CN109673033A - The data routing method of the mobile sparse wireless sense network of three-dimensional - Google Patents
The data routing method of the mobile sparse wireless sense network of three-dimensional Download PDFInfo
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W40/00—Communication routing or communication path finding
- H04W40/02—Communication route or path selection, e.g. power-based or shortest path routing
- H04W40/04—Communication route or path selection, e.g. power-based or shortest path routing based on wireless node resources
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W40/00—Communication routing or communication path finding
- H04W40/02—Communication route or path selection, e.g. power-based or shortest path routing
- H04W40/04—Communication route or path selection, e.g. power-based or shortest path routing based on wireless node resources
- H04W40/10—Communication route or path selection, e.g. power-based or shortest path routing based on wireless node resources based on available power or energy
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W40/00—Communication routing or communication path finding
- H04W40/24—Connectivity information management, e.g. connectivity discovery or connectivity update
- H04W40/246—Connectivity information discovery
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W40/00—Communication routing or communication path finding
- H04W40/24—Connectivity information management, e.g. connectivity discovery or connectivity update
- H04W40/248—Connectivity information update
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W84/00—Network topologies
- H04W84/18—Self-organising networks, e.g. ad-hoc networks or sensor networks
Abstract
The present invention provides a kind of data routing methods of three-dimensional mobile sparse wireless sense network, problem is obtained for information of neighbor nodes, it is proposed information of neighbor nodes acquisition methods, allow sensing node being capable of real-time update routing table, routing issue is reported for the data of sensing node, data are calculated to report the angle of deviation and report transmission weight, it is proposed sensing node data reports method for routing, for the data down transmission routing issue of Sink node, calculate the maximum position angle of deviation and the data down transmission angle of deviation, establish the biography both candidate nodes set down of Sink node data, calculate transmission weight down, it is proposed the biography method for routing down of Sink node data.By using the data routing method of the mobile sparse wireless sense network of three-dimensional of the invention, the upload transfers rate of sensing node data and the biography transmission rate down of Sink node data can be improved, reduces data packetloss rate, data transmission delay and data packet storage variance.
Description
Technical field
The present invention relates to field of communication technology more particularly to sparse sensor network technology field, in particular to one kind three
The data routing method of the mobile sparse wireless sense network of dimension.
Background technique
Wireless sense network (Wireless SensorNetwork, WSN) is with battery, microprocessor and wireless receiving and dispatching etc.
A kind of distributed sensor that sensing node, aggregation node and the base station of component form.Sensing node perception data, and pass through
Inter-node communication establishes the access to aggregation node, realizes the interaction of data.It can be realized under each environment using wireless sense network
Information collection and data communication, can be widely applied to environmental monitoring, intelligent transportation, intelligence endowment etc. every field, by state
The extensive concern of inside and outside scholar and enterprise.
Sparse wireless sense network is one of important research direction of wireless sense network, is permitted in environmental monitoring, disaster search etc.
It is multi-field to have great application value.Current sparse wireless sense network can be divided into static sparse wireless sense network and mobile sparse nothing
Line Sensor Network.Wherein, the position of all sensing nodes immobilizes in static sparse wireless sense network, method for routing between node
It is intended to find the stable routing path of life span optimization.Although the data routing method of static sparse wireless sense network is ground
It is more to study carefully achievement, but application range is relatively limited to, and the specific occasions such as sudden disaster search and rescue, animal tracking can not be suitable for.It is mobile
Sparse wireless sense network considers that sensing node position can fast move, and routes cavity and transmission-carrying-transmission using that can evade
Data routing, application range is wider, has well adapting to property.
In the sparse wireless sense network of movement, some scholars lay particular emphasis on mobile sparse wireless biography in study two-dimensional environment at present
The data routing method for feeling net, achieves certain achievement.If Yue C K et al. is on the basis of geographical location information, propose
Method for routing based on geographical location utilizes movement speed, moving direction and the relative distance with destination node of node, meter
Operator node reports weight, and selects to report the smaller node of weight as routing node.But due to Route Selection mode ratio
More single, with the reduction of relative distance, routing node selects difficulty to increase, and cannot effectively complete data routing.Cheng P
C et al. proposes the geographical DTN method for routing based on greedy algorithm.This method proposes that greedy, the preferential and time delay of node tolerate mould
Formula, to improve the transmission rate of data in sparse wireless sense network.Zhu K L et al. is based on sparse network structure, proposes to interrupt
The social activity of tolerant network and mobile awareness method for routing.This method is based on sociological analysis method, is reduced using empirical data
Useless data routing to improve the transmission rate of data, and can effectively avoid blind spot and empty problem, but need to community
A large amount of truthful data analysis is carried out, certain generality is lacked.
