CN109819462B - Node scheduling method for solving redundancy perception of random heterogeneous sensor network - Google Patents

Node scheduling method for solving redundancy perception of random heterogeneous sensor network Download PDF

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CN109819462B
CN109819462B CN201910271411.7A CN201910271411A CN109819462B CN 109819462 B CN109819462 B CN 109819462B CN 201910271411 A CN201910271411 A CN 201910271411A CN 109819462 B CN109819462 B CN 109819462B
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秦宁宁
金磊
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Jiangnan University
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Abstract

The invention discloses a node scheduling method for solving redundancy sensing of a random heterogeneous sensor network, and belongs to the field of sensor network coverage. The method comprises the following steps: the method comprises the steps of firstly adjusting the sensing radius of each node in the heterogeneous wireless sensor network by adopting a Delaunay triangular subdivision graph, and then identifying the node needing to be dormant in the network according to the sensing degree of each node's own sensing disc and the effective constraint arc of each node by the neighbor node of each node. By the method, the nodes needing to be dormant in the network are effectively and accurately identified, and the problem of overlapping redundancy sensing in the multi-level heterogeneous wireless sensor network is solved; the multi-level heterogeneous wireless sensor network can keep stable and reliable work, and meanwhile, the node scheduling performance and the redundancy removing quality are improved.

Description

Node scheduling method for solving redundancy perception of random heterogeneous sensor network
Technical Field
The invention relates to a node scheduling method for solving redundancy sensing of a random heterogeneous sensor network, and belongs to the field of sensor network coverage.
Background
In a Wireless Sensor Network (WSNs), due to high-density random deployment of nodes, the network often generates a large amount of overlapping redundant sensing, and the overlapping redundant sensing between the nodes causes resource waste and affects the service life of the network.
In order to solve the problem of overlapping redundant sensing in WSNs, the prior art mainly starts from two aspects of reducing redundant sensing areas and sleeping redundant nodes; however, in the existing methods for reducing the redundant sensing area and dormancy redundant nodes, homogeneous or secondary heterogeneous wireless sensor networks are used as research objects, and in the task-oriented WSNs, even if the initial configuration of the wireless sensor networks is a homogeneous structure, due to the difference influence of sensing requirements and routing loads, the nodes can also present the multilevel heterogeneous performance; and the heterogeneous characteristics are more randomized under the common influence of human factors and natural factors.
Therefore, the existing method for reducing the redundant sensing area and the dormant redundant nodes for the homogeneous or two-stage heterogeneous wireless sensor network cannot be simply transplanted into the multistage heterogeneous wireless sensor network.
Disclosure of Invention
In order to solve the problem that the existing method for reducing the redundant sensing area and sleeping redundant nodes aiming at the isomorphic or two-stage heterogeneous wireless sensor network cannot be simply transplanted into a multistage heterogeneous wireless sensor network to solve the overlapping redundant sensing, the invention provides a node scheduling method for solving the redundant sensing of a random heterogeneous sensor network, which comprises the following steps:
adjusting the perception radius of each node in the heterogeneous wireless sensor network by adopting a Delaunay triangular subdivision graph;
after the perception radius of each node is adjusted, identifying the nodes needing dormancy in the network according to the perception degree of the neighbor nodes of each node to the self perception disc of each node and the effective constraint circular arc of each node; wherein, each node self-perception disc is a circle which is drawn by taking the node as the center of a circle and the perception radius of each node as the radius; the effective constraint circular arcs of the nodes are circular arcs which are overlapped and sensed by the sensing disks of the neighbor nodes on the sensing circumference of the self sensing disk.
