CN109462852B - Effective sensor node deployment and coverage keeping method based on layering - Google Patents
Effective sensor node deployment and coverage keeping method based on layering Download PDFInfo
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Abstract
The invention relates to a layering-based effective sensor node deployment and coverage maintenance method, which comprises the following steps: the nodes scattered on the surface of the target water area are clustered by taking sink nodes on the water surface as cluster heads, numbered according to the distance between the nodes from near to far by the cluster head nodes, and settled according to the numbered sequence; judging whether a sinking space exists during the sinking, and if the sinking space is larger than the sensing radius r of the node and smaller than the calculated sinking distance, changing the sinking distance to be r; if the sinking space is smaller than the sensing radius of the node, selecting a depth value with the farthest distance from the existing depth values as the own sinking depth; after the node settlement in the cluster is finished, each node selects a node which is smaller in depth than the node and is connected with the node as a father node and the node as a child node; optimizing the node coverage by adopting a traversal method; and the node moves to the optimal position and updates the information of the neighbor node set around the node.
Description
Technical Field
The invention relates to a node deployment design method in an underwater sensor network.
Background
In recent years, Underwater Acoustic Sensor Networks (UASNs) have become one of the new research hotspots. The application of UASNs promotes the research on marine environment and has great significance in the fields of economy, scientific research, military and the like. However, different from the traditional land wireless sensor network, the underwater sensor network adopts the acoustic communication mode, the communication direction is omnidirectional, and the energy consumption difference is large when the underwater vehicle passes through in different directions; meanwhile, the nodes are deployed as the bottom layer part of the sensor network, which not only relates to the performances of the network, such as coverage rate, communication rate and the like, but also directly influences the subsequent information receiving and transmitting efficiency, the protocol selection and the like. Meanwhile, because the energy of the sensor nodes in the network is limited and the sensor nodes are not easy to replace, how to effectively maintain the coverage effect of the network is also a very important problem. Therefore, how to effectively deploy the nodes to optimize the basic performance of the sensor network and effectively maintain the optimal basic performance in a reasonable mode becomes an urgent problem to be solved.
In some existing node deployment methods, some only consider the coverage of a node on a target area, and the coverage maximization is realized through directional movement; or the communication between the nodes is ensured through the gradual movement of the nodes, and finally the process of three-dimensional coverage is formed. The depth-based adjustable node in the underwater acoustic nodes has more practical functions and higher cost performance compared with expensive nodes such as remote control underwater robots or autonomous underwater vehicles (ROVs, AUVs). Meanwhile, in the underwater sensor network aiming at monitoring, the effective coverage rate is an important index for measuring the monitoring effect of the network and is determined by the coverage and the communication of the network. The good coverage is the basis for the network to comprehensively and accurately acquire information of a target area, and the connection performance directly determines whether the information collected by the nodes can be effectively transmitted to the data center, so that the joint optimization of the coverage and the connection becomes the key for improving the effective coverage rate of the network.
Disclosure of Invention
Aiming at the problems, the invention provides an effective sensor node deployment and coverage keeping method based on a depth-adjustable node, which realizes the optimal monitoring performance of a sensor network through the effective deployment of the node and maintains the monitoring effect of the network through an effective node dormancy and awakening mechanism. The technical scheme is as follows:
a method for effective sensor node deployment and coverage maintenance based on layering comprises the following steps:
1) the nodes scattered on the surface of the target water area are clustered by taking sink nodes on the water surface as cluster heads, the cluster head nodes are numbered according to the distance between the nodes from near to far and are sequentially settled according to the numbering sequence, and the node ni+1The sinking calculation formula is: depthi+1＝depthi+ d (i, i + 1); wherein d (i, i +1) is a node niAnd ni+1The distance between them.