The data routing method of current sparse wireless sense network does not account for the specific applications network such as sudden disaster search
To the demand of low latency under scene, and less consideration three-dimensional routes, and lacks certain adaptability, it is more difficult to be suitable for underwater wireless and pass
Sense net, spacing wireless Sensor Network etc. need to know depth or the field of height of sensing node.
Summary of the invention
In order to solve problems in the prior art, the present invention considers the three-dimensional position of sensing node, provides a kind of three-dimensional mobile
The data routing method of sparse wireless sense network.This method can improve data transmission rate under three-dimensional environment, reduce data packetloss rate,
Data transmission delay and data packet store variance.
To achieve the goals above, the present invention has following constitute:
The present invention provides a kind of data routing methods of three-dimensional mobile sparse wireless sense network, including sensing node data
Report method for routing, the sensing node data report each sensing node in method for routing to execute following steps:
(a1) initiation parameter, and obtain own location information；
(a2) fixed time broadcast sends dump energy, movement speed, moving direction and the position of itself and neighbours' sensing node
The routing iinformation packet of confidence breath, and the routing iinformation packet of surrounding neighbours node is received, its information of neighbor nodes is updated to local
In routing table；
(a3) timing perception data, if the capacity of itself memory space is full and needs to store new data, by the number
According to earliest data are replaced, itself memory space otherwise is arrived into perception data storage；
(a4) according to the location information of itself, calculating reports the angle of deviation, and reports the angle of deviation, residual energy using itself
Amount, residual storage capacity, movement speed and location information, calculate itself and neighbours' sensing node reports transmission weight；
(a5) if not sending number there is no the data for needing to send or around without neighbours' sensing node in memory space
According to, continue carry data, leap to step (a2), otherwise compare the transmission weight of own node and neighbours' sensing node；
If there is the transmission weight neighbours sensing node bigger than itself, then by the perception data of itself in memory space and
The forwarding data of other sensing nodes are sent to the transmission maximum neighbor node of weight, delete other sensing nodes in memory space
Forwarding data, the transmission times of the perception data of self-sensor node adds 1, and records the transmission times, otherwise leaps to
Step (a2)；
If the transmission times of self-sensor node is greater than preset times threshold value, this is deleted in memory space and itself is passed
Otherwise the perception data for feeling node continues the perception data for retaining self-sensor node, jumps to step (a2).
Optionally, in the step (a2), the specific data format of the routing iinformation packet is as follows: the 1st road byte Wei Wei
By head of packet, the 2nd~4 byte position is current position coordinates, and the 5th byte position is residue energy of node, and the 6th~8 byte position is
Node motion speed, the 9th byte position are node residual storage capacity, and the 10th byte position is routing iinformation packet tail.
Optionally, in the step (a4), reporting transmission weight computing, specific step is as follows:
(a4-1) when sensing node needs to transmit data to Sink node, own node is calculated by following formula (1)
Moving direction and self-position to Sink node position directed line segment angle, be calculated as data and report the angle of deviation:
Wherein,Indicate that the data of sensing node i report the angle of deviation,Indicate the moving direction vector of sensing node i,
Indicate the movement speed of sensing node i,Indicate sensing node i current location to Sink node position direction vector,
Indicate sensing node i current location to Sink node position distance, ifEqual to 0 andNot equal to 0, then section is sensed
Point is stationary and no and Sink node is overlapped, and enablesEqual to pi/2, ifEqual to 0, then sensing node and Sink node
It is overlapped, enablesEqual to 0；
(a4-2) according to the information of neighbours' sensing node information and itself in local routing table, neighbours' sensing node is calculated
Data report the angle of deviation, while according to the speed of neighbor node and own node, dump energy and residual storage capacity, by such as
Lower formula (2) calculating sensing node itself reports transmission weight with its neighbor node:
Wherein,Indicate that sensing node i's reports transmission weight, EiIndicate the dump energy of sensing node i, EinitIt indicates
Sensing node primary power, SiIndicate the residual memory space of sensing node i, SmaxIndicate sensing node maximum memory space, α1
Indicate node motion velocity coeffficient, α2Indicate residue energy of node coefficient, α3Indicate node residual storage capacity coefficient, α4It indicates
To the distance coefficient of Sink node, and α1+α2+α3+α4=1.