Optionally, the adjusting, by using the delaunay triangulation graph, the sensing radius of each node in the heterogeneous wireless sensor network includes:
for each node siConservative radius adjustments based on local delaunay triangles are performed: calculating by node siSet of triangles T being common verticesi＝{Tp i1,2, …, P, each triangle Tp iRadius of the hollow circumscribed circle
Figure BDA0002018527370000011
And adds it to the local perceptual radius set
Figure BDA0002018527370000021
Wherein P represents a node siNumber of triangles with common vertices, Tp iDenotes the p-th node siTriangles that are common vertices;
Figure BDA0002018527370000022
is shown inNode siSet of triangles T being common verticesiA set of hollow circumscribed circle radii;
will siCurrent sensing radius riAnd local perception radius set
Figure BDA00020185273700000210
The maximum value in the node is compared, and the sensing radius r of the node is sensed according to the comparison resultiIs adjusted to r'i；
Figure BDA0002018527370000023
Optionally, after the sensing radius of each node is adjusted, identifying a node in the network that needs to be dormant according to the sensing degree of the neighbor node of each node to the self-sensing disc of each node and the effective constraint arc of each node, including: identifying gray nodes and black nodes, and defining the identified gray nodes and black nodes as nodes needing to be subjected to dormancy.
Optionally, the definition of the gray node is:
suppose a node siWith its neighbour node sjAt a given sense overlap area ratio threshold θthWhen theta is greater than thetath<1, if theta is presenti,j>θthThen the node s is determinediGray nodes;
defining a sensing overlap area ratio thetai,jComprises the following steps: node siAnd a neighboring node sjSensing the overlapping area overlap(s) of the disksi,Sj) And self-sensing disc area
Figure BDA0002018527370000024
The ratio of (a) to (b), namely:
Figure BDA0002018527370000025
wherein, overlap (S)i,Sj)＝ri 2(α+β)/2-d(si,sj)·sinα·ri；Areasi＝πri 2α and β denote nodes siAnd a neighboring node sjCorresponding to the central angles of the overlapping regions respectively; d(s)i,sj) Representing a node siAnd a neighboring node sjThe distance between them.
Optionally, the definition of the black node is:
node siGiving a threshold value | arc of the effective constraint circular arc degree number to Neighbor node set Neighbor _ ithIf present, | arci|≥|arc|thSimultaneous node siSensing disc SiCenter of circle (x)i,yi) If k is satisfied, then the node s is determinediIs a black node;
wherein, | arciL is node siEffective constraint arc of
Figure BDA0002018527370000026
The sum of the degrees of (c).
Optionally, the gray nodes include fully redundant wrap-around gray nodes, defined when d(s)i,sj)<rj-riWhen there is thetai,j＝1>θthNode siWrapped gray nodes referred to as fully redundant; wherein r isi、rjAre respectively a node siAnd a neighboring node sjAnd (5) adopting the Delaunay triangular subdivision graph to adjust the node radius.
Optionally, the decision node siIn the black node, | arciThe process of | is calculated as follows:
suppose a node siHas Q Neighbor nodes in Neighbor node set Neighbor _ i, Neighbor _ i ═ sjq|d(si,sjq)≤ri+rjqQ1, 2.., Q }, corresponding to each neighboring node sjqForm Q
Figure BDA0002018527370000027
Arc, then node siEffective constraint arc of
Figure BDA0002018527370000028
Figure BDA0002018527370000029
Is a node siS of a neighbor nodejqPolar angle in polar coordinate system, α is sjqTo siGenerating a central angle of the overlapping region;
by node siBeing polar poles, i.e. presence of si(0,0) with rays s in the horizontal and vertical directions, respectivelyix，siy, establishing a coordinate system, and selecting a forward reference with the counterclockwise direction as an angle;
calculating to obtain a neighbor node s according to the formulas (3), (4) and (5)jqTo node siIs constrained by a circular arc
Figure BDA0002018527370000031
Degree of (1 | arc)i_jq|：
Figure BDA0002018527370000032
Figure BDA0002018527370000033
Figure BDA0002018527370000034
Wherein a and b represent
Figure BDA0002018527370000035
The polar angle of the starting point A and the end point B in the polar coordinate system;
obtaining a node s according to the formulaiEffectively constraining the degree of the arc
Figure BDA0002018527370000036
Optionally, the node covered by k for annular sensing is misjudged as a redundant node, and k is greater than or equal to 2.
