CN110418390A - The data transfer optimization method and system of low-altitude remote sensing and earth horizon sensor - Google Patents
The data transfer optimization method and system of low-altitude remote sensing and earth horizon sensor Download PDFInfo
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- CN110418390A CN110418390A CN201910522388.4A CN201910522388A CN110418390A CN 110418390 A CN110418390 A CN 110418390A CN 201910522388 A CN201910522388 A CN 201910522388A CN 110418390 A CN110418390 A CN 110418390A
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W28/00—Network traffic management; Network resource management
- H04W28/02—Traffic management, e.g. flow control or congestion control
- H04W28/08—Load balancing or load distribution
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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
- H04W40/02—Communication route or path selection, e.g. power-based or shortest path routing
- H04W40/20—Communication route or path selection, e.g. power-based or shortest path routing based on geographic position or location
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02D—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN INFORMATION AND COMMUNICATION TECHNOLOGIES [ICT], I.E. INFORMATION AND COMMUNICATION TECHNOLOGIES AIMING AT THE REDUCTION OF THEIR OWN ENERGY USE
- Y02D30/00—Reducing energy consumption in communication networks
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Abstract
The invention discloses a kind of data transfer optimization method and system of farmland quality monitoring low-altitude remote sensing and earth horizon sensor, wherein, which comprises the largest data transfer amount of each ground node is calculated based on low-altitude remote sensing course line and terrestrial wireless sensor node position；Largest data transfer amount and storage data quantity based on each ground node are classified, and class node is obtained；Short distance data transfer optimization is carried out to assistance node and demand nodes based on polling data distribution-maximum residual energy routing algorithm；Distance data transmission in assistance node and demand nodes progress is optimized based on greedy data distribution-maximum residual energy routing algorithm；Pathfinding algorithm being distributed-spread based on greedy data, Long-range Data Transmission optimization is carried out to assistance node and demand nodes.In embodiments of the present invention, sampling flight time and number are reduced, data transmission efficiency and energy loss between ground node are optimized.
Description
Technical field
The present invention relates to data output and optimisation technique field more particularly to a kind of farmland quality monitoring low-altitude remote sensings and ground
The data transfer optimization method and system of face sensing.
Background technique
The value volume and range of product of the monitoring index of farmland quality monitoring is more, conventional field investigation and laboratory assay analysis side
Although method can obtain most farmland quality monitoring index data, the subjective impact of field investigation is big, laboratory
It tests time-consuming and laborious.If the ground long term monitoring data and high spatial resolution low-altitude remote sensing data in monitoring region can be obtained,
New monitoring and analysis method can be provided with the index monitored for farmland quality, for farmland quality monitoring provide it is more objective,
Convenient, efficient monitoring method and system.Existing wireless sensor network and unmanned plane can provide respectively ground and supervise for a long time
Measured data and low-altitude remote sensing data.
Wireless sensor network (the Wireless Sensor of ground long term monitoring data is provided for farmland quality monitoring
Network, WSN) there are automatic collection and transmission data, the advantages such as long term monitoring may be implemented, it is widely used in environment prison
The fields such as survey, precision agriculture, farmland quality monitoring.
The prior art does not consider influence of the data volume of farmland quality ground node long term monitoring data to convergence process.
Unmanned plane during flying speed is fast, short by the time of ground node efficient communication range, and the message transmission rate of inter-node communication
It is limited, in addition head node needs to transmit the data of all nodes of entire cluster in existing method, then it is likely used only to will go out
Existing existing method each round flight can not acquire all data that long term monitoring is accumulated, and more wheels that need to fly are long-term to complete
Monitor the convergence of accumulated mass data.This adds increased the working time of farmland quality monitoring field sampling and unmanned planes
Energy consumption.
Summary of the invention
It is an object of the invention to overcome the deficiencies in the prior art, and the present invention provides a kind of farmland quality monitoring low latitude is distant
The data transfer optimization method and system of sense and earth horizon sensor reduce sampling flight time and number, optimize between ground node
The efficiency of data transmission and the loss of energy.
In order to solve the above-mentioned technical problem, the embodiment of the invention provides a kind of farmland quality monitoring low-altitude remote sensing and ground
The data transfer optimization method of sensing, which comprises
The maximum data for calculating each ground node based on low-altitude remote sensing course line and terrestrial wireless sensor node position passes
Throughput rate；
Largest data transfer amount and storage data quantity based on each ground node are classified, and class node, institute are obtained
Stating class node includes assisting node, demand nodes and optional routing node；
Short distance number is carried out to assistance node and demand nodes based on polling data distribution-maximum residual energy routing algorithm
According to transmission optimization；
Based on greedy data distribution-maximum residual energy routing algorithm to distance number in assistance node and demand nodes progress
According to transmission optimization；
It is excellent to assisting node and demand nodes to carry out Long-range Data Transmission pathfinding algorithm to be distributed-spread based on greedy data
Change.
Optionally, the largest data transfer amount for calculating each ground node, comprising:
The coordinate data of course data and ground node based on unmanned plane calculates unmanned plane and flies over each ground node
The length for heading of efficient communication range；
The traffic rate of the communication module of flying speed and ground node based on unmanned plane calculates each ground node
Largest data transfer amount.
Optionally, the largest data transfer amount and storage data quantity based on each ground node is classified, and is obtained
Class node, comprising:
Obtain the storage data quantity of each ground node；
It is compared using the largest data transfer amount of each ground node with storage data quantity, and is based on comparison result
Classify, obtains class node；
Wherein, when largest data transfer amount is greater than storage data quantity, which is classified as assisting node；Work as maximum
When volume of transmitted data is less than storage data quantity, which is classified as demand nodes；When largest data transfer amount is equal to storage
When data volume, which is classified as optional routing node.
Optionally, the polling data distribution-maximum residual energy routing algorithm that is based on is to assistance node and demand nodes
Carry out short distance data transfer optimization, comprising:
Judge demand nodes within the scope of a default hop distance with the presence or absence of there is assistance node；
If demand nodes are there are when assistance node within the scope of a default hop distance, each demand nodes send one
The data of unit are sent to the assistance node in a default hop distance, and the data volume of upgrade demand node and assistance node,
Return judge that demand nodes whether there is within the scope of a default hop distance and have assistance node；
If demand nodes are not present when having assistance node within the scope of a default hop distance, judge demand nodes default
Whether there is in double bounce distance range has assistance node；
If demand nodes in default double bounce distance range there are node is assisted when, enumerate from each demand nodes to pre-
If the routing of the assistance node in double bounce distance range, chooses the most conduct transmission route of remaining capacity, each demand nodes
The data for sending a unit are sent to the assistance node in default two hop distances；
Upgrade demand node and assist node data volume, return judge that demand nodes are in default double bounce distance range
It is no that there are assist node；
If demand nodes are not present when having assistance node in default double bounce distance range, the energy of assigning process is calculated
Consumption, the remaining capacity after estimating distribution.