It optionally, further include the biography method for routing down of Sink node data, the method for routing that passes down includes the following steps:
(b1) all node initializing parameters, and obtain own location information；
(b2) when Sink node needs user command being sent to target sensing node, if the information of its sensing node
There is no the location information of target sensing node in table or currently transmitted data are ready for sending for the second time and by dominant bit
After setting angle of deviation amendment, still without suitable data routing node is found, then directlys adopt flooded broadcast mode and send target biography
Feel and pass packet under the order data of node, jumps to step (b9), otherwise jump to step (b3)；
(b3) according to the information of target sensing node, Sink node calculates present node and target sensing node is newest reports
The Euclidean distance of position reports movement with the time difference at current time and the newest of target sensing node according to calling time on newest
Speed calculates prediction moving distance, according to the relationship of prediction moving distance and present node and target sensing node, calculates maximum
Position deviation angleWherein,Indicate sensing node j and target sensing node TiThe maximum position angle of deviation；
(b4) according to the position and speed information of neighbor node, Sink node calculates the data of itself and neighbours' sensing node
Under pass the angle of deviationAnd enabling times of revision T is 1；
(b5) according to the data down transmission angle of deviationThe maximum position angle of deviationWith neighbours' sensing node information, Sink node
Establish data down transmission routing candidate node set；
(b6) according to the data down transmission angle of deviation of candidate neighbor nodes, the speed of neighbor node, residual energy in candidate collection
Amount, residual storage capacity and whether Bei Biaoji information, Sink node calculates the transmission of biography down of itself and its candidate neighbor nodes
WeightWherein,Indicate that the biography down of neighbours' sensing node j of sensing node i transmits weight；
(b7) if both candidate nodes concentration is not the biography down that empty set and both candidate nodes concentrate transmission weight maximum node down
It transmits weight and is less than threshold valueStep (b8) is leapt to, otherwise candidate node set J at this timeiIn there is no the candidate sections being suitble to
Point is used as data routing node, to the data transmission fails of target sensing node, modifies the maximum position angle of deviation, times of revision T
Add 1；If times of revision T is not more than preset times threshold value, step (b5) is jumped to, is otherwise determined as that routing failure, mark should
Data send failure for the first time, and move the data into the most end of local queue, and wait next round to send according to queue,
Jump to step (b2)；
Step (b8): select to transmit down the maximum neighbours' sensing node of weight in candidate neighbor nodes as forwarding section
Point sends and passes packet under the order data of target sensing node；The transmission times that the order data passes down packet adds 1, judges the order
Whether the biography number down of data down transmission packet is more than preset times threshold value, if it is, Sink node is completed to target sensing node
Down-transmitting data send, jump to step (b9), otherwise postpone the 5s time after, jump to step (b4)；
Step (b9): if sensing node receives the data down transmission packet of Sink node or the forwarding of neighbours' sensing node, sentence
Break in received data down transmission packet and itself routing iinformation packet with the presence or absence of target sensing node；If received data down transmission packet
With in itself routing iinformation packet all be not present target sensing node information, then to its neighbours' sensing node broadcast forward the data under
Packet is passed, otherwise judges the information update time of target sensing node in received data down transmission packet and itself routing iinformation packet；
If the information update time of target sensing node is than mesh in received data down transmission packet in itself routing iinformation packet
The information update time for marking sensing node is new, then updates position, state and the information of target sensing node in the data down transmission packet
Otherwise renewal time information does not update according to target sensing node information in biography packet down；Using the identical data down transmission of Sink node
Candidate node set selection method and forwarder selection method are routed, selection passes down the transmission maximum neighbor node forwarding number of weight
It is wrapped according to passing down.
Optionally, in the step (b4), the data down transmission of itself and neighbours' sensing node is calculated by following formula (5)
The angle of deviation
Wherein,Indicate sensing node j and target sensing node TiThe data down transmission angle of deviation,Indicate sensing node i
To target sensing node TiDirection vector,Indicate sensing node i to target sensing node TiDistance, ifEqual to 0
AndNot equal to 0, thenEqual to pi/2, ifEqual to 0, thenEqual to 0.
Optionally, in the step (b6), itself biography transmission right down with its candidate neighbor nodes is calculated by formula (7)
Value:
Wherein,Indicate that the biography down of neighbours' sensing node j of sensing node i transmits weight, b1Indicate node motion speed
Coefficient, b2Indicate residue energy of node coefficient, b3Indicate node residual storage capacity coefficient, b3Indicate the number of neighbours' sensing node
According to biography deviation ascent down, b4Indicate that neighbor node marks coefficient, WjNeighbor node label symbol is indicated, when neighbor node j exists
When the location information of destination node, then neighbor node j is marked, W is enabledjIt is 1, otherwise enables WjIt is 0, b1+b2+b3+b4=1.
Optionally, in the step (b7), the maximum position angle of deviation is modified by formula (8):
Wherein, k modifies coefficient, and k > 1 to be default.