Optionally, the k covers a node whose sensing area is sensed by a ring but whose center is not sensed, and is mistakenly judged as a redundant node, where k is greater than or equal to 2.
The invention also provides an application of the method in the sensor network coverage field.
The invention has the beneficial effects that:
adjusting the perception radius of each node in the heterogeneous wireless sensor network by adopting a Delaunay triangular subdivision diagram; after the perception radius of each node is adjusted, according to the perception degree of the neighbor node of each node to the perception disc of each node and the effective constraint arc of each node, the node needing to be dormant in the network is identified, and the problem of overlapping redundant perception in the multi-level heterogeneous wireless sensor network is solved; the multi-level heterogeneous wireless sensor network can keep stable and reliable work, and meanwhile, the node scheduling performance and the redundancy removing quality are improved.
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In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used in the description of the embodiments will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.
FIG. 1 node siRadius of perception riAnd (6) adjusting the graph.
FIG. 2 node siEffective constraint arc of
Figure BDA0002018527370000037
Schematic representation.
FIG. 3 is a schematic diagram of a node-aware overlap area solution.
Fig. 4 is a schematic diagram of gray nodes.
FIG. 5 Black node and effectively constrained arc during decision
Figure BDA0002018527370000041
The calculation of the degree sum of (c) is referred to the figure.
FIG. 6 does not satisfy the node-constrained arc graph covered by circle center k.
Fig. 7 is a comparison graph of target area adjustment effect, where (a) is the initial coverage of N-200; (b) covering after adjusting the sensing radius for N-200; (c) initial coverage of N-400; (d) the adjusted sensing radius is covered with N400.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, embodiments of the present invention will be described in detail with reference to the accompanying drawings.
The first embodiment is as follows:
the embodiment provides a node scheduling method for solving redundancy perception of a random heterogeneous sensor network, which comprises the following steps:
adjusting the perception radius of each node in the heterogeneous wireless sensor network by adopting a Delaunay triangular subdivision graph;
after the perception radius of each node is adjusted, according to the perception degree of the neighbor node of each node to the perception disc of each node and the effective constraint circular arc of each node, the node needing to be dormant in the network is identified and is dormant. Thereby effectively solving the problem of overlapping redundant sensing in the WSNs.
In a homogeneous network, the distance between nodes can directly reflect the perception overlap area, based on a given distance threshold dthWhether redundancy exists between two nodes can be effectively judged; in the multi-level heterogeneous sensor network, due to the difference of the sensing radius of the nodes, the distance between the node and the neighbor node is far, but the sensing discs of the nodes may still be sensed in an overlapping manner, as shown in fig. 4, for the node siIn other words, a node s in which significant redundancy existsiCannot rely on increasing d alonethAnd is identified. Therefore, the method for reducing the redundant sensing area and the dormant redundant nodes for the homogeneous wireless sensor network cannot be simply transplanted into the multilevel heterogeneous wireless sensor network.
To describe the node scheduling method of the random heterogeneous wireless sensor network provided by the invention in detail, the following definitions are given first:
define 1 coverage redundancy F: is a measure of the degree of redundancy that the region I is perceived by the nodes in the set s of sensor network nodes. The coverage redundancy F is characterized by the ratio of the sensing area of all nodes in the sensor network node set s to the sensing area of the node set I:
Figure BDA0002018527370000042
delaunay triangle subdivision map T for definition 2 s: the method comprises the following steps of (s, E) forming a unique triangulation T which is formed by taking any node in a sensor network node set s as an end point and meets the following conditions:
(a) in the split map, the set E of closed routes satisfies: except for the end points, no other points in the node set are contained and no intersecting edges exist;
(b) all the subdivision surfaces are triangular surfaces, and a collection T of all the triangular surfaces is a convex hull of a node set s;
(c) and the inside of the circumscribed circle of each triangle in the T does not contain a fourth node except the node constructing the triangle.