Optionally, described to be based on greedy data distribution-maximum residual energy routing algorithm to assistance node and demand nodes
Distance data transmission optimizes in progress, comprising:
Judge demand nodes default three jump or default four hop distances within the scope of with the presence or absence of there is assistance node；
If disconnected demand nodes are when default three jump or preset within the scope of four hop distances there are node is assisted, to the demand
Node and node is assisted to carry out by sorting from large to small；
Transmission number is assisted with maximum based on sorting from large to small default three jump of confirmation or presetting within the scope of four hop distances
Node and greatest requirements is assisted to assist the demand nodes of transmitted data amount according to amount；
The greatest requirements for comparing demand nodes assist transmitted data amount and the maximum of node are assisted to assist transmitted data amount, with
And demand nodes send data to assistance node according to comparing result；
Upgrade demand and node and assist the data volume of node, and enumerate each demand nodes to default three jump or four jumps away from
Routing from the assistance node in range, chooses the most conduct transmission route of remaining capacity, and return and judge that demand nodes exist
Whether there is within the scope of default three jump or default four hop distances has assistance node；
If demand nodes of breaking are not present when having assistance node within the scope of default three jump or default four hop distances, calculate and divide
Energy consumption with process, the remaining capacity after estimating distribution.
Optionally, the demand nodes send data to assistance node according to comparing result, comprising:
When the greatest requirements of demand nodes assist transmitted data amount to be greater than the maximum assistance transmitted data amount for assisting node,
Demand nodes assist transmitted data amount to the maximum for assisting node to send assistance node；
Assisting transmitted data amount to be less than or equal to when the greatest requirements of demand nodes assists the maximum of node to assist transmission number
When according to amount, demand nodes assist transmitted data amount to the greatest requirements for assisting node to send demand nodes.
Optionally, described to distribute-spread pathfinding algorithm to assistance node and demand nodes progress long distance based on greedy data
From data transfer optimization, comprising:
Judge demand nodes other than default four hop distances with the presence or absence of there is assistance node；
If demand nodes, there are when assistance node, to the demand nodes and are assisting to save other than default four hop distances
Point is carried out by sorting from large to small；
Confirm other than default four hop distances that there is the maximum assistance section for assisting transmitted data amount based on sorting from large to small
Point and greatest requirements assist the demand nodes of transmitted data amount；
The greatest requirements for comparing demand nodes assist transmitted data amount and the maximum of node are assisted to assist transmitted data amount, with
And demand nodes send data to assistance node according to comparing result；
Upgrade demand node and assist node data volume, and search from demand nodes to assist node routing；
Judge that distance requirement node whether there is other than default four hop distances and assist node, if so, selection search routing
As from demand nodes to the transmission route for assisting node, if it is not, increase a default hop distance, return search from demand nodes to
Assist the routing of node；
If demand nodes complete data transfer optimization when other than default four hop distances there is no there is assistance node.
Optionally, the demand nodes send data to assistance node according to comparing result, comprising:
When the greatest requirements of demand nodes assist transmitted data amount to be greater than the maximum assistance transmitted data amount for assisting node,
Demand nodes assist transmitted data amount to the maximum for assisting node to send assistance node；
Assisting transmitted data amount to be less than or equal to when the greatest requirements of demand nodes assists the maximum of node to assist transmission number
When according to amount, demand nodes assist transmitted data amount to the greatest requirements for assisting node to send demand nodes.
In addition, the embodiment of the invention also provides the data transmission of a kind of farmland quality monitoring low-altitude remote sensing and earth horizon sensor
Optimization system, the system comprises:
Computing module: for calculating each ground node based on low-altitude remote sensing course line and terrestrial wireless sensor node position
Largest data transfer amount；
Node-classification module: divided for largest data transfer amount and storage data quantity based on each ground node
Class, obtains class node, and the class node includes assisting node, demand nodes and optional routing node；
First data transmission optimization module: for being based on polling data distribution-maximum residual energy routing algorithm to assistance
Node and demand nodes carry out short distance data transfer optimization；
Second data transfer optimization module: for being based on greedy data distribution-maximum residual energy routing algorithm to assistance
Distance data transmission optimization in node and demand nodes progress；
Third data transfer optimization module: for distributing-spreading pathfinding algorithm to assistance node based on greedy data and need
Node is asked to carry out Long-range Data Transmission optimization.
In embodiments of the present invention, flight may be implemented through the embodiment of the present invention while acquiring ground node data
With low-altitude remote sensing data, compared with the conventional method, total data transmission quantity is big, specific energy consumption is small, and can be realized data transmission
Load balancing, while can also take into account the load balancing of energy consumption to a certain extent；It not only shortens and carries out sampling flight institute
The flight time needed and number, reduce the amount of battery consumption of unmanned plane, also reduce the difficulty for carrying out unmanned plane flight course planning, subtract
The workload of few staff；Bigger total data transmission quantity representative does not need frequently to carry out unmanned plane sampling flight, in addition
The energy consumption carried out data transmission between ground node reduces, and total life cycle of ground node can significantly be mentioned
It is high.
Detailed description of the invention
In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, to embodiment or will show below
There is attached drawing needed in technical description to be briefly described, it is clear that, the accompanying drawings in the following description is only this
Some embodiments of invention for those of ordinary skill in the art without creative efforts, can be with
Other attached drawings are obtained according to these attached drawings.
Fig. 1 is the process signal of the data transfer optimization method of the low-altitude remote sensing and earth horizon sensor in the embodiment of the present invention
Figure；
Fig. 2 is that the structure composition of the data transfer optimization system of the low-altitude remote sensing and earth horizon sensor in the embodiment of the present invention is shown
It is intended to；
Fig. 3 is the simulation case of the data transfer optimization method of the low-altitude remote sensing and earth horizon sensor in the embodiment of the present invention
Figure.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts all other
Embodiment shall fall within the protection scope of the present invention.
Embodiment
Referring to Fig. 1, Fig. 1 is the data transfer optimization method of the low-altitude remote sensing and earth horizon sensor in the embodiment of the present invention
Flow diagram.
As shown in Figure 1, a kind of data transfer optimization method of farmland quality monitoring low-altitude remote sensing and earth horizon sensor, the side
Method includes:
S11: the maximum number of each ground node is calculated based on low-altitude remote sensing course line and terrestrial wireless sensor node position
According to transmission quantity；
It is described based on low-altitude remote sensing course line and terrestrial wireless sensor node position in specific implementation process of the present invention
Calculate the largest data transfer amount of each ground node, comprising: the coordinate data of course data and ground node based on unmanned plane
Calculate the length for heading that unmanned plane flies over the efficient communication range of each ground node；Flying speed and ground based on unmanned plane
The traffic rate of the communication module of face node calculates the largest data transfer amount of each ground node.
Specifically, the length that unmanned plane course line passes through each ground node efficient communication range is different, will make every
The largest data transfer amount of one ground node is different, for the optimization carried out data transmission, needs to predict that each ground is saved
The largest data transfer amount of point.