Optionally, specific step is as follows for the calculating of the maximum position angle of deviation in the step (b3):
(b3-1) present node and target sensing node T are calculatediThe newest Euclidean distance for reporting position, reports according to newest
The time difference and target sensing node T at time and current timeiIt is newest report movement speed, calculate destination node prediction move
Dynamic distance；
(b3-2) if the prediction moving distance of destination node is less than or equal to present node and target sensing node Ti's
Distance then calculates present node and sensing node T by following formula (3)iThe maximum position angle of deviationOtherwise step is jumped to
Suddenly (b3-3)；
Wherein,Indicate present node and target sensing node TiPrediction maximum position deflecting angle,Indicate that target passes
Feel node TiMovement speed,Indicate target sensing node TiThe time difference called time on newest with current time,It is current
Node and target sensing node TiThe newest Euclidean distance for reporting position；
(b3-3) if the prediction moving distance of destination node is greater than present node and target sensing node TiDistance and
Less than the two distance and present node communication distance and, then pass through following formula (4) and calculate the maximum position angle of deviationIt is no
Then leap to step (b3-4)；
Wherein, riIndicate the communication distance of present node i；
(b3-4) if it is expected that both the moving distance of destination node is greater than distance and present node communication distance and, then
Directly define the maximum position angle of deviationFor π.
Optionally, in the step (b5), the data down transmission of sensing node j routes candidate node set JjMeet following formula
(6) condition:
Wherein dijIndicate the Euclidean distance of node i and node j, dmaxIndicate the maximum communication distance of node, NjIndicate node
Neighbours' sensing node quantity of j.
The data routing method of three-dimensional mobile sparse wireless sense network provided by the present invention, has the following beneficial effects:
The present invention obtains problem for information of neighbor nodes, proposes information of neighbor nodes acquisition methods, allows sensing node energy
Enough real-time update routing tables report routing issue for the data of sensing node, calculate data and report the angle of deviation and report transmission
Weight, propose sensing node data reports method for routing, for the data down transmission routing issue of Sink node, calculates dominant bit
The angle of deviation and the data down transmission angle of deviation are set, the biography both candidate nodes set down of Sink node data is established, calculates and passes transmission weight down,
It is proposed the biography method for routing down of Sink node data；The present invention can improve the upload transfers rate and Sink node of sensing node data
The biography transmission rate down of data reduces data packetloss rate, data transmission delay and data packet storage variance.
Detailed description of the invention
Fig. 1 is that the sensing node data of one embodiment of the invention report the work flow diagram of method for routing；
Fig. 2 is the work flow diagram of the Sink node data down transmission method for routing of one embodiment of the invention.
Specific embodiment
Present invention will be further explained below with reference to specific examples.It should be understood that these embodiments are merely to illustrate the present invention
Rather than it limits the scope of the invention.In addition, it should also be understood that, after reading the content taught by the present invention, those skilled in the art
Member can make various changes or modifications the present invention, and such equivalent forms equally fall within the application the appended claims and limited
Range.
Referring to Fig.1~2, the invention proposes a kind of data routing methods of three-dimensional mobile sparse wireless sense network, including
The biography method for routing down for reporting method for routing and Sink node data of sensing node data.
Referring to Fig.1, the specific work steps for reporting each sensing node in method for routing of the sensing node data
It is as follows:
(a1) initiation parameter, and obtain own location information；
(a2) fixed time broadcast send itself include neighbours' sensing node dump energy, movement speed, moving direction, position
The routing iinformation packet of the information such as information, and the routing iinformation packet of surrounding neighbours node is received, the update of its information of neighbor nodes is arrived
In local routing table.Wherein the specific data format of routing iinformation packet is as follows: the 1st byte position be routing iinformation packet header, the 2nd~4
Byte position is current position coordinates, and the 5th byte position is residue energy of node, and the 6th~8 byte position is node motion speed, the 9th word
Section is node residual storage capacity, and the 10th byte position is routing iinformation packet tail；
(a3) timing perception data.If the capacity of itself memory space is full and needs to store new data, by the number
According to earliest data are replaced, itself memory space otherwise is arrived into perception data storage；
(a4) according to the location information of itself, calculating reports the angle of deviation, and reports the angle of deviation, residual energy using itself
Amount, residual storage capacity, movement speed and location information, calculate itself and neighbours' sensing node reports transmission weight；Wherein,
Reporting transmission weight computing, specific step is as follows:
(a4-1) when sensing node needs to transmit data to Sink node, the shifting of own node is calculated by formula (1)
The angle of the directed line segment of dynamic direction and self-position to Sink node position, i.e. data report the angle of deviation.
Wherein,Indicate that the data of sensing node i report the angle of deviation,Indicate the moving direction vector of sensing node i,
Indicate the movement speed of sensing node i,Indicate sensing node i current location to Sink node position direction vector,
Indicate the current location of sensing node i to the distance of Sink node position.IfEqual to 0 andNot equal to 0, then section is sensed
Point is stationary and no and Sink node is overlapped, and enablesEqual to pi/2.IfEqual to 0, i.e. sensing node and Sink node
It is overlapped, enablesEqual to 0.
(a4-2) according to the information of neighbours' sensing node information and itself in local routing table, neighbours' sensing node is calculated
Data report the angle of deviation.Simultaneously according to the speed of neighbor node and own node, dump energy and residual storage capacity, pass through public affairs
Formula (2) calculating sensing node itself reports transmission weight with its neighbor node.