Define 3 the radius of the circumscribed circle: in the Delaunay subdivision diagram formed by taking the sensor network node set s as the circumscribed circle, any one node siTriangles formed for the vertices
Figure BDA0002018527370000051
Is shown as a circle circumscribing the geometry of (a), wherein,
Figure BDA0002018527370000052
represents a sum of siRelated triangle subsets
Figure BDA0002018527370000053
Is circumscribed by the radius of the circle.
If for any given subdivision triangle
Figure BDA0002018527370000054
Respectively has a side length of EAB，EBC，ECALet E equal 0.5 (E)AB+EBC+ECA) Then, the radius of the circumscribed circle of the triangle can be calculated according to equation (7):
Figure BDA0002018527370000055
the node scheduling method for solving the redundant sensing of the random heterogeneous sensor network provided by the embodiment firstly adjusts the sensing radius of each node in the heterogeneous wireless sensor network by adopting a Delaunay triangulation graph, and comprises the following steps:
for each node siConservative radius adjustments based on local delaunay triangles are performed: calculating by node siSet of triangles T being common verticesi＝{Tp i1,2, …, P, each triangle Tp iRadius of the hollow circumscribed circle
Figure BDA0002018527370000056
And adds it to the local perceptual radius set
Figure BDA00020185273700000512
Wherein P represents a node siNumber of triangles with common vertices, Tp iDenotes the p-th node siTriangles that are common vertices;
Figure BDA0002018527370000057
represented by node siSet of triangles T being common verticesiA set of hollow circumscribed circle radii;
will siRadius of perception riAnd local perception radius set
Figure BDA00020185273700000513
Is compared with the maximum value in the node, and the sensing radius r of the node is adjustedi；
Figure BDA00020185273700000514
Specifically, referring to fig. 1, the network subgraph shown in fig. 1 includes a node siAnd Q6 Neighbor nodes Neighbor _ i ═ sj1,sj2,...,sj6Is composed of (i) wherein Ti＝{T1 i,T2 i,…,TP iIs at node siFor the common vertex P ═ 6 triangles, the maximum value of the radius of the Ti hollow circumscribed circle can be obtained
Figure BDA0002018527370000058
Due to node perception radius
Figure BDA0002018527370000059
Therefore will siIs adjusted to
Figure BDA00020185273700000510
After the perception radius of each node is adjusted, identifying the nodes needing to be dormant in the network according to the perception degree of neighbor nodes of each node to the perception disc of each node and the effective constraint circular arc of each node;
the sensing radius of the node is adjusted, so that invalid sensing is reduced as much as possible by taking the node as a center and taking a neighbor node as a radiation range. But due to the need to accommodate multiple related triangles T simultaneouslyP iThe adjustment of the sensing radius of the common vertex is bound to take into account all the involved radii of the triangle circumscribed circle
Figure BDA00020185273700000511
While appropriately relaxing the current node siRadius of perception riTherefore, the nodes still have overlapping perception.
Furthermore, an overlapping area ratio between nodes and an effective constraint arc are introduced as a measuring basis, and a gray node and a black node which have redundancy in the network are respectively identified and are subjected to dormancy processing.
In detail, how to identify the nodes that need to go to sleep, some definitions introduced therein are explained as follows:
define 4 the effective constraint arc: if node s in the networkiSensing disc SiWith its neighbour node sjSensing disc SjIn the presence of perceptually overlapping regions, i.e.
Figure BDA00020185273700000612
Then siIs a circular arc of its sensing circumferencejThe sensing disk overlaps the sensing arc.
If node siWith its Q Neighbor nodes Neighbor _ i ═ sjq|d(si,sjq)≤ri+rjqQ1, 2, Q, there is a perceptual overlap region and corresponds to each neighboring node sjqForm Q
Figure BDA0002018527370000061
A circular arc. Then siEffective constraint arc of
Figure BDA0002018527370000062
Figure BDA0002018527370000063
And with | arciI represents
Figure BDA0002018527370000064
The sum of the degrees of (c). As shown in fig. 2, s is positive in the counterclockwise directioniAnd Q5 neighbor nodes sjqThe effective constraint arc formed is
Figure BDA0002018527370000065
Define 5 sense overlap area ratio θi,j: node siAnd a neighboring node sjSensing the overlapping area overlap (S) of the disksi,Sj) And self-sensing disc area
Figure BDA0002018527370000066
Is the ratio of siAbout sjOf induction overlap area ratio, i.e.