According to the GPS coordinate point data of the course data of unmanned plane and ground node, calculates and pass through each ground node
Efficient communication range length for heading；Further according to the communication of the ZigBee module in the flying speed and ground node of unmanned plane
The largest data transfer amount of each ground node of rate calculations；Specific calculating process is as follows:
Assuming that the record aggregation node on unmanned plane with 1 centimetre for step-length, the course line of unmanned plane is converted into m point (xm,
ym)；The flying height of unmanned plane is fixed huav, the coordinate and height above sea level of n ground node are (xn,yn,hn)；It is corresponding
Each location point it is as follows with each node distance S (i, j):
Wherein, (i=1,2,3 ..., m) (j=1,2 ... n)；When S (i, j) is less than the effective communication distance of ZigBee module
When r, the unmanned plane to fly to i point is within the scope of the efficient communication of j point；Passed through eachly with this to calculate unmanned plane
The length for heading d of face node efficient communication rangen, that is, maximum volume of transmitted data T can be calculated by following formula,
It is as follows:
Wherein, j=1,2 ... n；V is the flying speed of unmanned plane, and B is the data transmission speed of the communication of ZigBee module
Rate.
S12: largest data transfer amount and storage data quantity based on each ground node are classified, and obtain classification section
Point, the class node include assisting node, demand nodes and optional routing node；
In specific implementation process of the present invention, the largest data transfer amount and storing data based on each ground node
Amount is classified, and obtains class node, comprising: obtain the storage data quantity of each ground node；Utilize each ground node
Largest data transfer amount is compared with storage data quantity, and is classified based on comparison result, and class node is obtained；Its
In, when largest data transfer amount is greater than storage data quantity, which is classified as assisting node；When largest data transfer amount
When less than storage data quantity, which is classified as demand nodes；It, should when largest data transfer amount is equal to storage data quantity
Ground node is classified as optional routing node.
Specifically, needing to classify to ground node, determining each ground before carrying out data transmission task distribution
The role that node is served as in data allocation process；In this step according to the largest data transfer amount of each ground node and depositing
Data volume is stored up, all ground nodes are divided into the assistance node for having remaining data transmission quantity that can assist, volume of transmitted data
It is only it that the demand nodes and volume of transmitted data for needing other nodes to assist less than storage data quantity, which are equal to storage data quantity,
The routing node of its node offer terrestrial data transmission transfer.The specific method is as follows:
The largest data transfer amount T and storage data quantity D of each ground node are compared；If T > D, ground section
Point will be as node be assisted, and the assistance distribution data volume that can be provided is T-D；If T < D, which is to need other sections
Point assists the demand nodes of data transmission, and needing to assist the data volume of distribution is D-T；If T=D, which does not join
It is distributed with assistance, is only used as optional routing node.
In specific implementation process of the present invention, a hop distance is preset, is that demand nodes and assistance node can be with direct communications
Distance；Default two hop distances are needed with node is assisted by a distance from 1 routing node transfer for demand nodes；With such
It pushes away, presets three hop distances, needed with node is assisted by a distance from 2 routing node transfers for demand nodes；Default four jump away from
From, for demand nodes with assistance node need by a distance from 3 routing node transfers etc..
S13: low coverage is carried out to assistance node and demand nodes based on polling data distribution-maximum residual energy routing algorithm
From data transfer optimization；
In specific implementation process of the present invention, the polling data distribution-maximum residual energy routing algorithm that is based on is to association
Node and demand nodes is helped to carry out short distance data transfer optimization, comprising: to judge demand nodes within the scope of a default hop distance
With the presence or absence of there is assistance node；If demand nodes are when presetting within the scope of a hop distance there are node is assisted, each demand
The data that node sends a unit are sent to the assistance node in a default hop distance, and upgrade demand node and assistance section
The data volume of point, return judges that demand nodes whether there is within the scope of a default hop distance and have assistance node；If demand nodes
Within the scope of a default hop distance there is no have assist node when, then judge demand nodes in default double bounce distance range whether
There are assist node；If demand nodes, there are when assistance node, are enumerated from each demand in default double bounce distance range
Node chooses the most conduct transmission route of remaining capacity, each to the routing of the assistance node in default double bounce distance range
The data that demand nodes send a unit are sent to the assistance node in default two hop distances；It upgrades demand node and assistance
The data volume of node, return judge demand nodes in default double bounce distance range whether there is have assistance node；If demand section
Point is not present when having assistance node in default double bounce distance range, then the energy consumption of assigning process is calculated, after estimating distribution
Remaining capacity.
Specifically, being closely that demand nodes and assistance node can be with direct communications, as 1 hop distance, or need to only lead to
Cross 1 routing node transfer, as 2 hop distances；Since in short distance data transmission procedure, consumption is minimum in the energy of communication,
Therefore it needs maximumlly to carry out data transmission using short distance；Poll is used in terms of the data transfer task distribution of this step
The data polling allocation algorithm one by one of dispatching algorithm (Round Robin Scheduling), Route Selection aspect is using maximum surplus
Complementary energy route planning algorithm；It can enable each demand nodes distributing to data transfer task equalization closely in this way
Each assistance node, it is uneven to prevent data transfer task distribution, while section that can be more by using dump energy
Point assists the dump energy in cluster balanced as routing.
The each demand nodes of ground node cluster each round jump range using the data volume of a data as step-length, to periphery 1
Interior assistance node sends a data volume, enters next round after completing distribution, until the data volume of all demand nodes is distributed
Finish or periphery 1 jump within the data volume of assistance node be assigned and finished；Then start neighbours' section to periphery double bounce
Point repeats poll, until demand nodes data volume be assigned or periphery double bounce within the data volume of assistance node divided
With finishing；If demand nodes have a plurality of routing to assistance node, the node for selecting dump energy most is as routing；It completes
It according to distribution task after distribution, updates and assists node and demand nodes inventory, estimate each demand nodes or assist needed for node
It sends or received data volume, in conjunction with each demand nodes or the remaining capacity of node is assisted to calculate after the first round
Estimate remaining capacity.
S14: based on greedy data distribution-maximum residual energy routing algorithm to assist node and demand nodes carry out in away from
From data transfer optimization；
It is described to be based on greedy data distribution-maximum residual energy routing algorithm to association in specific implementation process of the present invention
Help distance data transmission optimization in node and demand nodes progress, comprising: judge that four jumps are jumped or preset to demand nodes default three
Whether there is in distance range has assistance node；If disconnected demand nodes default three jump or default four hop distances within the scope of there are
When assisting node, to the demand nodes and node is assisted to carry out by sorting from large to small；Confirmed based on sorting from large to small
Default three jump or preset assistance node and the greatest requirements association that there is maximum to assist transmitted data amount within the scope of four hop distances
Help the demand nodes of transmitted data amount；The greatest requirements for comparing demand nodes assist transmitted data amount and assist the maximum association of node
Transmitted data amount and demand nodes are helped to send data to assistance node according to comparing result；Upgrade demand node and assist section
The data volume of point, and enumerate the routing of each demand nodes to the assistance node within the scope of default three jump or four hop distances, choosing
The conduct transmission route for taking remaining capacity most, and return and judge that demand nodes are jumped default three or preset within the scope of four hop distances
With the presence or absence of there is assistance node；If disconnected demand nodes are jumped or preset within the scope of four hop distances default three, there is no have assistance node
When, then the energy consumption of assigning process is calculated, the remaining capacity after estimating distribution.