Wherein,Indicate that sensing node i's reports transmission weight, EiIndicate the dump energy of sensing node i, EinitIt indicates
Sensing node primary power, SiIndicate the residual memory space of sensing node i, SmaxIndicate sensing node maximum memory space, α1
Indicate node motion velocity coeffficient, α2Indicate residue energy of node coefficient, α3Indicate node residual storage capacity coefficient, α4It indicates
To the distance coefficient of Sink node, and α1+α2+α3+α4=1；
(a5) if not sending number there is no the data for needing to send or around without neighbours' sensing node in memory space
According to, continue carry data, leap to step (a2), otherwise compare the transmission weight of own node and neighbours' sensing node.Such as
There is the transmission weight neighbours sensing node bigger than itself in fruit, then save the perception data of itself in memory space and other sensings
The forwarding data of point are sent to the transmission maximum neighbor node of weight, and the forwarding number of other sensing nodes is deleted in memory space
According to the transmission times of the perception data of self-sensor node adds 1, and records the transmission times, otherwise leaps to step (a2).
If the transmission times of self-sensor node is greater than preset times threshold value, it is greater than 3 times, then deleting in memory space should be certainly
Otherwise the perception data of body sensing node continues the perception data for retaining self-sensor node.Jump to step (a2).
Referring to Fig. 2, when Sink node needs down-transmitting data, the specific steps of biography method for routing down of Sink node data are such as
Under:
(b1) all node initializing parameters, and obtain own location information；
(b2) when Sink node needs user command being sent to target sensing node, if the information of its sensing node
There is no the location information of target sensing node in table or currently transmitted data are ready for sending for the second time and by dominant bit
After setting angle of deviation amendment, still without suitable data routing node is found, then directlys adopt flooded broadcast mode and send target biography
Feel and pass packet under the order data of node, jumps to step (b9), otherwise jump to step (b3)；
(b3) according to the information of target sensing node, Sink node calculates present node and target sensing node is newest reports
The Euclidean distance of position reports movement with the time difference at current time and the newest of target sensing node according to calling time on newest
Speed calculates prediction moving distance.According to the relationship of prediction moving distance and present node and target sensing node, calculate maximum
Position deviation angle.Specific step is as follows for the maximum position angle of deviation calculating:
(b3-1) present node and target sensing node T are calculatediThe newest Euclidean distance for reporting position, reports according to newest
The time difference and target sensing node T at time and current timeiIt is newest report movement speed, calculate destination node prediction move
Dynamic distance.
(b3-2) if the prediction moving distance of destination node is less than or equal to present node and target sensing node Ti's
Distance then calculates present node and sensing node T by formula (3)iThe maximum position angle of deviationOtherwise step is jumped to
(b3-3)；
Wherein,Indicate present node and target sensing node TiPrediction maximum position deflecting angle,Indicate that target passes
Feel node TiMovement speed,Indicate target sensing node TiThe time difference called time on newest with current time,It is current
Node and target sensing node TiThe newest Euclidean distance for reporting position.
(b3-3) if the prediction moving distance of destination node is greater than present node and target sensing node TiDistance and
Less than the two distance and present node communication distance and, then calculate the maximum position angle of deviation by formula (4)Otherwise straight
It connects and jumps to step (b3-4).
Wherein, r indicates the communication distance of present node i.
(b3-4) if it is expected that both the moving distance of destination node is greater than distance and present node communication distance and, then
Directly define the maximum position angle of deviationFor π.
(b4) according to information such as the position of neighbor node, speed, Sink node calculates itself by formula (5) and neighbours pass
Feel the data down transmission angle of deviation of nodeAnd enabling times of revision T is 1.
Wherein,Indicate sensing node j and target sensing node TiThe data down transmission angle of deviation.Indicate sensing node i
To target sensing node TiDirection vector,Indicate sensing node i to target sensing node TiDistance.IfEqual to 0
AndNot equal to 0, thenEqual to pi/2.IfEqual to 0, thenEqual to 0.
(b5) according to the data down transmission angle of deviationThe maximum position angle of deviationWith neighbours' sensing node information, neighbours are considered
The influence that the moving direction of sensing node selects data down transmission routing node, Sink node establish the candidate section of data down transmission routing
Point set.Wherein, the data down transmission of sensing node j routes candidate node set JjMeet the following conditions.
Wherein dijIndicate the Euclidean distance of node i and node j, dmaxIndicate the maximum communication distance of node, NjIndicate node
Neighbours' sensing node quantity of j.
(b6) according to the data down transmission angle of deviation of candidate neighbor nodes, the speed of neighbor node, residual energy in candidate collection
Amount, residual storage capacity, whether information, the Sink node such as labeled calculate itself and its candidate neighbor nodes by formula (7)
Biography down transmit weight.