2) Judging whether a sinking space exists during the sinking, and if the sinking space is larger than the sensing radius r of the node and smaller than the calculated sinking distance, changing the sinking distance to be r; if the sinking space is smaller than the sensing radius of the node, selecting a depth value with the farthest distance from the existing depth values as the own sinking depth;
3) after the node settlement in the cluster is finished, each node selects a node which is smaller in depth than the node and is connected with the node as a father node and the node as a child node;
4) optimizing the node coverage by adopting a traversal method, wherein a network target optimization function is as follows:
wherein VijIs a node niAnd njOverlapping volume of coverage area, k being node niThe number of neighbor nodes, N is the total number of sensor nodes; in the traversing process, the node is always kept in a monitoring area, the distance between the node and a father node is smaller than the communication radius r of the node, and the position coordinate of the optimal coverage of the node is obtained by solving a function under the constraint condition;
5) the node moves to the optimal position obtained in the step 4, updates the information of the neighbor node set around the node, judges whether an information neighbor node exists, if yes, calculates the coordinate covering the optimal position again in the movable range of the node and moves to the corresponding position, if not, the position is kept unchanged, and the optimization of the deployment stage is finished;
6) sequentially calculating the change condition of the network coverage rate of each node after the node is dormant, and if the change condition does not occur, indicating that the network coverage redundancy of the node is large, then the node is dormant;
7) when the node is lower than the set threshold with the lowest energy, the node does not forward data packets of other nodes, and selects to awaken all dormant nodes in the communication range of the node, and then executes the step 6) again to enable part of nodes to be dormant so as to save the energy consumption of the network, and the survival time of the network is prolonged through a dynamic dormancy awakening mechanism.
Preferably, the calculation formula of the network coverage rate is as follows: cov Q/V where Q is the sum of the node coverage areas in the network and V is the volume of the monitoring area.
Drawings
FIG. 1 is a network scenario diagram of the present invention
FIG. 2 is a flow chart of tree topology formation according to the present invention
FIG. 3 is a flowchart of coverage optimization of the present invention
FIG. 4 is a flow chart of dormancy wakeup of a node in a network and dynamic selection of cluster head nodes
Detailed Description
The invention provides an effective sensor node deployment and coverage keeping method, which comprises the following steps: the coverage and communication characteristics of the nodes in the network scene shown in fig. 1 are optimized in a combined manner mainly by using the adjustable characteristic of the node depth, and the coverage effect of the network is maintained through an effective node dormancy awakening mechanism, which is completed in three stages; the first stage is to generate a connected tree through node Depth adjustment, and the specific process is shown in fig. 2, wherein Depth is the Depth of the target water areaiIs a node niDepth value of (d); the second stage is that the nodes are subjected to coverage optimization, the optimal position coordinates are obtained by obtaining the information of the neighbor nodes and the adjustable range of the self depth, and the nodes are moved to the corresponding positions, and the process is shown in figure 3; the third phase is a dormancy wakeup mechanism of a node in the network and a dynamic selection mechanism of a cluster head node, and the flow is shown in fig. 4.
The method mainly comprises the following steps:
1. in the initial stage, sink nodes with a certain density are placed on the surface of a target water area to serve as an intermediary for data communication between a sensor network and a data center, and common sensor nodes are randomly and uniformly scattered on the surface of the water area in modes of planes or ships and the like.
Setting the Depth of a target water area as Depth and the number of a node n as iiDepth value ofiNode niAnd ni+1The distance between them is d (i, i + 1).
2. And the common nodes select the sink nodes closest to the common nodes to join, the sink nodes are numbered according to the position coordinates of the nodes, the sinking depth is calculated, and the distance between adjacent numbered nodes can be calculated according to the coordinates of the nodes and an Euler formula. When node niWhen the sink node sinks without depth, the sink node sinks in depthSet of values H ═ H1,h2,...,hkSelect one of them with node niThe depth value with the maximum average horizontal distance is used as the sinking depth of the node, so that the coverage overlapping between the nodes is reduced.
3. After the depth adjustment is finished, the node niSelecting depth less than depthiAnd the nodes connected with the self are used as father nodes and the self is used as a child node to form a tree topology. On the basis of full connection of the nodes, the effective coverage of the target area by the network is optimized by adjusting the positions of the nodes. According to the objective optimization function of the network, the node coverage optimization can be carried out only in a traversal mode. Therefore, the network traverses according to the cluster number sequence, and the inside of the cluster traverses according to the depth of the nodes from the deep order to the shallow order. When traversing to the node niWhen, node niFirstly, sensing own neighbor node set through information, then calculating the optimal coordinates covered by the self in the movable range of the self, and moving to the corresponding position.