Further, the demand nodes send data to assistance node according to comparing result, comprising: when demand nodes
When greatest requirements assistance transmitted data amount is greater than the maximum assistance transmitted data amount for assisting node, demand nodes are sent out to assistance node
It send and the maximum of node is assisted to assist transmitted data amount；When the greatest requirements of demand nodes assist transmitted data amount to be less than or equal to association
When helping the maximum assistance transmitted data amount of node, demand nodes assist transmission to the greatest requirements for assisting node to send demand nodes
Data volume.
Specifically, middle distance is that demand nodes need 3 to jump or 4 jumps can just send the data to assistance node；Due to number
It is slightly long according to transmission distance, it is desirable to reduce the routing quantity of the data transmission of middle distance, i.e., distance assists node as far as possible in reduction
Quantity, but it is each assist node distribution data volume it is as more as possible；Reducing the same of energy that consumption is transmitted in data
When, also reduce the computational complexity of this algorithm.
This step is greedy using the dynamic of greedy algorithm (Greedy Algorithm) in terms of data transfer task distribution
Allocation algorithm, Route Selection are then still maximum residual energy routing planning algorithm；Number can be met in middle distance priority in this way
According to the data transfer task for measuring biggish demand nodes, reduces and carry out data transmission consuming the energy in transmission route when task distribution
Amount.
There are also demand nodes and assistance node in ground node after the distribution of short distance data, to demand nodes inventory
It is ranked up from big to small with assistance node list, the sequence of node from big to small successively starts to carry out data transmission as desired
Task distribution.
Each round extracts the maximum demand nodes of data volume demand, then starts from big to small according to assistance node list
Search is found out and is assisting to jump maximum assistance node in ranges in the demand nodes three jump and four in node list, and carries out
Task distribution；If the data volume of node is assisted to be greater than demand nodes, demand nodes task is assigned, assist node according to
Remaining data amount after distribution updates again is assisting the position in node list；If assisting the data volume of node to be less than needs
Node is sought, then assists node tasks to be assigned, demand nodes are updated again according to the remaining data amount after distribution in demand section
Position in point inventory；If node data amount is assisted to be equal to demand nodes, two nodes are completed at the same time distribution；If from
Demand nodes have a plurality of routing to assistance node, select the node that dump energy is most after the first round as data transmission route
By completing a wheel distribution.If still there are demand nodes and assisting node, start next round until all demand nodes are distributed
Finish or each demand nodes three jump, four jump within without assist node.
It completes to update according to distribution task after distributing and assist node and demand nodes inventory.
S15: pathfinding algorithm is distributed-spread based on greedy data and remote data biography is carried out to assistance node and demand nodes
Defeated optimization.
In specific implementation process of the present invention, it is described based on greedy data distribute-spread pathfinding algorithm to assist node and
Demand nodes carry out Long-range Data Transmission optimization, comprising: judges that demand nodes whether there is other than default four hop distances and have
Assist node；If demand nodes are when presetting other than four hop distances there are node is assisted, to the demand nodes and assistance
Node is carried out by sorting from large to small；Confirm other than default four hop distances that there is maximum assistance transmission based on sorting from large to small
Data volume assists node and greatest requirements to assist the demand nodes of transmitted data amount；Compare the greatest requirements association of demand nodes
It helps transmitted data amount and the maximum of node is assisted to assist transmitted data amount and demand nodes according to comparing result to assisting node
Send data；Upgrade demand node and assist node data volume, and search from demand nodes to assist node routing；Sentence
Turn-off from demand nodes other than default four hop distances with the presence or absence of assisting node, if so, search select to route as from demand
The transmission route of node to assistance node returns to search from demand nodes to assistance node if it is not, increasing a default hop distance
Routing；If demand nodes complete data transfer optimization when other than default four hop distances there is no there is assistance node.
Further, the demand nodes send data to assistance node according to comparing result, comprising: when demand nodes
When greatest requirements assistance transmitted data amount is greater than the maximum assistance transmitted data amount for assisting node, demand nodes are sent out to assistance node
It send and the maximum of node is assisted to assist transmitted data amount；When the greatest requirements of demand nodes assist transmitted data amount to be less than or equal to association
When helping the maximum assistance transmitted data amount of node, demand nodes assist transmission to the greatest requirements for assisting node to send demand nodes
Data volume.
Have more than 4 jumps, and between uncertain two nodes specifically, being demand nodes and assistance node at a distance
The hop count and transmission route of body.Therefore it still needs to distribute data volume most associations for the most demand nodes of data volume as far as possible
Node is helped, and finds the transmission route of minimum hop count between two nodes.
This step still uses greedy allocation algorithm in terms of data transfer task distribution, and Route Selection use is similar to
The shortest route searching algorithm of directed diffusion；The routing quantity that sub-data transmission is matched can be reduced in this way, while also being reduced
From demand nodes to the routing node quantity for assisting the route transmission of node to be passed through, to reduce the energy of entire assigning process
Consumption.
By closely and after the distribution of middle range data ground node there are also demand nodes and assists node in the middle, to demand
Node list and assistance node list are ranked up from big to small, and the sequence of node from big to small successively starts to carry out as desired
Data transfer task distribution；Each round extracts the maximum demand nodes of data volume demand, distributes to the maximum assistance of data volume
Node；If the data volume of node is assisted to be greater than demand nodes, demand nodes task is assigned, and assists node according to distribution
Remaining data amount afterwards updates again is assisting the position in node list；If the data volume of node is assisted to be less than demand section
Point, then assist node tasks to be assigned, and demand nodes update clear in demand nodes again according to the remaining data amount after distribution
Position in list；If node data amount is assisted to be equal to demand nodes, two nodes are completed at the same time distribution.
After determining the corresponding assistance node of demand nodes, using a hop neighbor node list of each node, from demand section
Point is starting point, every new node that increases by a jump and can touch is searched for, until finding corresponding assistance node；This is from demand
It is exactly minimum hop routing that node, which reaches and assists the search routing of node,；Complete one wheel distribution after if still have demand nodes and
Node is assisted, then starts next round until all demand nodes or all assistance nodes are assigned.
So far, algorithm is finished, and has not had that other nodes is needed to assist data transmission in entire ground node cluster
Node or the largest data transfer amounts of all nodes all made full use of.