Wherein,Indicate that the biography down of neighbours' sensing node j of sensing node i transmits weight, b1Indicate node motion speed
Coefficient, b2Indicate residue energy of node coefficient, b3Indicate node residual storage capacity coefficient, b3Indicate the number of neighbours' sensing node
According to biography deviation ascent down, b4Indicate that neighbor node marks coefficient, WjNeighbor node label symbol is indicated, when neighbor node j exists
When the location information of destination node, then neighbor node j is marked, W is enabledjIt is 1, otherwise enables WjIt is 0.b1+b2+b3+b4=1.
(b7) if both candidate nodes concentration is not the biography down that empty set and both candidate nodes concentrate transmission weight maximum node down
It transmits weight and is less than threshold valueStep (b8) is leapt to, otherwise candidate node set J at this timeiIn there is no the candidate sections being suitble to
Point is used as data routing node, to the data transmission fails of target sensing node, modifies maximum position deviation by formula (8)
Angle, times of revision T add 1.If times of revision T is not more than 3, step (b5) is jumped to, is otherwise determined as that routing failure, mark should
Data send failure for the first time, and move the data into the most end of local queue, and wait next round to send according to queue,
Jump to step (b2).
Step (b8): select to transmit down the maximum neighbours' sensing node of weight in candidate neighbor nodes as forwarding section
Point sends and passes packet under the order data of target sensing node.The transmission times that the order data passes down packet adds 1.Judge the order
Whether the biography number down of data down transmission packet is more than preset threshold, such as more than 3 times, if it is, Sink node is completed to target
The down-transmitting data of sensing node is sent, and jumps to step (b9), after otherwise postponing the 5s time, jumps to step (b4).
Step (b9): if sensing node receives the data down transmission packet of Sink node or the forwarding of neighbours' sensing node, sentence
Break in received data down transmission packet and itself routing iinformation packet with the presence or absence of target sensing node.If received data down transmission packet
With in itself routing iinformation packet all be not present target sensing node information, then to its neighbours' sensing node broadcast forward the data under
Packet is passed, otherwise judges the information update time of target sensing node in received data down transmission packet and itself routing iinformation packet.Such as
The information update time of target sensing node is than target sensing node in received data down transmission packet in fruit itself routing iinformation packet
The information update time it is new, then updating in the data down transmission packet position of target sensing node, state, information update time etc. believes
Otherwise breath does not update according to target sensing node information in biography packet down.Using the identical candidate section of data down transmission routing of Sink node
Point set selection method and forwarder selection method, the maximum neighbor node of transmission weight forwards data down transmission packet down for selection.
The present invention obtains problem for information of neighbor nodes, proposes information of neighbor nodes acquisition methods, allows sensing node energy
Enough real-time update routing tables.Routing issue is reported for the data of sensing node, data is calculated and reports the angle of deviation and report transmission
Weight, propose sensing node data reports method for routing.For the data down transmission routing issue of Sink node, dominant bit is calculated
The angle of deviation and the data down transmission angle of deviation are set, the biography both candidate nodes set down of Sink node data is established, calculates and passes transmission weight down,
It is proposed the biography method for routing down of Sink node data.The present invention can improve the upload transfers rate and Sink node of sensing node data
The biography transmission rate down of data reduces data packetloss rate, data transmission delay and data packet storage variance.
In this description, the present invention is described with reference to its specific embodiment.But it is clear that can still make
Various modifications and alterations are without departing from the spirit and scope of the invention.Therefore, the description and the appended drawings should be considered as illustrative
And not restrictive.
Claims (9)
1. a kind of data routing method of three-dimensional mobile sparse wireless sense network, which is characterized in that including sensing node data
Method for routing is reported, the sensing node data report each sensing node in method for routing to execute following steps:
(a1) initiation parameter, and obtain own location information；
(a2) fixed time broadcast sends dump energy, movement speed, moving direction and the position letter of itself and neighbours' sensing node
The routing iinformation packet of breath, and the routing iinformation packet of surrounding neighbours node is received, its information of neighbor nodes is updated to local routing
In table；
(a3) timing perception data replaces the data if the capacity of itself memory space is full and needs to store new data
Earliest data are changed, itself memory space otherwise is arrived into perception data storage；
(a4) according to the location information of itself, calculating reports the angle of deviation, and reports the angle of deviation, dump energy, surplus using itself
Remaining memory capacity, movement speed and location information, calculate itself and neighbours' sensing node reports transmission weight；
(a5) if not sending data there is no the data for needing to send or around without neighbours' sensing node in memory space,
Continue to carry data, leaps to step (a2), otherwise compare the transmission weight of own node and neighbours' sensing node；
If there is the transmission weight neighbours sensing node bigger than itself, then by the perception data of itself in memory space and other
The forwarding data of sensing node are sent to the transmission maximum neighbor node of weight, and turning for other sensing nodes is deleted in memory space
Data are sent out, the transmission times of the perception data of self-sensor node adds 1, and records the transmission times, otherwise leaps to step
(a2)；
If the transmission times of self-sensor node is greater than preset times threshold value, the self-sensor section is deleted in memory space
Otherwise the perception data of point continues the perception data for retaining self-sensor node, jumps to step (a2).