4. Traversal with each node at condition C1 (x)i,yi,zi)∈V,
And C2.dmin(neighbors′of ni,ni) The optimal solution of self coverage is sought under the constraint of < k · r. Where C1 indicates that the node is to remain within the monitored area, and C2 indicates that the distance between the node and its parent is less than the communication radius r. The calculation formula of the vertical coordinate of the optimal position of the node is as follows:
wherein V is a target water area, N is a sensor node set, and (x)i,yi,zi) Is a node niK is the ratio of the communication radius and the sensing radius of the node, and Q is the node niA set of neighboring nodes. The formula is a function related to the vertical coordinate z of the node, and the vertical coordinate of the optimal position of the node is obtained by solving the optimal solution of the function.
5. And 4, obtaining the optimal position coordinates of node deployment through the step 4, moving, judging whether new neighbor nodes are added around after moving to the corresponding position, and if so, continuing to execute the step four until no new neighbor nodes are added, namely the position of the node does not need to be changed. And finishing the optimization of the node deployment.
6. And (3) sequentially calculating the change condition of the network coverage cov after each node is dormant by using the traversal method in the step 3, and if no change occurs, indicating that the network coverage redundancy of the node is high, then the node is dormant.
7. When the node is lower than the set threshold with the lowest energy, the node does not forward data packets of other nodes, simultaneously, the node selects to awaken all dormant nodes in the communication range r of the node, and executes the step 6 again to enable part of the nodes to be dormant so as to save network energy consumption. The robustness of the network topology is enhanced through dynamic node dormancy and awakening, and the survival time of the network is prolonged.
Claims (1)
1. A method for effective sensor node deployment and coverage maintenance based on layering comprises the following steps:
1) the nodes scattered on the surface of the target water area are clustered by taking sink nodes on the water surface as cluster heads, the cluster head nodes are numbered according to the distance between the nodes from near to far and are sequentially settled according to the numbering sequence, and the node ni+1The sinking calculation formula is: depthi+1＝depthi+ d (i, i + 1); wherein d (i, i +1) is a node niAnd ni+1A distance of between, wherein depthiIs a node niThe sinking depth of;
2) judging whether a sinking space exists during the sinking, and if the sinking space is larger than the sensing radius r of the node and smaller than the calculated sinking distance, changing the sinking distance to be r; if the sinking space is smaller than the sensing radius of the node, selecting a depth value with the farthest distance from the existing depth values as the own sinking depth;
3) after the node settlement in the cluster is finished, each node selects a node which is smaller in depth than the node and is connected with the node as a father node and the node as a child node;
4) miningOptimizing the node coverage by using a traversal method, wherein a network target optimization function is as follows:
wherein VijIs a node niAnd njOverlapping volume of coverage area, k being node niThe number of neighbor nodes, N is the total number of sensor nodes; in the traversing process, the node is always kept in a monitoring area, the distance between the node and a father node is smaller than the communication radius r of the node, and the vertical coordinate of the optimal covering position of the node is obtained by solving the following function under the constraint condition:
wherein V is a target water area, N is a sensor node set, and (x)i,yi,zi) Is a node niK is the ratio of the communication radius and the sensing radius of the node, and Q is the node niA set of neighbor nodes;
5) the node moves to the optimal position obtained in the step 4, updates the information of the neighbor node set around the node, judges whether an information neighbor node exists, if yes, calculates the coordinate covering the optimal position again in the movable range of the node and moves to the corresponding position, if not, the position is kept unchanged, and the optimization of the deployment stage is finished;
6) sequentially calculating the change condition of the network coverage rate of each node after being dormant, and if the change condition does not occur, the network coverage redundancy of the node is large, then the node is dormant, wherein the calculation formula of the network coverage rate is as follows: cov Q/V, where Q is the sum of the node coverage areas in the network and V is the volume of the monitoring area;
7) when the node is lower than the set threshold with the lowest energy, the node does not forward data packets of other nodes, and selects to awaken all dormant nodes in the communication range of the node, and then executes the step 6) again to enable part of nodes to be dormant so as to save the energy consumption of the network, and the survival time of the network is prolonged through a dynamic dormancy awakening mechanism.
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