Figure BDA0002018527370000067
Figure BDA0002018527370000068
For node siAnd a neighboring node sjSensing the overlapping area overlap (S) of the disksi,Sj) Please refer to fig. 3, node siAnd a neighboring node sjThe central angles of the overlapping regions corresponding to the two nodes are represented by α and β, intersecting A and B on the circumference, then the node siAnd a neighboring node sjOverlap area overlap (S)i,Sj) The calculation can be obtained by the formula (8), wherein α and β can be obtained based on elementary geometric knowledge, which is not described herein.
overlap(Si,Sj)＝ri 2(α+β)/2-d(si,sj)·sinα·ri(8)
Definition of 6 gray nodes, Grey node: for sensor node siAnd sjAt a given sense overlap area ratio threshold θth(generally,. theta.th<1) When there is thetai,j>θthThen the node s is determinediAre gray nodes, e.g., node s shown in FIGS. 4-1 and 4-2i. When d(s)i,sj)<rj-riWhen there is thetai,j＝1>θthNode siWrapped gray nodes referred to as fully redundant, nodes s shown in FIG. 4-2i。
In the network, except for pairwise overlapping sensing between nodes, the overlapping sensing of a node sensing disc by the combination of a neighbor node set is also a condition which cannot be ignored in the process of reducing network redundancy.
In FIG. 5-1, node siNeighbor node set Neighbor _ i ═ sjq1,2,3, and θi,jq<θthCannot identify siGrey node, but due to the presence
Figure BDA0002018527370000069
Obviously siAre redundant nodes. At this time, depend on siEffective constraint arc of
Figure BDA00020185273700000610
Degree of (1 | arc)iCan supplement the pair node siAnd judging whether the Neighbor node set Neighbor _ i is a black node or not by combining the identification condition of the overlapping perception.
Definition 7 Black node: for sensor node siGiving a threshold value | arc of the effective constraint circular arc degree number to Neighbor node set Neighbor _ ithIf present, | arci|≥|arc|thWhile sensing the disc SiCenter of circle (x)i,yi) If k is satisfied, then the node s is determinediIs a black node, | arciL is node siEffective constraint arc of
Figure BDA00020185273700000611
The sum of the degrees (c) is calculated as follows:
suppose a node siHas Q Neighbor nodes in Neighbor node set Neighbor _ i, Neighbor _ i ═ sjq|d(si,sjq)≤ri+rjqQ1, 2.., Q }, corresponding to each neighboring node sjqForm Q
Figure BDA0002018527370000071
Arc, then node siEffective constraint arc of
Figure BDA0002018527370000072
Referring to FIG. 5, in FIG. 5-1, node siThere are 3 neighbor nodes, i.e., Q3, in fig. 5-2,
Figure BDA0002018527370000073
is a node siS of a neighbor nodejqPolar angle in polar coordinate system, α is sjqTo siGenerating a central angle of the overlapping region;
by node siBeing polar poles, i.e. presence of si(0,0) with rays s in the horizontal and vertical directions, respectivelyix，siyEstablishing a coordinate system, and selecting a forward reference with a counterclockwise direction as an angle;
calculating to obtain a neighbor node s according to the formulas (3), (4) and (5)jqTo node siIs constrained by a circular arc
Figure BDA0002018527370000074
Degree of (1 | arc)i_jq|：
Figure BDA0002018527370000075
Figure BDA0002018527370000076
Figure BDA0002018527370000077
Wherein a and b represent
Figure BDA0002018527370000078
The polar angle of the starting point A and the end point B in the polar coordinate system;
obtaining a node s according to the formulaiEffectively constraining the degree of the arc
Figure BDA0002018527370000079
Note that the node s is setiSensing disc SiCenter of circle (x)i,yi) K-covering is satisfied in order to avoid that the ring-sensing node is misjudged as a redundant node in fig. 6.