2. the data routing method of three-dimensional mobile sparse wireless sense network according to claim 1, which is characterized in that described
In step (a2), the specific data format of the routing iinformation packet is as follows: the 1st byte position is routing iinformation packet header, the 2nd~4 word
Section is current position coordinates, and the 5th byte position is residue energy of node, and the 6th~8 byte position is node motion speed, the 9th byte
Position is node residual storage capacity, and the 10th byte position is routing iinformation packet tail.
3. the data routing method of three-dimensional mobile sparse wireless sense network according to claim 1, which is characterized in that described
In step (a4), reporting transmission weight computing, specific step is as follows:
(a4-1) when sensing node needs to transmit data to Sink node, the shifting of own node is calculated by following formula (1)
The angle of the directed line segment of dynamic direction and self-position to Sink node position, is calculated as data and reports the angle of deviation:
Wherein,Indicate that the data of sensing node i report the angle of deviation,Indicate the moving direction vector of sensing node i,It indicates
The movement speed of sensing node i,Indicate sensing node i current location to Sink node position direction vector,It indicates
The current location of sensing node i to Sink node position distance, ifEqual to 0 andNot equal to 0, then sensing node is quiet
Only motionless and no and Sink node is overlapped, and is enabledEqual to pi/2, ifEqual to 0, then sensing node is overlapped with Sink node,
It enablesEqual to 0；
(a4-2) according to the information of neighbours' sensing node information and itself in local routing table, the data of neighbours' sensing node are calculated
The angle of deviation is reported, while according to the speed of neighbor node and own node, dump energy and residual storage capacity, by following public
Formula (2) calculating sensing node itself reports transmission weight with its neighbor node:
Wherein,Indicate that sensing node i's reports transmission weight, EiIndicate the dump energy of sensing node i, EinitIndicate sensing
Node primary power, SiIndicate the residual memory space of sensing node i, SmaxIndicate sensing node maximum memory space, α1It indicates
Node motion velocity coeffficient, α2Indicate residue energy of node coefficient, α3Indicate node residual storage capacity coefficient, α4It indicates
The distance coefficient of Sink node, and α1+α2+α3+α4=1.
4. the data routing method of three-dimensional mobile sparse wireless sense network according to claim 1, which is characterized in that also wrap
The biography method for routing down of Sink node data is included, the method for routing that passes down includes the following steps:
(b1) all node initializing parameters, and obtain own location information；
(b2) when Sink node needs user command being sent to target sensing node, if in the information table of its sensing node
There is no the location information of target sensing node or currently transmitted data be ready for sending for the second time and by maximum position it is inclined
After declinate amendment, still without suitable data routing node is found, then directlys adopt flooded broadcast mode and send target sensing section
Packet is passed under the order data of point, jumps to step (b9), otherwise jumps to step (b3)；
(b3) according to the information of target sensing node, Sink node calculates present node and target sensing node is newest reports position
Euclidean distance, report mobile speed with the time difference at current time and the newest of target sensing node according to calling time on newest
Degree calculates prediction moving distance, according to the relationship of prediction moving distance and present node and target sensing node, calculates dominant bit
Set the angle of deviationWherein,Indicate sensing node j and target sensing node TiThe maximum position angle of deviation；
(b4) according to the position and speed information of neighbor node, Sink node calculates the data down transmission of itself and neighbours' sensing node
The angle of deviationAnd enabling times of revision T is 1；
(b5) according to the data down transmission angle of deviationThe maximum position angle of deviationWith neighbours' sensing node information, Sink node is established
Data down transmission routes candidate node set；
(b6) according to the data down transmission angle of deviation of candidate neighbor nodes in the candidate collection, speed of neighbor node, dump energy, surplus
Remaining memory capacity and whether Bei Biaoji information, Sink node calculates the transmission weight of biography down of itself and its candidate neighbor nodesWherein,Indicate that the biography down of neighbours' sensing node j of sensing node i transmits weight；
(b7) if both candidate nodes concentration is not the transmission of biography down that empty set and both candidate nodes concentrate transmission weight maximum node down
Weight is less than threshold valueStep (b8) is leapt to, otherwise candidate node set J at this timeiIn there is no suitable both candidate nodes to make
The maximum position angle of deviation is modified to the data transmission fails of target sensing node for data routing node, times of revision T adds 1；
If times of revision T is not more than preset times threshold value, step (b5) is jumped to, is otherwise determined as routing failure, indicates the data
Failure is sent for the first time, and moves the data into the most end of local queue, and waits next round to send according to queue, is jumped to
Step (b2)；
Step (b8): select to transmit down the maximum neighbours' sensing node of weight in candidate neighbor nodes as forward node, hair