In embodiments of the present invention, flight may be implemented through the embodiment of the present invention while acquiring ground node data
With low-altitude remote sensing data, compared with the conventional method, total data transmission quantity is big, specific energy consumption is small, and can be realized data transmission
Load balancing, while can also take into account the load balancing of energy consumption to a certain extent；It not only shortens and carries out sampling flight institute
The flight time needed and number, reduce the amount of battery consumption of unmanned plane, also reduce the difficulty for carrying out unmanned plane flight course planning, subtract
The workload of few staff；Bigger total data transmission quantity representative does not need frequently to carry out unmanned plane sampling flight, in addition
The energy consumption carried out data transmission between ground node reduces, and total life cycle of ground node can significantly be mentioned
It is high.
Embodiment
Referring to Fig. 2, Fig. 2 is the data transfer optimization system of the low-altitude remote sensing and earth horizon sensor in the embodiment of the present invention
Structure composition schematic diagram.
As shown in Fig. 2, a kind of data transfer optimization system of farmland quality monitoring low-altitude remote sensing and earth horizon sensor, the system
System includes:
Computing module 11: for calculating each ground section based on low-altitude remote sensing course line and terrestrial wireless sensor node position
The largest data transfer amount of point；
It is described based on low-altitude remote sensing course line and terrestrial wireless sensor node position in specific implementation process of the present invention
Calculate the largest data transfer amount of each ground node, comprising: the coordinate data of course data and ground node based on unmanned plane
Calculate the length for heading that unmanned plane flies over the efficient communication range of each ground node；Flying speed and ground based on unmanned plane
The traffic rate of the communication module of face node calculates the largest data transfer amount of each ground node.
Specifically, the length that unmanned plane course line passes through each ground node efficient communication range is different, will make every
The largest data transfer amount of one ground node is different, for the optimization carried out data transmission, needs to predict that each ground is saved
The largest data transfer amount of point.
According to the GPS coordinate point data of the course data of unmanned plane and ground node, calculates and pass through each ground node
Efficient communication range length for heading；Further according to the communication of the ZigBee module in the flying speed and ground node of unmanned plane
The largest data transfer amount of each ground node of rate calculations；Specific calculating process is as follows:
Assuming that the record aggregation node on unmanned plane with 1 centimetre for step-length, the course line of unmanned plane is converted into m point (xm,
ym)；The flying height of unmanned plane is fixed huav, the coordinate and height above sea level of n ground node are (xn,yn,hn)；It is corresponding
Each location point it is as follows with each node distance S (i, j):
Wherein, (i=1,2,3 ..., m) (j=1,2 ... n)；When S (i, j) is less than the effective communication distance of ZigBee module
When r, the unmanned plane to fly to i point is within the scope of the efficient communication of j point；Passed through eachly with this to calculate unmanned plane
The length for heading d of face node efficient communication rangen, that is, maximum volume of transmitted data T can be calculated by following formula,
It is as follows:
Wherein, j=1,2 ... n；V is the flying speed of unmanned plane, and B is the data transmission speed of the communication of ZigBee module
Rate.
Node-classification module 12: divided for largest data transfer amount and storage data quantity based on each ground node
Class, obtains class node, and the class node includes assisting node, demand nodes and optional routing node；
In specific implementation process of the present invention, the largest data transfer amount and storing data based on each ground node
Amount is classified, and obtains class node, comprising: obtain the storage data quantity of each ground node；Utilize each ground node
Largest data transfer amount is compared with storage data quantity, and is classified based on comparison result, and class node is obtained；Its
In, when largest data transfer amount is greater than storage data quantity, which is classified as assisting node；When largest data transfer amount
When less than storage data quantity, which is classified as demand nodes；It, should when largest data transfer amount is equal to storage data quantity
Ground node is classified as optional routing node.
Specifically, needing to classify to ground node, determining each ground before carrying out data transmission task distribution
The role that node is served as in data allocation process；In this step according to the largest data transfer amount of each ground node and depositing
Data volume is stored up, all ground nodes are divided into the assistance node for having remaining data transmission quantity that can assist, volume of transmitted data
It is only it that the demand nodes and volume of transmitted data for needing other nodes to assist less than storage data quantity, which are equal to storage data quantity,
The routing node of its node offer terrestrial data transmission transfer.The specific method is as follows:
The largest data transfer amount T and storage data quantity D of each ground node are compared；If T > D, ground section
Point will be as node be assisted, and the assistance distribution data volume that can be provided is T-D；If T < D, which is to need other sections
Point assists the demand nodes of data transmission, and needing to assist the data volume of distribution is D-T；If T=D, which does not join
It is distributed with assistance, is only used as optional routing node.
In specific implementation process of the present invention, a hop distance is preset, is that demand nodes and assistance node can be with direct communications
Distance；Default two hop distances are needed with node is assisted by a distance from 1 routing node transfer for demand nodes；With such
It pushes away, presets three hop distances, needed with node is assisted by a distance from 2 routing node transfers for demand nodes；Default four jump away from
From, for demand nodes with assistance node need by a distance from 3 routing node transfers etc..
First data transmission optimization module 13: for being based on polling data distribution-maximum residual energy routing algorithm to association
Node and demand nodes is helped to carry out short distance data transfer optimization；
In specific implementation process of the present invention, the polling data distribution-maximum residual energy routing algorithm that is based on is to association
Node and demand nodes is helped to carry out short distance data transfer optimization, comprising: to judge demand nodes within the scope of a default hop distance
With the presence or absence of there is assistance node；If demand nodes are when presetting within the scope of a hop distance there are node is assisted, each demand
The data that node sends a unit are sent to the assistance node in a default hop distance, and upgrade demand node and assistance section
The data volume of point, return judges that demand nodes whether there is within the scope of a default hop distance and have assistance node；If demand nodes
Within the scope of a default hop distance there is no have assist node when, then judge demand nodes in default double bounce distance range whether
There are assist node；If demand nodes, there are when assistance node, are enumerated from each demand in default double bounce distance range
Node chooses the most conduct transmission route of remaining capacity, each to the routing of the assistance node in default double bounce distance range
The data that demand nodes send a unit are sent to the assistance node in default two hop distances；It upgrades demand node and assistance
The data volume of node, return judge demand nodes in default double bounce distance range whether there is have assistance node；If demand section
Point is not present when having assistance node in default double bounce distance range, then the energy consumption of assigning process is calculated, after estimating distribution
Remaining capacity.
Specifically, being closely that demand nodes and assistance node can be with direct communications, as 1 hop distance, or need to only lead to
Cross 1 routing node transfer, as 2 hop distances；Since in short distance data transmission procedure, consumption is minimum in the energy of communication,
Therefore it needs maximumlly to carry out data transmission using short distance；Poll is used in terms of the data transfer task distribution of this step
The data polling allocation algorithm one by one of dispatching algorithm (Round Robin Scheduling), Route Selection aspect is using maximum surplus
Complementary energy route planning algorithm；It can enable each demand nodes distributing to data transfer task equalization closely in this way
Each assistance node, it is uneven to prevent data transfer task distribution, while section that can be more by using dump energy
Point assists the dump energy in cluster balanced as routing.