The necessary condition that the node satisfies the decision of the black node is | arci|≥|arc|thBut for siSensing the annular perception on the circumference will also satisfy | arci|≥|arc|thConditional, as shown in FIG. 6, directly sleeping nodesiA large loss of perception is caused. Therefore, it is necessary to set sufficient conditions for determining the black node as: effectively constrained arc condition | arci|≥|arc|thCovering k ≧ 2 (k is usually set to 2).
Example two:
the embodiment provides an application of the node scheduling method of the random heterogeneous wireless sensor network in forest fire monitoring.
If forest fires need to be monitored, a large number of random heterogeneous sensor nodes are required to be randomly deployed in a monitoring area in a mode of airplane distribution and the like, and due to the fact that full-coverage monitoring of a target area needs to be completed, a large number of redundant nodes and superposition sensing often exist in a sensor network, and at the moment, by the adoption of the node scheduling method, the node utilization efficiency can be greatly improved, and the network service life is prolonged. Simulation experiments for high-density random deployment of target detection areas are given below.
In the experiment, N is 200 and N is 400 random heterogeneous nodes are randomly deployed in a target area (as shown in fig. 7(a) and (c)), the target area is heavily redundant due to the high-density deployment of nodes, after node scheduling is performed by the node scheduling method provided by the application, the sensing radius of the nodes in the network is reduced to a certain extent, the redundant nodes are correspondingly dormant, the sensing redundancy is greatly reduced, and based on the evaluation of the formula (6), the sensing redundancy of the original F (N is 200) is 6.4 and the original F (N is 400) is 12.8 is reduced to F (N is 200) is 1.82 and the sensing redundancy of the F (N is 400) is 1.8 as shown in fig. 7(b) and (d).
Therefore, the node scheduling method provided by the application adjusts the sensing radius of each node in the heterogeneous wireless sensor network by adopting the Delaunay triangulation graph; after the perception radius of each node is adjusted, according to the perception degree of the neighbor node of each node to the perception disc of each node and the effective constraint arc of each node, the node needing to be dormant in the network is identified, and the problem of overlapping redundant perception in the multi-level heterogeneous wireless sensor network is solved; the multi-level heterogeneous wireless sensor network can keep stable and reliable work, and meanwhile, the node scheduling performance and the redundancy removing quality are improved.
Some steps in the embodiments of the present invention may be implemented by software, and the corresponding software program may be stored in a readable storage medium, such as an optical disc or a hard disk.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents, improvements and the like that fall within the spirit and principle of the present invention are intended to be included therein.

Claims (8)

1. A node scheduling method for solving redundancy perception of a random heterogeneous sensor network is characterized by comprising the following steps:
adjusting the perception radius of each node in the heterogeneous wireless sensor network by adopting a Delaunay triangular subdivision graph;
after the perception radius of each node is adjusted, identifying the nodes needing dormancy in the network according to the perception degree of the neighbor nodes of each node to the self perception disc of each node and the effective constraint circular arc of each node;
the adjusting the sensing radius of each node in the heterogeneous wireless sensor network by adopting the Delaunay triangulation graph comprises the following steps:
for each node siConservative radius adjustments based on local delaunay triangles are performed: calculating by node siSet of triangles T being common verticesi＝{Tp i1,2, …, P, each triangle Tp iRadius of the hollow circumscribed circle
Figure FDA0002525658470000011
And adds it to the local perceptual radius set
Figure FDA0002525658470000012
Wherein P represents a node siNumber of triangles with common vertices, Tp iDenotes the p-th node siTriangles that are common vertices;
Figure FDA0002525658470000013
represented by node siSet of triangles T being common verticesiA set of hollow circumscribed circle radii;
will siCurrent sensing radius riAnd local perception radius set
Figure FDA0002525658470000014
The maximum value in the node is compared, and the sensing radius r of the node is sensed according to the comparison resultiIs adjusted to r'i；
Figure FDA0002525658470000015
2. The method according to claim 1, wherein after the sensing radius of each node is adjusted, identifying the node in the network that needs to go to sleep according to the sensing degree of the neighbor node of each node to the self-sensing disk of each node and the effective constraint arc of each node, comprises: identifying gray nodes and black nodes, and defining the identified gray nodes and black nodes as nodes needing to be subjected to dormancy.