It send and passes packet under the order data of target sensing node；The transmission times that the order data passes down packet adds 1, judges under the order data
Whether the biography number down for passing packet is more than preset times threshold value, if it is, Sink node completes the biography down to target sensing node
Data are sent, and jump to step (b9), after otherwise postponing the 5s time, jump to step (b4)；
Step (b9): if sensing node receives the data down transmission packet of Sink node or the forwarding of neighbours' sensing node, judgement is connect
It whether there is target sensing node in the data down transmission packet of receipts and itself routing iinformation packet；If received data down transmission packet and from
Target sensing node information is all not present in body routing iinformation packet, then its neighbours' sensing node is broadcasted and forwards the data down transmission
Otherwise packet judges the information update time of target sensing node in received data down transmission packet and itself routing iinformation packet；
If the information update time of target sensing node passes than target in received data down transmission packet in itself routing iinformation packet
The information update time for feeling node is new, then updates position, state and the information update of target sensing node in the data down transmission packet
Otherwise temporal information does not update according to target sensing node information in biography packet down；Using the identical data down transmission routing of Sink node
Candidate node set selection method and forwarder selection method, selection is down under the maximum neighbor node forwarding data of transmission weight
Pass packet.
5. the data routing method of three-dimensional mobile sparse wireless sense network according to claim 4, which is characterized in that described
In step (b4), the data down transmission angle of deviation of itself and neighbours' sensing node is calculated by following formula (5)
Wherein,Indicate sensing node j and target sensing node TiThe data down transmission angle of deviation,Indicate sensing node i to mesh
Mark sensing node TiDirection vector,Indicate sensing node i to target sensing node TiDistance, ifEqual to 0 and
Not equal to 0, thenEqual to pi/2, ifEqual to 0, thenEqual to 0.
6. the data routing method of three-dimensional mobile sparse wireless sense network according to claim 4, which is characterized in that described
In step (b6), weight is transmitted by the biography down that formula (7) calculates itself and its candidate neighbor nodes:
Wherein,Indicate that the biography down of neighbours' sensing node j of sensing node i transmits weight, b1Indicate node motion velocity coeffficient,
b2Indicate residue energy of node coefficient, b3Indicate node residual storage capacity coefficient, b3Indicate the data down transmission of neighbours' sensing node
Deviation ascent, b4Indicate that neighbor node marks coefficient, WjNeighbor node label symbol is indicated, when there are target sections by neighbor node j
When the location information of point, then neighbor node j is marked, W is enabledjIt is 1, otherwise enables WjIt is 0, b1+b2+b3+b4=1.
7. the data routing method of three-dimensional mobile sparse wireless sense network according to claim 4, which is characterized in that described
In step (b7), the maximum position angle of deviation is modified by formula (8):
Wherein, k modifies coefficient, and k > 1 to be default.
8. the data routing method of three-dimensional mobile sparse wireless sense network according to claim 4, which is characterized in that described
Specific step is as follows for the calculating of the maximum position angle of deviation in step (b3):
(b3-1) present node and target sensing node T are calculatediThe newest Euclidean distance for reporting position calls time according on newest
Time difference and target sensing node T with current timeiIt is newest report movement speed, calculate destination node prediction it is mobile away from
From；
(b3-2) if the prediction moving distance of destination node is less than or equal to present node and target sensing node TiDistance,
Then present node and sensing node T are calculated by following formula (3)iThe maximum position angle of deviationOtherwise step (b3- is jumped to
3)；
Wherein,Indicate present node and target sensing node TiPrediction maximum position deflecting angle,Indicate target sensing section
Point TiMovement speed,Indicate target sensing node TiThe time difference called time on newest with current time,For present node
With target sensing node TiThe newest Euclidean distance for reporting position；
(b3-3) if the prediction moving distance of destination node is greater than present node and target sensing node TiDistance and less than two
Person's distance and present node communication distance and, then pass through following formula (4) and calculate the maximum position angle of deviationOtherwise directly
Jump to step (b3-4)；
Wherein, riIndicate the communication distance of present node i；
(b3-4) if it is expected that both the moving distance of destination node is greater than distance and present node communication distance and, then directly
Define the maximum position angle of deviationFor π.
9. the data routing method of three-dimensional mobile sparse wireless sense network according to claim 4, which is characterized in that described
In step (b5), the data down transmission of sensing node j routes candidate node set JjMeet the condition of following formula (6):
Wherein dijIndicate the Euclidean distance of node i and node j, dmaxIndicate the maximum communication distance of node, NjIndicate node j's
Neighbours' sensing node quantity.
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