The each demand nodes of ground node cluster each round jump range using the data volume of a data as step-length, to periphery 1
Interior assistance node sends a data volume, enters next round after completing distribution, until the data volume of all demand nodes is distributed
Finish or periphery 1 jump within the data volume of assistance node be assigned and finished；Then start neighbours' section to periphery double bounce
Point repeats poll, until demand nodes data volume be assigned or periphery double bounce within the data volume of assistance node divided
With finishing；If demand nodes have a plurality of routing to assistance node, the node for selecting dump energy most is as routing；It completes
It according to distribution task after distribution, updates and assists node and demand nodes inventory, estimate each demand nodes or assist needed for node
It sends or received data volume, in conjunction with each demand nodes or the remaining capacity of node is assisted to calculate after the first round
Estimate remaining capacity.
Second data transfer optimization module 14: for being based on greedy data distribution-maximum residual energy routing algorithm to association
Help distance data transmission optimization in node and demand nodes progress；
It is described to be based on greedy data distribution-maximum residual energy routing algorithm to association in specific implementation process of the present invention
Help distance data transmission optimization in node and demand nodes progress, comprising: judge that four jumps are jumped or preset to demand nodes default three
Whether there is in distance range has assistance node；If disconnected demand nodes default three jump or default four hop distances within the scope of there are
When assisting node, to the demand nodes and node is assisted to carry out by sorting from large to small；Confirmed based on sorting from large to small
Default three jump or preset assistance node and the greatest requirements association that there is maximum to assist transmitted data amount within the scope of four hop distances
Help the demand nodes of transmitted data amount；The greatest requirements for comparing demand nodes assist transmitted data amount and assist the maximum association of node
Transmitted data amount and demand nodes are helped to send data to assistance node according to comparing result；Upgrade demand node and assist section
The data volume of point, and enumerate the routing of each demand nodes to the assistance node within the scope of default three jump or four hop distances, choosing
The conduct transmission route for taking remaining capacity most, and return and judge that demand nodes are jumped default three or preset within the scope of four hop distances
With the presence or absence of there is assistance node；If disconnected demand nodes are jumped or preset within the scope of four hop distances default three, there is no have assistance node
When, then the energy consumption of assigning process is calculated, the remaining capacity after estimating distribution.
Further, the demand nodes send data to assistance node according to comparing result, comprising: when demand nodes
When greatest requirements assistance transmitted data amount is greater than the maximum assistance transmitted data amount for assisting node, demand nodes are sent out to assistance node
It send and the maximum of node is assisted to assist transmitted data amount；When the greatest requirements of demand nodes assist transmitted data amount to be less than or equal to association
When helping the maximum assistance transmitted data amount of node, demand nodes assist transmission to the greatest requirements for assisting node to send demand nodes
Data volume.
Specifically, middle distance is that demand nodes need 3 to jump or 4 jumps can just send the data to assistance node；Due to number
It is slightly long according to transmission distance, it is desirable to reduce the routing quantity of the data transmission of middle distance, i.e., distance assists node as far as possible in reduction
Quantity, but it is each assist node distribution data volume it is as more as possible；Reducing the same of energy that consumption is transmitted in data
When, also reduce the computational complexity of this algorithm.
This step is greedy using the dynamic of greedy algorithm (Greedy Algorithm) in terms of data transfer task distribution
Allocation algorithm, Route Selection are then still maximum residual energy routing planning algorithm；Number can be met in middle distance priority in this way
According to the data transfer task for measuring biggish demand nodes, reduces and carry out data transmission consuming the energy in transmission route when task distribution
Amount.
There are also demand nodes and assistance node in ground node after the distribution of short distance data, to demand nodes inventory
It is ranked up from big to small with assistance node list, the sequence of node from big to small successively starts to carry out data transmission as desired
Task distribution.
Each round extracts the maximum demand nodes of data volume demand, then starts from big to small according to assistance node list
Search is found out and is assisting to jump maximum assistance node in ranges in the demand nodes three jump and four in node list, and carries out
Task distribution；If the data volume of node is assisted to be greater than demand nodes, demand nodes task is assigned, assist node according to
Remaining data amount after distribution updates again is assisting the position in node list；If assisting the data volume of node to be less than needs
Node is sought, then assists node tasks to be assigned, demand nodes are updated again according to the remaining data amount after distribution in demand section
Position in point inventory；If node data amount is assisted to be equal to demand nodes, two nodes are completed at the same time distribution；If from
Demand nodes have a plurality of routing to assistance node, select the node that dump energy is most after the first round as data transmission route
By completing a wheel distribution.If still there are demand nodes and assisting node, start next round until all demand nodes are distributed
Finish or each demand nodes three jump, four jump within without assist node.
It completes to update according to distribution task after distributing and assist node and demand nodes inventory.
Third data transfer optimization module 15: for based on greedy data distribute-spread pathfinding algorithm to assist node and
Demand nodes carry out Long-range Data Transmission optimization.
In specific implementation process of the present invention, it is described based on greedy data distribute-spread pathfinding algorithm to assist node and
Demand nodes carry out Long-range Data Transmission optimization, comprising: judges that demand nodes whether there is other than default four hop distances and have
Assist node；If demand nodes are when presetting other than four hop distances there are node is assisted, to the demand nodes and assistance
Node is carried out by sorting from large to small；Confirm other than default four hop distances that there is maximum assistance transmission based on sorting from large to small
Data volume assists node and greatest requirements to assist the demand nodes of transmitted data amount；Compare the greatest requirements association of demand nodes
It helps transmitted data amount and the maximum of node is assisted to assist transmitted data amount and demand nodes according to comparing result to assisting node
Send data；Upgrade demand node and assist node data volume, and search from demand nodes to assist node routing；Sentence
Turn-off from demand nodes other than default four hop distances with the presence or absence of assisting node, if so, search select to route as from demand
The transmission route of node to assistance node returns to search from demand nodes to assistance node if it is not, increasing a default hop distance
Routing；If demand nodes complete data transfer optimization when other than default four hop distances there is no there is assistance node.
Further, the demand nodes send data to assistance node according to comparing result, comprising: when demand nodes
When greatest requirements assistance transmitted data amount is greater than the maximum assistance transmitted data amount for assisting node, demand nodes are sent out to assistance node
It send and the maximum of node is assisted to assist transmitted data amount；When the greatest requirements of demand nodes assist transmitted data amount to be less than or equal to association
When helping the maximum assistance transmitted data amount of node, demand nodes assist transmission to the greatest requirements for assisting node to send demand nodes
Data volume.
Have more than 4 jumps, and between uncertain two nodes specifically, being demand nodes and assistance node at a distance
The hop count and transmission route of body.Therefore it still needs to distribute data volume most associations for the most demand nodes of data volume as far as possible
Node is helped, and finds the transmission route of minimum hop count between two nodes.
This step still uses greedy allocation algorithm in terms of data transfer task distribution, and Route Selection use is similar to
The shortest route searching algorithm of directed diffusion；The routing quantity that sub-data transmission is matched can be reduced in this way, while also being reduced
From demand nodes to the routing node quantity for assisting the route transmission of node to be passed through, to reduce the energy of entire assigning process
Consumption.