3. The method of claim 2, wherein the definition of gray nodes is:
suppose a node siWith its neighbour node sjAt a given sense overlap area ratio threshold θthWhen theta is greater than thetath<1, if theta is presenti,j>θthThen the node s is determinediGray nodes;
defining a sensing overlap area ratio thetai,jComprises the following steps: node siAnd a neighboring node sjSensing the overlapping area overlap (S) of the disksi,Sj) And self-sensing disc area
Figure FDA0002525658470000016
The ratio of (a) to (b), namely:
Figure FDA0002525658470000017
wherein, overlap (S)i,Sj)＝ri 2(α+β)/2-d(si,sj)·sinα·ri；
Figure FDA0002525658470000018
α and β denote nodes siAnd a neighboring node sjCorresponding to the central angles of the overlapping regions respectively; d(s)i,sj) Representing a node siAnd a neighboring node sjThe distance between them.
4. The method of claim 3, wherein the definition of the black node is:
node siGiving a threshold value | arc of the effective constraint circular arc degree number to Neighbor node set Neighbor _ ithIf present, | arci|≥|arc|thSimultaneous node siSensing disc SiCenter of circle (x)i,yi) If k is satisfied, then the node s is determinediIs a black node;
wherein, | arciL is node siEffective constraint arc of
Figure FDA0002525658470000021
The sum of the degrees of (c).
5. The method of claim 4, wherein the gray nodes comprise fully redundant wrapped gray nodes, defined when d(s)i,sj)<rj-riWhen there is thetai,j＝1>θthNode siWrapped gray nodes referred to as fully redundant; wherein r isi、rjAre respectively a node siAnd a neighboring node sjAnd (5) adopting the Delaunay triangular subdivision graph to adjust the node radius.
6. Method according to claim 4 or 5, characterized in that the decision node siIn the black node, | arciThe process of | is calculated as follows:
suppose a node siHas Q Neighbor nodes in Neighbor node set Neighbor _ i, Neighbor _ i ═ sjq|d(si,sjq)≤ri+rjqQ1, 2.., Q }, corresponding to each neighboring node sjqForm Q
Figure FDA0002525658470000022
Arc, then node siEffective constraint arc of
Figure FDA0002525658470000023
Figure FDA0002525658470000024
Is a node siS of a neighbor nodejqPolar angle in polar coordinate system, α is sjqTo siGenerating a central angle of the overlapping region;
by node siBeing polar poles, i.e. presence of si(0,0) with rays s in the horizontal and vertical directions, respectivelyix，siy, establishing a coordinate system, and selecting a forward reference with the counterclockwise direction as an angle;
calculating to obtain a neighbor node s according to the formulas (3), (4) and (5)jqTo node siIs constrained by a circular arc
Figure FDA0002525658470000025
Degree of (1 | arc)i_jq|：
Figure FDA0002525658470000026
Figure FDA0002525658470000027
Figure FDA0002525658470000028
Wherein a and b represent
Figure FDA0002525658470000029
The polar angle of the starting point A and the end point B in the polar coordinate system;
obtaining a node s according to the formulaiEffectively constraining the degree of the arc
Figure FDA00025256584700000210
7. The method according to claim 6, wherein k covers a node for avoiding that the sensing area is sensed in a ring shape, but the center of the sensing area is not sensed, and is misjudged as a redundant node, and k is more than or equal to 2.
8. The method of claim 7, wherein the k-cover represents a node siSensing disc SiCenter of circle (x)i,yi) Is sensed by the sensing disk of k neighbor nodes.
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