buoy node
Figure BDA0001813208850000083
Where (x, y) is the original coordinates and (x ', y') is the predicted coordinates. In the process, the initial coordinates of the underwater nodes are assumed to be known, the initial coordinates of the first position prediction are the initial coordinates, and the subsequent initial coordinates are the previous predicted coordinates.
All the nodes: in the above process, it is assumed that the water flow speed and direction are always consistent with the drift speed and direction of the node. In practice, however, the node will have a small error in the predicted coordinates due to inertial motion when the water flow speed and direction change. And the predicted coordinates become the next original coordinates, the error continues to accumulate. Therefore, accurate positioning for all nodes is required to be performed periodically, which is as follows: 1) and setting a time threshold delta t for the buoy node according to the requirement of positioning accuracy. After the delta t, the buoy node acquires geographical position information from a satellite positioning system and broadcasts the geographical position information to the underwater nodes, and the underwater nodes position coordinates by adopting a conventional multilateral positioning algorithm based on underwater acoustic ranging and reset initial coordinates. 2) And according to the requirement of positioning precision, the mobile sink sets a prediction offset threshold deltas. The mobile sink obtains the current coordinates (x) from the satellite positioning system0，y0) Then according to the last V0And alpha predicts the coordinates (x) of the current cycle0’，y0') such as (x)0，y0) And (x)0’，y0') is greater than deltas, all buoy nodes will be informed to be accurately positioned. The buoy nodes and the underwater nodes adopt a conventional multilateral positioning algorithm based on underwater acoustic ranging to position coordinates, and the initial coordinates of the underwater nodes are reset.
The foregoing is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, various modifications and decorations can be made without departing from the principle of the present invention, and these modifications and decorations should also be regarded as the protection scope of the present invention.

Claims (4)

1. A method for predicting the position of an underwater node of an underwater sensor network with fixed depth is characterized by comprising the following specific steps:
step 1: the system comprises a network model, a mobile sink and an underwater node, wherein the mobile sink walks on the water surface, the underwater node is deployed in an underwater three-dimensional environment and comprises an underwater node and a water surface buoy node, and the mobile sink is provided with a satellite positioning system and electromagnetic wave wireless communication equipment; the water surface buoy node is provided with a satellite positioning system, electromagnetic wave wireless communication equipment and underwater acoustic communication equipment; the underwater node is provided with underwater acoustic communication equipment; the initial positions of the buoy nodes on the water surface and the underwater nodes are known, the buoy nodes and the underwater nodes are anchored on the seabed at different depths, the underwater nodes are provided with depth adjusting devices, underwater data are collected by the underwater nodes and transmitted to the buoy nodes through underwater acoustic communication, and the buoy nodes are forwarded to a mobile sink through electromagnetic wave wireless communication equipment;
step 2: the method comprises the following steps of water flow information broadcasting, mobile sink timing acquisition of satellite positioning system signals, calculation of water flow speed and water flow offset angle of a water surface, broadcasting to a water surface buoy node through electromagnetic wave wireless communication equipment, and broadcasting of the information to the water surface buoy node through underwater acoustic communication, wherein the water flow information broadcasting specifically comprises the following steps:
2-1: the mobile sink regularly keeps a static state, acquires position information coordinates according to a satellite positioning system, and calculates drift displacement s and a drift angle alpha within a drift time t;
2-2: calculating the water velocity of the water surface according to the drift displacement s and the drift time t of the mobile sink
Figure FDA0002654787560000011
2-3: moving sink to V0The alpha and the t are transmitted to the water surface buoy node through electromagnetic wave wireless communication broadcasting, and the water surface buoy node forwards the information to the underwater node through underwater acoustic communication broadcasting again;
and step 3: and predicting the position of the underwater node, calculating the water flow speed and the water flow deviation angle of the depth of the underwater node by the underwater node according to the received water flow speed and water flow deviation angle information of the water surface transmitted by the water surface buoy node by combining an Eckman drift model, calculating the motion displacement of the underwater node, and measuring the current position by combining the previous positioning coordinate of the underwater node
The method comprises the following concrete steps of predicting the position of the underwater node:
3-1: according to the Eckman drift model, the drift velocity and the drift angle of the nodes in water are calculated, and when the water depth reaches the Eckman depth
Figure FDA0002654787560000012
When the water flow velocity V is equal to-0.043V0Wherein, in the step (A),
Figure FDA0002654787560000013
AZthe eddy viscosity is adopted, f is a Coriolis force parameter, a can be regarded as a constant under the condition that the dimensionality is unchanged, when the water depth reaches the Ackerman depth D, the water flow speed is 0.043 times of the water flow speed of the water surface, and the direction is completely opposite to the water flow speed of the water surface;
3-2: the node does accelerated motion under the thrust of ocean current, changes to uniform motion after a period of time, and at the moment, the moving speed of the node is equal to the water flow speed;
accordingly, the velocity of the surface buoy node is equal to the surface water velocity V0The speed of the water surface buoy node and the speed V of the water node are solved as follows according to the Eckman drift model:
V＝V0eaZ+iaZ (1)；
wherein z is the depth of the node in water, and i is an imaginary unit;
3-3: the moving angle beta of the underwater node between the water surface and the Eckman depth is solved according to an Eckman drift model as follows:
Figure FDA0002654787560000021
and calculating the displacement s' of the node in the water according to v and t, and then calculating the current position of the node in the water according to the initial position of the node in the water and the drift angle beta.
2. The underwater node position prediction method of the fixed-depth underwater sensor network according to claim 1, characterized in that the previous positioning coordinates of the underwater nodes need to be periodically updated for the initial positions of the nodes in the whole network, and the specific updating method is as follows:
4-1, acquiring the position information of the water surface buoy nodes by using a satellite positioning system of the water surface buoy nodes, and periodically and accurately positioning the whole network according to the position information of the water surface buoy nodes so as to periodically update the original positions of the water nodes;
and 4-2, when the position offset of the mobile sink exceeds a certain value, namely the difference value between the current satellite positioning system coordinate of the mobile sink and the coordinate calculated according to the current water velocity and the water flow angle exceeds a certain value, using the satellite positioning system position information of the water surface buoy node to perform accurate positioning of the whole network, and updating the original position of the water node.
3. The method for predicting the position of the underwater node of the fixed-depth underwater sensor network according to claim 2, wherein the accurate positioning is performed by using a three-dimensional positioning algorithm.
4. The method of claim 3, wherein the three-dimensional positioning algorithm is a multilateral positioning algorithm based on underwater acoustic ranging.
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