By closely and after the distribution of middle range data ground node there are also demand nodes and assists node in the middle, to demand
Node list and assistance node list are ranked up from big to small, and the sequence of node from big to small successively starts to carry out as desired
Data transfer task distribution；Each round extracts the maximum demand nodes of data volume demand, distributes to the maximum assistance of data volume
Node；If the data volume of node is assisted to be greater than demand nodes, demand nodes task is assigned, and assists node according to distribution
Remaining data amount afterwards updates again is assisting the position in node list；If the data volume of node is assisted to be less than demand section
Point, then assist node tasks to be assigned, and demand nodes update clear in demand nodes again according to the remaining data amount after distribution
Position in list；If node data amount is assisted to be equal to demand nodes, two nodes are completed at the same time distribution.
After determining the corresponding assistance node of demand nodes, using a hop neighbor node list of each node, from demand section
Point is starting point, every new node that increases by a jump and can touch is searched for, until finding corresponding assistance node；This is from demand
It is exactly minimum hop routing that node, which reaches and assists the search routing of node,；Complete one wheel distribution after if still have demand nodes and
Node is assisted, then starts next round until all demand nodes or all assistance nodes are assigned.
So far, algorithm is finished, and has not had that other nodes is needed to assist data transmission in entire ground node cluster
Node or the largest data transfer amounts of all nodes all made full use of.
In embodiments of the present invention, flight may be implemented through the embodiment of the present invention while acquiring ground node data
With low-altitude remote sensing data, compared with the conventional method, total data transmission quantity is big, specific energy consumption is small, and can be realized data transmission
Load balancing, while can also take into account the load balancing of energy consumption to a certain extent；It not only shortens and carries out sampling flight institute
The flight time needed and number, reduce the amount of battery consumption of unmanned plane, also reduce the difficulty for carrying out unmanned plane flight course planning, subtract
The workload of few staff；Bigger total data transmission quantity representative does not need frequently to carry out unmanned plane sampling flight, in addition
The energy consumption carried out data transmission between ground node reduces, and total life cycle of ground node can significantly be mentioned
It is high.
A case study on implementation of the invention, referring to Fig. 3, Fig. 3 is low-altitude remote sensing and ground biography in the embodiment of the present invention
The simulation case figure of the data transfer optimization method of sense.
As shown in Figure 3, it is assumed that 10 ground nodes are disposed in 500 × 500 meters of region, unmanned plane during flying speed is 10
Meter per second, precision needed for low-altitude remote sensing data are 4 centimetres/pixel, and sidelapping rate 60%, then flying height is 92 meters at this time,
112 meters are divided between main shipping track；Assuming that 4 sensors of each ground node carry, such as acquisition A, B, C three-layer soil contain
Water and surface temperature or aerial temperature and humidity, intensity of illumination and rainfall etc., every data are about 0.03KB, are adopted per hour
Collect a data, then the data volume that each node needs to transmit after 25 days is 18.56KB；The actual data transfer speed of ZigBee
Rate is about 3KB/s, then transferring all data amounts of ground node cluster needs about 62 seconds, i.e., has 620 meters in whole course line
It is to carry out data transmission.
The first step, pretreatment；Unmanned plane course line by ground node 0,3,5,8 efficient communication range length for heading compared with
It is short, therefore node 0,3,5,8 needs the ground node that the data of itself are sent to periphery to transmit, as demand nodes.
The length for heading that unmanned plane passes through the efficient communication range of node 1,2,4,5,6,7,9 is longer, therefore can pass for other nodes
Transmission of data as assists node to unmanned plane.
Second step closely distributes；One unit data is all sent in 1 jump or 2 jump ranges by each round demand nodes
Assistance node.
Such as unit data is sent to the ground node 1,2 and 2 hop distances of 1 hop distance by ground node 0 respectively
Ground node 9；If next round ground node 0 still has data to need to send, and ground node 1,2,9 can still have residue
Data are assisted, then ground node 0 continues to send a unit data to node 1,2,9.In the process due to from node 0 to section
Point 9 has two routings optional, i.e., and 0 → 1 → 9 and 0 → 2 → 9, the remaining capacity of comparison node 1 and node 2, is selected most at this time
Routing as this transmission.
Third step, middle distance distribution；The maximum demand nodes of remaining data amount in demand nodes select 3 to jump and 4 first
Jump the maximum assistance node of remaining data amount in range.
If ground node 5 still has data to need to send and is that remaining data amount is most in demand nodes,
The then remaining node that data volume can be assisted most of selection in the ground node 9 that the ground node of 3 hop distances 1,2 and 4 is jumped；It is false
If the remaining data amount of ground node 9 is more at this time, and is greater than the data volume that ground node 5 needs, then ground node 5 will count
Ground node 9 is sent to according to whole；There is double bounce routing optional from ground node 5 to ground node 9 at this time, i.e., 5 → 3 → 0 → 1 →
9 and 5 → 3 → 0 → 2 → 9, then select the ground node that remaining capacity is most after short distance is distributed as routing.
4th step, it is remote to distribute；The maximum demand nodes of remaining data amount in demand nodes, first in selection cluster
The maximum assistance node of remaining data amount.
If finally surplus ground node 8 needs other nodes to assist to send data, and ground node 4 has remaining data amount can
To assist, then just beginning to use diffusion pathfinding from ground node 3, the transit node from ground node 8 to ground node 4 is found
Least route of number is used as transmission route, i.e., and 8 → 5 → 3 → 0 → 2 → 4.
Those of ordinary skill in the art will appreciate that all or part of the steps in the various methods of above-described embodiment is can
It is completed with instructing relevant hardware by program, which can be stored in a computer readable storage medium, storage
Medium may include: read-only memory (ROM, Read Only Memory), random access memory (RAM, Random
Access Memory), disk or CD etc..
In addition, being provided for the embodiments of the invention the number of a kind of farmland quality monitoring low-altitude remote sensing and earth horizon sensor above
It is described in detail according to transmission optimization method and system, specific case should be used herein to the principle of the present invention and implementation
Mode is expounded, and the above description of the embodiment is only used to help understand the method for the present invention and its core ideas；Meanwhile
For those of ordinary skill in the art, according to the thought of the present invention, has change in specific embodiments and applications
Become place, in conclusion the contents of this specification are not to be construed as limiting the invention.
Claims (9)
1. a kind of data transfer optimization method of farmland quality monitoring low-altitude remote sensing and earth horizon sensor, which is characterized in that the side
Method includes:
The largest data transfer amount of each ground node is calculated based on low-altitude remote sensing course line and terrestrial wireless sensor node position；
Largest data transfer amount and storage data quantity based on each ground node are classified, acquisition class node, and described point
Class node includes assisting node, demand nodes and optional routing node；
Short distance data biography is carried out to assistance node and demand nodes based on polling data distribution-maximum residual energy routing algorithm
Defeated optimization；
Range data in assistance node and demand nodes progress is passed based on greedy data distribution-maximum residual energy routing algorithm
Defeated optimization；
Pathfinding algorithm being distributed-spread based on greedy data, Long-range Data Transmission optimization is carried out to assistance node and demand nodes.
2. data transfer optimization method according to claim 1, which is characterized in that described to be based on low-altitude remote sensing course line and ground
Face wireless sensor node position calculates the largest data transfer amount of each ground node, comprising:
The coordinate data of course data and ground node based on unmanned plane calculates unmanned plane and flies over the effective of each ground node
The length for heading of communication range；
The traffic rate of the communication module of flying speed and ground node based on unmanned plane calculates each ground node most
Big data transmission quantity.
3. data transfer optimization method according to claim 1, which is characterized in that it is described based on each ground node most
Big data transmission quantity and storage data quantity are classified, and class node is obtained, comprising:
Obtain the storage data quantity of each ground node；
It is compared using the largest data transfer amount of each ground node with storage data quantity, and is carried out based on comparison result
Classification obtains class node；
Wherein, when largest data transfer amount is greater than storage data quantity, which is classified as assisting node；Work as maximum data
When transmission quantity is less than storage data quantity, which is classified as demand nodes；When largest data transfer amount is equal to storing data
When amount, which is classified as optional routing node.
4. data transfer optimization method according to claim 1, which is characterized in that described to be based on polling data distribution-most
Big dump energy routing algorithm carries out short distance data transfer optimization to assistance node and demand nodes, comprising:
Judge demand nodes within the scope of a default hop distance with the presence or absence of there is assistance node；
If demand nodes are there are when assistance node within the scope of a default hop distance, each demand nodes send a unit
Data be sent to the assistance node in a default hop distance, and upgrade demand and node and assist the data volume of node, return
Judge demand nodes within the scope of a default hop distance with the presence or absence of there is assistance node；
If demand nodes are not present when having assistance node within the scope of a default hop distance, judge demand nodes in default double bounce
Whether there is in distance range has assistance node；
If demand nodes in default double bounce distance range there are node is assisted when, enumerate from each demand nodes to default two
The routing of assistance node within the scope of hop distance, chooses the most conduct transmission route of remaining capacity, and each demand nodes are sent
The data of one unit are sent to the assistance node in default two hop distances；
Upgrade demand node and assist node data volume, return judge whether demand nodes deposit in default double bounce distance range
There is assistance node；
If there is no having, when assisting node, the energy for calculating assigning process disappears demand nodes in default double bounce distance range
Consumption, the remaining capacity after estimating distribution.
5. data transfer optimization method according to claim 1, which is characterized in that described to be based on greedy data distribution-most
Big dump energy routing algorithm optimizes distance data transmission in assistance node and demand nodes progress, comprising:
Judge demand nodes default three jump or default four hop distances within the scope of with the presence or absence of there is assistance node；
If disconnected demand nodes are when default three jump or preset within the scope of four hop distances there are node is assisted, to the demand nodes
And node is assisted to carry out by sorting from large to small；
Transmitted data amount is assisted with maximum based on sorting from large to small default three jump of confirmation or presetting within the scope of four hop distances
Assist node and greatest requirements to assist the demand nodes of transmitted data amount；
The greatest requirements for comparing demand nodes assist transmitted data amount and the maximum of node are assisted to assist transmitted data amount, Yi Jixu
Node is asked to send data to assistance node according to comparing result；
It upgrades demand and node and assists the data volume of node, and enumerate each demand nodes to default three jumps or four hop distance models
The routing of assistance node in enclosing, chooses the most conduct transmission route of remaining capacity, and returns and judge demand nodes default
Whether there is within the scope of three jumps or default four hop distances has assistance node；
If demand nodes of breaking are calculated and were distributed when default three jump or preset within the scope of four hop distances there is no there is assistance node
The energy consumption of journey, the remaining capacity after estimating distribution.
6. data transfer optimization method according to claim 5, which is characterized in that the demand nodes are according to comparing result
Data are sent to assistance node, comprising:
When the greatest requirements of demand nodes assist transmitted data amount to be greater than the maximum assistance transmitted data amount for assisting node, demand
Node assists transmitted data amount to the maximum for assisting node to send assistance node；
Assisting transmitted data amount to be less than or equal to when the greatest requirements of demand nodes assists the maximum of node to assist transmitted data amount
When, demand nodes assist transmitted data amount to the greatest requirements for assisting node to send demand nodes.
7. data transfer optimization method according to claim 1, which is characterized in that described based on greedy data distribution-expansion
It dissipates pathfinding algorithm and Long-range Data Transmission optimization is carried out to assistance node and demand nodes, comprising:
Judge demand nodes other than default four hop distances with the presence or absence of there is assistance node；
If demand nodes when other than default four hop distances there are node is assisted, to the demand nodes and assist node into
Row is by sorting from large to small；
Based on sort from large to small confirm other than default four hop distances have the maximum assistance node for assisting transmitted data amount with
And greatest requirements assist the demand nodes of transmitted data amount；
The greatest requirements for comparing demand nodes assist transmitted data amount and the maximum of node are assisted to assist transmitted data amount, Yi Jixu
Node is asked to send data to assistance node according to comparing result；
Upgrade demand node and assist node data volume, and search from demand nodes to assist node routing；
Judge distance requirement node other than default four hop distances with the presence or absence of assisting node, if so, select search route as
From demand nodes to the transmission route for assisting node, if it is not, increasing a default hop distance, search is returned from demand nodes to assistance
The routing of node；
If demand nodes complete data transfer optimization when other than default four hop distances there is no there is assistance node.
8. data transfer optimization method according to claim 7, which is characterized in that the demand nodes are according to comparing result
Data are sent to assistance node, comprising:
When the greatest requirements of demand nodes assist transmitted data amount to be greater than the maximum assistance transmitted data amount for assisting node, demand
Node assists transmitted data amount to the maximum for assisting node to send assistance node；
Assisting transmitted data amount to be less than or equal to when the greatest requirements of demand nodes assists the maximum of node to assist transmitted data amount
When, demand nodes assist transmitted data amount to the greatest requirements for assisting node to send demand nodes.
9. a kind of data transfer optimization system of farmland quality monitoring low-altitude remote sensing and earth horizon sensor, which is characterized in that the system
System includes:
Computing module: for calculating each ground node most based on low-altitude remote sensing course line and terrestrial wireless sensor node position
Big data transmission quantity；
Node-classification module: classify for largest data transfer amount and storage data quantity based on each ground node, obtain
Class node is taken, the class node includes assisting node, demand nodes and optional routing node；
First data transmission optimization module: for being based on polling data distribution-maximum residual energy routing algorithm to assistance node
And demand nodes carry out short distance data transfer optimization；
Second data transfer optimization module: for being based on greedy data distribution-maximum residual energy routing algorithm to assistance node
And distance data transmission optimization in demand nodes progress；
Third data transfer optimization module: for distributing-spreading pathfinding algorithm to assistance node and demand section based on greedy data
Point carries out Long-range Data Transmission optimization.
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